2025-10-24T19:09:29.745Z,1761332969.745 [CommandExec](IMPORTANT): got command restart logs 2025-10-24T19:09:29.933Z,1761332969.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517086,0.837280,-0.177722],[-0.854610,0.516579,-0.052809],[0.047591,0.179189,0.982663]] 2025-10-24T19:09:30.005Z,1761332970.005 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-10-24T19:09:30.005Z,1761332970.005 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-10-24T19:09:30.331Z,1761332970.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519908,0.823131,-0.228364],[-0.852592,0.516535,-0.079231],[0.052740,0.235894,0.970347]] 2025-10-24T19:09:30.736Z,1761332970.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508343,0.815518,-0.276618],[-0.857171,0.510038,-0.071549],[0.082736,0.273480,0.958313]] 2025-10-24T19:09:31.139Z,1761332971.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491600,0.821126,-0.289969],[-0.865914,0.496232,-0.062816],[0.092312,0.281969,0.954972]] 2025-10-24T19:09:31.556Z,1761332971.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488528,0.827601,-0.276437],[-0.868740,0.490907,-0.065579],[0.081432,0.272189,0.958792]] 2025-10-24T19:09:31.959Z,1761332971.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497553,0.831486,-0.247127],[-0.862007,0.505769,-0.033806],[0.096880,0.229846,0.968393]] 2025-10-24T19:09:32.354Z,1761332972.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508623,0.822128,-0.255750],[-0.852055,0.523307,-0.012314],[0.123712,0.224176,0.966665]] 2025-10-24T19:09:32.756Z,1761332972.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511686,0.822636,-0.247887],[-0.851390,0.524234,-0.017712],[0.115380,0.220112,0.968627]] 2025-10-24T19:09:33.166Z,1761332973.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507312,0.826645,-0.243499],[-0.858173,0.510373,-0.055294],[0.078567,0.237016,0.968324]] 2025-10-24T19:09:33.564Z,1761332973.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497478,0.833494,-0.240421],[-0.866132,0.492671,-0.084201],[0.048267,0.250125,0.967010]] 2025-10-24T19:09:33.968Z,1761332973.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483277,0.844990,-0.228986],[-0.874535,0.478025,-0.081734],[0.040397,0.239756,0.969992]] 2025-10-24T19:09:34.372Z,1761332974.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491417,0.848170,-0.197779],[-0.868622,0.493814,-0.040536],[0.063285,0.191716,0.979408]] 2025-10-24T19:09:34.776Z,1761332974.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511622,0.838734,-0.186461],[-0.855310,0.517817,-0.017617],[0.081776,0.168496,0.982304]] 2025-10-24T19:09:35.202Z,1761332975.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506427,0.835433,-0.213502],[-0.858840,0.510801,-0.038407],[0.076971,0.202815,0.976187]] 2025-10-24T19:09:35.587Z,1761332975.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497868,0.832356,-0.243537],[-0.864932,0.497087,-0.069265],[0.063406,0.245128,0.967415]] 2025-10-24T19:09:36.391Z,1761332976.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499415,0.828537,-0.253201],[-0.866271,0.473303,-0.159873],[-0.012620,0.299184,0.954112]] 2025-10-24T19:09:36.796Z,1761332976.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501131,0.840588,-0.205619],[-0.865223,0.482296,-0.137040],[-0.016025,0.246581,0.968990]] 2025-10-24T19:09:37.250Z,1761332977.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513739,0.839331,-0.177752],[-0.857418,0.509557,-0.072017],[0.030129,0.189405,0.981437]] 2025-10-24T19:09:37.616Z,1761332977.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516447,0.839809,-0.167338],[-0.853146,0.521420,-0.016204],[0.073645,0.151132,0.985766]] 2025-10-24T19:09:37.896Z,1761332977.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:09:38.009Z,1761332978.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513108,0.841647,-0.168375],[-0.856679,0.514312,-0.039789],[0.053109,0.164659,0.984920]] 2025-10-24T19:09:38.412Z,1761332978.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512620,0.839626,-0.179578],[-0.858175,0.507727,-0.075829],[0.027509,0.192981,0.980817]] 2025-10-24T19:09:38.815Z,1761332978.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502353,0.838497,-0.211102],[-0.864504,0.491741,-0.104038],[0.016572,0.234763,0.971911]] 2025-10-24T19:09:39.258Z,1761332979.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475534,0.844351,-0.246858],[-0.879291,0.464747,-0.104203],[0.026742,0.266612,0.963433]] 2025-10-24T19:09:39.624Z,1761332979.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480015,0.845903,-0.232452],[-0.876541,0.473208,-0.088037],[0.035528,0.246013,0.968615]] 2025-10-24T19:09:40.028Z,1761332980.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488239,0.850537,-0.195472],[-0.872532,0.480258,-0.089667],[0.017612,0.214335,0.976601]] 2025-10-24T19:09:40.836Z,1761332980.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483265,0.860906,-0.159047],[-0.875110,0.480267,-0.059386],[0.025260,0.167883,0.985483]] 2025-10-24T19:09:41.259Z,1761332981.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484182,0.857779,-0.172576],[-0.873996,0.483436,-0.049206],[0.041221,0.174656,0.983766]] 2025-10-24T19:09:41.644Z,1761332981.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471810,0.858243,-0.202025],[-0.878208,0.477813,-0.021128],[0.078398,0.187389,0.979152]] 2025-10-24T19:09:42.047Z,1761332982.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459949,0.857377,-0.230979],[-0.882235,0.470713,-0.009541],[0.100545,0.208166,0.972912]] 2025-10-24T19:09:42.451Z,1761332982.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452399,0.855488,-0.251942],[-0.885690,0.464045,-0.014687],[0.104348,0.229787,0.967631]] 2025-10-24T19:09:42.856Z,1761332982.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461107,0.852526,-0.246129],[-0.884811,0.462695,-0.054981],[0.067010,0.243130,0.967676]] 2025-10-24T19:09:43.666Z,1761332983.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456636,0.863620,-0.213646],[-0.888175,0.456378,-0.053522],[0.051281,0.214196,0.975444]] 2025-10-24T19:09:44.068Z,1761332984.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457598,0.863097,-0.213699],[-0.886394,0.461744,-0.033143],[0.070069,0.204588,0.976337]] 2025-10-24T19:09:44.876Z,1761332984.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422198,0.874519,-0.238674],[-0.900874,0.434070,-0.003117],[0.100876,0.216331,0.971095]] 2025-10-24T19:09:45.279Z,1761332985.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415516,0.882176,-0.221610],[-0.905427,0.424423,-0.008138],[0.086877,0.204033,0.975101]] 2025-10-24T19:09:45.687Z,1761332985.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419484,0.880653,-0.220189],[-0.903300,0.428978,-0.005174],[0.089900,0.201068,0.975443]] 2025-10-24T19:09:46.090Z,1761332986.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423096,0.870980,-0.249767],[-0.898674,0.438561,0.007016],[0.115649,0.221491,0.968281]] 2025-10-24T19:09:46.492Z,1761332986.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418658,0.862172,-0.285282],[-0.901702,0.431995,-0.017704],[0.107976,0.264651,0.958280]] 2025-10-24T19:09:47.306Z,1761332987.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398140,0.873766,-0.279316],[-0.912352,0.408840,-0.021530],[0.095383,0.263407,0.959958]] 2025-10-24T19:09:47.786Z,1761332987.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372820,0.899652,-0.227224],[-0.911415,0.401005,0.092295],[0.174151,0.172686,0.969459]] 2025-10-24T19:09:48.512Z,1761332988.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371098,0.898366,-0.234998],[-0.916272,0.395343,0.064413],[0.150771,0.191419,0.969859]] 2025-10-24T19:09:48.928Z,1761332988.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334415,0.904269,-0.265452],[-0.932907,0.357567,0.042787],[0.133608,0.233333,0.963174]] 2025-10-24T19:09:49.326Z,1761332989.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342399,0.903079,-0.259251],[-0.926490,0.370385,0.066566],[0.156137,0.217402,0.963513]] 2025-10-24T19:09:50.159Z,1761332990.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.322829,0.901979,-0.286732],[-0.919303,0.370879,0.131649],[0.225087,0.221094,0.948922]] 2025-10-24T19:09:50.531Z,1761332990.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298128,0.908647,-0.292370],[-0.931311,0.344038,0.119573],[0.209236,0.236639,0.948800]] 2025-10-24T19:09:50.944Z,1761332990.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285796,0.916638,-0.279456],[-0.935960,0.329591,0.123891],[0.205669,0.226152,0.952132]] 2025-10-24T19:09:51.344Z,1761332991.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272291,0.925152,-0.264485],[-0.937185,0.317279,0.144977],[0.218041,0.208395,0.953430]] 2025-10-24T19:09:52.146Z,1761332992.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239016,0.945091,-0.222879],[-0.951633,0.273623,0.139733],[0.193045,0.178700,0.964780]] 2025-10-24T19:09:52.555Z,1761332992.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249260,0.939574,-0.234671],[-0.951607,0.282608,0.120735],[0.179759,0.193220,0.964548]] 2025-10-24T19:09:52.961Z,1761332992.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235148,0.926811,-0.292793],[-0.947854,0.285337,0.141968],[0.215122,0.244141,0.945578]] 2025-10-24T19:09:53.368Z,1761332993.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200127,0.925125,-0.322634],[-0.941597,0.272625,0.197663],[0.270821,0.264234,0.925655]] 2025-10-24T19:09:53.766Z,1761332993.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190890,0.938374,-0.288125],[-0.939170,0.259968,0.224448],[0.285519,0.227753,0.930918]] 2025-10-24T19:09:54.582Z,1761332994.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147156,0.970852,-0.189186],[-0.943056,0.195400,0.269194],[0.298314,0.138799,0.944322]] 2025-10-24T19:09:54.978Z,1761332994.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140948,0.973060,-0.182451],[-0.930684,0.193072,0.310727],[0.337582,0.126008,0.932824]] 2025-10-24T19:09:55.321Z,1761332995.321 [DAT](INFO): DAT read: Rx Time:19:09:53.8674 2025-10-24T19:09:55.321Z,1761332995.321 [DAT](INFO): Rx dataTimestamp_ set to:1761332995.321066 2025-10-24T19:09:55.383Z,1761332995.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150959,0.966363,-0.208214],[-0.927302,0.211412,0.308894],[0.342523,0.146447,0.928025]] 2025-10-24T19:09:55.787Z,1761332995.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138837,0.957571,-0.252552],[-0.933305,0.211796,0.289973],[0.331159,0.195449,0.923111]] 2025-10-24T19:09:55.829Z,1761332995.829 [DAT](INFO): DAT read: 19:09:53.8674 LVL= 31856, 32753, 20898, 32755, AGC= 67, IDX= 496, 0.14,-0.704,-0.049, 1.294, 0.256, PHS=-0.872,-0.258, 1.035, RAW= 228.4, 1.1, CAL= 229.7, -1.0, ROT= 280.3, 1.0 2025-10-24T19:09:55.831Z,1761332995.831 [DAT](INFO): got valid direction response: 19:09:53.8674 LVL= 31856, 32753, 20898, 32755, AGC= 67, IDX= 496, 0.14,-0.704,-0.049, 1.294, 0.256, PHS=-0.872,-0.258, 1.035, RAW= 228.4, 1.1, CAL= 229.7, -1.0, ROT= 280.3, 1.0 2025-10-24T19:09:55.832Z,1761332995.832 [DAT](INFO): DAT read: 2025-10-24T19:09:55.833Z,1761332995.833 [DAT](INFO): DAT read: $Packet for address 20 2025-10-24T19:09:55.833Z,1761332995.833 [DAT](INFO): received a packet notification 2025-10-24T19:09:55.846Z,1761332995.846 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:09:55.856Z,1761332995.856 [DAT](INFO): direction in FSK: [0.178775,-0.983735,-0.017452] 2025-10-24T19:09:56.193Z,1761332996.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110945,0.959923,-0.257368],[-0.932596,0.190052,0.306830],[0.343446,0.205979,0.916306]] 2025-10-24T19:09:56.599Z,1761332996.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093223,0.971140,-0.219539],[-0.923258,0.166857,0.346055],[0.372699,0.170431,0.912167]] 2025-10-24T19:09:56.838Z,1761332996.838 [DAT](INFO): DAT read: Rx Time:19:09:55.5371 2025-10-24T19:09:56.838Z,1761332996.838 [DAT](INFO): Rx dataTimestamp_ set to:1761332996.837829 2025-10-24T19:09:57.000Z,1761332997.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092764,0.982936,-0.158846],[-0.908902,0.148735,0.389582],[0.406560,0.108237,0.907190]] 2025-10-24T19:09:57.341Z,1761332997.341 [DAT](INFO): DAT read: 2025-10-24T19:09:57.341Z,1761332997.341 [DAT](INFO): DAT read: $Packet for address 11 2025-10-24T19:09:57.342Z,1761332997.342 [DAT](INFO): received a packet notification 2025-10-24T19:09:58.215Z,1761332998.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129757,0.977495,-0.166335],[-0.891678,0.188405,0.411600],[0.433675,0.094909,0.896057]] 2025-10-24T19:09:58.355Z,1761332998.355 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-24T19:09:58.605Z,1761332998.605 [DAT](INFO): setting remote address to 11 2025-10-24T19:09:58.625Z,1761332998.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121583,0.970105,-0.210035],[-0.890107,0.200200,0.409426],[0.439235,0.137174,0.887838]] 2025-10-24T19:09:58.857Z,1761332998.857 [DAT](INFO): DAT read: 2025-10-24T19:09:58.858Z,1761332998.858 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:09:58.859Z,1761332998.859 [DAT](INFO): set remote address to 11 2025-10-24T19:09:58.859Z,1761332998.859 [DAT](INFO): entering online mode 2025-10-24T19:09:59.017Z,1761332999.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124171,0.972957,-0.194773],[-0.888244,0.196483,0.415231],[0.442272,0.121446,0.888621]] 2025-10-24T19:09:59.109Z,1761332999.109 [DAT](INFO): DAT read: user:13> 2025-10-24T19:09:59.109Z,1761332999.109 [DAT](INFO): DAT read: 2025-10-24T19:09:59.111Z,1761332999.111 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:09:59.111Z,1761332999.111 [DAT](INFO): commRate: 600 2025-10-24T19:09:59.111Z,1761332999.111 [DAT](INFO): online mode acknowledged 2025-10-24T19:09:59.112Z,1761332999.112 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-24T19:09:59.826Z,1761332999.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136432,0.974253,-0.179495],[-0.882383,0.201873,0.425027],[0.450319,0.100396,0.887206]] 2025-10-24T19:10:00.228Z,1761333000.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137254,0.969577,-0.202687],[-0.866309,0.216716,0.450047],[0.480281,0.113819,0.869699]] 2025-10-24T19:10:00.636Z,1761333000.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138880,0.964594,-0.224211],[-0.853703,0.231359,0.466545],[0.501899,0.126616,0.855608]] 2025-10-24T19:10:01.037Z,1761333001.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139281,0.960253,-0.241898],[-0.851058,0.240963,0.466516],[0.506262,0.140893,0.850793]] 2025-10-24T19:10:01.039Z,1761333001.039 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-24T19:10:01.440Z,1761333001.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.143299,0.959276,-0.243424],[-0.854534,0.244003,0.458512],[0.499236,0.142310,0.854699]] 2025-10-24T19:10:01.844Z,1761333001.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156266,0.959449,-0.234602],[-0.862104,0.248407,0.441667],[0.482034,0.133234,0.865963]] 2025-10-24T19:10:02.251Z,1761333002.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164006,0.958218,-0.234352],[-0.870076,0.252460,0.423357],[0.464833,0.134471,0.875128]] 2025-10-24T19:10:02.270Z,1761333002.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:10:02.389Z,1761333002.389 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:10:01.5868 2025-10-24T19:10:02.389Z,1761333002.389 [DAT](DEBUG): In parseResponses, sent ack so set commsState_ = SENDING_VERIFIED 2025-10-24T19:10:02.390Z,1761333002.390 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-24T19:10:02.390Z,1761333002.390 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:10:02.444Z,1761333002.444 [DAT](INFO): entering command mode 2025-10-24T19:10:02.641Z,1761333002.641 [DAT](INFO): DAT read: 2025-10-24T19:10:02.641Z,1761333002.641 [DAT](INFO): DAT read: user:14> 2025-10-24T19:10:02.642Z,1761333002.642 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-24T19:10:02.642Z,1761333002.642 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:10:02.642Z,1761333002.642 [DAT](INFO): setting remote address to 0 2025-10-24T19:10:02.681Z,1761333002.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.164641,0.957232,-0.237909],[-0.874571,0.253203,0.413537],[0.456090,0.139983,0.878855]] 2025-10-24T19:10:02.893Z,1761333002.893 [DAT](INFO): DAT read: user:14> 2025-10-24T19:10:02.894Z,1761333002.894 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:10:02.894Z,1761333002.894 [DAT](INFO): set remote address to 0 2025-10-24T19:10:02.894Z,1761333002.894 [DAT](INFO): setting remote address to 11 2025-10-24T19:10:02.895Z,1761333002.895 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:10:02.895Z,1761333002.895 [DAT](INFO): setting remote address to 0 2025-10-24T19:10:03.056Z,1761333003.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162170,0.959529,-0.230228],[-0.873488,0.248130,0.418868],[0.459043,0.133174,0.878376]] 2025-10-24T19:10:03.145Z,1761333003.145 [DAT](INFO): DAT read: user:15> 2025-10-24T19:10:03.146Z,1761333003.146 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:10:03.147Z,1761333003.147 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:10:03.148Z,1761333003.148 [DAT] Communications Fault, FailCount= 1 2025-10-24T19:10:03.148Z,1761333003.148 [DAT](ERROR): Communications Fault 2025-10-24T19:10:03.149Z,1761333003.149 [DAT](INFO): DAT read: user:16> 2025-10-24T19:10:03.151Z,1761333003.151 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:10:03.151Z,1761333003.151 [DAT](INFO): set remote address to 0 2025-10-24T19:10:03.152Z,1761333003.152 [DAT](INFO): setting remote address to 11 2025-10-24T19:10:03.152Z,1761333003.152 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:10:03.153Z,1761333003.153 [DAT](INFO): setting remote address to 0 2025-10-24T19:10:03.309Z,1761333003.309 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:10:03.465Z,1761333003.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155601,0.964501,-0.213370],[-0.868530,0.236479,0.435585],[0.470579,0.117541,0.874494]] 2025-10-24T19:10:03.556Z,1761333003.556 [DAT](INFO): Powering down 2025-10-24T19:10:03.867Z,1761333003.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150895,0.967752,-0.201710],[-0.861025,0.228909,0.454133],[0.485661,0.105151,0.867800]] 2025-10-24T19:10:04.268Z,1761333004.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149689,0.968651,-0.198262],[-0.854839,0.227551,0.466338],[0.496834,0.099676,0.862103]] 2025-10-24T19:10:04.675Z,1761333004.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155744,0.966847,-0.202360],[-0.852078,0.235131,0.467629],[0.499708,0.099596,0.860449]] 2025-10-24T19:10:04.784Z,1761333004.784 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:10:04.784Z,1761333004.784 [DAT] No Fault, FailCount= 1 2025-10-24T19:10:05.077Z,1761333005.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166298,0.962511,-0.214283],[-0.852883,0.249465,0.458647],[0.494909,0.106486,0.862395]] 2025-10-24T19:10:05.480Z,1761333005.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172296,0.959139,-0.224424],[-0.855858,0.258556,0.447947],[0.487669,0.114896,0.865435]] 2025-10-24T19:10:05.902Z,1761333005.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176570,0.956970,-0.230286],[-0.864149,0.262729,0.429209],[0.471243,0.123216,0.873354]] 2025-10-24T19:10:06.296Z,1761333006.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169914,0.958580,-0.228592],[-0.865281,0.256135,0.430910],[0.471612,0.124579,0.872962]] 2025-10-24T19:10:06.608Z,1761333006.608 [DAT](INFO): Powering up 2025-10-24T19:10:06.608Z,1761333006.608 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:10:06.695Z,1761333006.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159266,0.962065,-0.221508],[-0.861951,0.244901,0.443919],[0.481326,0.120228,0.868257]] 2025-10-24T19:10:07.101Z,1761333007.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149043,0.966889,-0.207150],[-0.854340,0.231394,0.465360],[0.497885,0.107618,0.860540]] 2025-10-24T19:10:07.500Z,1761333007.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142550,0.971672,-0.188503],[-0.845431,0.218568,0.487313],[0.514709,0.089900,0.852639]] 2025-10-24T19:10:07.903Z,1761333007.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141630,0.974479,-0.174160],[-0.839165,0.211514,0.501063],[0.525113,0.075184,0.847705]] 2025-10-24T19:10:08.310Z,1761333008.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146378,0.974537,-0.169855],[-0.837105,0.213519,0.503652],[0.527094,0.068463,0.847044]] 2025-10-24T19:10:08.460Z,1761333008.460 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting. 2025-10-24T19:10:08.713Z,1761333008.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153624,0.972380,-0.175715],[-0.838243,0.222402,0.497882],[0.523210,0.070805,0.849257]] 2025-10-24T19:10:09.117Z,1761333009.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156768,0.969916,-0.186245],[-0.839820,0.230151,0.491664],[0.519737,0.079335,0.850635]] 2025-10-24T19:10:09.465Z,1761333009.465 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:10:09.521Z,1761333009.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153574,0.968343,-0.196792],[-0.840831,0.232675,0.488739],[0.519056,0.090412,0.849945]] 2025-10-24T19:10:09.929Z,1761333009.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149015,0.967930,-0.202250],[-0.841467,0.231551,0.488178],[0.519353,0.097441,0.848986]] 2025-10-24T19:10:10.327Z,1761333010.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144065,0.968632,-0.202479],[-0.842738,0.227342,0.487963],[0.518689,0.100338,0.849055]] 2025-10-24T19:10:10.731Z,1761333010.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140047,0.970052,-0.198460],[-0.844593,0.221645,0.487376],[0.516768,0.099363,0.850340]] 2025-10-24T19:10:11.137Z,1761333011.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136628,0.972105,-0.190645],[-0.846037,0.214617,0.488016],[0.515319,0.094616,0.851760]] 2025-10-24T19:10:11.541Z,1761333011.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.135061,0.973993,-0.181922],[-0.845926,0.208948,0.490662],[0.515914,0.087623,0.852147]] 2025-10-24T19:10:11.950Z,1761333011.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136821,0.974819,-0.176090],[-0.844522,0.207697,0.493604],[0.517748,0.081177,0.851673]] 2025-10-24T19:10:12.349Z,1761333012.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.141211,0.973910,-0.177645],[-0.842688,0.212425,0.494725],[0.519554,0.079839,0.850699]] 2025-10-24T19:10:12.750Z,1761333012.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148561,0.971678,-0.183770],[-0.841486,0.221827,0.492640],[0.519452,0.081453,0.850608]] 2025-10-24T19:10:13.163Z,1761333013.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157564,0.968246,-0.194097],[-0.842054,0.234412,0.485794],[0.515867,0.086897,0.852250]] 2025-10-24T19:10:13.560Z,1761333013.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166216,0.964616,-0.204665],[-0.844434,0.246419,0.475614],[0.509218,0.093772,0.855514]] 2025-10-24T19:10:13.965Z,1761333013.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173041,0.961126,-0.215159],[-0.848354,0.256426,0.463185],[0.500352,0.102381,0.859748]] 2025-10-24T19:10:14.369Z,1761333014.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176309,0.958371,-0.224591],[-0.852455,0.262744,0.451981],[0.492175,0.111766,0.863291]] 2025-10-24T19:10:14.789Z,1761333014.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172548,0.958139,-0.228467],[-0.854876,0.260888,0.448469],[0.489300,0.117928,0.864105]] 2025-10-24T19:10:15.237Z,1761333015.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165181,0.959577,-0.227874],[-0.854688,0.254568,0.452442],[0.492162,0.120026,0.862189]] 2025-10-24T19:10:15.581Z,1761333015.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158854,0.962095,-0.221671],[-0.852664,0.246876,0.460452],[0.497724,0.115867,0.859561]] 2025-10-24T19:10:15.989Z,1761333015.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154757,0.965013,-0.211662],[-0.850030,0.239244,0.469266],[0.503487,0.107297,0.857315]] 2025-10-24T19:10:16.389Z,1761333016.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153753,0.967415,-0.201167],[-0.848234,0.233646,0.475299],[0.506813,0.097558,0.856518]] 2025-10-24T19:10:16.790Z,1761333016.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.157466,0.967978,-0.195510],[-0.847785,0.234036,0.475907],[0.506424,0.090811,0.857489]] 2025-10-24T19:10:17.246Z,1761333017.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.166255,0.966610,-0.194997],[-0.848307,0.241018,0.471471],[0.502727,0.087033,0.860053]] 2025-10-24T19:10:18.005Z,1761333018.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.189685,0.959230,-0.209517],[-0.848902,0.267445,0.455894],[0.493341,0.091383,0.865022]] 2025-10-24T19:10:18.408Z,1761333018.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200128,0.954415,-0.221450],[-0.849018,0.281739,0.446981],[0.488997,0.098561,0.866699]] 2025-10-24T19:10:18.812Z,1761333018.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209544,0.949663,-0.232875],[-0.849566,0.294731,0.437461],[0.484076,0.106175,0.868560]] 2025-10-24T19:10:18.965Z,1761333018.965 [DAT](INFO): DAT read: 2025-10-24T19:10:18.965Z,1761333018.965 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:10:19.253Z,1761333019.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217529,0.945584,-0.241974],[-0.851156,0.305109,0.427133],[0.477719,0.113044,0.871210]] 2025-10-24T19:10:19.622Z,1761333019.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222914,0.943027,-0.247003],[-0.853661,0.311182,0.417647],[0.470715,0.117757,0.874391]] 2025-10-24T19:10:20.437Z,1761333020.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224026,0.943364,-0.244698],[-0.860920,0.309233,0.403971],[0.456760,0.120165,0.881437]] 2025-10-24T19:10:20.835Z,1761333020.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221832,0.945445,-0.238586],[-0.864942,0.303760,0.399507],[0.450185,0.117739,0.885139]] 2025-10-24T19:10:21.258Z,1761333021.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.218468,0.948154,-0.230814],[-0.868785,0.296694,0.396465],[0.444391,0.113913,0.888561]] 2025-10-24T19:10:21.640Z,1761333021.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214511,0.951023,-0.222578],[-0.872090,0.289108,0.394810],[0.439822,0.109417,0.891395]] 2025-10-24T19:10:22.049Z,1761333022.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209101,0.954580,-0.212258],[-0.874680,0.279631,0.395906],[0.437278,0.102873,0.893423]] 2025-10-24T19:10:22.492Z,1761333022.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202762,0.958208,-0.201805],[-0.876071,0.269578,0.399784],[0.437478,0.095735,0.894118]] 2025-10-24T19:10:22.854Z,1761333022.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195628,0.961700,-0.191994],[-0.876332,0.259308,0.405958],[0.440196,0.088833,0.893497]] 2025-10-24T19:10:23.263Z,1761333023.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188507,0.964397,-0.185484],[-0.875445,0.250605,0.413271],[0.445040,0.084476,0.891517]] 2025-10-24T19:10:24.086Z,1761333024.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178907,0.966713,-0.182918],[-0.871051,0.242074,0.427400],[0.457452,0.082866,0.885365]] 2025-10-24T19:10:24.471Z,1761333024.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180846,0.965513,-0.187293],[-0.869583,0.245938,0.428183],[0.459479,0.085432,0.884070]] 2025-10-24T19:10:24.526Z,1761333024.526 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:10:24.527Z,1761333024.527 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:10:24.527Z,1761333024.527 [DAT](INFO): DAT read: Oct 24 2025 19:10:14 2025-10-24T19:10:24.875Z,1761333024.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183097,0.963781,-0.193913],[-0.867820,0.251130,0.428745],[0.461913,0.089779,0.882369]] 2025-10-24T19:10:25.278Z,1761333025.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185187,0.961970,-0.200799],[-0.865752,0.256383,0.429816],[0.464951,0.094246,0.880306]] 2025-10-24T19:10:25.533Z,1761333025.533 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:10:25.534Z,1761333025.534 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:10:25.535Z,1761333025.535 [DAT](INFO): commRate: 600 2025-10-24T19:10:25.682Z,1761333025.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187735,0.960411,-0.205830],[-0.863471,0.261256,0.431466],[0.468159,0.096727,0.878334]] 2025-10-24T19:10:26.086Z,1761333026.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190507,0.959310,-0.208400],[-0.861526,0.265148,0.432978],[0.470617,0.097057,0.876983]] 2025-10-24T19:10:26.489Z,1761333026.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195234,0.957850,-0.210728],[-0.859926,0.270501,0.432846],[0.471604,0.096704,0.876492]] 2025-10-24T19:10:26.893Z,1761333026.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201366,0.956026,-0.213229],[-0.858779,0.277012,0.431002],[0.471116,0.096327,0.876796]] 2025-10-24T19:10:26.917Z,1761333026.917 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T19:10:26.917Z,1761333026.917 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T19:10:26.918Z,1761333026.918 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T19:10:26.918Z,1761333026.918 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:10:26.918Z,1761333026.918 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T19:10:26.918Z,1761333026.918 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T19:10:26.921Z,1761333026.921 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-24T19:10:27.390Z,1761333027.390 [lineCaptureHoming:MicromodemComms] Stopped 2025-10-24T19:10:27.390Z,1761333027.390 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-10-24T19:10:27.390Z,1761333027.390 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T19:10:27.390Z,1761333027.390 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:10:27.390Z,1761333027.390 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T19:10:27.600Z,1761333027.600 [DAT](INFO): entering command mode 2025-10-24T19:10:27.724Z,1761333027.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217183,0.950863,-0.220662],[-0.857148,0.293934,0.422966],[0.467043,0.097279,0.878867]] 2025-10-24T19:10:27.800Z,1761333027.800 [DAT](INFO): DAT read: 2025-10-24T19:10:27.801Z,1761333027.801 [DAT](INFO): DAT read: user:1> 2025-10-24T19:10:27.801Z,1761333027.801 [DAT](INFO): setting verbose to 3 2025-10-24T19:10:28.053Z,1761333028.053 [DAT](INFO): DAT read: user:1> 2025-10-24T19:10:28.053Z,1761333028.053 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:10:28.054Z,1761333028.054 [DAT](INFO): set verbose to 3 2025-10-24T19:10:28.054Z,1761333028.054 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:10:28.136Z,1761333028.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225440,0.948042,-0.224483],[-0.856624,0.302643,0.417854],[0.464081,0.098097,0.880344]] 2025-10-24T19:10:28.305Z,1761333028.305 [DAT](INFO): DAT read: user:2> 2025-10-24T19:10:28.307Z,1761333028.307 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:10:28.307Z,1761333028.307 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:10:28.308Z,1761333028.308 [DAT](INFO): setting transmit power to 8 2025-10-24T19:10:28.533Z,1761333028.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233052,0.944692,-0.230746],[-0.856654,0.311735,0.411054],[0.460251,0.101872,0.881924]] 2025-10-24T19:10:28.557Z,1761333028.557 [DAT](INFO): DAT read: user:3> 2025-10-24T19:10:28.558Z,1761333028.558 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:10:28.558Z,1761333028.558 [DAT](INFO): set transmit power to 8 2025-10-24T19:10:28.558Z,1761333028.558 [DAT](INFO): setting local address to 10 2025-10-24T19:10:28.809Z,1761333028.809 [DAT](INFO): DAT read: user:4> 2025-10-24T19:10:28.809Z,1761333028.809 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:10:28.810Z,1761333028.810 [DAT](INFO): set local address to 10 2025-10-24T19:10:28.811Z,1761333028.811 [DAT](INFO): Setting time to: 19:10:28 And date to:10/24/2025 2025-10-24T19:10:28.942Z,1761333028.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239504,0.941504,-0.237081],[-0.857510,0.319647,0.403117],[0.455319,0.106751,0.883906]] 2025-10-24T19:10:29.062Z,1761333029.062 [DAT](INFO): DAT read: user:5> 2025-10-24T19:10:29.063Z,1761333029.063 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:10:28 2025-10-24T19:10:29.064Z,1761333029.064 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:10:28 2025-10-24T19:10:29.065Z,1761333029.065 [DAT](INFO): setting remote address to 11 2025-10-24T19:10:29.066Z,1761333029.066 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:10:29.066Z,1761333029.066 [DAT](INFO): setting remote address to 0 2025-10-24T19:10:29.317Z,1761333029.317 [DAT](INFO): DAT read: user:6> 2025-10-24T19:10:29.318Z,1761333029.318 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:10:29.318Z,1761333029.318 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:10:29.318Z,1761333029.318 [DAT] Communications Fault, FailCount= 2 2025-10-24T19:10:29.318Z,1761333029.318 [DAT](ERROR): Communications Fault 2025-10-24T19:10:29.319Z,1761333029.319 [DAT](INFO): DAT read: user:7> 2025-10-24T19:10:29.320Z,1761333029.320 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:10:29.321Z,1761333029.321 [DAT](INFO): set remote address to 0 2025-10-24T19:10:29.321Z,1761333029.321 [DAT](INFO): setting remote address to 11 2025-10-24T19:10:29.321Z,1761333029.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:10:29.321Z,1761333029.321 [DAT](INFO): setting remote address to 0 2025-10-24T19:10:29.350Z,1761333029.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244323,0.939206,-0.241244],[-0.859306,0.324983,0.394942],[0.449332,0.110809,0.886466]] 2025-10-24T19:10:29.584Z,1761333029.584 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:10:29.749Z,1761333029.749 [DAT](INFO): Powering down 2025-10-24T19:10:29.753Z,1761333029.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246800,0.938114,-0.242964],[-0.861965,0.327085,0.387341],[0.442840,0.113831,0.889346]] 2025-10-24T19:10:30.199Z,1761333030.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246775,0.938898,-0.239942],[-0.865090,0.325018,0.382077],[0.436716,0.113284,0.892438]] 2025-10-24T19:10:30.571Z,1761333030.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244494,0.941044,-0.233793],[-0.868483,0.319753,0.378809],[0.431232,0.110429,0.895458]] 2025-10-24T19:10:30.692Z,1761333030.692 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:10:30.692Z,1761333030.692 [DAT] No Fault, FailCount= 2 2025-10-24T19:10:30.966Z,1761333030.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241560,0.943758,-0.225764],[-0.871457,0.313323,0.377348],[0.426862,0.105592,0.898131]] 2025-10-24T19:10:31.368Z,1761333031.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238061,0.946295,-0.218754],[-0.873924,0.306973,0.376861],[0.423773,0.101458,0.900068]] 2025-10-24T19:10:31.772Z,1761333031.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235004,0.948486,-0.212480],[-0.875513,0.301510,0.377582],[0.422196,0.097296,0.901268]] 2025-10-24T19:10:32.176Z,1761333032.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232852,0.949839,-0.208770],[-0.876223,0.298040,0.378690],[0.421916,0.094751,0.901670]] 2025-10-24T19:10:32.796Z,1761333032.796 [DAT](INFO): Powering up 2025-10-24T19:10:32.797Z,1761333032.797 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:10:32.984Z,1761333032.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233729,0.948563,-0.213540],[-0.875422,0.300870,0.378305],[0.423093,0.098517,0.900714]] 2025-10-24T19:10:33.388Z,1761333033.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237376,0.946245,-0.219713],[-0.874013,0.306755,0.376834],[0.423975,0.102580,0.899846]] 2025-10-24T19:10:33.793Z,1761333033.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.242471,0.943232,-0.226984],[-0.872259,0.314374,0.374611],[0.424703,0.107157,0.898969]] 2025-10-24T19:10:34.199Z,1761333034.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248079,0.940103,-0.233803],[-0.870492,0.322234,0.372034],[0.425090,0.111230,0.898291]] 2025-10-24T19:10:34.600Z,1761333034.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254152,0.936664,-0.240971],[-0.868933,0.330543,0.368370],[0.424690,0.115766,0.897907]] 2025-10-24T19:10:35.004Z,1761333035.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260413,0.933507,-0.246474],[-0.868015,0.338146,0.363602],[0.422770,0.119257,0.898356]] 2025-10-24T19:10:35.407Z,1761333035.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267692,0.930571,-0.249758],[-0.867678,0.345527,0.357415],[0.418898,0.121032,0.899931]] 2025-10-24T19:10:35.421Z,1761333035.421 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 859.28, 703.90,1033.67 2025-10-24T19:10:35.814Z,1761333035.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274308,0.928540,-0.250139],[-0.868286,0.350953,0.350587],[0.413321,0.121023,0.902507]] 2025-10-24T19:10:36.227Z,1761333036.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280278,0.927122,-0.248775],[-0.869710,0.354947,0.342954],[0.406262,0.120240,0.905811]] 2025-10-24T19:10:36.620Z,1761333036.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284223,0.926768,-0.245597],[-0.872041,0.356348,0.335502],[0.398450,0.118813,0.909462]] 2025-10-24T19:10:37.431Z,1761333037.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287016,0.928152,-0.236974],[-0.878109,0.353784,0.322121],[0.382814,0.115635,0.916560]] 2025-10-24T19:10:37.579Z,1761333037.579 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.685410 2025-10-24T19:10:37.832Z,1761333037.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.285767,0.929676,-0.232463],[-0.881349,0.350211,0.317136],[0.376245,0.114254,0.919449]] 2025-10-24T19:10:37.859Z,1761333037.859 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T19:10:37.859Z,1761333037.859 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T19:10:37.859Z,1761333037.859 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T19:10:37.859Z,1761333037.859 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:10:37.859Z,1761333037.859 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T19:10:38.282Z,1761333038.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278350,0.934239,-0.222979],[-0.887143,0.339045,0.313090],[0.368101,0.110666,0.923177]] 2025-10-24T19:10:38.581Z,1761333038.581 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:10:38.691Z,1761333038.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272690,0.936754,-0.219389],[-0.889202,0.332460,0.314309],[0.367369,0.109372,0.923622]] 2025-10-24T19:10:39.091Z,1761333039.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266286,0.939229,-0.216657],[-0.890417,0.325768,0.317858],[0.369121,0.108274,0.923053]] 2025-10-24T19:10:39.491Z,1761333039.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259482,0.941586,-0.214675],[-0.890831,0.319207,0.323307],[0.372947,0.107347,0.921622]] 2025-10-24T19:10:39.897Z,1761333039.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253511,0.943287,-0.214341],[-0.890472,0.314125,0.329218],[0.377877,0.107405,0.919605]] 2025-10-24T19:10:40.304Z,1761333040.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249514,0.944421,-0.214035],[-0.889052,0.311019,0.335936],[0.383835,0.106467,0.917244]] 2025-10-24T19:10:40.709Z,1761333040.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248213,0.944379,-0.215727],[-0.886970,0.311094,0.341328],[0.389455,0.106621,0.914853]] 2025-10-24T19:10:41.108Z,1761333041.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248794,0.943452,-0.219090],[-0.884293,0.313543,0.346000],[0.395129,0.107656,0.912296]] 2025-10-24T19:10:41.918Z,1761333041.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253958,0.940655,-0.225108],[-0.878146,0.321795,0.353988],[0.405419,0.107780,0.907755]] 2025-10-24T19:10:42.319Z,1761333042.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256795,0.939404,-0.227103],[-0.875027,0.325759,0.358063],[0.410347,0.106773,0.905657]] 2025-10-24T19:10:42.724Z,1761333042.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259244,0.938273,-0.228991],[-0.871891,0.329349,0.362402],[0.415450,0.105705,0.903453]] 2025-10-24T19:10:43.131Z,1761333043.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261492,0.937386,-0.230064],[-0.868735,0.332445,0.367124],[0.420621,0.103865,0.901272]] 2025-10-24T19:10:43.532Z,1761333043.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263049,0.936525,-0.231789],[-0.865635,0.335188,0.371921],[0.426007,0.102811,0.898859]] 2025-10-24T19:10:43.943Z,1761333043.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264381,0.936055,-0.232172],[-0.862407,0.337221,0.377539],[0.431690,0.100413,0.896415]] 2025-10-24T19:10:44.344Z,1761333044.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265702,0.935399,-0.233304],[-0.859338,0.339491,0.382470],[0.436967,0.098864,0.894028]] 2025-10-24T19:10:44.743Z,1761333044.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266877,0.934802,-0.234356],[-0.856420,0.341558,0.387146],[0.441951,0.097387,0.891737]] 2025-10-24T19:10:45.145Z,1761333045.145 [DAT](INFO): DAT read: 2025-10-24T19:10:45.146Z,1761333045.146 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:10:45.150Z,1761333045.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.267881,0.934738,-0.233461],[-0.853628,0.342626,0.392336],[0.446721,0.094190,0.889702]] 2025-10-24T19:10:45.551Z,1761333045.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268557,0.934719,-0.232761],[-0.851361,0.343365,0.396591],[0.450623,0.091657,0.887997]] 2025-10-24T19:10:45.570Z,1761333045.570 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 814.75, 603.84, 970.28 2025-10-24T19:10:45.958Z,1761333045.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268706,0.935019,-0.231382],[-0.849631,0.343247,0.400385],[0.453788,0.089004,0.886654]] 2025-10-24T19:10:46.370Z,1761333046.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268236,0.935528,-0.229864],[-0.848501,0.342421,0.403477],[0.456174,0.086813,0.885646]] 2025-10-24T19:10:46.772Z,1761333046.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266712,0.936205,-0.228879],[-0.847767,0.340857,0.406335],[0.458427,0.085662,0.884594]] 2025-10-24T19:10:47.189Z,1761333047.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264195,0.937115,-0.228069],[-0.847494,0.338447,0.408911],[0.460386,0.085255,0.883616]] 2025-10-24T19:10:47.572Z,1761333047.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260931,0.938455,-0.226313],[-0.847364,0.334967,0.412032],[0.462481,0.084257,0.882616]] 2025-10-24T19:10:47.977Z,1761333047.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257111,0.939978,-0.224357],[-0.847678,0.330848,0.414707],[0.464043,0.083557,0.881863]] 2025-10-24T19:10:48.383Z,1761333048.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252976,0.941739,-0.221654],[-0.847978,0.326130,0.417819],[0.465765,0.082259,0.881077]] 2025-10-24T19:10:48.793Z,1761333048.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248546,0.943895,-0.217455],[-0.848293,0.320484,0.421531],[0.467572,0.079696,0.880355]] 2025-10-24T19:10:49.238Z,1761333049.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243484,0.946026,-0.213892],[-0.848607,0.314576,0.425332],[0.469661,0.077949,0.879399]] 2025-10-24T19:10:49.591Z,1761333049.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239107,0.947448,-0.212533],[-0.848528,0.310292,0.428624],[0.472046,0.077853,0.878129]] 2025-10-24T19:10:49.997Z,1761333049.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234355,0.948975,-0.211009],[-0.848172,0.305660,0.432638],[0.475060,0.077581,0.876527]] 2025-10-24T19:10:50.406Z,1761333050.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229874,0.950220,-0.210334],[-0.847433,0.301705,0.436843],[0.478556,0.077825,0.874601]] 2025-10-24T19:10:50.693Z,1761333050.693 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:10:50.694Z,1761333050.694 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:10:50.695Z,1761333050.695 [DAT](INFO): DAT read: Oct 24 2025 19:10:40 2025-10-24T19:10:51.249Z,1761333051.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219764,0.952963,-0.208726],[-0.844644,0.292925,0.448076],[0.488141,0.077828,0.869288]] 2025-10-24T19:10:51.620Z,1761333051.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214316,0.954565,-0.207059],[-0.842515,0.287915,0.455274],[0.494204,0.076878,0.865940]] 2025-10-24T19:10:51.705Z,1761333051.705 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:10:51.706Z,1761333051.706 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:10:51.707Z,1761333051.707 [DAT](INFO): commRate: 600 2025-10-24T19:10:52.017Z,1761333052.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208946,0.956082,-0.205546],[-0.839723,0.283133,0.463359],[0.501206,0.075785,0.862003]] 2025-10-24T19:10:52.509Z,1761333052.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202842,0.957833,-0.203499],[-0.836237,0.277569,0.472930],[0.509473,0.074243,0.857278]] 2025-10-24T19:10:52.824Z,1761333052.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197188,0.959757,-0.199959],[-0.831709,0.271752,0.484160],[0.519015,0.070837,0.851825]] 2025-10-24T19:10:53.253Z,1761333053.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.192743,0.961587,-0.195449],[-0.826384,0.266472,0.496067],[0.529094,0.065902,0.846000]] 2025-10-24T19:10:53.632Z,1761333053.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190420,0.962902,-0.191208],[-0.820698,0.263020,0.507222],[0.538697,0.060338,0.840336]] 2025-10-24T19:10:53.772Z,1761333053.772 [DAT](INFO): entering command mode 2025-10-24T19:10:53.973Z,1761333053.973 [DAT](INFO): DAT read: 2025-10-24T19:10:53.973Z,1761333053.973 [DAT](INFO): DAT read: user:1> 2025-10-24T19:10:53.974Z,1761333053.974 [DAT](INFO): setting verbose to 3 2025-10-24T19:10:54.046Z,1761333054.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190476,0.963418,-0.188532],[-0.814907,0.262259,0.516862],[0.547399,0.055186,0.835050]] 2025-10-24T19:10:54.226Z,1761333054.226 [DAT](INFO): DAT read: user:1> 2025-10-24T19:10:54.228Z,1761333054.228 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:10:54.229Z,1761333054.229 [DAT](INFO): set verbose to 3 2025-10-24T19:10:54.229Z,1761333054.229 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:10:54.447Z,1761333054.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193258,0.962910,-0.188299],[-0.809549,0.264923,0.523876],[0.554330,0.051193,0.830721]] 2025-10-24T19:10:54.477Z,1761333054.477 [DAT](INFO): DAT read: user:2> 2025-10-24T19:10:54.478Z,1761333054.478 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:10:54.478Z,1761333054.478 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:10:54.478Z,1761333054.478 [DAT](INFO): setting transmit power to 8 2025-10-24T19:10:54.729Z,1761333054.729 [DAT](INFO): DAT read: user:3> 2025-10-24T19:10:54.730Z,1761333054.730 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:10:54.731Z,1761333054.731 [DAT](INFO): set transmit power to 8 2025-10-24T19:10:54.731Z,1761333054.731 [DAT](INFO): setting local address to 10 2025-10-24T19:10:54.851Z,1761333054.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206342,0.959477,-0.191902],[-0.800836,0.278288,0.530299],[0.562214,0.044259,0.825806]] 2025-10-24T19:10:54.981Z,1761333054.981 [DAT](INFO): DAT read: user:4> 2025-10-24T19:10:54.982Z,1761333054.982 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:10:54.983Z,1761333054.983 [DAT](INFO): set local address to 10 2025-10-24T19:10:54.984Z,1761333054.984 [DAT](INFO): Setting time to: 19:10:54 And date to:10/24/2025 2025-10-24T19:10:55.237Z,1761333055.237 [DAT](INFO): DAT read: user:5> 2025-10-24T19:10:55.248Z,1761333055.248 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:10:54 2025-10-24T19:10:55.248Z,1761333055.248 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:10:54 2025-10-24T19:10:55.249Z,1761333055.249 [DAT](INFO): setting remote address to 11 2025-10-24T19:10:55.251Z,1761333055.251 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:10:55.256Z,1761333055.256 [DAT](INFO): setting remote address to 0 2025-10-24T19:10:55.282Z,1761333055.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215145,0.956242,-0.198280],[-0.797362,0.289229,0.529680],[0.563850,0.044143,0.824697]] 2025-10-24T19:10:55.318Z,1761333055.318 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 0.00, 739.27, 199.01 2025-10-24T19:10:55.486Z,1761333055.486 [DAT](INFO): DAT read: user:6> 2025-10-24T19:10:55.487Z,1761333055.487 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:10:55.488Z,1761333055.488 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:10:55.488Z,1761333055.488 [DAT] Communications Fault, FailCount= 3 2025-10-24T19:10:55.488Z,1761333055.488 [DAT](ERROR): Communications Fault 2025-10-24T19:10:55.489Z,1761333055.489 [DAT](INFO): DAT read: user:7> 2025-10-24T19:10:55.489Z,1761333055.489 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:10:55.490Z,1761333055.490 [DAT](INFO): set remote address to 0 2025-10-24T19:10:55.490Z,1761333055.490 [DAT](INFO): setting remote address to 11 2025-10-24T19:10:55.490Z,1761333055.490 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:10:55.491Z,1761333055.491 [DAT](INFO): setting remote address to 0 2025-10-24T19:10:55.660Z,1761333055.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224415,0.952327,-0.206666],[-0.794451,0.301608,0.527144],[0.564346,0.045887,0.824262]] 2025-10-24T19:10:55.720Z,1761333055.720 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:10:55.892Z,1761333055.892 [DAT](INFO): Powering down 2025-10-24T19:10:56.065Z,1761333056.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234192,0.947109,-0.219404],[-0.791913,0.316754,0.522055],[0.563940,0.051488,0.824209]] 2025-10-24T19:10:56.466Z,1761333056.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244105,0.941343,-0.232994],[-0.789908,0.332386,0.515329],[0.562546,0.058250,0.824712]] 2025-10-24T19:10:56.871Z,1761333056.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253593,0.935246,-0.246993],[-0.788729,0.347743,0.506933],[0.559997,0.066256,0.825841]] 2025-10-24T19:10:57.080Z,1761333057.080 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:10:57.081Z,1761333057.081 [DAT] No Fault, FailCount= 3 2025-10-24T19:10:57.276Z,1761333057.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263307,0.929113,-0.259652],[-0.788204,0.362381,0.497408],[0.556240,0.073688,0.827748]] 2025-10-24T19:10:57.683Z,1761333057.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272509,0.923128,-0.271243],[-0.788412,0.375833,0.486988],[0.551494,0.081143,0.830223]] 2025-10-24T19:10:58.083Z,1761333058.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.281336,0.917327,-0.281710],[-0.788872,0.388240,0.476394],[0.546380,0.088206,0.832879]] 2025-10-24T19:10:58.487Z,1761333058.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.289140,0.912037,-0.290839],[-0.789548,0.398999,0.466277],[0.541306,0.094811,0.835463]] 2025-10-24T19:10:58.892Z,1761333058.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296905,0.906826,-0.299189],[-0.790262,0.409221,0.456097],[0.536035,0.101020,0.838130]] 2025-10-24T19:10:58.941Z,1761333058.941 [DAT](INFO): Powering up 2025-10-24T19:10:58.941Z,1761333058.941 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:10:59.295Z,1761333059.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303540,0.902187,-0.306468],[-0.790965,0.417926,0.446892],[0.531261,0.106756,0.840455]] 2025-10-24T19:10:59.701Z,1761333059.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.309814,0.898623,-0.310632],[-0.791619,0.424754,0.439231],[0.526645,0.109822,0.842961]] 2025-10-24T19:11:00.104Z,1761333060.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315768,0.896275,-0.311419],[-0.792229,0.429669,0.433309],[0.522171,0.109890,0.845731]] 2025-10-24T19:11:00.510Z,1761333060.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320918,0.893985,-0.312733],[-0.792970,0.434176,0.427421],[0.517889,0.110820,0.848239]] 2025-10-24T19:11:00.912Z,1761333060.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325154,0.891774,-0.314666],[-0.793741,0.438244,0.421802],[0.514052,0.112613,0.850334]] 2025-10-24T19:11:01.317Z,1761333061.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328822,0.889886,-0.316195],[-0.794420,0.441683,0.416909],[0.510660,0.114103,0.852178]] 2025-10-24T19:11:01.492Z,1761333061.492 [Radio_Surface](INFO): Powering down 2025-10-24T19:11:01.725Z,1761333061.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331812,0.888287,-0.317565],[-0.795000,0.444528,0.412758],[0.507814,0.115506,0.853688]] 2025-10-24T19:11:02.132Z,1761333062.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334330,0.887400,-0.317405],[-0.795486,0.446310,0.409890],[0.505397,0.115453,0.855128]] 2025-10-24T19:11:02.530Z,1761333062.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336830,0.886784,-0.316480],[-0.795750,0.447779,0.407769],[0.503316,0.114490,0.856484]] 2025-10-24T19:11:02.546Z,1761333062.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:11:02.942Z,1761333062.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.338971,0.886030,-0.316306],[-0.795921,0.449336,0.405717],[0.501606,0.114229,0.857522]] 2025-10-24T19:11:03.338Z,1761333063.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341424,0.885231,-0.315904],[-0.795617,0.451142,0.404307],[0.500423,0.113299,0.858336]] 2025-10-24T19:11:03.741Z,1761333063.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343717,0.884422,-0.315684],[-0.795201,0.452932,0.403123],[0.499514,0.112472,0.858973]] 2025-10-24T19:11:04.143Z,1761333064.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346137,0.883302,-0.316176],[-0.794427,0.455227,0.402061],[0.499073,0.112010,0.859290]] 2025-10-24T19:11:04.553Z,1761333064.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348952,0.882446,-0.315471],[-0.793500,0.457320,0.401517],[0.498589,0.110216,0.859803]] 2025-10-24T19:11:04.960Z,1761333064.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352517,0.881049,-0.315411],[-0.792352,0.460344,0.400328],[0.497906,0.108794,0.860380]] 2025-10-24T19:11:05.355Z,1761333065.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356262,0.879762,-0.314796],[-0.791207,0.463255,0.399231],[0.497059,0.106838,0.861114]] 2025-10-24T19:11:05.384Z,1761333065.384 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 739.08, 644.89, 981.07 2025-10-24T19:11:05.770Z,1761333065.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360443,0.878748,-0.312863],[-0.789924,0.465941,0.398647],[0.496086,0.103449,0.862089]] 2025-10-24T19:11:06.165Z,1761333066.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365137,0.877473,-0.310992],[-0.788619,0.469066,0.397563],[0.494727,0.100090,0.863266]] 2025-10-24T19:11:06.567Z,1761333066.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369496,0.875783,-0.310608],[-0.787347,0.472596,0.395901],[0.493515,0.098273,0.864167]] 2025-10-24T19:11:06.973Z,1761333066.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374080,0.874052,-0.309996],[-0.786154,0.476187,0.393965],[0.491962,0.096330,0.865271]] 2025-10-24T19:11:07.375Z,1761333067.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378308,0.872103,-0.310353],[-0.785212,0.479884,0.391349],[0.490230,0.095643,0.866329]] 2025-10-24T19:11:07.798Z,1761333067.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382471,0.870534,-0.309657],[-0.784316,0.483049,0.389245],[0.488430,0.093994,0.867526]] 2025-10-24T19:11:08.184Z,1761333068.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386066,0.869056,-0.309344],[-0.783832,0.485859,0.386716],[0.486375,0.093176,0.868768]] 2025-10-24T19:11:08.588Z,1761333068.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389375,0.867820,-0.308666],[-0.783406,0.488271,0.384533],[0.484418,0.092083,0.869977]] 2025-10-24T19:11:08.716Z,1761333068.716 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:11:08.991Z,1761333068.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392452,0.866740,-0.307803],[-0.783072,0.490403,0.382497],[0.482473,0.090921,0.871179]] 2025-10-24T19:11:09.398Z,1761333069.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395397,0.865374,-0.307879],[-0.782908,0.492814,0.379724],[0.480330,0.090899,0.872365]] 2025-10-24T19:11:09.401Z,1761333069.401 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-24T19:11:09.720Z,1761333069.720 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-24T19:11:09.720Z,1761333069.720 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:11:09.799Z,1761333069.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398379,0.863786,-0.308493],[-0.782836,0.495472,0.376397],[0.477976,0.091551,0.873589]] 2025-10-24T19:11:10.205Z,1761333070.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400712,0.862654,-0.308639],[-0.782966,0.497368,0.373617],[0.475809,0.091941,0.874730]] 2025-10-24T19:11:10.607Z,1761333070.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402882,0.861830,-0.308115],[-0.783053,0.498853,0.371448],[0.473829,0.091621,0.875838]] 2025-10-24T19:11:11.014Z,1761333071.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405237,0.860884,-0.307673],[-0.782864,0.500576,0.369523],[0.472130,0.091122,0.876807]] 2025-10-24T19:11:11.300Z,1761333071.300 [DAT](INFO): DAT read: 2025-10-24T19:11:11.301Z,1761333071.301 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:11:11.432Z,1761333071.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407384,0.859449,-0.308844],[-0.782452,0.502868,0.367277],[0.470964,0.092033,0.877339]] 2025-10-24T19:11:11.829Z,1761333071.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412271,0.856632,-0.310184],[-0.781367,0.507539,0.363139],[0.468507,0.092656,0.878587]] 2025-10-24T19:11:12.227Z,1761333072.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414723,0.855010,-0.311388],[-0.780590,0.510152,0.361144],[0.467637,0.093291,0.878984]] 2025-10-24T19:11:12.631Z,1761333072.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417007,0.853343,-0.312906],[-0.779720,0.512778,0.359300],[0.467057,0.094149,0.879201]] 2025-10-24T19:11:13.031Z,1761333073.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419495,0.851493,-0.314615],[-0.778769,0.515659,0.357232],[0.466415,0.095156,0.879433]] 2025-10-24T19:11:13.441Z,1761333073.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421543,0.849465,-0.317350],[-0.777883,0.518604,0.354892],[0.466048,0.097259,0.879398]] 2025-10-24T19:11:13.841Z,1761333073.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423562,0.847424,-0.320107],[-0.776835,0.521563,0.352844],[0.465964,0.099219,0.879223]] 2025-10-24T19:11:14.245Z,1761333074.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425630,0.845949,-0.321262],[-0.775661,0.523919,0.351937],[0.466036,0.099396,0.879165]] 2025-10-24T19:11:14.647Z,1761333074.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427876,0.844554,-0.321947],[-0.774420,0.526230,0.351220],[0.466043,0.099044,0.879201]] 2025-10-24T19:11:15.051Z,1761333075.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430382,0.842846,-0.323083],[-0.773016,0.528966,0.350202],[0.466066,0.099028,0.879190]] 2025-10-24T19:11:15.460Z,1761333075.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433151,0.841221,-0.323618],[-0.771431,0.531694,0.349566],[0.466127,0.098234,0.879247]] 2025-10-24T19:11:15.483Z,1761333075.483 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +31 +34.17, +13.97, 20.00, 0.00 2025-10-24T19:11:15.863Z,1761333075.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435471,0.839949,-0.323807],[-0.769973,0.533897,0.349421],[0.466376,0.097160,0.879235]] 2025-10-24T19:11:16.265Z,1761333076.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438215,0.837953,-0.325272],[-0.768392,0.536986,0.348166],[0.466413,0.097365,0.879192]] 2025-10-24T19:11:16.677Z,1761333076.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440445,0.836311,-0.326484],[-0.767065,0.539512,0.347185],[0.466497,0.097518,0.879131]] 2025-10-24T19:11:16.857Z,1761333076.857 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:11:16.858Z,1761333076.858 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:11:16.859Z,1761333076.859 [DAT](INFO): DAT read: Oct 24 2025 19:11:06 2025-10-24T19:11:17.074Z,1761333077.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442141,0.834724,-0.328248],[-0.766010,0.541791,0.345965],[0.466627,0.098476,0.878955]] 2025-10-24T19:11:17.476Z,1761333077.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443410,0.833774,-0.328950],[-0.765333,0.543216,0.345228],[0.466533,0.098679,0.878982]] 2025-10-24T19:11:17.865Z,1761333077.865 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:11:17.866Z,1761333077.866 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:11:17.867Z,1761333077.867 [DAT](INFO): commRate: 600 2025-10-24T19:11:17.884Z,1761333077.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443853,0.833159,-0.329911],[-0.764925,0.544045,0.344825],[0.466780,0.099306,0.878780]] 2025-10-24T19:11:18.284Z,1761333078.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444192,0.832911,-0.330079],[-0.764754,0.544415,0.344621],[0.466738,0.099351,0.878797]] 2025-10-24T19:11:18.689Z,1761333078.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443983,0.833801,-0.328109],[-0.764955,0.543394,0.345784],[0.466607,0.097466,0.879078]] 2025-10-24T19:11:19.091Z,1761333079.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443698,0.835604,-0.323880],[-0.765150,0.541372,0.348515],[0.466560,0.093181,0.879568]] 2025-10-24T19:11:19.499Z,1761333079.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443829,0.836838,-0.320496],[-0.765189,0.540053,0.350469],[0.466371,0.089692,0.880031]] 2025-10-24T19:11:19.902Z,1761333079.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443829,0.838427,-0.316315],[-0.765290,0.538278,0.352969],[0.466205,0.085415,0.880544]] 2025-10-24T19:11:19.932Z,1761333079.932 [DAT](INFO): entering command mode 2025-10-24T19:11:20.132Z,1761333080.132 [DAT](INFO): DAT read: 2025-10-24T19:11:20.133Z,1761333080.133 [DAT](INFO): DAT read: user:1> 2025-10-24T19:11:20.133Z,1761333080.133 [DAT](INFO): setting verbose to 3 2025-10-24T19:11:20.303Z,1761333080.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443927,0.839657,-0.312899],[-0.765527,0.536873,0.354592],[0.465722,0.082120,0.881112]] 2025-10-24T19:11:20.385Z,1761333080.385 [DAT](INFO): DAT read: user:1> 2025-10-24T19:11:20.386Z,1761333080.386 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:11:20.386Z,1761333080.386 [DAT](INFO): set verbose to 3 2025-10-24T19:11:20.386Z,1761333080.386 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:11:20.637Z,1761333080.637 [DAT](INFO): DAT read: user:2> 2025-10-24T19:11:20.637Z,1761333080.637 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:11:20.638Z,1761333080.638 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:11:20.638Z,1761333080.638 [DAT](INFO): setting transmit power to 8 2025-10-24T19:11:20.708Z,1761333080.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444072,0.841046,-0.308936],[-0.765807,0.535265,0.356415],[0.465124,0.078312,0.881775]] 2025-10-24T19:11:20.889Z,1761333080.889 [DAT](INFO): DAT read: user:3> 2025-10-24T19:11:20.891Z,1761333080.891 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:11:20.896Z,1761333080.896 [DAT](INFO): set transmit power to 8 2025-10-24T19:11:20.897Z,1761333080.897 [DAT](INFO): setting local address to 10 2025-10-24T19:11:21.141Z,1761333081.141 [DAT](INFO): DAT read: user:4> 2025-10-24T19:11:21.142Z,1761333081.142 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:11:21.142Z,1761333081.142 [DAT](INFO): set local address to 10 2025-10-24T19:11:21.143Z,1761333081.143 [DAT](INFO): Setting time to: 19:11:21 And date to:10/24/2025 2025-10-24T19:11:21.393Z,1761333081.393 [DAT](INFO): DAT read: user:5> 2025-10-24T19:11:21.393Z,1761333081.393 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:11:21 2025-10-24T19:11:21.394Z,1761333081.394 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:11:21 2025-10-24T19:11:21.394Z,1761333081.394 [DAT](INFO): setting remote address to 11 2025-10-24T19:11:21.395Z,1761333081.395 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:11:21.395Z,1761333081.395 [DAT](INFO): setting remote address to 0 2025-10-24T19:11:21.645Z,1761333081.645 [DAT](INFO): DAT read: user:6> 2025-10-24T19:11:21.646Z,1761333081.646 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:11:21.647Z,1761333081.647 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:11:21.648Z,1761333081.648 [DAT] Communications Fault, FailCount= 4 2025-10-24T19:11:21.648Z,1761333081.648 [DAT](ERROR): Communications Fault 2025-10-24T19:11:21.649Z,1761333081.649 [DAT](INFO): DAT read: user:7> 2025-10-24T19:11:21.649Z,1761333081.649 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:11:21.650Z,1761333081.650 [DAT](INFO): set remote address to 0 2025-10-24T19:11:21.650Z,1761333081.650 [DAT](INFO): setting remote address to 11 2025-10-24T19:11:21.653Z,1761333081.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:11:21.654Z,1761333081.654 [DAT](INFO): setting remote address to 0 2025-10-24T19:11:21.796Z,1761333081.796 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:11:21.926Z,1761333081.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444188,0.842774,-0.304022],[-0.767304,0.533030,0.356543],[0.462538,0.074905,0.883429]] 2025-10-24T19:11:22.060Z,1761333082.060 [DAT](INFO): Powering down 2025-10-24T19:11:22.326Z,1761333082.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444197,0.843141,-0.302988],[-0.768032,0.532483,0.355793],[0.461320,0.074662,0.884087]] 2025-10-24T19:11:22.729Z,1761333082.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444313,0.843159,-0.302768],[-0.768546,0.532401,0.354806],[0.460352,0.075046,0.884559]] 2025-10-24T19:11:23.131Z,1761333083.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444358,0.843229,-0.302507],[-0.768461,0.532341,0.355078],[0.460449,0.074683,0.884539]] 2025-10-24T19:11:23.272Z,1761333083.272 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:11:23.272Z,1761333083.272 [DAT] No Fault, FailCount= 4 2025-10-24T19:11:23.631Z,1761333083.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444558,0.843208,-0.302271],[-0.768198,0.532446,0.355489],[0.460695,0.074168,0.884454]] 2025-10-24T19:11:23.947Z,1761333083.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444537,0.842766,-0.303533],[-0.768284,0.532947,0.354553],[0.460572,0.075588,0.884398]] 2025-10-24T19:11:24.349Z,1761333084.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444366,0.842813,-0.303653],[-0.768311,0.532855,0.354633],[0.460692,0.075713,0.884325]] 2025-10-24T19:11:24.747Z,1761333084.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444288,0.842560,-0.304468],[-0.768363,0.533125,0.354112],[0.460680,0.076615,0.884253]] 2025-10-24T19:11:25.104Z,1761333085.104 [DAT](INFO): Powering up 2025-10-24T19:11:25.104Z,1761333085.104 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:11:25.151Z,1761333085.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444190,0.842121,-0.305822],[-0.768342,0.533618,0.353414],[0.460809,0.077993,0.884066]] 2025-10-24T19:11:25.556Z,1761333085.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443537,0.842258,-0.306394],[-0.768385,0.533326,0.353763],[0.461367,0.078522,0.883728]] 2025-10-24T19:11:25.582Z,1761333085.582 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, + +41.89, 20.00, 0.00 2025-10-24T19:11:25.961Z,1761333085.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443042,0.842248,-0.307135],[-0.768336,0.533248,0.353987],[0.461924,0.079152,0.883381]] 2025-10-24T19:11:26.365Z,1761333086.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442667,0.841544,-0.309596],[-0.768114,0.534019,0.353306],[0.462653,0.081408,0.882794]] 2025-10-24T19:11:26.767Z,1761333086.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442512,0.841334,-0.310385],[-0.767858,0.534272,0.353479],[0.463224,0.081913,0.882448]] 2025-10-24T19:11:27.183Z,1761333087.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441367,0.841308,-0.312083],[-0.767638,0.534109,0.354202],[0.464680,0.083234,0.881558]] 2025-10-24T19:11:27.983Z,1761333087.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439197,0.841712,-0.314049],[-0.766991,0.533325,0.356777],[0.467793,0.084177,0.879820]] 2025-10-24T19:11:28.389Z,1761333088.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437702,0.842532,-0.313937],[-0.766600,0.532155,0.359355],[0.469831,0.083373,0.878810]] 2025-10-24T19:11:29.603Z,1761333089.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434578,0.845693,-0.309751],[-0.764421,0.528212,0.369666],[0.476238,0.076132,0.876015]] 2025-10-24T19:11:30.002Z,1761333090.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434473,0.846138,-0.308679],[-0.763820,0.527753,0.371559],[0.477297,0.074343,0.875592]] 2025-10-24T19:11:30.405Z,1761333090.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434495,0.846729,-0.307024],[-0.763076,0.527155,0.373929],[0.478466,0.071812,0.875165]] 2025-10-24T19:11:30.808Z,1761333090.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434717,0.847124,-0.305617],[-0.762238,0.526835,0.376082],[0.479598,0.069464,0.874735]] 2025-10-24T19:11:31.246Z,1761333091.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435115,0.847010,-0.305366],[-0.761301,0.527180,0.377493],[0.480723,0.068222,0.874214]] 2025-10-24T19:11:31.619Z,1761333091.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435853,0.846730,-0.305091],[-0.760199,0.527810,0.378833],[0.481799,0.066814,0.873731]] 2025-10-24T19:11:32.019Z,1761333092.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436691,0.846030,-0.305833],[-0.758980,0.528991,0.379629],[0.482960,0.066340,0.873125]] 2025-10-24T19:11:32.426Z,1761333092.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437864,0.844658,-0.307941],[-0.757612,0.531078,0.379447],[0.484044,0.067154,0.872463]] 2025-10-24T19:11:32.831Z,1761333092.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439014,0.842877,-0.311167],[-0.756261,0.533646,0.378538],[0.485114,0.069140,0.871713]] 2025-10-24T19:11:33.253Z,1761333093.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440539,0.840659,-0.314989],[-0.754676,0.536819,0.377212],[0.486199,0.071538,0.870915]] 2025-10-24T19:11:33.639Z,1761333093.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442137,0.837711,-0.320554],[-0.753061,0.540837,0.374692],[0.487251,0.075731,0.869972]] 2025-10-24T19:11:34.043Z,1761333094.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443712,0.834359,-0.327055],[-0.751299,0.545275,0.371786],[0.488538,0.080750,0.868798]] 2025-10-24T19:11:34.450Z,1761333094.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445878,0.831301,-0.331861],[-0.749547,0.549420,0.369211],[0.489256,0.084123,0.868073]] 2025-10-24T19:11:34.854Z,1761333094.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447759,0.828372,-0.336619],[-0.748014,0.553276,0.366552],[0.489885,0.087669,0.867368]] 2025-10-24T19:11:35.260Z,1761333095.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449567,0.825962,-0.340111],[-0.746528,0.556503,0.364692],[0.490495,0.089949,0.866790]] 2025-10-24T19:11:35.658Z,1761333095.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451076,0.823921,-0.343052],[-0.745311,0.559201,0.363051],[0.490960,0.091917,0.866320]] 2025-10-24T19:11:36.061Z,1761333096.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451897,0.823067,-0.344020],[-0.745034,0.560317,0.361898],[0.490626,0.092766,0.866418]] 2025-10-24T19:11:36.464Z,1761333096.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452748,0.822487,-0.344289],[-0.744832,0.561134,0.361045],[0.490147,0.092975,0.866667]] 2025-10-24T19:11:36.867Z,1761333096.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453456,0.822624,-0.343026],[-0.744781,0.561139,0.361142],[0.489570,0.091718,0.867127]] 2025-10-24T19:11:37.281Z,1761333097.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454407,0.822924,-0.341042],[-0.745047,0.560960,0.360873],[0.488282,0.090109,0.868021]] 2025-10-24T19:11:37.468Z,1761333097.468 [DAT](INFO): DAT read: 2025-10-24T19:11:37.469Z,1761333097.469 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:11:37.675Z,1761333097.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455345,0.823218,-0.339076],[-0.745413,0.560763,0.360422],[0.486847,0.088636,0.868978]] 2025-10-24T19:11:38.079Z,1761333098.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456437,0.823793,-0.336199],[-0.745819,0.560286,0.360323],[0.485200,0.086279,0.870136]] 2025-10-24T19:11:38.485Z,1761333098.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457003,0.824594,-0.333456],[-0.746287,0.559449,0.360656],[0.483947,0.084033,0.871054]] 2025-10-24T19:11:38.887Z,1761333098.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457918,0.824755,-0.331799],[-0.746636,0.559386,0.360031],[0.482541,0.082868,0.871944]] 2025-10-24T19:11:39.293Z,1761333099.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458941,0.824311,-0.331488],[-0.746824,0.560025,0.358646],[0.481278,0.082966,0.872633]] 2025-10-24T19:11:39.696Z,1761333099.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459922,0.823924,-0.331090],[-0.746842,0.560623,0.357672],[0.480311,0.082770,0.873184]] 2025-10-24T19:11:39.856Z,1761333099.856 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:11:40.101Z,1761333100.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460508,0.823240,-0.331976],[-0.746834,0.561471,0.356356],[0.479761,0.083826,0.873385]] 2025-10-24T19:11:40.507Z,1761333100.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461239,0.822315,-0.333253],[-0.746445,0.562666,0.355284],[0.479665,0.084884,0.873336]] 2025-10-24T19:11:40.860Z,1761333100.860 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:11:40.907Z,1761333100.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462091,0.821273,-0.334640],[-0.745846,0.564041,0.354361],[0.479777,0.085843,0.873181]] 2025-10-24T19:11:41.311Z,1761333101.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462710,0.819869,-0.337215],[-0.745002,0.565790,0.353347],[0.480492,0.087729,0.872600]] 2025-10-24T19:11:41.725Z,1761333101.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463192,0.818612,-0.339599],[-0.744067,0.567366,0.352790],[0.481475,0.089275,0.871901]] 2025-10-24T19:11:42.123Z,1761333102.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463631,0.817258,-0.342252],[-0.743013,0.569048,0.352301],[0.482678,0.090960,0.871061]] 2025-10-24T19:11:42.524Z,1761333102.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463887,0.815961,-0.344989],[-0.741983,0.570623,0.351925],[0.484015,0.092723,0.870133]] 2025-10-24T19:11:42.934Z,1761333102.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464218,0.814834,-0.347200],[-0.741032,0.572017,0.351665],[0.485152,0.094037,0.869359]] 2025-10-24T19:11:43.014Z,1761333103.014 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:11:43.015Z,1761333103.015 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:11:43.016Z,1761333103.016 [DAT](INFO): DAT read: Oct 24 2025 19:11:33 2025-10-24T19:11:43.335Z,1761333103.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464275,0.814669,-0.347510],[-0.740334,0.572329,0.352625],[0.486163,0.093559,0.868846]] 2025-10-24T19:11:43.737Z,1761333103.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464022,0.814921,-0.347256],[-0.740075,0.572073,0.353584],[0.486799,0.092925,0.868557]] 2025-10-24T19:11:44.021Z,1761333104.021 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:11:44.022Z,1761333104.022 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:11:44.023Z,1761333104.023 [DAT](INFO): commRate: 600 2025-10-24T19:11:44.140Z,1761333104.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464528,0.815420,-0.345404],[-0.739835,0.571707,0.354677],[0.486680,0.090785,0.868850]] 2025-10-24T19:11:44.543Z,1761333104.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464660,0.816962,-0.341562],[-0.739816,0.570137,0.357233],[0.486583,0.086701,0.869321]] 2025-10-24T19:11:44.953Z,1761333104.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465292,0.818304,-0.337465],[-0.740021,0.568802,0.358934],[0.485668,0.082722,0.870221]] 2025-10-24T19:11:45.352Z,1761333105.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466614,0.818848,-0.334304],[-0.740100,0.568443,0.359339],[0.484277,0.079745,0.871273]] 2025-10-24T19:11:45.389Z,1761333105.389 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -101, +16,A 2025-10-24T19:11:45.755Z,1761333105.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467960,0.819193,-0.331567],[-0.740194,0.568292,0.359383],[0.482831,0.077247,0.872300]] 2025-10-24T19:11:46.088Z,1761333106.088 [DAT](INFO): entering command mode 2025-10-24T19:11:46.167Z,1761333106.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472656,0.817386,-0.329357],[-0.739120,0.571223,0.356940],[0.479894,0.074724,0.874138]] 2025-10-24T19:11:46.288Z,1761333106.288 [DAT](INFO): DAT read: 2025-10-24T19:11:46.289Z,1761333106.289 [DAT](INFO): DAT read: user:1> 2025-10-24T19:11:46.289Z,1761333106.289 [DAT](INFO): setting verbose to 3 2025-10-24T19:11:46.541Z,1761333106.541 [DAT](INFO): DAT read: user:1> 2025-10-24T19:11:46.542Z,1761333106.542 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:11:46.542Z,1761333106.542 [DAT](INFO): set verbose to 3 2025-10-24T19:11:46.542Z,1761333106.542 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:11:46.598Z,1761333106.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475017,0.815907,-0.329627],[-0.738214,0.573360,0.355385],[0.478956,0.074522,0.874670]] 2025-10-24T19:11:46.793Z,1761333106.793 [DAT](INFO): DAT read: user:2> 2025-10-24T19:11:46.794Z,1761333106.794 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:11:46.794Z,1761333106.794 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:11:46.794Z,1761333106.794 [DAT](INFO): setting transmit power to 8 2025-10-24T19:11:46.967Z,1761333106.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477543,0.814031,-0.330614],[-0.737288,0.575942,0.353124],[0.477869,0.075126,0.875213]] 2025-10-24T19:11:47.045Z,1761333107.045 [DAT](INFO): DAT read: user:3> 2025-10-24T19:11:47.046Z,1761333107.046 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:11:47.047Z,1761333107.047 [DAT](INFO): set transmit power to 8 2025-10-24T19:11:47.047Z,1761333107.047 [DAT](INFO): setting local address to 10 2025-10-24T19:11:47.297Z,1761333107.297 [DAT](INFO): DAT read: user:4> 2025-10-24T19:11:47.298Z,1761333107.298 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:11:47.298Z,1761333107.298 [DAT](INFO): set local address to 10 2025-10-24T19:11:47.299Z,1761333107.299 [DAT](INFO): Setting time to: 19:11:47 And date to:10/24/2025 2025-10-24T19:11:47.377Z,1761333107.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480371,0.811233,-0.333382],[-0.736157,0.579562,0.349544],[0.476778,0.077511,0.875600]] 2025-10-24T19:11:47.549Z,1761333107.549 [DAT](INFO): DAT read: user:5> 2025-10-24T19:11:47.550Z,1761333107.550 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:11:47 2025-10-24T19:11:47.550Z,1761333107.550 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:11:47 2025-10-24T19:11:47.550Z,1761333107.550 [DAT](INFO): setting remote address to 11 2025-10-24T19:11:47.551Z,1761333107.551 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:11:47.551Z,1761333107.551 [DAT](INFO): setting remote address to 0 2025-10-24T19:11:47.775Z,1761333107.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483144,0.807880,-0.337493],[-0.735031,0.583700,0.344998],[0.475711,0.081384,0.875828]] 2025-10-24T19:11:47.801Z,1761333107.801 [DAT](INFO): DAT read: user:6> 2025-10-24T19:11:47.802Z,1761333107.802 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:11:47.802Z,1761333107.802 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:11:47.802Z,1761333107.802 [DAT] Communications Fault, FailCount= 5 2025-10-24T19:11:47.802Z,1761333107.802 [DAT](ERROR): Communications Fault 2025-10-24T19:11:47.803Z,1761333107.803 [DAT](INFO): DAT read: user:7> 2025-10-24T19:11:47.804Z,1761333107.804 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:11:47.805Z,1761333107.805 [DAT](INFO): set remote address to 0 2025-10-24T19:11:47.805Z,1761333107.805 [DAT](INFO): setting remote address to 11 2025-10-24T19:11:47.805Z,1761333107.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:11:47.805Z,1761333107.805 [DAT](INFO): setting remote address to 0 2025-10-24T19:11:47.885Z,1761333107.885 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:11:48.179Z,1761333108.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485754,0.803933,-0.343126],[-0.733738,0.588365,0.339787],[0.475049,0.086712,0.875677]] 2025-10-24T19:11:48.208Z,1761333108.208 [DAT](INFO): Powering down 2025-10-24T19:11:48.583Z,1761333108.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488112,0.800252,-0.348344],[-0.732463,0.592629,0.335095],[0.474599,0.091585,0.875424]] 2025-10-24T19:11:48.987Z,1761333108.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490104,0.796643,-0.353776],[-0.731197,0.596676,0.330648],[0.474498,0.096628,0.874937]] 2025-10-24T19:11:49.392Z,1761333109.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491726,0.793931,-0.357602],[-0.729981,0.599749,0.327763],[0.474692,0.099873,0.874467]] 2025-10-24T19:11:49.532Z,1761333109.532 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:11:49.532Z,1761333109.532 [DAT] No Fault, FailCount= 5 2025-10-24T19:11:49.795Z,1761333109.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492796,0.791771,-0.360903],[-0.728745,0.602185,0.326043],[0.475482,0.102334,0.873753]] 2025-10-24T19:11:50.201Z,1761333110.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493380,0.790447,-0.363002],[-0.727544,0.603750,0.325830],[0.476713,0.103342,0.872963]] 2025-10-24T19:11:50.603Z,1761333110.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493108,0.790450,-0.363363],[-0.727192,0.603770,0.326578],[0.477531,0.103196,0.872533]] 2025-10-24T19:11:51.007Z,1761333111.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492232,0.791432,-0.362413],[-0.726438,0.602875,0.329895],[0.479579,0.100885,0.871680]] 2025-10-24T19:11:51.408Z,1761333111.408 [DAT](INFO): Powering up 2025-10-24T19:11:51.408Z,1761333111.408 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:11:51.415Z,1761333111.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491745,0.791939,-0.361966],[-0.725696,0.602473,0.332252],[0.481198,0.099294,0.870970]] 2025-10-24T19:11:51.823Z,1761333111.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490687,0.793526,-0.359920],[-0.725290,0.600887,0.335990],[0.482888,0.096180,0.870384]] 2025-10-24T19:11:52.220Z,1761333112.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489533,0.795222,-0.357744],[-0.725140,0.599108,0.339473],[0.484283,0.093231,0.869930]] 2025-10-24T19:11:52.623Z,1761333112.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488655,0.796964,-0.355056],[-0.725016,0.597305,0.342898],[0.485354,0.089862,0.869687]] 2025-10-24T19:11:53.442Z,1761333113.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486793,0.800864,-0.348782],[-0.725443,0.593068,0.349290],[0.486585,0.082989,0.869683]] 2025-10-24T19:11:53.835Z,1761333113.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486447,0.802152,-0.346298],[-0.725508,0.591700,0.351467],[0.486835,0.080272,0.869798]] 2025-10-24T19:11:54.240Z,1761333114.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486127,0.803426,-0.343785],[-0.725654,0.590322,0.353477],[0.486936,0.077634,0.869981]] 2025-10-24T19:11:54.645Z,1761333114.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486010,0.804677,-0.341012],[-0.725580,0.589019,0.355796],[0.487164,0.074511,0.870126]] 2025-10-24T19:11:55.050Z,1761333115.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486284,0.805310,-0.339121],[-0.725225,0.588451,0.357454],[0.487418,0.072114,0.870186]] 2025-10-24T19:11:55.856Z,1761333115.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487737,0.804744,-0.338379],[-0.724226,0.589420,0.357884],[0.487452,0.070510,0.870298]] 2025-10-24T19:11:56.271Z,1761333116.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488925,0.803504,-0.339608],[-0.723818,0.590968,0.356153],[0.486867,0.071683,0.870530]] 2025-10-24T19:11:57.067Z,1761333117.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490334,0.800972,-0.343536],[-0.723500,0.593863,0.351960],[0.485923,0.075971,0.870694]] 2025-10-24T19:11:57.471Z,1761333117.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491817,0.799480,-0.344890],[-0.723151,0.595677,0.349602],[0.484942,0.077467,0.871108]] 2025-10-24T19:11:57.875Z,1761333117.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491825,0.798338,-0.347512],[-0.723292,0.596805,0.347380],[0.484724,0.080502,0.870955]] 2025-10-24T19:11:58.282Z,1761333118.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491585,0.797866,-0.348933],[-0.723556,0.597191,0.346164],[0.484572,0.082304,0.870871]] 2025-10-24T19:11:58.683Z,1761333118.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491425,0.797738,-0.349450],[-0.723798,0.597248,0.345559],[0.484374,0.083115,0.870904]] 2025-10-24T19:11:59.087Z,1761333119.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490514,0.798171,-0.349742],[-0.724182,0.596600,0.345874],[0.484723,0.083620,0.870662]] 2025-10-24T19:11:59.492Z,1761333119.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489567,0.798413,-0.350515],[-0.723996,0.596230,0.346899],[0.485956,0.083941,0.869943]] 2025-10-24T19:12:00.303Z,1761333120.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485439,0.801330,-0.349598],[-0.724742,0.592488,0.351719],[0.488976,0.082630,0.868375]] 2025-10-24T19:12:00.703Z,1761333120.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482840,0.803160,-0.348997],[-0.725212,0.590118,0.354723],[0.490848,0.081822,0.867394]] 2025-10-24T19:12:01.107Z,1761333121.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479974,0.805095,-0.348493],[-0.725737,0.587569,0.357867],[0.492881,0.081147,0.866305]] 2025-10-24T19:12:01.515Z,1761333121.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476724,0.807882,-0.346497],[-0.726310,0.584042,0.362448],[0.495184,0.078876,0.865200]] 2025-10-24T19:12:01.923Z,1761333121.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474661,0.810208,-0.343890],[-0.726387,0.581234,0.366782],[0.497050,0.075700,0.864413]] 2025-10-24T19:12:02.319Z,1761333122.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473410,0.812153,-0.341015],[-0.725951,0.579003,0.371147],[0.498877,0.071856,0.863689]] 2025-10-24T19:12:02.724Z,1761333122.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472464,0.813475,-0.339169],[-0.725160,0.577518,0.374988],[0.500920,0.068783,0.862756]] 2025-10-24T19:12:02.753Z,1761333122.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:12:03.138Z,1761333123.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472179,0.814047,-0.338193],[-0.723729,0.577032,0.378485],[0.503253,0.066047,0.861611]] 2025-10-24T19:12:03.542Z,1761333123.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473655,0.812930,-0.338814],[-0.719590,0.579024,0.383303],[0.507780,0.062254,0.859235]] 2025-10-24T19:12:03.760Z,1761333123.760 [DAT](INFO): DAT read: 2025-10-24T19:12:03.761Z,1761333123.761 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:12:03.951Z,1761333123.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475949,0.810791,-0.340720],[-0.716850,0.582088,0.383796],[0.509508,0.061578,0.858260]] 2025-10-24T19:12:04.340Z,1761333124.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478276,0.807598,-0.345017],[-0.713942,0.586330,0.382757],[0.511408,0.063259,0.857006]] 2025-10-24T19:12:04.743Z,1761333124.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480784,0.804411,-0.348956],[-0.710853,0.590572,0.381985],[0.513356,0.064404,0.855756]] 2025-10-24T19:12:05.148Z,1761333125.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483265,0.800593,-0.354267],[-0.707622,0.595466,0.380383],[0.515486,0.066862,0.854285]] 2025-10-24T19:12:05.554Z,1761333125.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485542,0.796410,-0.360527],[-0.704359,0.600659,0.378269],[0.517811,0.070275,0.852604]] 2025-10-24T19:12:05.965Z,1761333125.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487720,0.791801,-0.367669],[-0.701222,0.606183,0.375274],[0.520017,0.074789,0.850875]] 2025-10-24T19:12:06.360Z,1761333126.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489718,0.787095,-0.375043],[-0.698038,0.611688,0.372263],[0.522416,0.079491,0.848978]] 2025-10-24T19:12:06.772Z,1761333126.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492005,0.782428,-0.381755],[-0.694890,0.617100,0.369209],[0.524461,0.083625,0.847318]] 2025-10-24T19:12:07.187Z,1761333127.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493655,0.778730,-0.387149],[-0.691934,0.621378,0.367583],[0.526814,0.086423,0.845576]] 2025-10-24T19:12:07.571Z,1761333127.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495644,0.775631,-0.390812],[-0.689109,0.625078,0.366614],[0.528645,0.087602,0.844310]] 2025-10-24T19:12:07.976Z,1761333127.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497880,0.773783,-0.391631],[-0.686560,0.627574,0.367133],[0.529859,0.086090,0.843705]] 2025-10-24T19:12:08.380Z,1761333128.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500523,0.772316,-0.391158],[-0.684299,0.629709,0.367697],[0.530294,0.083629,0.843679]] 2025-10-24T19:12:08.797Z,1761333128.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503701,0.769928,-0.391786],[-0.682029,0.632772,0.366655],[0.530209,0.082525,0.843841]] 2025-10-24T19:12:09.232Z,1761333129.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506883,0.767501,-0.392444],[-0.679977,0.635815,0.365198],[0.529812,0.081740,0.844167]] 2025-10-24T19:12:09.305Z,1761333129.305 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:12:09.306Z,1761333129.306 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:12:09.307Z,1761333129.307 [DAT](INFO): DAT read: Oct 24 2025 19:11:59 2025-10-24T19:12:09.627Z,1761333129.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510791,0.764345,-0.393534],[-0.677764,0.639637,0.362631],[0.528894,0.081495,0.844766]] 2025-10-24T19:12:10.026Z,1761333130.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515231,0.760889,-0.394444],[-0.675588,0.643766,0.359368],[0.527368,0.081324,0.845736]] 2025-10-24T19:12:10.314Z,1761333130.314 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:12:10.315Z,1761333130.315 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:12:10.315Z,1761333130.315 [DAT](INFO): commRate: 600 2025-10-24T19:12:10.427Z,1761333130.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519710,0.757378,-0.395323],[-0.673644,0.647872,0.355619],[0.525457,0.081488,0.846909]] 2025-10-24T19:12:10.836Z,1761333130.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524012,0.752958,-0.398076],[-0.672065,0.652656,0.349814],[0.523202,0.084226,0.848036]] 2025-10-24T19:12:10.984Z,1761333130.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:12:11.253Z,1761333131.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528333,0.747808,-0.402055],[-0.670563,0.657981,0.342646],[0.520778,0.088572,0.849085]] 2025-10-24T19:12:11.639Z,1761333131.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532677,0.742835,-0.405526],[-0.669120,0.663045,0.335634],[0.518203,0.092561,0.850234]] 2025-10-24T19:12:11.988Z,1761333131.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:12:12.053Z,1761333132.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536926,0.738713,-0.407448],[-0.668194,0.667216,0.329149],[0.515003,0.095526,0.851849]] 2025-10-24T19:12:12.384Z,1761333132.384 [DAT](INFO): entering command mode 2025-10-24T19:12:12.584Z,1761333132.584 [DAT](INFO): DAT read: 2025-10-24T19:12:12.585Z,1761333132.585 [DAT](INFO): DAT read: user:1> 2025-10-24T19:12:12.585Z,1761333132.585 [DAT](INFO): setting verbose to 3 2025-10-24T19:12:12.837Z,1761333132.837 [DAT](INFO): DAT read: user:1> 2025-10-24T19:12:12.837Z,1761333132.837 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:12:12.838Z,1761333132.838 [DAT](INFO): set verbose to 3 2025-10-24T19:12:12.838Z,1761333132.838 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:12:12.871Z,1761333132.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545040,0.732092,-0.408623],[-0.667490,0.673821,0.316894],[0.507335,0.100032,0.855924]] 2025-10-24T19:12:13.089Z,1761333133.089 [DAT](INFO): DAT read: user:2> 2025-10-24T19:12:13.090Z,1761333133.090 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:12:13.090Z,1761333133.090 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:12:13.090Z,1761333133.090 [DAT](INFO): setting transmit power to 8 2025-10-24T19:12:13.269Z,1761333133.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549306,0.729298,-0.407906],[-0.667396,0.676642,0.311027],[0.502838,0.101386,0.858414]] 2025-10-24T19:12:13.341Z,1761333133.341 [DAT](INFO): DAT read: user:3> 2025-10-24T19:12:13.342Z,1761333133.342 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:12:13.342Z,1761333133.342 [DAT](INFO): set transmit power to 8 2025-10-24T19:12:13.342Z,1761333133.342 [DAT](INFO): setting local address to 10 2025-10-24T19:12:13.593Z,1761333133.593 [DAT](INFO): DAT read: user:4> 2025-10-24T19:12:13.594Z,1761333133.594 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:12:13.594Z,1761333133.594 [DAT](INFO): set local address to 10 2025-10-24T19:12:13.595Z,1761333133.595 [DAT](INFO): Setting time to: 19:12:13 And date to:10/24/2025 2025-10-24T19:12:13.845Z,1761333133.845 [DAT](INFO): DAT read: user:5> 2025-10-24T19:12:13.846Z,1761333133.846 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:12:13 2025-10-24T19:12:13.847Z,1761333133.847 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:12:13 2025-10-24T19:12:13.847Z,1761333133.847 [DAT](INFO): setting remote address to 11 2025-10-24T19:12:13.849Z,1761333133.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:12:13.849Z,1761333133.849 [DAT](INFO): setting remote address to 0 2025-10-24T19:12:14.073Z,1761333134.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557469,0.726085,-0.402527],[-0.667850,0.680232,0.302092],[0.493157,0.100421,0.864125]] 2025-10-24T19:12:14.097Z,1761333134.097 [DAT](INFO): DAT read: user:6> 2025-10-24T19:12:14.098Z,1761333134.098 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:12:14.099Z,1761333134.099 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:12:14.099Z,1761333134.099 [DAT] Communications Fault, FailCount= 6 2025-10-24T19:12:14.099Z,1761333134.099 [DAT](ERROR): Communications Fault 2025-10-24T19:12:14.100Z,1761333134.100 [DAT](INFO): DAT read: user:7> 2025-10-24T19:12:14.101Z,1761333134.101 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:12:14.101Z,1761333134.101 [DAT](INFO): set remote address to 0 2025-10-24T19:12:14.101Z,1761333134.101 [DAT](INFO): setting remote address to 11 2025-10-24T19:12:14.104Z,1761333134.104 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:12:14.105Z,1761333134.105 [DAT](INFO): setting remote address to 0 2025-10-24T19:12:14.194Z,1761333134.194 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:12:14.475Z,1761333134.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561642,0.724847,-0.398942],[-0.668268,0.681710,0.297809],[0.487828,0.099338,0.867269]] 2025-10-24T19:12:14.508Z,1761333134.508 [DAT](INFO): Powering down 2025-10-24T19:12:14.887Z,1761333134.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565931,0.723537,-0.395243],[-0.668927,0.683201,0.292870],[0.481933,0.098644,0.870638]] 2025-10-24T19:12:15.286Z,1761333135.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569781,0.722694,-0.391234],[-0.670049,0.684177,0.287985],[0.475799,0.098057,0.874071]] 2025-10-24T19:12:15.448Z,1761333135.448 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:12:15.448Z,1761333135.448 [DAT] No Fault, FailCount= 6 2025-10-24T19:12:15.687Z,1761333135.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573312,0.722285,-0.386806],[-0.671568,0.684700,0.283166],[0.469372,0.097424,0.877609]] 2025-10-24T19:12:16.092Z,1761333136.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576959,0.722386,-0.381152],[-0.673448,0.684789,0.278447],[0.462155,0.096034,0.881584]] 2025-10-24T19:12:16.497Z,1761333136.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580323,0.722362,-0.376056],[-0.675692,0.684849,0.272804],[0.454605,0.095784,0.885528]] 2025-10-24T19:12:16.898Z,1761333136.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583938,0.722535,-0.370079],[-0.678123,0.684763,0.266926],[0.446280,0.095091,0.889827]] 2025-10-24T19:12:17.305Z,1761333137.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587397,0.722317,-0.364998],[-0.680534,0.684935,0.260264],[0.437993,0.095515,0.893890]] 2025-10-24T19:12:17.556Z,1761333137.556 [DAT](INFO): Powering up 2025-10-24T19:12:17.556Z,1761333137.556 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:12:17.713Z,1761333137.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591154,0.722247,-0.359021],[-0.682930,0.685044,0.253618],[0.429120,0.095259,0.898211]] 2025-10-24T19:12:18.113Z,1761333138.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594724,0.722301,-0.352966],[-0.685168,0.685067,0.247445],[0.420534,0.094679,0.902323]] 2025-10-24T19:12:18.515Z,1761333138.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598987,0.721527,-0.347295],[-0.687003,0.685864,0.240037],[0.411390,0.094814,0.906514]] 2025-10-24T19:12:18.932Z,1761333138.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607887,0.719393,-0.336077],[-0.690032,0.688030,0.224658],[0.392848,0.095337,0.914648]] 2025-10-24T19:12:19.330Z,1761333139.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612681,0.717808,-0.330718],[-0.691300,0.689546,0.215941],[0.383050,0.096322,0.918692]] 2025-10-24T19:12:19.734Z,1761333139.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617896,0.716178,-0.324489],[-0.692244,0.691217,0.207404],[0.372831,0.096471,0.922871]] 2025-10-24T19:12:20.131Z,1761333140.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623752,0.713494,-0.319156],[-0.692680,0.693764,0.197196],[0.362117,0.098071,0.926959]] 2025-10-24T19:12:20.537Z,1761333140.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629273,0.710474,-0.315028],[-0.692948,0.696447,0.186505],[0.351907,0.100935,0.930577]] 2025-10-24T19:12:20.950Z,1761333140.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635135,0.707373,-0.310205],[-0.692898,0.699260,0.175863],[0.341315,0.103244,0.934262]] 2025-10-24T19:12:21.345Z,1761333141.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641496,0.703645,-0.305561],[-0.692068,0.702676,0.165191],[0.330946,0.105499,0.937734]] 2025-10-24T19:12:21.747Z,1761333141.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648175,0.699659,-0.300578],[-0.690960,0.706291,0.154037],[0.320069,0.107845,0.941236]] 2025-10-24T19:12:22.151Z,1761333142.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654617,0.695804,-0.295522],[-0.689599,0.709798,0.143668],[0.309726,0.109744,0.944471]] 2025-10-24T19:12:22.563Z,1761333142.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660214,0.692866,-0.289922],[-0.688679,0.712489,0.134463],[0.299732,0.110889,0.947557]] 2025-10-24T19:12:22.965Z,1761333142.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666463,0.688922,-0.284980],[-0.687082,0.715937,0.123905],[0.289388,0.113227,0.950491]] 2025-10-24T19:12:23.363Z,1761333143.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672064,0.685703,-0.279538],[-0.685890,0.718721,0.114000],[0.279080,0.115117,0.953343]] 2025-10-24T19:12:24.172Z,1761333144.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682049,0.680211,-0.268556],[-0.684030,0.723277,0.094729],[0.258676,0.119090,0.958595]] 2025-10-24T19:12:24.582Z,1761333144.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686408,0.677893,-0.263260],[-0.683354,0.725082,0.085344],[0.248739,0.121319,0.960943]] 2025-10-24T19:12:24.979Z,1761333144.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690338,0.676130,-0.257453],[-0.682941,0.726449,0.076572],[0.238799,0.122965,0.963252]] 2025-10-24T19:12:25.383Z,1761333145.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693951,0.674850,-0.251015],[-0.682594,0.727543,0.068901],[0.229122,0.123527,0.965528]] 2025-10-24T19:12:25.787Z,1761333145.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697110,0.673715,-0.245246],[-0.682463,0.728370,0.061007],[0.219731,0.124843,0.967539]] 2025-10-24T19:12:26.193Z,1761333146.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699960,0.673129,-0.238650],[-0.682475,0.728896,0.054203],[0.210437,0.124932,0.969592]] 2025-10-24T19:12:26.595Z,1761333146.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702565,0.672644,-0.232279],[-0.682440,0.729365,0.047980],[0.201690,0.124807,0.971465]] 2025-10-24T19:12:27.000Z,1761333147.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704938,0.672420,-0.225640],[-0.682425,0.729714,0.042577],[0.193283,0.123968,0.973280]] 2025-10-24T19:12:27.410Z,1761333147.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707366,0.671668,-0.220216],[-0.682144,0.730314,0.036345],[0.185239,0.124510,0.974774]] 2025-10-24T19:12:27.809Z,1761333147.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709771,0.670849,-0.214911],[-0.681704,0.730996,0.030404],[0.177495,0.124926,0.976160]] 2025-10-24T19:12:28.211Z,1761333148.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712471,0.669509,-0.210102],[-0.680757,0.732103,0.024416],[0.170163,0.125633,0.977375]] 2025-10-24T19:12:28.615Z,1761333148.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715410,0.667788,-0.205544],[-0.679440,0.733505,0.018233],[0.162944,0.126611,0.978478]] 2025-10-24T19:12:29.028Z,1761333149.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718476,0.665717,-0.201527],[-0.677800,0.735149,0.011997],[0.156139,0.127975,0.979409]] 2025-10-24T19:12:29.427Z,1761333149.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721537,0.663604,-0.197519],[-0.675960,0.736910,0.006514],[0.149876,0.128814,0.980277]] 2025-10-24T19:12:29.463Z,1761333149.463 [lineCaptureHoming:InitialDive:C.Pitch] Stopped 2025-10-24T19:12:29.464Z,1761333149.464 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive 2025-10-24T19:12:29.464Z,1761333149.464 [lineCaptureHoming:InitialDive] Stopped 2025-10-24T19:12:29.464Z,1761333149.464 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive 2025-10-24T19:12:29.465Z,1761333149.465 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped 2025-10-24T19:12:29.465Z,1761333149.465 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize. 2025-10-24T19:12:29.465Z,1761333149.465 [lineCaptureHoming:InitialDive:B.Mass] Stopped 2025-10-24T19:12:29.465Z,1761333149.465 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize. 2025-10-24T19:12:29.465Z,1761333149.465 [lineCaptureHoming:RepeatHack] Running Loop=1 2025-10-24T19:12:29.465Z,1761333149.465 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack 2025-10-24T19:12:29.465Z,1761333149.465 [lineCaptureHoming:RepeatHack:A] Running Loop=1 2025-10-24T19:12:29.828Z,1761333149.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725099,0.660979,-0.193233],[-0.673564,0.739129,0.000767],[0.143331,0.129599,0.981153]] 2025-10-24T19:12:29.854Z,1761333149.854 [lineCaptureHoming:RepeatHack] Stopped 2025-10-24T19:12:29.854Z,1761333149.854 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack 2025-10-24T19:12:29.854Z,1761333149.854 [lineCaptureHoming:RepeatHack:A] Stopped 2025-10-24T19:12:29.854Z,1761333149.854 [lineCaptureHoming:Lap] Running Loop=1 2025-10-24T19:12:29.854Z,1761333149.854 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap 2025-10-24T19:12:29.854Z,1761333149.854 [lineCaptureHoming:Lap:A] Running Loop=1 2025-10-24T19:12:29.921Z,1761333149.921 [DAT](INFO): DAT read: 2025-10-24T19:12:29.923Z,1761333149.923 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:12:30.311Z,1761333150.311 [lineCaptureHoming:Lap:A] Stopped 2025-10-24T19:12:30.311Z,1761333150.311 [lineCaptureHoming:Lap:B] Running Loop=1 2025-10-24T19:12:30.311Z,1761333150.311 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B 2025-10-24T19:12:30.638Z,1761333150.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732028,0.655449,-0.185798],[-0.668449,0.743690,-0.010076],[0.131572,0.131572,0.982536]] 2025-10-24T19:12:30.655Z,1761333150.655 [lineCaptureHoming:LineCapture] Running Loop=1 2025-10-24T19:12:30.656Z,1761333150.656 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture 2025-10-24T19:12:30.656Z,1761333150.656 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-24T19:12:30.656Z,1761333150.656 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-24T19:12:30.656Z,1761333150.656 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-24T19:12:30.656Z,1761333150.656 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-24T19:12:30.656Z,1761333150.656 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-24T19:12:30.656Z,1761333150.656 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize. 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-24T19:12:30.657Z,1761333150.657 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-24T19:12:30.658Z,1761333150.658 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-24T19:12:30.658Z,1761333150.658 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-24T19:12:30.658Z,1761333150.658 [lineCaptureHoming:LineCapture:A] Running Loop=1 2025-10-24T19:12:30.659Z,1761333150.659 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-24T19:12:30.659Z,1761333150.659 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-24T19:12:30.659Z,1761333150.659 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-24T19:12:30.659Z,1761333150.659 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-24T19:12:30.659Z,1761333150.659 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-24T19:12:30.660Z,1761333150.660 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-24T19:12:30.660Z,1761333150.660 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-24T19:12:30.661Z,1761333150.661 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-24T19:12:30.661Z,1761333150.661 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-24T19:12:30.661Z,1761333150.661 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-24T19:12:30.661Z,1761333150.661 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-24T19:12:30.662Z,1761333150.662 [lineCaptureHoming:LineCapture:A] Stopped 2025-10-24T19:12:30.662Z,1761333150.662 [lineCaptureHoming:LineCapture:B] Running Loop=1 2025-10-24T19:12:31.038Z,1761333151.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734475,0.652580,-0.186242],[-0.666556,0.745252,-0.017353],[0.127473,0.136886,0.982351]] 2025-10-24T19:12:31.080Z,1761333151.080 [lineCaptureHoming:LineCapture:B] Stopped 2025-10-24T19:12:31.080Z,1761333151.080 [lineCaptureHoming:LineCapture:D] Running Loop=1 2025-10-24T19:12:31.444Z,1761333151.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737639,0.648571,-0.187735],[-0.663952,0.747283,-0.027114],[0.122706,0.144648,0.981845]] 2025-10-24T19:12:31.499Z,1761333151.499 [lineCaptureHoming:LineCapture:D] Stopped 2025-10-24T19:12:31.499Z,1761333151.499 [lineCaptureHoming:LineCapture:E] Running Loop=1 2025-10-24T19:12:31.847Z,1761333151.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742013,0.643512,-0.187905],[-0.660054,0.750311,-0.036903],[0.117240,0.151410,0.981494]] 2025-10-24T19:12:31.866Z,1761333151.866 [lineCaptureHoming:LineCapture:E] Stopped 2025-10-24T19:12:31.866Z,1761333151.866 [lineCaptureHoming:LineCapture:F] Running Loop=1 2025-10-24T19:12:32.253Z,1761333152.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746233,0.639122,-0.186169],[-0.656356,0.753072,-0.045605],[0.111052,0.156225,0.981459]] 2025-10-24T19:12:32.271Z,1761333152.271 [lineCaptureHoming:LineCapture:F] Stopped 2025-10-24T19:12:32.271Z,1761333152.271 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1 2025-10-24T19:12:32.272Z,1761333152.272 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-24T19:12:32.272Z,1761333152.272 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-24T19:12:32.272Z,1761333152.272 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-24T19:12:32.272Z,1761333152.272 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2025-10-24T19:12:32.272Z,1761333152.272 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-24T19:12:32.273Z,1761333152.273 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2025-10-24T19:12:32.273Z,1761333152.273 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-24T19:12:32.273Z,1761333152.273 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-24T19:12:32.273Z,1761333152.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-24T19:12:32.273Z,1761333152.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-24T19:12:32.273Z,1761333152.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-24T19:12:32.273Z,1761333152.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-24T19:12:32.273Z,1761333152.273 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-24T19:12:32.274Z,1761333152.274 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-24T19:12:32.274Z,1761333152.274 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-24T19:12:32.274Z,1761333152.274 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-24T19:12:32.274Z,1761333152.274 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-24T19:12:32.274Z,1761333152.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-24T19:12:32.274Z,1761333152.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-24T19:12:32.274Z,1761333152.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-24T19:12:32.274Z,1761333152.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-24T19:12:32.275Z,1761333152.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-24T19:12:32.276Z,1761333152.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-24T19:12:32.657Z,1761333152.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750791,0.634455,-0.183795],[-0.652191,0.756127,-0.054031],[0.104692,0.160435,0.981479]] 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-24T19:12:32.693Z,1761333152.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-24T19:12:32.694Z,1761333152.694 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-24T19:12:32.695Z,1761333152.695 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-24T19:12:32.695Z,1761333152.695 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-24T19:12:32.697Z,1761333152.697 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.420231 m. 2025-10-24T19:12:33.058Z,1761333153.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755188,0.630564,-0.179110],[-0.648202,0.759035,-0.060823],[0.097598,0.162032,0.981947]] 2025-10-24T19:12:33.685Z,1761333153.685 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-24T19:12:33.805Z,1761333153.805 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-24T19:12:33.870Z,1761333153.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763596,0.623048,-0.169506],[-0.640378,0.764365,-0.075248],[0.082681,0.166006,0.982652]] 2025-10-24T19:12:34.271Z,1761333154.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767558,0.619770,-0.163522],[-0.636595,0.766872,-0.081574],[0.074843,0.166710,0.983161]] 2025-10-24T19:12:34.675Z,1761333154.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770505,0.617649,-0.157581],[-0.633889,0.768474,-0.087369],[0.067134,0.167207,0.983633]] 2025-10-24T19:12:35.081Z,1761333155.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773443,0.615454,-0.151664],[-0.631102,0.770021,-0.093689],[0.059123,0.168179,0.983982]] 2025-10-24T19:12:35.477Z,1761333155.477 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:12:35.478Z,1761333155.478 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:12:35.479Z,1761333155.479 [DAT](INFO): DAT read: Oct 24 2025 19:12:25 2025-10-24T19:12:36.294Z,1761333156.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781741,0.610176,-0.128709],[-0.622930,0.773672,-0.115715],[0.028972,0.170636,0.984908]] 2025-10-24T19:12:36.485Z,1761333156.485 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:12:36.487Z,1761333156.487 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:12:36.487Z,1761333156.487 [DAT](INFO): commRate: 600 2025-10-24T19:12:36.703Z,1761333156.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786610,0.607295,-0.111525],[-0.617427,0.775225,-0.133456],[0.005410,0.173837,0.984760]] 2025-10-24T19:12:37.104Z,1761333157.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789196,0.605545,-0.102402],[-0.614104,0.776239,-0.142582],[-0.006852,0.175411,0.984471]] 2025-10-24T19:12:37.504Z,1761333157.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791274,0.604353,-0.092969],[-0.611165,0.776954,-0.151064],[-0.019063,0.176353,0.984142]] 2025-10-24T19:12:37.593Z,1761333157.593 [DockingStepper](INFO): Changing to mode: 3 2025-10-24T19:12:37.907Z,1761333157.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793775,0.602473,-0.083353],[-0.607383,0.778063,-0.160323],[-0.031736,0.177887,0.983539]] 2025-10-24T19:12:38.321Z,1761333158.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795553,0.601312,-0.074290],[-0.604291,0.778591,-0.169199],[-0.043900,0.179499,0.982778]] 2025-10-24T19:12:38.552Z,1761333158.552 [DAT](INFO): entering command mode 2025-10-24T19:12:38.715Z,1761333158.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798002,0.599112,-0.065248],[-0.600024,0.779744,-0.178802],[-0.056246,0.181834,0.981719]] 2025-10-24T19:12:38.752Z,1761333158.752 [DAT](INFO): DAT read: 2025-10-24T19:12:38.753Z,1761333158.753 [DAT](INFO): DAT read: user:1> 2025-10-24T19:12:38.753Z,1761333158.753 [DAT](INFO): setting verbose to 3 2025-10-24T19:12:39.005Z,1761333159.005 [DAT](INFO): DAT read: user:1> 2025-10-24T19:12:39.006Z,1761333159.006 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:12:39.006Z,1761333159.006 [DAT](INFO): set verbose to 3 2025-10-24T19:12:39.006Z,1761333159.006 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:12:39.126Z,1761333159.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800253,0.597064,-0.055767],[-0.595760,0.781006,-0.187349],[-0.068305,0.183151,0.980709]] 2025-10-24T19:12:39.257Z,1761333159.257 [DAT](INFO): DAT read: user:2> 2025-10-24T19:12:39.258Z,1761333159.258 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:12:39.258Z,1761333159.258 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:12:39.258Z,1761333159.258 [DAT](INFO): setting transmit power to 8 2025-10-24T19:12:39.509Z,1761333159.509 [DAT](INFO): DAT read: user:3> 2025-10-24T19:12:39.510Z,1761333159.510 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:12:39.510Z,1761333159.510 [DAT](INFO): set transmit power to 8 2025-10-24T19:12:39.510Z,1761333159.510 [DAT](INFO): setting local address to 10 2025-10-24T19:12:39.546Z,1761333159.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802553,0.594727,-0.046998],[-0.591207,0.782301,-0.196162],[-0.079897,0.185216,0.979445]] 2025-10-24T19:12:39.761Z,1761333159.761 [DAT](INFO): DAT read: user:4> 2025-10-24T19:12:39.761Z,1761333159.761 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:12:39.762Z,1761333159.762 [DAT](INFO): set local address to 10 2025-10-24T19:12:39.763Z,1761333159.763 [DAT](INFO): Setting time to: 19:12:39 And date to:10/24/2025 2025-10-24T19:12:39.936Z,1761333159.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804857,0.592270,-0.037696],[-0.586439,0.783971,-0.203665],[-0.091072,0.186027,0.978315]] 2025-10-24T19:12:40.013Z,1761333160.013 [DAT](INFO): DAT read: user:5> 2025-10-24T19:12:40.014Z,1761333160.014 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:12:39 2025-10-24T19:12:40.014Z,1761333160.014 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:12:39 2025-10-24T19:12:40.015Z,1761333160.015 [DAT](INFO): setting remote address to 11 2025-10-24T19:12:40.015Z,1761333160.015 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:12:40.015Z,1761333160.015 [DAT](INFO): setting remote address to 0 2025-10-24T19:12:40.265Z,1761333160.265 [DAT](INFO): DAT read: user:6> 2025-10-24T19:12:40.267Z,1761333160.267 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:12:40.267Z,1761333160.267 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:12:40.267Z,1761333160.267 [DAT] Communications Fault, FailCount= 7 2025-10-24T19:12:40.267Z,1761333160.267 [DAT](ERROR): Communications Fault 2025-10-24T19:12:40.268Z,1761333160.268 [DAT](INFO): DAT read: user:7> 2025-10-24T19:12:40.269Z,1761333160.269 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:12:40.269Z,1761333160.269 [DAT](INFO): set remote address to 0 2025-10-24T19:12:40.270Z,1761333160.270 [DAT](INFO): setting remote address to 11 2025-10-24T19:12:40.270Z,1761333160.270 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:12:40.270Z,1761333160.270 [DAT](INFO): setting remote address to 0 2025-10-24T19:12:40.335Z,1761333160.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806912,0.589978,-0.028622],[-0.581865,0.785610,-0.210358],[-0.101621,0.186395,0.977205]] 2025-10-24T19:12:40.501Z,1761333160.501 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:12:40.672Z,1761333160.672 [DAT](INFO): Powering down 2025-10-24T19:12:40.749Z,1761333160.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.809480,0.586815,-0.019731],[-0.576338,0.787712,-0.217587],[-0.112141,0.187504,0.975842]] 2025-10-24T19:12:41.141Z,1761333161.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811522,0.584203,-0.011758],[-0.571477,0.789327,-0.224446],[-0.121840,0.188862,0.974416]] 2025-10-24T19:12:41.543Z,1761333161.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813783,0.581157,-0.003569],[-0.566102,0.791283,-0.231083],[-0.131471,0.190072,0.972928]] 2025-10-24T19:12:41.685Z,1761333161.685 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:12:41.685Z,1761333161.685 [DAT] No Fault, FailCount= 7 2025-10-24T19:12:41.955Z,1761333161.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815835,0.578268,0.004415],[-0.560902,0.793146,-0.237296],[-0.140722,0.191118,0.971427]] 2025-10-24T19:12:42.113Z,1761333162.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:12:42.355Z,1761333162.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817850,0.575293,0.012641],[-0.555645,0.795248,-0.242567],[-0.149600,0.191360,0.970052]] 2025-10-24T19:12:42.762Z,1761333162.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819566,0.572621,0.020427],[-0.550780,0.797132,-0.247432],[-0.157967,0.191536,0.968690]] 2025-10-24T19:12:43.117Z,1761333163.117 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:12:43.166Z,1761333163.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821479,0.569586,0.027292],[-0.545498,0.798881,-0.253419],[-0.166147,0.193290,0.966972]] 2025-10-24T19:12:43.563Z,1761333163.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822743,0.567378,0.034285],[-0.541320,0.800500,-0.257240],[-0.173397,0.193084,0.965739]] 2025-10-24T19:12:43.720Z,1761333163.720 [DAT](INFO): Powering up 2025-10-24T19:12:43.720Z,1761333163.720 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:12:43.973Z,1761333163.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824232,0.564745,0.041292],[-0.536620,0.802300,-0.261444],[-0.180778,0.193332,0.964335]] 2025-10-24T19:12:44.372Z,1761333164.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825134,0.562875,0.048227],[-0.532908,0.803847,-0.264271],[-0.187519,0.192358,0.963242]] 2025-10-24T19:12:44.776Z,1761333164.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826344,0.560479,0.054944],[-0.528636,0.805615,-0.267449],[-0.194163,0.191960,0.962004]] 2025-10-24T19:12:45.201Z,1761333165.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827179,0.558670,0.060525],[-0.525075,0.806788,-0.270906],[-0.200178,0.192307,0.960701]] 2025-10-24T19:12:45.584Z,1761333165.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828270,0.556470,0.065648],[-0.520985,0.807936,-0.275342],[-0.206259,0.193856,0.959102]] 2025-10-24T19:12:45.994Z,1761333165.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828925,0.554708,0.071982],[-0.517619,0.809470,-0.277180],[-0.212021,0.192503,0.958118]] 2025-10-24T19:12:46.395Z,1761333166.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829808,0.552552,0.078141],[-0.513845,0.811168,-0.279231],[-0.217675,0.191556,0.957039]] 2025-10-24T19:12:46.795Z,1761333166.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831090,0.549965,0.082631],[-0.509475,0.812481,-0.283390],[-0.222990,0.193424,0.955438]] 2025-10-24T19:12:47.247Z,1761333167.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832359,0.547316,0.087309],[-0.505067,0.813913,-0.287147],[-0.228222,0.194913,0.953899]] 2025-10-24T19:12:47.605Z,1761333167.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833317,0.544985,0.092594],[-0.501364,0.815663,-0.288666],[-0.232844,0.194127,0.952942]] 2025-10-24T19:12:48.009Z,1761333168.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834583,0.541960,0.098745],[-0.496993,0.818068,-0.289418],[-0.237633,0.192468,0.952096]] 2025-10-24T19:12:48.419Z,1761333168.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836114,0.538445,0.104838],[-0.492444,0.820955,-0.289018],[-0.241687,0.190025,0.951566]] 2025-10-24T19:12:48.597Z,1761333168.597 [DockingStepper](FAULT): Timed out moving from: 3280 to: 3000 response: ÿ 2025-10-24T19:12:48.597Z,1761333168.597 [DockingStepper] Hardware Fault, FailCount= 1 2025-10-24T19:12:48.597Z,1761333168.597 [DockingStepper](ERROR): Hardware Fault 2025-10-24T19:12:48.602Z,1761333168.602 [CBIT](ERROR): Hardware Fault in component: DockingStepper 2025-10-24T19:12:48.816Z,1761333168.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837079,0.535890,0.110098],[-0.488931,0.823086,-0.288922],[-0.245450,0.188020,0.951001]] 2025-10-24T19:12:48.881Z,1761333168.881 [DockingStepper](DEBUG): Uninitialize Docking Stepper. 2025-10-24T19:12:48.881Z,1761333168.881 [DockingStepper](INFO): Powering down 2025-10-24T19:12:49.624Z,1761333169.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840810,0.528384,0.117685],[-0.479075,0.827536,-0.292698],[-0.252045,0.189723,0.948935]] 2025-10-24T19:12:50.029Z,1761333170.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842981,0.523918,0.122037],[-0.473716,0.830476,-0.293091],[-0.254905,0.189259,0.948264]] 2025-10-24T19:12:50.432Z,1761333170.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845125,0.519586,0.125678],[-0.468586,0.833194,-0.293622],[-0.257276,0.189256,0.947624]] 2025-10-24T19:12:50.837Z,1761333170.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847441,0.514890,0.129353],[-0.463293,0.836227,-0.293400],[-0.259238,0.188711,0.947198]] 2025-10-24T19:12:51.253Z,1761333171.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849801,0.510242,0.132252],[-0.458098,0.839038,-0.293532],[-0.260737,0.188859,0.946757]] 2025-10-24T19:12:51.643Z,1761333171.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852282,0.505505,0.134463],[-0.452659,0.841575,-0.294706],[-0.262136,0.190307,0.946080]] 2025-10-24T19:12:52.049Z,1761333172.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854811,0.500684,0.136433],[-0.447327,0.844196,-0.295351],[-0.263054,0.191439,0.945597]] 2025-10-24T19:12:52.455Z,1761333172.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857395,0.495712,0.138361],[-0.441946,0.846920,-0.295652],[-0.263739,0.192342,0.945223]] 2025-10-24T19:12:52.856Z,1761333172.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859940,0.490689,0.140455],[-0.436789,0.849874,-0.294837],[-0.264042,0.192193,0.945168]] 2025-10-24T19:12:53.259Z,1761333173.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862266,0.485607,0.143817],[-0.432167,0.853555,-0.290990],[-0.264062,0.188758,0.945855]] 2025-10-24T19:12:53.667Z,1761333173.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864463,0.481212,0.145391],[-0.428031,0.856276,-0.289102],[-0.263615,0.187686,0.946193]] 2025-10-24T19:12:54.076Z,1761333174.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868641,0.473884,0.144554],[-0.420554,0.859501,-0.290502],[-0.261909,0.191549,0.945892]] 2025-10-24T19:12:54.470Z,1761333174.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870398,0.470846,0.143916],[-0.417721,0.860936,-0.290343],[-0.260609,0.192597,0.946039]] 2025-10-24T19:12:54.878Z,1761333174.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871805,0.468114,0.144312],[-0.415584,0.862758,-0.287991],[-0.259319,0.191098,0.946697]] 2025-10-24T19:12:55.310Z,1761333175.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873095,0.465699,0.144327],[-0.413986,0.864493,-0.285074],[-0.257529,0.189147,0.947577]] 2025-10-24T19:12:55.686Z,1761333175.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874405,0.463318,0.144058],[-0.412387,0.866111,-0.282469],[-0.255643,0.187585,0.948398]] 2025-10-24T19:12:56.085Z,1761333176.085 [DAT](INFO): DAT read: 2025-10-24T19:12:56.086Z,1761333176.086 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:12:56.090Z,1761333176.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875388,0.461888,0.142672],[-0.411584,0.866908,-0.281192],[-0.253563,0.187431,0.948987]] 2025-10-24T19:12:56.491Z,1761333176.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876284,0.461053,0.139842],[-0.410890,0.866717,-0.282789],[-0.251585,0.190344,0.948933]] 2025-10-24T19:12:56.895Z,1761333176.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877049,0.460587,0.136545],[-0.410654,0.866290,-0.284436],[-0.249295,0.193392,0.948921]] 2025-10-24T19:12:57.301Z,1761333177.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877646,0.460023,0.134593],[-0.410761,0.866579,-0.283402],[-0.247007,0.193441,0.949509]] 2025-10-24T19:12:57.703Z,1761333177.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878183,0.459501,0.132866],[-0.411009,0.866987,-0.281791],[-0.244676,0.192855,0.950232]] 2025-10-24T19:12:58.108Z,1761333178.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878690,0.459210,0.130499],[-0.411264,0.866951,-0.281529],[-0.242417,0.193707,0.950637]] 2025-10-24T19:12:58.514Z,1761333178.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879309,0.458858,0.127532],[-0.411454,0.866782,-0.281769],[-0.239835,0.195289,0.950969]] 2025-10-24T19:12:58.922Z,1761333178.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879936,0.458243,0.125402],[-0.411443,0.867000,-0.281115],[-0.237543,0.195767,0.951446]] 2025-10-24T19:12:59.320Z,1761333179.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880965,0.456733,0.123680],[-0.410720,0.867884,-0.279440],[-0.234969,0.195379,0.952164]] 2025-10-24T19:12:59.726Z,1761333179.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881775,0.455460,0.122593],[-0.410422,0.868987,-0.276434],[-0.232436,0.193437,0.953182]] 2025-10-24T19:13:00.131Z,1761333180.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883103,0.453096,0.121791],[-0.408944,0.870587,-0.273575],[-0.229985,0.191790,0.954109]] 2025-10-24T19:13:00.547Z,1761333180.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884323,0.451151,0.120150],[-0.407737,0.871655,-0.271969],[-0.227429,0.191519,0.954776]] 2025-10-24T19:13:00.941Z,1761333180.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885961,0.448541,0.117828],[-0.405481,0.872515,-0.272585],[-0.225072,0.193722,0.954890]] 2025-10-24T19:13:01.339Z,1761333181.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887830,0.445426,0.115556],[-0.402879,0.873731,-0.272547],[-0.222364,0.195420,0.955178]] 2025-10-24T19:13:01.634Z,1761333181.634 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:13:01.635Z,1761333181.635 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:13:01.636Z,1761333181.636 [DAT](INFO): DAT read: Oct 24 2025 19:12:51 2025-10-24T19:13:01.748Z,1761333181.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889660,0.442003,0.114624],[-0.400289,0.875714,-0.269989],[-0.219713,0.194315,0.956017]] 2025-10-24T19:13:02.151Z,1761333182.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891689,0.437870,0.114719],[-0.397136,0.878399,-0.265892],[-0.217196,0.191534,0.957152]] 2025-10-24T19:13:02.552Z,1761333182.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893300,0.434738,0.114094],[-0.395003,0.880466,-0.262206],[-0.214447,0.189161,0.958244]] 2025-10-24T19:13:02.641Z,1761333182.641 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:13:02.643Z,1761333182.643 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:13:02.643Z,1761333182.643 [DAT](INFO): commRate: 600 2025-10-24T19:13:02.958Z,1761333182.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895104,0.431487,0.112280],[-0.392438,0.881994,-0.260921],[-0.211615,0.189488,0.958808]] 2025-10-24T19:13:02.979Z,1761333182.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:13:03.360Z,1761333183.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896518,0.429207,0.109716],[-0.390743,0.882815,-0.260687],[-0.208748,0.190839,0.959169]] 2025-10-24T19:13:04.169Z,1761333184.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899765,0.423769,0.104126],[-0.386498,0.884684,-0.260680],[-0.202587,0.194307,0.959794]] 2025-10-24T19:13:04.717Z,1761333184.717 [DAT](INFO): entering command mode 2025-10-24T19:13:04.917Z,1761333184.917 [DAT](INFO): DAT read: 2025-10-24T19:13:04.917Z,1761333184.917 [DAT](INFO): DAT read: user:1> 2025-10-24T19:13:04.918Z,1761333184.918 [DAT](INFO): setting verbose to 3 2025-10-24T19:13:04.997Z,1761333184.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902339,0.418858,0.101692],[-0.383321,0.887703,-0.255046],[-0.197100,0.191157,0.961567]] 2025-10-24T19:13:05.169Z,1761333185.169 [DAT](INFO): DAT read: user:1> 2025-10-24T19:13:05.170Z,1761333185.170 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:13:05.170Z,1761333185.170 [DAT](INFO): set verbose to 3 2025-10-24T19:13:05.170Z,1761333185.170 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:13:05.385Z,1761333185.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903164,0.417528,0.099829],[-0.382777,0.888502,-0.253073],[-0.194364,0.190354,0.962283]] 2025-10-24T19:13:05.421Z,1761333185.421 [DAT](INFO): DAT read: user:2> 2025-10-24T19:13:05.422Z,1761333185.422 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:13:05.422Z,1761333185.422 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:13:05.422Z,1761333185.422 [DAT](INFO): setting transmit power to 8 2025-10-24T19:13:05.673Z,1761333185.673 [DAT](INFO): DAT read: user:3> 2025-10-24T19:13:05.674Z,1761333185.674 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:13:05.674Z,1761333185.674 [DAT](INFO): set transmit power to 8 2025-10-24T19:13:05.674Z,1761333185.674 [DAT](INFO): setting local address to 10 2025-10-24T19:13:05.783Z,1761333185.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903730,0.417102,0.096426],[-0.382866,0.888238,-0.253863],[-0.191536,0.192505,0.962422]] 2025-10-24T19:13:05.925Z,1761333185.925 [DAT](INFO): DAT read: user:4> 2025-10-24T19:13:05.926Z,1761333185.926 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:13:05.927Z,1761333185.927 [DAT](INFO): set local address to 10 2025-10-24T19:13:05.929Z,1761333185.929 [DAT](INFO): Setting time to: 19:13:5 And date to:10/24/2025 2025-10-24T19:13:06.181Z,1761333186.181 [DAT](INFO): DAT read: user:5> 2025-10-24T19:13:06.182Z,1761333186.182 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:13:05 2025-10-24T19:13:06.182Z,1761333186.182 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:13:05 2025-10-24T19:13:06.183Z,1761333186.183 [DAT](INFO): setting remote address to 11 2025-10-24T19:13:06.183Z,1761333186.183 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:13:06.183Z,1761333186.183 [DAT](INFO): setting remote address to 0 2025-10-24T19:13:06.203Z,1761333186.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904119,0.417061,0.092891],[-0.383346,0.887774,-0.254762],[-0.188717,0.194725,0.962532]] 2025-10-24T19:13:06.433Z,1761333186.433 [DAT](INFO): DAT read: user:6> 2025-10-24T19:13:06.434Z,1761333186.434 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:13:06.434Z,1761333186.434 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:13:06.434Z,1761333186.434 [DAT] Communications Fault, FailCount= 8 2025-10-24T19:13:06.434Z,1761333186.434 [DAT](ERROR): Communications Fault 2025-10-24T19:13:06.435Z,1761333186.435 [DAT](INFO): DAT read: user:7> 2025-10-24T19:13:06.436Z,1761333186.436 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:13:06.437Z,1761333186.437 [DAT](INFO): set remote address to 0 2025-10-24T19:13:06.437Z,1761333186.437 [DAT](INFO): setting remote address to 11 2025-10-24T19:13:06.437Z,1761333186.437 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:13:06.437Z,1761333186.437 [DAT](INFO): setting remote address to 0 2025-10-24T19:13:06.593Z,1761333186.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904293,0.417342,0.089884],[-0.384422,0.887607,-0.253720],[-0.185670,0.194884,0.963092]] 2025-10-24T19:13:06.661Z,1761333186.661 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:13:06.661Z,1761333186.661 [CBIT](FAULT): Communications Fault in component: DAT 2025-10-24T19:13:06.840Z,1761333186.840 [DAT](INFO): Powering down 2025-10-24T19:13:06.994Z,1761333186.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904010,0.418414,0.087723],[-0.386374,0.887461,-0.251253],[-0.182979,0.193241,0.963938]] 2025-10-24T19:13:07.406Z,1761333187.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903753,0.419481,0.085247],[-0.388297,0.887207,-0.249176],[-0.180156,0.192092,0.964699]] 2025-10-24T19:13:07.807Z,1761333187.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903078,0.421567,0.082044],[-0.391245,0.886328,-0.247691],[-0.177136,0.191585,0.965359]] 2025-10-24T19:13:08.207Z,1761333188.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902620,0.423284,0.078151],[-0.393608,0.885154,-0.248145],[-0.174211,0.193220,0.965566]] 2025-10-24T19:13:09.017Z,1761333189.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901198,0.427814,0.069410],[-0.399200,0.881714,-0.251435],[-0.168768,0.198884,0.965382]] 2025-10-24T19:13:09.424Z,1761333189.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900385,0.430148,0.065422],[-0.402138,0.880128,-0.252307],[-0.166110,0.200865,0.965433]] 2025-10-24T19:13:09.546Z,1761333189.546 [CBIT](INFO): Clearing failed state for component DockingStepper 2025-10-24T19:13:09.546Z,1761333189.546 [DockingStepper] No Fault, FailCount= 1 2025-10-24T19:13:09.823Z,1761333189.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899280,0.432904,0.062370],[-0.405565,0.878743,-0.251649],[-0.163747,0.201007,0.965807]] 2025-10-24T19:13:09.930Z,1761333189.930 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-24T19:13:10.046Z,1761333190.046 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-24T19:13:10.227Z,1761333190.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898277,0.435311,0.060021],[-0.408661,0.877763,-0.250056],[-0.161537,0.200091,0.966369]] 2025-10-24T19:13:10.633Z,1761333190.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897364,0.437463,0.058004],[-0.411445,0.876930,-0.248407],[-0.159534,0.199047,0.966917]] 2025-10-24T19:13:11.041Z,1761333191.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895910,0.440891,0.054421],[-0.416100,0.875750,-0.244790],[-0.155585,0.196665,0.968048]] 2025-10-24T19:13:11.444Z,1761333191.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895562,0.441696,0.053611],[-0.417096,0.875359,-0.244493],[-0.154920,0.196597,0.968168]] 2025-10-24T19:13:11.845Z,1761333191.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895189,0.442611,0.052266],[-0.418312,0.874875,-0.244148],[-0.153789,0.196695,0.968329]] 2025-10-24T19:13:12.249Z,1761333192.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895396,0.442346,0.050959],[-0.418242,0.874782,-0.244602],[-0.152776,0.197703,0.968284]] 2025-10-24T19:13:12.651Z,1761333192.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895476,0.442352,0.049462],[-0.418498,0.874572,-0.244917],[-0.151598,0.198617,0.968282]] 2025-10-24T19:13:13.056Z,1761333193.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895649,0.442099,0.048592],[-0.418490,0.874692,-0.244500],[-0.150596,0.198651,0.968431]] 2025-10-24T19:13:13.252Z,1761333193.252 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:13:13.460Z,1761333193.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896152,0.441138,0.048039],[-0.417834,0.875315,-0.243391],[-0.149419,0.198043,0.968738]] 2025-10-24T19:13:13.565Z,1761333193.565 [DockingStepper](INFO): Changing to mode: 3 2025-10-24T19:13:13.862Z,1761333193.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896301,0.440953,0.046955],[-0.417873,0.875303,-0.243365],[-0.148412,0.198507,0.968798]] 2025-10-24T19:13:13.904Z,1761333193.904 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-24T19:13:14.256Z,1761333194.256 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:13:14.269Z,1761333194.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896816,0.440025,0.045808],[-0.417082,0.875470,-0.244123],[-0.147524,0.199828,0.968662]] 2025-10-24T19:13:14.673Z,1761333194.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897354,0.439047,0.044650],[-0.416258,0.875673,-0.244799],[-0.146577,0.201086,0.968545]] 2025-10-24T19:13:15.079Z,1761333195.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897835,0.438107,0.044214],[-0.415598,0.876298,-0.243682],[-0.145503,0.200411,0.968847]] 2025-10-24T19:13:15.480Z,1761333195.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898311,0.437101,0.044494],[-0.414894,0.877249,-0.241450],[-0.144570,0.198437,0.969393]] 2025-10-24T19:13:15.883Z,1761333195.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898773,0.436153,0.044470],[-0.414210,0.878011,-0.239850],[-0.143656,0.197151,0.969791]] 2025-10-24T19:13:16.289Z,1761333196.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899271,0.435247,0.043266],[-0.413549,0.878292,-0.239960],[-0.142442,0.197897,0.969818]] 2025-10-24T19:13:16.691Z,1761333196.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899836,0.434183,0.042196],[-0.412631,0.878550,-0.240594],[-0.141533,0.199084,0.969708]] 2025-10-24T19:13:17.096Z,1761333197.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900249,0.433466,0.040733],[-0.412166,0.878658,-0.240995],[-0.140253,0.200167,0.969671]] 2025-10-24T19:13:17.506Z,1761333197.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900183,0.433687,0.039825],[-0.412681,0.878638,-0.240185],[-0.139157,0.199776,0.969910]] 2025-10-24T19:13:17.909Z,1761333197.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900018,0.434115,0.038879],[-0.413435,0.878563,-0.239164],[-0.137982,0.199178,0.970201]] 2025-10-24T19:13:18.308Z,1761333198.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899671,0.434958,0.037471],[-0.414631,0.878175,-0.238514],[-0.136650,0.199048,0.970416]] 2025-10-24T19:13:18.713Z,1761333198.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899617,0.435212,0.035779],[-0.415107,0.877733,-0.239312],[-0.135556,0.200437,0.970283]] 2025-10-24T19:13:19.115Z,1761333199.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899280,0.436053,0.033967],[-0.416096,0.876875,-0.240739],[-0.134760,0.202358,0.969995]] 2025-10-24T19:13:19.522Z,1761333199.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899051,0.436636,0.032506],[-0.416905,0.876377,-0.241149],[-0.133782,0.203253,0.969944]] 2025-10-24T19:13:19.935Z,1761333199.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898576,0.437725,0.030958],[-0.418392,0.875887,-0.240353],[-0.132324,0.203023,0.970192]] 2025-10-24T19:13:20.333Z,1761333200.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897992,0.438990,0.029981],[-0.419957,0.875405,-0.239377],[-0.131329,0.202368,0.970464]] 2025-10-24T19:13:20.731Z,1761333200.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897325,0.440431,0.028789],[-0.421774,0.874877,-0.238111],[-0.130058,0.201520,0.970811]] 2025-10-24T19:13:21.142Z,1761333201.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896872,0.441414,0.027818],[-0.422986,0.874408,-0.237684],[-0.129242,0.201405,0.970944]] 2025-10-24T19:13:21.608Z,1761333201.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896763,0.441728,0.026298],[-0.423449,0.873872,-0.238827],[-0.128477,0.203036,0.970706]] 2025-10-24T19:13:21.957Z,1761333201.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896716,0.441903,0.024926],[-0.423762,0.873434,-0.239874],[-0.127773,0.204536,0.970484]] 2025-10-24T19:13:22.349Z,1761333202.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896796,0.441801,0.023846],[-0.423866,0.873345,-0.240011],[-0.126863,0.205133,0.970477]] 2025-10-24T19:13:22.752Z,1761333202.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896585,0.442279,0.022919],[-0.424595,0.873144,-0.239456],[-0.125918,0.204961,0.970637]] 2025-10-24T19:13:23.160Z,1761333203.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897070,0.441308,0.022638],[-0.423845,0.873801,-0.238385],[-0.124982,0.204253,0.970907]] 2025-10-24T19:13:23.559Z,1761333203.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897319,0.440787,0.022915],[-0.423517,0.874459,-0.236547],[-0.124305,0.202553,0.971350]] 2025-10-24T19:13:23.969Z,1761333203.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898150,0.439088,0.022990],[-0.421970,0.875470,-0.235569],[-0.123563,0.201875,0.971586]] 2025-10-24T19:13:24.367Z,1761333204.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898733,0.437904,0.022773],[-0.420957,0.876165,-0.234799],[-0.122772,0.201435,0.971777]] 2025-10-24T19:13:24.772Z,1761333204.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899042,0.437298,0.022240],[-0.420483,0.876411,-0.234731],[-0.122138,0.201681,0.971806]] 2025-10-24T19:13:25.176Z,1761333205.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899497,0.436405,0.021342],[-0.419797,0.876745,-0.234709],[-0.121139,0.202161,0.971832]] 2025-10-24T19:13:25.586Z,1761333205.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900140,0.435114,0.020605],[-0.418644,0.877200,-0.235069],[-0.120356,0.202969,0.971760]] 2025-10-24T19:13:25.983Z,1761333205.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901065,0.433234,0.019751],[-0.416869,0.877788,-0.236026],[-0.119592,0.204442,0.971546]] 2025-10-24T19:13:26.793Z,1761333206.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902442,0.430418,0.018394],[-0.414358,0.878872,-0.236414],[-0.117922,0.205729,0.971478]] 2025-10-24T19:13:27.195Z,1761333207.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902714,0.429847,0.018436],[-0.414017,0.879529,-0.234559],[-0.117040,0.204107,0.971927]] 2025-10-24T19:13:28.009Z,1761333208.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902917,0.429494,0.016636],[-0.414202,0.879803,-0.233201],[-0.114795,0.203670,0.972286]] 2025-10-24T19:13:28.420Z,1761333208.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903578,0.428183,0.014345],[-0.413398,0.880188,-0.233177],[-0.112469,0.204763,0.972328]] 2025-10-24T19:13:28.816Z,1761333208.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903756,0.427839,0.013410],[-0.413266,0.880279,-0.233068],[-0.111520,0.205095,0.972368]] 2025-10-24T19:13:29.216Z,1761333209.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903800,0.427777,0.012314],[-0.413483,0.880295,-0.232623],[-0.110351,0.205153,0.972489]] 2025-10-24T19:13:29.621Z,1761333209.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903755,0.427895,0.011479],[-0.413825,0.880266,-0.232123],[-0.109429,0.205032,0.972619]] 2025-10-24T19:13:30.030Z,1761333210.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904177,0.427028,0.010540],[-0.413168,0.880561,-0.232174],[-0.108425,0.205571,0.972617]] 2025-10-24T19:13:30.430Z,1761333210.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904425,0.426526,0.009574],[-0.412895,0.880730,-0.232019],[-0.107394,0.205891,0.972664]] 2025-10-24T19:13:30.832Z,1761333210.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904824,0.425696,0.008723],[-0.412247,0.880997,-0.232156],[-0.106513,0.206465,0.972639]] 2025-10-24T19:13:31.238Z,1761333211.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905006,0.425328,0.007696],[-0.412147,0.881152,-0.231745],[-0.105349,0.206559,0.972746]] 2025-10-24T19:13:31.641Z,1761333211.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905048,0.425246,0.007311],[-0.412239,0.881333,-0.230891],[-0.104629,0.205954,0.972952]] 2025-10-24T19:13:32.045Z,1761333212.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905177,0.424985,0.006541],[-0.412216,0.881522,-0.230209],[-0.103602,0.205684,0.973119]] 2025-10-24T19:13:32.448Z,1761333212.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905341,0.424639,0.006198],[-0.412018,0.881783,-0.229565],[-0.102947,0.205281,0.973274]] 2025-10-24T19:13:32.851Z,1761333212.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905926,0.423400,0.005530],[-0.410965,0.882316,-0.229402],[-0.102008,0.205549,0.973316]] 2025-10-24T19:13:33.263Z,1761333213.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906363,0.422469,0.005058],[-0.410199,0.882781,-0.228986],[-0.101205,0.205470,0.973417]] 2025-10-24T19:13:33.659Z,1761333213.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907138,0.420809,0.004482],[-0.408709,0.883493,-0.228904],[-0.100285,0.205816,0.973439]] 2025-10-24T19:13:34.063Z,1761333214.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907693,0.419617,0.003875],[-0.407728,0.884085,-0.228369],[-0.099253,0.205709,0.973567]] 2025-10-24T19:13:34.081Z,1761333214.081 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby. 2025-10-24T19:13:34.470Z,1761333214.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908494,0.417884,0.003441],[-0.406150,0.884863,-0.228167],[-0.098392,0.205891,0.973616]] 2025-10-24T19:13:34.577Z,1761333214.577 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T19:13:34.871Z,1761333214.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909496,0.415702,0.002978],[-0.404117,0.885785,-0.228196],[-0.097499,0.206340,0.973611]] 2025-10-24T19:13:35.278Z,1761333215.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910392,0.413741,0.002302],[-0.402328,0.886550,-0.228388],[-0.096534,0.206996,0.973568]] 2025-10-24T19:13:35.680Z,1761333215.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911511,0.411273,0.001478],[-0.400051,0.887462,-0.228846],[-0.095430,0.208004,0.973462]] 2025-10-24T19:13:36.086Z,1761333216.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912080,0.410012,0.000523],[-0.399055,0.887997,-0.228511],[-0.094156,0.208212,0.973541]] 2025-10-24T19:13:36.491Z,1761333216.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912713,0.408601,-0.000202],[-0.397886,0.888667,-0.227942],[-0.092958,0.208126,0.973675]] 2025-10-24T19:13:36.892Z,1761333216.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913012,0.407932,-0.000885],[-0.397508,0.889190,-0.226560],[-0.091634,0.207203,0.973997]] 2025-10-24T19:13:37.296Z,1761333217.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913581,0.406653,-0.001434],[-0.396458,0.889880,-0.225689],[-0.090501,0.206754,0.974198]] 2025-10-24T19:13:37.701Z,1761333217.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913906,0.405919,-0.002299],[-0.396040,0.890394,-0.224389],[-0.089037,0.205981,0.974497]] 2025-10-24T19:13:38.105Z,1761333218.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914448,0.404693,-0.002841],[-0.395041,0.891069,-0.223472],[-0.087906,0.205476,0.974706]] 2025-10-24T19:13:38.507Z,1761333218.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914928,0.403600,-0.003776],[-0.394246,0.891640,-0.222593],[-0.086471,0.205146,0.974904]] 2025-10-24T19:13:38.913Z,1761333218.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915617,0.402028,-0.004314],[-0.392867,0.892368,-0.222114],[-0.085446,0.205066,0.975011]] 2025-10-24T19:13:39.324Z,1761333219.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916104,0.400905,-0.005354],[-0.392040,0.892886,-0.221493],[-0.084017,0.205010,0.975147]] 2025-10-24T19:13:39.722Z,1761333219.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916249,0.400567,-0.005840],[-0.391904,0.893221,-0.220380],[-0.083060,0.204211,0.975397]] 2025-10-24T19:13:40.124Z,1761333220.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916671,0.399585,-0.006802],[-0.391191,0.893674,-0.219810],[-0.081754,0.204154,0.975519]] 2025-10-24T19:13:40.527Z,1761333220.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916691,0.399525,-0.007587],[-0.391378,0.893843,-0.218788],[-0.080629,0.203531,0.975743]] 2025-10-24T19:13:40.937Z,1761333220.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917116,0.398534,-0.008270],[-0.390574,0.894265,-0.218501],[-0.079684,0.203621,0.975802]] 2025-10-24T19:13:41.353Z,1761333221.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917360,0.397952,-0.009164],[-0.390219,0.894511,-0.218125],[-0.078606,0.203675,0.975878]] 2025-10-24T19:13:41.739Z,1761333221.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917949,0.396576,-0.009876],[-0.389000,0.894975,-0.218402],[-0.077774,0.204324,0.975809]] 2025-10-24T19:13:42.143Z,1761333222.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918297,0.395760,-0.010261],[-0.388298,0.895324,-0.218221],[-0.077177,0.204376,0.975845]] 2025-10-24T19:13:42.547Z,1761333222.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918548,0.395166,-0.010696],[-0.387820,0.895571,-0.218055],[-0.076589,0.204442,0.975878]] 2025-10-24T19:13:42.957Z,1761333222.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918656,0.394898,-0.011302],[-0.387721,0.895733,-0.217565],[-0.075793,0.204249,0.975980]] 2025-10-24T19:13:43.385Z,1761333223.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918647,0.394912,-0.011520],[-0.387831,0.895849,-0.216890],[-0.075333,0.203713,0.976128]] 2025-10-24T19:13:43.759Z,1761333223.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918975,0.394136,-0.011880],[-0.387160,0.896177,-0.216735],[-0.074776,0.203774,0.976158]] 2025-10-24T19:13:44.164Z,1761333224.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919097,0.393845,-0.012078],[-0.386954,0.896383,-0.216250],[-0.074342,0.203428,0.976263]] 2025-10-24T19:13:44.394Z,1761333224.394 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:13:44.567Z,1761333224.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919524,0.392845,-0.012194],[-0.385994,0.896771,-0.216357],[-0.074060,0.203652,0.976238]] 2025-10-24T19:13:44.972Z,1761333224.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919630,0.392595,-0.012271],[-0.385804,0.896976,-0.215847],[-0.073734,0.203234,0.976350]] 2025-10-24T19:13:45.397Z,1761333225.397 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:13:45.415Z,1761333225.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920301,0.391006,-0.012699],[-0.384356,0.897647,-0.215640],[-0.072917,0.203334,0.976390]] 2025-10-24T19:13:45.791Z,1761333225.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920511,0.390515,-0.012526],[-0.383866,0.897931,-0.215330],[-0.072842,0.203022,0.976461]] 2025-10-24T19:13:45.808Z,1761333225.808 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby. 2025-10-24T19:13:46.188Z,1761333226.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920908,0.389571,-0.012763],[-0.382997,0.898314,-0.215281],[-0.072402,0.203142,0.976469]] 2025-10-24T19:13:46.213Z,1761333226.213 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2025-10-24T19:13:46.213Z,1761333226.213 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2025-10-24T19:13:46.214Z,1761333226.214 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2025-10-24T19:13:46.587Z,1761333226.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921146,0.388997,-0.013096],[-0.382508,0.898533,-0.215237],[-0.071959,0.203273,0.976474]] 2025-10-24T19:13:46.640Z,1761333226.640 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2025-10-24T19:13:46.641Z,1761333226.641 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2025-10-24T19:13:46.641Z,1761333226.641 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2025-10-24T19:13:46.993Z,1761333226.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921476,0.388201,-0.013452],[-0.381799,0.898820,-0.215296],[-0.071487,0.203526,0.976456]] 2025-10-24T19:13:47.010Z,1761333227.010 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2025-10-24T19:13:47.011Z,1761333227.011 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-24T19:13:47.011Z,1761333227.011 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2025-10-24T19:13:47.011Z,1761333227.011 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-24T19:13:47.011Z,1761333227.011 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-24T19:13:47.490Z,1761333227.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921574,0.387957,-0.013811],[-0.381642,0.898914,-0.215179],[-0.071066,0.203574,0.976477]] 2025-10-24T19:13:47.621Z,1761333227.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-24T19:13:47.621Z,1761333227.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-24T19:13:47.621Z,1761333227.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-24T19:13:47.621Z,1761333227.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-24T19:13:47.621Z,1761333227.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-24T19:13:47.622Z,1761333227.622 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-24T19:13:47.622Z,1761333227.622 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-24T19:13:47.622Z,1761333227.622 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-24T19:13:47.622Z,1761333227.622 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-24T19:13:47.622Z,1761333227.622 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-24T19:13:47.622Z,1761333227.622 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-24T19:13:47.623Z,1761333227.623 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-24T19:13:47.624Z,1761333227.624 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg ) 2025-10-24T19:13:47.624Z,1761333227.624 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-24T19:13:47.624Z,1761333227.624 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-10-24T19:13:47.624Z,1761333227.624 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-10-24T19:13:47.626Z,1761333227.626 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630 2025-10-24T19:13:47.799Z,1761333227.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921974,0.386994,-0.014127],[-0.380743,0.899215,-0.215518],[-0.070701,0.204081,0.976398]] 2025-10-24T19:13:47.832Z,1761333227.832 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630 2025-10-24T19:13:47.854Z,1761333227.854 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-10-24T19:13:47.854Z,1761333227.854 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-24T19:13:47.855Z,1761333227.855 [HorizontalControl](DEBUG): kdHeading = 0.050000 2025-10-24T19:13:48.210Z,1761333228.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921967,0.386988,-0.014743],[-0.380876,0.899204,-0.215326],[-0.070072,0.204139,0.976431]] 2025-10-24T19:13:48.607Z,1761333228.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922266,0.386253,-0.015295],[-0.380247,0.899385,-0.215680],[-0.069551,0.204731,0.976344]] 2025-10-24T19:13:49.023Z,1761333229.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922112,0.386593,-0.016011],[-0.380751,0.899261,-0.215307],[-0.068838,0.204633,0.976415]] 2025-10-24T19:13:49.464Z,1761333229.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922135,0.386523,-0.016367],[-0.380757,0.899263,-0.215290],[-0.068497,0.204758,0.976413]] 2025-10-24T19:13:49.909Z,1761333229.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921634,0.387684,-0.017104],[-0.382100,0.898901,-0.214422],[-0.067753,0.204154,0.976591]] 2025-10-24T19:13:50.313Z,1761333230.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921369,0.388301,-0.017353],[-0.382794,0.898744,-0.213841],[-0.067439,0.203669,0.976714]] 2025-10-24T19:13:50.716Z,1761333230.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921053,0.389082,-0.016639],[-0.383620,0.899106,-0.210819],[-0.067065,0.200559,0.977383]] 2025-10-24T19:13:51.122Z,1761333231.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921002,0.389282,-0.014647],[-0.383753,0.900172,-0.205973],[-0.066997,0.195323,0.978448]] 2025-10-24T19:13:51.525Z,1761333231.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921252,0.388791,-0.011693],[-0.383157,0.901908,-0.199380],[-0.066972,0.188159,0.979852]] 2025-10-24T19:13:51.935Z,1761333231.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921472,0.388362,-0.007963],[-0.382571,0.903798,-0.191804],[-0.067292,0.179788,0.981401]] 2025-10-24T19:13:53.140Z,1761333233.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922940,0.384879,-0.007102],[-0.379451,0.906507,-0.185099],[-0.064803,0.173530,0.982694]] 2025-10-24T19:13:53.953Z,1761333233.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925071,0.379658,-0.010204],[-0.374677,0.907881,-0.188066],[-0.062137,0.177798,0.982103]] 2025-10-24T19:13:54.352Z,1761333234.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926868,0.375225,-0.011015],[-0.370438,0.909507,-0.188609],[-0.060753,0.178896,0.981991]] 2025-10-24T19:13:55.159Z,1761333235.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931170,0.364466,-0.009350],[-0.360001,0.915105,-0.181612],[-0.057635,0.172477,0.983326]] 2025-10-24T19:13:55.969Z,1761333235.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936764,0.349847,-0.008968],[-0.345650,0.920906,-0.180163],[-0.054771,0.171870,0.983596]] 2025-10-24T19:13:56.372Z,1761333236.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939988,0.341034,-0.010867],[-0.337063,0.923152,-0.184873],[-0.053016,0.177442,0.982702]] 2025-10-24T19:13:56.777Z,1761333236.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943822,0.330168,-0.013779],[-0.326437,0.925053,-0.194204],[-0.051374,0.187792,0.980864]] 2025-10-24T19:13:57.180Z,1761333237.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947419,0.319503,-0.017761],[-0.316228,0.926324,-0.204752],[-0.048966,0.199602,0.978653]] 2025-10-24T19:13:57.653Z,1761333237.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954723,0.296450,-0.024920],[-0.294459,0.929721,-0.221161],[-0.042394,0.218486,0.974919]] 2025-10-24T19:13:58.049Z,1761333238.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958313,0.284481,-0.026575],[-0.283101,0.932851,-0.222805],[-0.038593,0.221040,0.974501]] 2025-10-24T19:13:58.445Z,1761333238.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961659,0.272902,-0.027120],[-0.272045,0.936761,-0.220157],[-0.034677,0.219094,0.975087]] 2025-10-24T19:13:58.848Z,1761333238.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964859,0.261270,-0.028017],[-0.260993,0.940503,-0.217573],[-0.030495,0.217239,0.975642]] 2025-10-24T19:13:59.257Z,1761333239.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968214,0.248391,-0.029370],[-0.248747,0.943940,-0.217032],[-0.026186,0.217439,0.975723]] 2025-10-24T19:13:59.657Z,1761333239.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971295,0.235800,-0.031385],[-0.236898,0.946859,-0.217572],[-0.021587,0.218762,0.975540]] 2025-10-24T19:14:00.059Z,1761333240.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974438,0.222053,-0.034116],[-0.224046,0.949307,-0.220497],[-0.016575,0.222504,0.974791]] 2025-10-24T19:14:00.464Z,1761333240.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977416,0.208094,-0.036816],[-0.211018,0.951669,-0.223154],[-0.011400,0.225883,0.974088]] 2025-10-24T19:14:00.878Z,1761333240.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980440,0.192915,-0.039009],[-0.196715,0.954004,-0.226228],[-0.006428,0.229477,0.973293]] 2025-10-24T19:14:01.272Z,1761333241.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983211,0.177596,-0.041905],[-0.182471,0.955960,-0.229881],[-0.000767,0.233668,0.972316]] 2025-10-24T19:14:01.679Z,1761333241.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985917,0.161208,-0.044486],[-0.167162,0.957764,-0.233977],[0.004888,0.238118,0.971224]] 2025-10-24T19:14:02.080Z,1761333242.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988471,0.144010,-0.046751],[-0.151038,0.959447,-0.238012],[0.010579,0.242329,0.970136]] 2025-10-24T19:14:02.496Z,1761333242.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990846,0.126134,-0.048107],[-0.134070,0.961129,-0.241365],[0.015793,0.245605,0.969241]] 2025-10-24T19:14:02.990Z,1761333242.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992985,0.107613,-0.048989],[-0.116390,0.962598,-0.244661],[0.020828,0.248646,0.968370]] 2025-10-24T19:14:03.037Z,1761333243.037 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:14:03.391Z,1761333243.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994882,0.088409,-0.048929],[-0.097838,0.963868,-0.247763],[0.025257,0.251282,0.967584]] 2025-10-24T19:14:03.796Z,1761333243.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996481,0.068553,-0.048233],[-0.078510,0.964911,-0.250565],[0.029364,0.253470,0.966897]] 2025-10-24T19:14:04.201Z,1761333244.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997717,0.048536,-0.046962],[-0.058894,0.965603,-0.253261],[0.033055,0.255449,0.966257]] 2025-10-24T19:14:04.603Z,1761333244.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998608,0.027395,-0.045062],[-0.038079,0.965729,-0.256746],[0.036484,0.258104,0.965428]] 2025-10-24T19:14:05.013Z,1761333245.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999057,0.006611,-0.042922],[-0.017554,0.965482,-0.259879],[0.039722,0.260387,0.964687]] 2025-10-24T19:14:05.422Z,1761333245.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999094,-0.015062,-0.039805],[0.004089,0.964929,-0.262478],[0.042363,0.262077,0.964117]] 2025-10-24T19:14:06.246Z,1761333246.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997750,-0.059241,-0.031388],[0.048783,0.962671,-0.266242],[0.045989,0.264112,0.963395]] 2025-10-24T19:14:06.657Z,1761333246.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996374,-0.080905,-0.026316],[0.070979,0.961033,-0.267165],[0.046906,0.264329,0.963291]] 2025-10-24T19:14:07.066Z,1761333247.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994416,-0.103591,-0.020147],[0.094382,0.958401,-0.269368],[0.047213,0.265962,0.962827]] 2025-10-24T19:14:07.456Z,1761333247.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991711,-0.127847,-0.012862],[0.119523,0.954595,-0.272877],[0.047165,0.269078,0.961963]] 2025-10-24T19:14:07.861Z,1761333247.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988505,-0.151079,-0.005702],[0.143694,0.950568,-0.275268],[0.047007,0.271285,0.961351]] 2025-10-24T19:14:08.266Z,1761333248.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984576,-0.174945,0.002201],[0.168669,0.945765,-0.277631],[0.046489,0.273720,0.960685]] 2025-10-24T19:14:09.075Z,1761333249.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969058,-0.245409,0.026472],[0.242747,0.928093,-0.282343],[0.044721,0.280033,0.958948]] 2025-10-24T19:14:09.495Z,1761333249.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962472,-0.269087,0.035206],[0.267887,0.921304,-0.281845],[0.043405,0.280699,0.958814]] 2025-10-24T19:14:09.885Z,1761333249.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955441,-0.291967,0.043447],[0.292164,0.914381,-0.280264],[0.042101,0.280470,0.958939]] 2025-10-24T19:14:10.287Z,1761333250.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947634,-0.315043,0.052329],[0.316789,0.906553,-0.278939],[0.040439,0.280909,0.958882]] 2025-10-24T19:14:10.692Z,1761333250.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939060,-0.338264,0.061184],[0.341554,0.898054,-0.277202],[0.038820,0.281207,0.958862]] 2025-10-24T19:14:11.096Z,1761333251.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930001,-0.360765,0.070329],[0.365680,0.888845,-0.276104],[0.037097,0.282495,0.958551]] 2025-10-24T19:14:11.503Z,1761333251.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920047,-0.383617,0.079701],[0.390186,0.878588,-0.275386],[0.035618,0.284467,0.958024]] 2025-10-24T19:14:11.921Z,1761333251.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909989,-0.405043,0.088654],[0.413244,0.868494,-0.273765],[0.033891,0.285759,0.957702]] 2025-10-24T19:14:12.313Z,1761333252.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898478,-0.427898,0.098185],[0.437835,0.856951,-0.271911],[0.032211,0.287295,0.957300]] 2025-10-24T19:14:12.713Z,1761333252.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886752,-0.449605,0.107360],[0.461214,0.845076,-0.270422],[0.030856,0.289313,0.956737]] 2025-10-24T19:14:13.117Z,1761333253.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874327,-0.471179,0.116372],[0.484448,0.832762,-0.267988],[0.029360,0.290685,0.956368]] 2025-10-24T19:14:13.524Z,1761333253.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861620,-0.492056,0.124463],[0.506782,0.820524,-0.264412],[0.027981,0.290898,0.956345]] 2025-10-24T19:14:14.327Z,1761333254.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833041,-0.534720,0.141835],[0.552636,0.792672,-0.257418],[0.025218,0.292823,0.955834]] 2025-10-24T19:14:14.733Z,1761333254.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817798,-0.555545,0.150252],[0.575012,0.777957,-0.253267],[0.023811,0.293518,0.955657]] 2025-10-24T19:14:15.169Z,1761333255.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801447,-0.576616,0.158733],[0.597631,0.762028,-0.249300],[0.022792,0.294664,0.955329]] 2025-10-24T19:14:15.516Z,1761333255.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:14:15.572Z,1761333255.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785523,-0.596084,0.166247],[0.618459,0.746850,-0.244384],[0.021511,0.294786,0.955321]] 2025-10-24T19:14:15.990Z,1761333255.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768051,-0.616458,0.173428],[0.640071,0.730448,-0.238231],[0.020179,0.293980,0.955599]] 2025-10-24T19:14:16.385Z,1761333256.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750064,-0.636225,0.180612],[0.661104,0.713598,-0.231776],[0.018577,0.293250,0.955855]] 2025-10-24T19:14:16.520Z,1761333256.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:14:16.787Z,1761333256.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730638,-0.655782,0.190045],[0.682566,0.694836,-0.226510],[0.016491,0.295215,0.955289]] 2025-10-24T19:14:17.201Z,1761333257.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711016,-0.674766,0.197857],[0.703021,0.676228,-0.220177],[0.014772,0.295646,0.955183]] 2025-10-24T19:14:17.598Z,1761333257.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690722,-0.693160,0.205992],[0.723010,0.657006,-0.213541],[0.012681,0.296432,0.954970]] 2025-10-24T19:14:18.013Z,1761333258.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669963,-0.710949,0.213777],[0.742314,0.637285,-0.206972],[0.010909,0.297353,0.954705]] 2025-10-24T19:14:18.807Z,1761333258.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626392,-0.745399,0.228063],[0.779476,0.596313,-0.191905],[0.007049,0.297978,0.954547]] 2025-10-24T19:14:19.213Z,1761333259.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605257,-0.761396,0.232249],[0.796013,0.576979,-0.182918],[0.005270,0.295585,0.955302]] 2025-10-24T19:14:19.619Z,1761333259.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582897,-0.777334,0.236605],[0.812538,0.556334,-0.173996],[0.003622,0.293673,0.955899]] 2025-10-24T19:14:20.018Z,1761333260.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561477,-0.791812,0.240369],[0.827490,0.536599,-0.165291],[0.001898,0.291710,0.956505]] 2025-10-24T19:14:20.424Z,1761333260.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539281,-0.805737,0.244875],[0.842126,0.515984,-0.156792],[-0.000018,0.290771,0.956793]] 2025-10-24T19:14:20.831Z,1761333260.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518463,-0.818832,0.246394],[0.855097,0.497181,-0.147036],[-0.002105,0.286923,0.957951]] 2025-10-24T19:14:21.666Z,1761333261.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477280,-0.843317,0.247021],[0.878728,0.460065,-0.127190],[-0.006384,0.277769,0.960626]] 2025-10-24T19:14:22.084Z,1761333262.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457064,-0.854649,0.246307],[0.889387,0.442007,-0.116708],[-0.009125,0.272406,0.962139]] 2025-10-24T19:14:22.527Z,1761333262.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418715,-0.875356,0.241723],[0.907981,0.408163,-0.094725],[-0.015744,0.259143,0.965711]] 2025-10-24T19:14:22.971Z,1761333262.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400336,-0.884251,0.240482],[0.916153,0.391908,-0.084098],[-0.019884,0.253986,0.967004]] 2025-10-24T19:14:23.314Z,1761333263.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383208,-0.892431,0.238157],[0.923336,0.376965,-0.073124],[-0.024519,0.247921,0.968470]] 2025-10-24T19:14:23.715Z,1761333263.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365873,-0.900286,0.235843],[0.930207,0.361704,-0.062334],[-0.029187,0.242189,0.969790]] 2025-10-24T19:14:24.120Z,1761333264.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349762,-0.907419,0.232931],[0.936218,0.347603,-0.051658],[-0.034092,0.236142,0.971120]] 2025-10-24T19:14:24.527Z,1761333264.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333852,-0.914221,0.229659],[0.941817,0.333605,-0.041097],[-0.039044,0.230016,0.972403]] 2025-10-24T19:14:24.982Z,1761333264.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318679,-0.920574,0.225805],[0.946838,0.320246,-0.030679],[-0.044071,0.223577,0.973689]] 2025-10-24T19:14:25.331Z,1761333265.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.304505,-0.926212,0.222280],[0.951236,0.307770,-0.020678],[-0.049258,0.217737,0.974764]] 2025-10-24T19:14:25.738Z,1761333265.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.290121,-0.931403,0.219812],[0.955451,0.294931,-0.011359],[-0.054250,0.213316,0.975476]] 2025-10-24T19:14:26.143Z,1761333266.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276203,-0.936428,0.216367],[0.959296,0.282392,-0.002405],[-0.058848,0.208224,0.976309]] 2025-10-24T19:14:26.548Z,1761333266.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.263086,-0.941167,0.212108],[0.962662,0.270620,0.006766],[-0.063769,0.202409,0.977223]] 2025-10-24T19:14:26.954Z,1761333266.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250748,-0.945727,0.206701],[0.965648,0.259397,0.015406],[-0.068188,0.195737,0.978283]] 2025-10-24T19:14:27.358Z,1761333267.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239170,-0.949679,0.202255],[0.968244,0.248885,0.023660],[-0.072808,0.190173,0.979047]] 2025-10-24T19:14:27.757Z,1761333267.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229145,-0.953450,0.196026],[0.970323,0.239723,0.031726],[-0.077241,0.182939,0.980085]] 2025-10-24T19:14:28.567Z,1761333268.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.211520,-0.959856,0.184218],[0.973563,0.223546,0.046921],[-0.086218,0.169423,0.981765]] 2025-10-24T19:14:28.970Z,1761333268.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204152,-0.962232,0.180088],[0.974687,0.216924,0.054127],[-0.091148,0.164479,0.982160]] 2025-10-24T19:14:29.375Z,1761333269.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.197491,-0.964230,0.176797],[0.975627,0.210923,0.060524],[-0.095650,0.160535,0.982385]] 2025-10-24T19:14:29.777Z,1761333269.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191830,-0.966121,0.172660],[0.976288,0.205832,0.067052],[-0.100320,0.155703,0.982697]] 2025-10-24T19:14:30.179Z,1761333270.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.186879,-0.967578,0.169908],[0.976782,0.201456,0.072887],[-0.104753,0.152342,0.982761]] 2025-10-24T19:14:30.587Z,1761333270.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182333,-0.968782,0.167975],[0.977170,0.197494,0.078332],[-0.109060,0.149858,0.982674]] 2025-10-24T19:14:30.989Z,1761333270.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177799,-0.969687,0.167617],[0.977472,0.193713,0.083808],[-0.113737,0.148940,0.982283]] 2025-10-24T19:14:31.397Z,1761333271.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174452,-0.970446,0.166736],[0.977545,0.191017,0.088988],[-0.118208,0.147467,0.981978]] 2025-10-24T19:14:31.800Z,1761333271.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171555,-0.971247,0.165071],[0.977456,0.188737,0.094647],[-0.123081,0.145113,0.981730]] 2025-10-24T19:14:32.206Z,1761333272.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169849,-0.972315,0.160485],[0.977176,0.187255,0.100310],[-0.127585,0.139784,0.981928]] 2025-10-24T19:14:32.614Z,1761333272.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169030,-0.973179,0.156051],[0.976640,0.186692,0.106399],[-0.132679,0.134421,0.982002]] 2025-10-24T19:14:33.012Z,1761333273.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169688,-0.974093,0.149494],[0.975845,0.187261,0.112515],[-0.137594,0.126790,0.982340]] 2025-10-24T19:14:33.416Z,1761333273.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170240,-0.974823,0.144007],[0.975026,0.187792,0.118572],[-0.142630,0.120225,0.982447]] 2025-10-24T19:14:33.820Z,1761333273.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171490,-0.975223,0.139751],[0.974119,0.189052,0.123905],[-0.147255,0.114885,0.982404]] 2025-10-24T19:14:34.225Z,1761333274.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172146,-0.975667,0.135794],[0.973366,0.189664,0.128783],[-0.151405,0.110008,0.982331]] 2025-10-24T19:14:34.629Z,1761333274.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172613,-0.975951,0.133131],[0.972649,0.190215,0.133316],[-0.155433,0.106477,0.982091]] 2025-10-24T19:14:35.032Z,1761333275.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173127,-0.976041,0.131803],[0.971937,0.190952,0.137388],[-0.159264,0.104319,0.981709]] 2025-10-24T19:14:35.839Z,1761333275.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172797,-0.975943,0.132955],[0.970870,0.191515,0.143991],[-0.165989,0.104201,0.980607]] 2025-10-24T19:14:36.246Z,1761333276.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172761,-0.975951,0.132939],[0.970263,0.191857,0.147582],[-0.169538,0.103489,0.980075]] 2025-10-24T19:14:36.648Z,1761333276.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173111,-0.975900,0.132862],[0.969714,0.192483,0.150352],[-0.172302,0.102810,0.979664]] 2025-10-24T19:14:37.051Z,1761333277.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173578,-0.975941,0.131949],[0.969090,0.193117,0.153524],[-0.175312,0.101222,0.979296]] 2025-10-24T19:14:37.461Z,1761333277.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174316,-0.975855,0.131613],[0.968509,0.194044,0.156004],[-0.177776,0.100274,0.978949]] 2025-10-24T19:14:37.865Z,1761333277.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174648,-0.975707,0.132268],[0.967946,0.194757,0.158590],[-0.180497,0.100330,0.978445]] 2025-10-24T19:14:38.263Z,1761333278.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175707,-0.975572,0.131854],[0.967289,0.195984,0.161064],[-0.182971,0.099241,0.978097]] 2025-10-24T19:14:38.674Z,1761333278.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176484,-0.975418,0.131962],[0.966797,0.196953,0.162829],[-0.184816,0.098844,0.977790]] 2025-10-24T19:14:39.079Z,1761333279.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180759,-0.975038,0.128949],[0.965570,0.200866,0.165312],[-0.187087,0.094628,0.977775]] 2025-10-24T19:14:39.477Z,1761333279.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.183770,-0.974804,0.126433],[0.964861,0.203462,0.166273],[-0.187807,0.091434,0.977941]] 2025-10-24T19:14:39.880Z,1761333279.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.187408,-0.974590,0.122692],[0.964138,0.206402,0.166842],[-0.187926,0.087024,0.978320]] 2025-10-24T19:14:40.284Z,1761333280.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.190924,-0.974205,0.120306],[0.963417,0.209457,0.167201],[-0.188087,0.083982,0.978555]] 2025-10-24T19:14:40.688Z,1761333280.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.194964,-0.973647,0.118326],[0.962650,0.213065,0.167058],[-0.187867,0.081336,0.978821]] 2025-10-24T19:14:41.091Z,1761333281.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198450,-0.973108,0.116951],[0.961968,0.216238,0.166909],[-0.187710,0.079380,0.979012]] 2025-10-24T19:14:41.496Z,1761333281.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202857,-0.972361,0.115601],[0.961083,0.220319,0.166673],[-0.187535,0.077292,0.979212]] 2025-10-24T19:14:41.902Z,1761333281.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206437,-0.971673,0.115040],[0.960339,0.223732,0.166415],[-0.187440,0.076123,0.979322]] 2025-10-24T19:14:42.306Z,1761333282.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210773,-0.970837,0.114235],[0.959442,0.227834,0.166022],[-0.187206,0.074609,0.979483]] 2025-10-24T19:14:42.707Z,1761333282.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215260,-0.969897,0.113851],[0.958392,0.232197,0.166041],[-0.187479,0.073371,0.979525]] 2025-10-24T19:14:43.118Z,1761333283.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219425,-0.969068,0.112958],[0.957452,0.236134,0.165909],[-0.187450,0.071747,0.979650]] 2025-10-24T19:14:43.517Z,1761333283.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223832,-0.968133,0.112331],[0.956394,0.240370,0.165929],[-0.187643,0.070292,0.979719]] 2025-10-24T19:14:43.923Z,1761333283.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.227500,-0.967298,0.112149],[0.955508,0.243951,0.165807],[-0.187744,0.069439,0.979760]] 2025-10-24T19:14:44.328Z,1761333284.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231688,-0.966240,0.112699],[0.954451,0.248179,0.165622],[-0.188001,0.069193,0.979729]] 2025-10-24T19:14:44.733Z,1761333284.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.235650,-0.965215,0.113269],[0.953409,0.252196,0.165555],[-0.188362,0.068979,0.979674]] 2025-10-24T19:14:45.134Z,1761333285.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.240529,-0.964109,0.112422],[0.952117,0.256871,0.165802],[-0.188730,0.067159,0.979730]] 2025-10-24T19:14:45.535Z,1761333285.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245323,-0.962951,0.111992],[0.950823,0.261532,0.165944],[-0.189086,0.065775,0.979755]] 2025-10-24T19:14:45.945Z,1761333285.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250630,-0.961677,0.111181],[0.949431,0.266610,0.165828],[-0.189115,0.063997,0.979867]] 2025-10-24T19:14:46.342Z,1761333286.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256063,-0.960230,0.111313],[0.947878,0.272007,0.165949],[-0.189628,0.063018,0.979832]] 2025-10-24T19:14:46.640Z,1761333286.640 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:14:46.757Z,1761333286.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261258,-0.958734,0.112129],[0.946442,0.277259,0.165451],[-0.189713,0.062898,0.979823]] 2025-10-24T19:14:47.151Z,1761333287.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266815,-0.957070,0.113255],[0.944876,0.282920,0.164822],[-0.189788,0.063034,0.979800]] 2025-10-24T19:14:47.310Z,1761333287.310 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:14:47.555Z,1761333287.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272223,-0.955394,0.114528],[0.943308,0.288462,0.164195],[-0.189908,0.063337,0.979757]] 2025-10-24T19:14:47.644Z,1761333287.644 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:14:47.962Z,1761333287.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278425,-0.953404,0.116187],[0.941517,0.294836,0.163149],[-0.189803,0.063967,0.979736]] 2025-10-24T19:14:48.366Z,1761333288.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.284120,-0.951407,0.118749],[0.939788,0.300880,0.162080],[-0.189933,0.065549,0.979606]] 2025-10-24T19:14:48.774Z,1761333288.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291041,-0.949138,0.120134],[0.937661,0.307922,0.161170],[-0.189965,0.065738,0.979588]] 2025-10-24T19:14:49.171Z,1761333289.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297207,-0.946806,0.123397],[0.935667,0.314556,0.159944],[-0.190251,0.067922,0.979383]] 2025-10-24T19:14:49.575Z,1761333289.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303639,-0.944304,0.126860],[0.933566,0.321474,0.158461],[-0.190417,0.070317,0.979182]] 2025-10-24T19:14:49.983Z,1761333289.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310189,-0.941877,0.129041],[0.931360,0.328296,0.157449],[-0.190661,0.071344,0.979060]] 2025-10-24T19:14:50.409Z,1761333290.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316972,-0.939353,0.130937],[0.929051,0.335289,0.156348],[-0.190768,0.072089,0.978985]] 2025-10-24T19:14:50.788Z,1761333290.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323545,-0.936864,0.132680],[0.926785,0.342040,0.155170],[-0.190755,0.072762,0.978937]] 2025-10-24T19:14:51.194Z,1761333291.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330846,-0.934247,0.133128],[0.924326,0.349246,0.153781],[-0.190164,0.072176,0.979096]] 2025-10-24T19:14:51.597Z,1761333291.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337852,-0.931655,0.133695],[0.921898,0.356187,0.152428],[-0.189631,0.071755,0.979230]] 2025-10-24T19:14:51.999Z,1761333291.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345067,-0.929034,0.133510],[0.919452,0.363168,0.150722],[-0.188512,0.070747,0.979519]] 2025-10-24T19:14:52.418Z,1761333292.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352263,-0.926372,0.133211],[0.916953,0.370113,0.149041],[-0.187370,0.069646,0.979817]] 2025-10-24T19:14:52.814Z,1761333292.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359389,-0.923774,0.132214],[0.914411,0.376884,0.147688],[-0.186260,0.067820,0.980157]] 2025-10-24T19:14:53.213Z,1761333293.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.366888,-0.921030,0.130755],[0.911702,0.383936,0.146261],[-0.184913,0.065548,0.980567]] 2025-10-24T19:14:53.618Z,1761333293.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373489,-0.918513,0.129767],[0.909237,0.390204,0.145014],[-0.183833,0.063828,0.980883]] 2025-10-24T19:14:54.019Z,1761333294.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380601,-0.915759,0.128562],[0.906543,0.396932,0.143612],[-0.182544,0.061888,0.981248]] 2025-10-24T19:14:54.424Z,1761333294.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386820,-0.913199,0.128212],[0.904136,0.402929,0.142080],[-0.181408,0.060962,0.981517]] 2025-10-24T19:14:54.836Z,1761333294.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393519,-0.910525,0.126835],[0.901501,0.409232,0.140801],[-0.180108,0.058934,0.981880]] 2025-10-24T19:14:55.232Z,1761333295.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399964,-0.907798,0.126218],[0.898905,0.415413,0.139294],[-0.178884,0.057745,0.982174]] 2025-10-24T19:14:55.648Z,1761333295.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405382,-0.905492,0.125496],[0.896681,0.420579,0.138115],[-0.177844,0.056541,0.982433]] 2025-10-24T19:14:56.047Z,1761333296.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416131,-0.900809,0.124011],[0.892349,0.430770,0.134723],[-0.174780,0.054598,0.983093]] 2025-10-24T19:14:56.450Z,1761333296.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421507,-0.898269,0.124279],[0.890040,0.436048,0.133005],[-0.173666,0.054551,0.983293]] 2025-10-24T19:14:56.847Z,1761333296.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426105,-0.896128,0.124053],[0.888049,0.440491,0.131669],[-0.172636,0.054061,0.983501]] 2025-10-24T19:14:57.252Z,1761333297.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431416,-0.893716,0.123090],[0.885699,0.445527,0.130551],[-0.171515,0.052699,0.983771]] 2025-10-24T19:14:57.657Z,1761333297.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435642,-0.891594,0.123598],[0.883847,0.449706,0.128757],[-0.170381,0.053150,0.983944]] 2025-10-24T19:14:58.061Z,1761333298.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440243,-0.889345,0.123499],[0.881841,0.454151,0.126903],[-0.168948,0.053039,0.984197]] 2025-10-24T19:14:58.465Z,1761333298.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444695,-0.887016,0.124296],[0.879792,0.458603,0.125095],[-0.167964,0.053725,0.984328]] 2025-10-24T19:14:58.867Z,1761333298.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449048,-0.884716,0.125032],[0.877805,0.462935,0.123084],[-0.166776,0.054483,0.984488]] 2025-10-24T19:14:59.271Z,1761333299.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453395,-0.882354,0.126032],[0.875761,0.467306,0.121108],[-0.165756,0.055464,0.984606]] 2025-10-24T19:14:59.675Z,1761333299.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457059,-0.880318,0.127035],[0.874097,0.470982,0.118872],[-0.164476,0.056709,0.984750]] 2025-10-24T19:15:00.081Z,1761333300.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461768,-0.877640,0.128522],[0.871795,0.475777,0.116665],[-0.163537,0.058173,0.984820]] 2025-10-24T19:15:00.887Z,1761333300.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471235,-0.872539,0.128892],[0.867097,0.485052,0.113430],[-0.161492,0.058310,0.985150]] 2025-10-24T19:15:01.293Z,1761333301.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475362,-0.870109,0.130160],[0.865023,0.489233,0.111297],[-0.160519,0.059685,0.985227]] 2025-10-24T19:15:01.697Z,1761333301.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480640,-0.867234,0.129965],[0.862277,0.494365,0.109915],[-0.159572,0.059237,0.985407]] 2025-10-24T19:15:02.099Z,1761333302.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485657,-0.864346,0.130552],[0.859550,0.499371,0.108636],[-0.159093,0.059456,0.985472]] 2025-10-24T19:15:02.503Z,1761333302.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491335,-0.861125,0.130589],[0.856488,0.504932,0.107106],[-0.158171,0.059223,0.985634]] 2025-10-24T19:15:02.909Z,1761333302.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497362,-0.857696,0.130341],[0.853154,0.510811,0.105834],[-0.157353,0.058563,0.985804]] 2025-10-24T19:15:03.316Z,1761333303.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502855,-0.854383,0.131016],[0.850066,0.516281,0.104121],[-0.156601,0.059015,0.985897]] 2025-10-24T19:15:03.335Z,1761333303.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:15:03.717Z,1761333303.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508933,-0.850725,0.131353],[0.846567,0.522293,0.102639],[-0.155922,0.058963,0.986008]] 2025-10-24T19:15:04.541Z,1761333304.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520557,-0.843356,0.133312],[0.839809,0.533907,0.098309],[-0.154086,0.060782,0.986186]] 2025-10-24T19:15:04.937Z,1761333304.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526584,-0.839560,0.133600],[0.836303,0.539808,0.095942],[-0.152668,0.061208,0.986380]] 2025-10-24T19:15:05.332Z,1761333305.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532940,-0.835564,0.133448],[0.832661,0.545930,0.092930],[-0.150502,0.061591,0.986689]] 2025-10-24T19:15:05.738Z,1761333305.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538615,-0.831984,0.133028],[0.829398,0.551346,0.090090],[-0.148298,0.061809,0.987009]] 2025-10-24T19:15:06.142Z,1761333306.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545256,-0.827806,0.132039],[0.825516,0.557629,0.087023],[-0.145667,0.061551,0.987417]] 2025-10-24T19:15:06.543Z,1761333306.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551100,-0.824017,0.131472],[0.822101,0.563164,0.083639],[-0.142961,0.061990,0.987785]] 2025-10-24T19:15:06.951Z,1761333306.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556633,-0.820319,0.131289],[0.818848,0.568422,0.079900],[-0.140171,0.063031,0.988119]] 2025-10-24T19:15:07.352Z,1761333307.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562240,-0.816656,0.130231],[0.815485,0.573670,0.076726],[-0.137369,0.063063,0.988510]] 2025-10-24T19:15:07.756Z,1761333307.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566470,-0.813830,0.129584],[0.813035,0.577585,0.073282],[-0.134485,0.063844,0.988857]] 2025-10-24T19:15:08.159Z,1761333308.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571308,-0.810367,0.130045],[0.810109,0.582202,0.069018],[-0.131642,0.065920,0.989103]] 2025-10-24T19:15:08.563Z,1761333308.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574899,-0.807717,0.130706],[0.808003,0.585598,0.064852],[-0.128923,0.068327,0.989298]] 2025-10-24T19:15:08.967Z,1761333308.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578008,-0.805263,0.132131],[0.806206,0.588564,0.060204],[-0.126247,0.071727,0.989402]] 2025-10-24T19:15:09.372Z,1761333309.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580918,-0.803108,0.132479],[0.804513,0.591246,0.056450],[-0.123664,0.073789,0.989577]] 2025-10-24T19:15:09.780Z,1761333309.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583580,-0.801077,0.133078],[0.802977,0.593691,0.052536],[-0.121092,0.076200,0.989712]] 2025-10-24T19:15:10.188Z,1761333310.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586458,-0.799034,0.132710],[0.801240,0.596294,0.049475],[-0.118666,0.077317,0.989919]] 2025-10-24T19:15:10.583Z,1761333310.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588405,-0.797609,0.132662],[0.800152,0.598000,0.046406],[-0.116346,0.078844,0.990074]] 2025-10-24T19:15:11.393Z,1761333311.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592062,-0.795018,0.131941],[0.798185,0.601076,0.040099],[-0.111186,0.081572,0.990446]] 2025-10-24T19:15:11.801Z,1761333311.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592972,-0.794353,0.131864],[0.797926,0.601663,0.036286],[-0.108162,0.083701,0.990603]] 2025-10-24T19:15:12.607Z,1761333312.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595347,-0.792746,0.130825],[0.796900,0.603377,0.029757],[-0.102526,0.086539,0.990959]] 2025-10-24T19:15:13.007Z,1761333313.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596550,-0.791860,0.130713],[0.796378,0.604241,0.025976],[-0.099552,0.088600,0.991080]] 2025-10-24T19:15:13.418Z,1761333313.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599435,-0.789989,0.128819],[0.794936,0.606378,0.019554],[-0.093560,0.090682,0.991475]] 2025-10-24T19:15:13.824Z,1761333313.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600906,-0.789032,0.127832],[0.794158,0.607486,0.016519],[-0.090690,0.091593,0.991658]] 2025-10-24T19:15:14.222Z,1761333314.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603342,-0.787367,0.126613],[0.792629,0.609553,0.013550],[-0.087846,0.092182,0.991860]] 2025-10-24T19:15:14.624Z,1761333314.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605041,-0.786191,0.125814],[0.791617,0.610924,0.010672],[-0.085254,0.093140,0.991996]] 2025-10-24T19:15:15.027Z,1761333315.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608301,-0.783852,0.124681],[0.789344,0.613894,0.008370],[-0.083102,0.093325,0.992162]] 2025-10-24T19:15:15.837Z,1761333315.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614586,-0.779412,0.121661],[0.784843,0.619674,0.005156],[-0.079409,0.092316,0.992558]] 2025-10-24T19:15:16.239Z,1761333316.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618091,-0.776923,0.119807],[0.782236,0.622968,0.004213],[-0.077909,0.091113,0.992788]] 2025-10-24T19:15:16.643Z,1761333316.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622184,-0.773871,0.118367],[0.779137,0.626848,0.002811],[-0.076373,0.090475,0.992966]] 2025-10-24T19:15:17.049Z,1761333317.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626248,-0.770729,0.117433],[0.776015,0.630713,0.001109],[-0.074921,0.090435,0.993080]] 2025-10-24T19:15:17.457Z,1761333317.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630798,-0.767146,0.116541],[0.772452,0.635072,-0.000585],[-0.073563,0.090391,0.993186]] 2025-10-24T19:15:17.765Z,1761333317.765 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:15:17.854Z,1761333317.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635048,-0.763716,0.115981],[0.769076,0.639153,-0.002320],[-0.072357,0.090671,0.993249]] 2025-10-24T19:15:18.339Z,1761333318.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638679,-0.760760,0.115473],[0.766213,0.642571,-0.004518],[-0.070762,0.091363,0.993300]] 2025-10-24T19:15:18.741Z,1761333318.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642568,-0.757593,0.114714],[0.763091,0.646259,-0.006427],[-0.069265,0.091667,0.993378]] 2025-10-24T19:15:18.768Z,1761333318.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:15:18.848Z,1761333318.848 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:15:19.143Z,1761333319.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645499,-0.755296,0.113399],[0.760769,0.648973,-0.008017],[-0.067537,0.091445,0.993517]] 2025-10-24T19:15:19.582Z,1761333319.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648074,-0.753356,0.111601],[0.758764,0.651294,-0.009670],[-0.065400,0.090946,0.993706]] 2025-10-24T19:15:19.957Z,1761333319.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650433,-0.751524,0.110218],[0.756894,0.653443,-0.011165],[-0.063630,0.090686,0.993845]] 2025-10-24T19:15:20.357Z,1761333320.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652274,-0.750257,0.107947],[0.755455,0.655095,-0.011804],[-0.061859,0.089249,0.994087]] 2025-10-24T19:15:20.759Z,1761333320.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653523,-0.749488,0.105712],[0.754528,0.656147,-0.012553],[-0.059954,0.087967,0.994317]] 2025-10-24T19:15:21.163Z,1761333321.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654074,-0.749269,0.103845],[0.754174,0.656545,-0.013065],[-0.058389,0.086863,0.994508]] 2025-10-24T19:15:21.585Z,1761333321.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653895,-0.749554,0.102909],[0.754415,0.656256,-0.013687],[-0.057276,0.086585,0.994597]] 2025-10-24T19:15:21.982Z,1761333321.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652212,-0.751038,0.102768],[0.755969,0.654434,-0.015053],[-0.055950,0.087507,0.994591]] 2025-10-24T19:15:22.375Z,1761333322.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650250,-0.752578,0.103928],[0.757791,0.652244,-0.018173],[-0.054110,0.090572,0.994419]] 2025-10-24T19:15:22.779Z,1761333322.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647218,-0.755001,0.105273],[0.760509,0.648980,-0.021220],[-0.052299,0.093795,0.994217]] 2025-10-24T19:15:23.184Z,1761333323.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644879,-0.756986,0.105370],[0.762616,0.646432,-0.023304],[-0.050473,0.095386,0.994160]] 2025-10-24T19:15:23.595Z,1761333323.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642825,-0.758884,0.104261],[0.764473,0.644188,-0.024538],[-0.048542,0.095478,0.994247]] 2025-10-24T19:15:23.991Z,1761333323.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640657,-0.760803,0.103622],[0.766404,0.641833,-0.025991],[-0.046734,0.096068,0.994277]] 2025-10-24T19:15:24.395Z,1761333324.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638464,-0.762721,0.103061],[0.768353,0.639422,-0.027805],[-0.044691,0.096940,0.994286]] 2025-10-24T19:15:24.800Z,1761333324.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635901,-0.764787,0.103588],[0.770609,0.636560,-0.030876],[-0.042326,0.099460,0.994141]] 2025-10-24T19:15:25.205Z,1761333325.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634023,-0.766297,0.103947],[0.772280,0.634378,-0.033881],[-0.039979,0.101758,0.994006]] 2025-10-24T19:15:25.620Z,1761333325.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632089,-0.767979,0.103301],[0.773949,0.632270,-0.035183],[-0.038294,0.102188,0.994028]] 2025-10-24T19:15:26.010Z,1761333326.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630760,-0.769287,0.101686],[0.775124,0.630778,-0.036072],[-0.036392,0.101572,0.994162]] 2025-10-24T19:15:26.416Z,1761333326.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629997,-0.770070,0.100478],[0.775815,0.629878,-0.036938],[-0.034844,0.101223,0.994253]] 2025-10-24T19:15:26.822Z,1761333326.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629491,-0.770630,0.099348],[0.776306,0.629192,-0.038284],[-0.033006,0.101224,0.994316]] 2025-10-24T19:15:27.227Z,1761333327.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628754,-0.771354,0.098396],[0.776970,0.628299,-0.039455],[-0.031389,0.101259,0.994365]] 2025-10-24T19:15:27.633Z,1761333327.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628530,-0.771708,0.097043],[0.777284,0.627697,-0.042735],[-0.027934,0.102290,0.994362]] 2025-10-24T19:15:28.037Z,1761333328.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629237,-0.771086,0.097401],[0.776768,0.628159,-0.045242],[-0.026297,0.104126,0.994216]] 2025-10-24T19:15:28.436Z,1761333328.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630153,-0.770427,0.096691],[0.776072,0.628921,-0.046602],[-0.024908,0.104406,0.994223]] 2025-10-24T19:15:28.841Z,1761333328.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630243,-0.770482,0.095663],[0.776041,0.628889,-0.047526],[-0.023544,0.104191,0.994279]] 2025-10-24T19:15:29.244Z,1761333329.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631201,-0.769792,0.094894],[0.775290,0.629757,-0.048288],[-0.022588,0.104050,0.994316]] 2025-10-24T19:15:29.654Z,1761333329.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631734,-0.769491,0.093780],[0.774879,0.630244,-0.048525],[-0.021765,0.103323,0.994410]] 2025-10-24T19:15:30.054Z,1761333330.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632633,-0.768900,0.092569],[0.774175,0.631069,-0.049047],[-0.020705,0.102693,0.994498]] 2025-10-24T19:15:30.463Z,1761333330.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634106,-0.767825,0.091400],[0.772991,0.632488,-0.049438],[-0.019850,0.102000,0.994586]] 2025-10-24T19:15:30.859Z,1761333330.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634681,-0.767447,0.090585],[0.772537,0.633015,-0.049782],[-0.019137,0.101576,0.994644]] 2025-10-24T19:15:31.265Z,1761333331.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636128,-0.766396,0.089320],[0.771366,0.634424,-0.050012],[-0.018338,0.100712,0.994747]] 2025-10-24T19:15:31.667Z,1761333331.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636326,-0.766275,0.088950],[0.771219,0.634550,-0.050673],[-0.017614,0.100844,0.994746]] 2025-10-24T19:15:32.078Z,1761333332.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637124,-0.765694,0.088241],[0.770574,0.635304,-0.051036],[-0.016981,0.100513,0.994791]] 2025-10-24T19:15:32.475Z,1761333332.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637397,-0.765553,0.087488],[0.770353,0.635595,-0.050741],[-0.016762,0.099739,0.994873]] 2025-10-24T19:15:32.882Z,1761333332.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637646,-0.765464,0.086439],[0.770160,0.635830,-0.050731],[-0.016128,0.098920,0.994965]] 2025-10-24T19:15:33.281Z,1761333333.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637789,-0.765470,0.085325],[0.770059,0.635940,-0.050887],[-0.015309,0.098161,0.995053]] 2025-10-24T19:15:33.683Z,1761333333.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637969,-0.765621,0.082589],[0.769941,0.636092,-0.050777],[-0.013659,0.095983,0.995289]] 2025-10-24T19:15:34.091Z,1761333334.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637649,-0.765980,0.081718],[0.770228,0.635665,-0.051747],[-0.012308,0.095938,0.995311]] 2025-10-24T19:15:34.493Z,1761333334.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636971,-0.766626,0.080949],[0.770813,0.634847,-0.053073],[-0.010703,0.096203,0.995304]] 2025-10-24T19:15:34.895Z,1761333334.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636655,-0.767023,0.079666],[0.771098,0.634392,-0.054354],[-0.008849,0.096035,0.995339]] 2025-10-24T19:15:35.304Z,1761333335.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635652,-0.767938,0.078850],[0.771945,0.633208,-0.056108],[-0.006841,0.096534,0.995306]] 2025-10-24T19:15:35.705Z,1761333335.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635066,-0.768557,0.077538],[0.772444,0.632451,-0.057757],[-0.004650,0.096573,0.995315]] 2025-10-24T19:15:36.121Z,1761333336.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634190,-0.769411,0.076220],[0.773173,0.631408,-0.059390],[-0.002431,0.096596,0.995321]] 2025-10-24T19:15:36.511Z,1761333336.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633803,-0.769888,0.074615],[0.773495,0.630855,-0.061055],[-0.000066,0.096411,0.995342]] 2025-10-24T19:15:36.916Z,1761333336.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632962,-0.770753,0.072800],[0.774180,0.629865,-0.062579],[0.002379,0.095970,0.995381]] 2025-10-24T19:15:37.319Z,1761333337.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632551,-0.771233,0.071261],[0.774504,0.629302,-0.064207],[0.004674,0.095806,0.995389]] 2025-10-24T19:15:37.723Z,1761333337.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631595,-0.772123,0.070098],[0.775267,0.628172,-0.066032],[0.006951,0.096050,0.995352]] 2025-10-24T19:15:38.128Z,1761333338.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631340,-0.772453,0.068751],[0.775453,0.627764,-0.067715],[0.009147,0.096064,0.995333]] 2025-10-24T19:15:38.531Z,1761333338.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630172,-0.773462,0.068112],[0.776375,0.626413,-0.069636],[0.011195,0.096763,0.995245]] 2025-10-24T19:15:38.942Z,1761333338.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629421,-0.774196,0.066713],[0.776953,0.625552,-0.070916],[0.013170,0.096468,0.995249]] 2025-10-24T19:15:39.340Z,1761333339.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628783,-0.774804,0.065650],[0.777431,0.624765,-0.072588],[0.015225,0.096681,0.995199]] 2025-10-24T19:15:39.743Z,1761333339.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628121,-0.775486,0.063921],[0.777932,0.624066,-0.073235],[0.016902,0.095727,0.995264]] 2025-10-24T19:15:40.147Z,1761333340.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627383,-0.776146,0.063149],[0.778482,0.623168,-0.075010],[0.018866,0.096220,0.995181]] 2025-10-24T19:15:40.553Z,1761333340.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626407,-0.776989,0.062472],[0.779223,0.622051,-0.076577],[0.020639,0.096649,0.995105]] 2025-10-24T19:15:40.957Z,1761333340.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625648,-0.777599,0.062485],[0.779786,0.621090,-0.078619],[0.022325,0.097913,0.994945]] 2025-10-24T19:15:41.361Z,1761333341.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624945,-0.778160,0.062546],[0.780307,0.620205,-0.080419],[0.023788,0.099062,0.994797]] 2025-10-24T19:15:41.769Z,1761333341.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624252,-0.778735,0.062306],[0.780816,0.619364,-0.081945],[0.025224,0.099804,0.994687]] 2025-10-24T19:15:42.168Z,1761333342.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623796,-0.779150,0.061679],[0.781134,0.618804,-0.083134],[0.026607,0.100038,0.994628]] 2025-10-24T19:15:42.571Z,1761333342.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623479,-0.779437,0.061247],[0.781337,0.618354,-0.084561],[0.028038,0.100577,0.994534]] 2025-10-24T19:15:42.977Z,1761333342.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622518,-0.780191,0.061420],[0.782062,0.617243,-0.085970],[0.029162,0.101552,0.994403]] 2025-10-24T19:15:43.383Z,1761333343.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622737,-0.780086,0.060540],[0.781838,0.617387,-0.086960],[0.030460,0.101486,0.994371]] 2025-10-24T19:15:43.783Z,1761333343.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623038,-0.779907,0.059741],[0.781557,0.617638,-0.087704],[0.031503,0.101334,0.994354]] 2025-10-24T19:15:44.188Z,1761333344.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623187,-0.779829,0.059200],[0.781402,0.617732,-0.088420],[0.032382,0.101361,0.994323]] 2025-10-24T19:15:45.003Z,1761333345.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625920,-0.777889,0.055795],[0.779088,0.620438,-0.089882],[0.035301,0.099728,0.994388]] 2025-10-24T19:15:45.419Z,1761333345.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626495,-0.777488,0.054919],[0.778583,0.620987,-0.090468],[0.036233,0.099437,0.994384]] 2025-10-24T19:15:45.806Z,1761333345.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628971,-0.775627,0.052893],[0.776543,0.623553,-0.090344],[0.037092,0.097897,0.994505]] 2025-10-24T19:15:46.207Z,1761333346.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631195,-0.773964,0.050723],[0.774689,0.625873,-0.090220],[0.038081,0.096241,0.994629]] 2025-10-24T19:15:46.611Z,1761333346.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633887,-0.771880,0.048864],[0.772437,0.628619,-0.090441],[0.039093,0.095074,0.994702]] 2025-10-24T19:15:47.016Z,1761333347.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636186,-0.770084,0.047316],[0.770502,0.630963,-0.090628],[0.039936,0.094113,0.994760]] 2025-10-24T19:15:47.421Z,1761333347.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638862,-0.768006,0.044970],[0.768247,0.633791,-0.090028],[0.040641,0.092064,0.994923]] 2025-10-24T19:15:47.823Z,1761333347.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641649,-0.765783,0.043163],[0.765893,0.636689,-0.089641],[0.041164,0.090577,0.995038]] 2025-10-24T19:15:48.229Z,1761333348.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643667,-0.764126,0.042464],[0.764151,0.638660,-0.090475],[0.042014,0.090685,0.994993]] 2025-10-24T19:15:48.632Z,1761333348.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646057,-0.762138,0.041894],[0.762112,0.641042,-0.090838],[0.042375,0.090614,0.994984]] 2025-10-24T19:15:48.888Z,1761333348.888 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:15:49.037Z,1761333349.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647228,-0.761142,0.041945],[0.761089,0.642129,-0.091727],[0.042883,0.091292,0.994900]] 2025-10-24T19:15:49.441Z,1761333349.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649178,-0.759458,0.042331],[0.759421,0.643991,-0.092496],[0.042986,0.092193,0.994813]] 2025-10-24T19:15:49.845Z,1761333349.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650349,-0.758478,0.041914],[0.758410,0.645177,-0.092531],[0.043141,0.091965,0.994827]] 2025-10-24T19:15:49.892Z,1761333349.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:15:50.247Z,1761333350.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650983,-0.757966,0.041339],[0.757846,0.645830,-0.092588],[0.043481,0.091602,0.994846]] 2025-10-24T19:15:50.651Z,1761333350.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651941,-0.757162,0.040972],[0.757003,0.646779,-0.092865],[0.043814,0.091559,0.994835]] 2025-10-24T19:15:51.057Z,1761333351.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652144,-0.756981,0.041097],[0.756793,0.646890,-0.093791],[0.044413,0.092267,0.994743]] 2025-10-24T19:15:51.467Z,1761333351.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652547,-0.756690,0.040034],[0.756404,0.647332,-0.093887],[0.045127,0.091547,0.994778]] 2025-10-24T19:15:51.864Z,1761333351.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652062,-0.757149,0.039243],[0.756753,0.646818,-0.094607],[0.046249,0.091387,0.994741]] 2025-10-24T19:15:52.267Z,1761333352.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651630,-0.757510,0.039464],[0.757059,0.646232,-0.096160],[0.047339,0.092538,0.994583]] 2025-10-24T19:15:52.672Z,1761333352.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651015,-0.758043,0.039360],[0.757510,0.645491,-0.097574],[0.048559,0.093338,0.994450]] 2025-10-24T19:15:53.076Z,1761333353.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650664,-0.758352,0.039216],[0.757748,0.645042,-0.098688],[0.049544,0.093928,0.994345]] 2025-10-24T19:15:53.480Z,1761333353.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650523,-0.758527,0.038159],[0.757833,0.644973,-0.098488],[0.050094,0.092987,0.994406]] 2025-10-24T19:15:53.883Z,1761333353.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650455,-0.758601,0.037848],[0.757830,0.644833,-0.099420],[0.051015,0.093350,0.994326]] 2025-10-24T19:15:54.287Z,1761333354.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649820,-0.759133,0.038094],[0.758325,0.644086,-0.100486],[0.051747,0.094185,0.994209]] 2025-10-24T19:15:54.691Z,1761333354.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649720,-0.759213,0.038208],[0.758369,0.643897,-0.101358],[0.052350,0.094830,0.994116]] 2025-10-24T19:15:55.096Z,1761333355.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648877,-0.759906,0.038749],[0.759052,0.642925,-0.102408],[0.052908,0.095863,0.993988]] 2025-10-24T19:15:55.536Z,1761333355.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648697,-0.760039,0.039144],[0.759175,0.642640,-0.103281],[0.053342,0.096716,0.993882]] 2025-10-24T19:15:55.907Z,1761333355.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649053,-0.759750,0.038862],[0.758835,0.642962,-0.103777],[0.053857,0.096847,0.993841]] 2025-10-24T19:15:56.313Z,1761333356.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649327,-0.759522,0.038740],[0.758574,0.643203,-0.104187],[0.054215,0.097039,0.993803]] 2025-10-24T19:15:56.716Z,1761333356.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649232,-0.759598,0.038833],[0.758617,0.643028,-0.104958],[0.054755,0.097602,0.993718]] 2025-10-24T19:15:57.119Z,1761333357.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649414,-0.759443,0.038824],[0.758439,0.643169,-0.105369],[0.055052,0.097874,0.993675]] 2025-10-24T19:15:57.569Z,1761333357.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649852,-0.759079,0.038614],[0.758037,0.643580,-0.105759],[0.055428,0.097999,0.993642]] 2025-10-24T19:15:57.933Z,1761333357.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650257,-0.758737,0.038521],[0.757675,0.643966,-0.106000],[0.055619,0.098114,0.993620]] 2025-10-24T19:15:58.333Z,1761333358.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650650,-0.758398,0.038563],[0.757321,0.644315,-0.106411],[0.055855,0.098440,0.993574]] 2025-10-24T19:15:58.737Z,1761333358.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651551,-0.757652,0.038010],[0.756526,0.645242,-0.106447],[0.056124,0.098111,0.993592]] 2025-10-24T19:15:59.139Z,1761333359.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652082,-0.757197,0.037960],[0.756064,0.645765,-0.106556],[0.056170,0.098184,0.993582]] 2025-10-24T19:15:59.577Z,1761333359.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653433,-0.756061,0.037394],[0.754895,0.647165,-0.106354],[0.056210,0.097724,0.993625]] 2025-10-24T19:15:59.954Z,1761333359.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654192,-0.755415,0.037161],[0.754231,0.647934,-0.106379],[0.056283,0.097620,0.993631]] 2025-10-24T19:16:00.755Z,1761333360.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656684,-0.753326,0.035568],[0.752021,0.650535,-0.106150],[0.056827,0.096455,0.993714]] 2025-10-24T19:16:01.159Z,1761333361.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658014,-0.752209,0.034612],[0.750829,0.651927,-0.106053],[0.057209,0.095772,0.993758]] 2025-10-24T19:16:01.585Z,1761333361.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659738,-0.750786,0.032657],[0.749190,0.653690,-0.106786],[0.058826,0.094917,0.993746]] 2025-10-24T19:16:01.977Z,1761333361.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660771,-0.749929,0.031448],[0.748201,0.654752,-0.107212],[0.059811,0.094372,0.993739]] 2025-10-24T19:16:02.375Z,1761333362.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661754,-0.749095,0.030623],[0.747202,0.655634,-0.108778],[0.061407,0.094866,0.993594]] 2025-10-24T19:16:02.781Z,1761333362.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662381,-0.748598,0.029194],[0.746530,0.656280,-0.109498],[0.062811,0.094324,0.993558]] 2025-10-24T19:16:03.633Z,1761333363.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:16:03.987Z,1761333363.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663941,-0.747452,0.022306],[0.744766,0.658288,-0.109458],[0.067131,0.089286,0.993741]] 2025-10-24T19:16:04.392Z,1761333364.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664459,-0.747021,0.021286],[0.744195,0.658804,-0.110230],[0.068321,0.089084,0.993678]] 2025-10-24T19:16:04.806Z,1761333364.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664089,-0.747361,0.020931],[0.744410,0.658344,-0.111519],[0.069565,0.089639,0.993542]] 2025-10-24T19:16:05.199Z,1761333365.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663819,-0.747574,0.021855],[0.744526,0.657778,-0.114055],[0.070889,0.091983,0.993234]] 2025-10-24T19:16:05.603Z,1761333365.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663168,-0.748133,0.022476],[0.744989,0.656894,-0.116109],[0.072101,0.093744,0.992982]] 2025-10-24T19:16:06.007Z,1761333366.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662345,-0.748835,0.023341],[0.745582,0.655769,-0.118636],[0.073533,0.095981,0.992663]] 2025-10-24T19:16:06.414Z,1761333366.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662493,-0.748715,0.022997],[0.745345,0.655833,-0.119767],[0.074589,0.096486,0.992536]] 2025-10-24T19:16:06.829Z,1761333366.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661713,-0.749392,0.023404],[0.745918,0.654850,-0.121564],[0.075773,0.097898,0.992308]] 2025-10-24T19:16:07.220Z,1761333367.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661489,-0.749602,0.022999],[0.745980,0.654521,-0.122945],[0.077106,0.098484,0.992147]] 2025-10-24T19:16:07.624Z,1761333367.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660962,-0.750084,0.022443],[0.746304,0.653915,-0.124203],[0.078486,0.098843,0.992003]] 2025-10-24T19:16:08.029Z,1761333368.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661046,-0.750023,0.021979],[0.746102,0.653914,-0.125411],[0.079689,0.099301,0.991861]] 2025-10-24T19:16:08.433Z,1761333368.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660673,-0.750386,0.020804],[0.746265,0.653541,-0.126383],[0.081240,0.099023,0.991763]] 2025-10-24T19:16:08.834Z,1761333368.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661812,-0.749459,0.017779],[0.745159,0.655046,-0.125108],[0.082117,0.096046,0.991984]] 2025-10-24T19:16:09.239Z,1761333369.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662323,-0.749053,0.015760],[0.744594,0.655755,-0.124758],[0.083116,0.094364,0.992062]] 2025-10-24T19:16:09.645Z,1761333369.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663719,-0.747856,0.013707],[0.743255,0.657357,-0.124314],[0.083959,0.092698,0.992148]] 2025-10-24T19:16:09.688Z,1761333369.688 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:16:10.047Z,1761333370.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664216,-0.747424,0.013226],[0.742698,0.657799,-0.125299],[0.084951,0.093048,0.992031]] 2025-10-24T19:16:10.471Z,1761333370.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665135,-0.746621,0.012347],[0.741771,0.658733,-0.125883],[0.085854,0.092888,0.991968]] 2025-10-24T19:16:10.863Z,1761333370.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665277,-0.746500,0.012032],[0.741539,0.658811,-0.126840],[0.086759,0.093305,0.991850]] 2025-10-24T19:16:11.262Z,1761333371.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665985,-0.745880,0.011241],[0.740780,0.659508,-0.127649],[0.087797,0.093339,0.991756]] 2025-10-24T19:16:11.663Z,1761333371.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666629,-0.745313,0.010675],[0.740098,0.660125,-0.128410],[0.088659,0.093502,0.991664]] 2025-10-24T19:16:12.067Z,1761333372.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666588,-0.745350,0.010678],[0.739991,0.659932,-0.130011],[0.089857,0.094566,0.991455]] 2025-10-24T19:16:12.476Z,1761333372.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667304,-0.744718,0.010022],[0.739237,0.660635,-0.130728],[0.090735,0.094644,0.991368]] 2025-10-24T19:16:12.881Z,1761333372.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667364,-0.744664,0.010060],[0.739064,0.660561,-0.132076],[0.091708,0.095578,0.991188]] 2025-10-24T19:16:13.280Z,1761333373.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667512,-0.744534,0.009812],[0.738806,0.660621,-0.133208],[0.092696,0.096167,0.991040]] 2025-10-24T19:16:13.684Z,1761333373.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667655,-0.744418,0.008853],[0.738540,0.660792,-0.133840],[0.093783,0.095898,0.990963]] 2025-10-24T19:16:14.089Z,1761333374.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668359,-0.743803,0.007346],[0.737839,0.661684,-0.133295],[0.094284,0.094509,0.991049]] 2025-10-24T19:16:14.491Z,1761333374.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668618,-0.743578,0.006459],[0.737489,0.661982,-0.133755],[0.095181,0.094195,0.990993]] 2025-10-24T19:16:14.897Z,1761333374.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668837,-0.743377,0.006899],[0.737237,0.662062,-0.134747],[0.095600,0.095210,0.990856]] 2025-10-24T19:16:15.299Z,1761333375.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669086,-0.743139,0.008291],[0.737037,0.662077,-0.135759],[0.095399,0.096945,0.990707]] 2025-10-24T19:16:15.703Z,1761333375.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668710,-0.743475,0.008520],[0.737381,0.661672,-0.135865],[0.095375,0.097137,0.990691]] 2025-10-24T19:16:16.107Z,1761333376.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668547,-0.743634,0.007319],[0.737558,0.661761,-0.134460],[0.095146,0.095291,0.990892]] 2025-10-24T19:16:16.512Z,1761333376.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667743,-0.744365,0.006333],[0.738306,0.661174,-0.133240],[0.094992,0.093645,0.991064]] 2025-10-24T19:16:16.921Z,1761333376.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667128,-0.744922,0.005675],[0.738886,0.660714,-0.132308],[0.094810,0.092459,0.991192]] 2025-10-24T19:16:17.319Z,1761333377.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665731,-0.746149,0.007984],[0.740199,0.658993,-0.133543],[0.094381,0.094814,0.991011]] 2025-10-24T19:16:17.724Z,1761333377.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664293,-0.747397,0.010601],[0.741519,0.657150,-0.135290],[0.094149,0.097733,0.990749]] 2025-10-24T19:16:18.128Z,1761333378.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662708,-0.748777,0.012267],[0.742945,0.655312,-0.136378],[0.094078,0.099493,0.990581]] 2025-10-24T19:16:18.533Z,1761333378.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660500,-0.750703,0.013598],[0.744933,0.652945,-0.136885],[0.093881,0.100542,0.990494]] 2025-10-24T19:16:18.952Z,1761333378.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657007,-0.753702,0.016609],[0.748093,0.649076,-0.138050],[0.093268,0.103125,0.990286]] 2025-10-24T19:16:19.345Z,1761333379.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655838,-0.754697,0.017561],[0.749182,0.647835,-0.137971],[0.092749,0.103643,0.990281]] 2025-10-24T19:16:19.746Z,1761333379.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653913,-0.756331,0.019027],[0.750896,0.645730,-0.138520],[0.092481,0.104868,0.990177]] 2025-10-24T19:16:20.020Z,1761333380.020 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:16:20.149Z,1761333380.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652841,-0.757216,0.020545],[0.751834,0.644415,-0.139550],[0.092430,0.106550,0.990002]] 2025-10-24T19:16:20.552Z,1761333380.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651812,-0.758074,0.021577],[0.752754,0.643254,-0.139951],[0.092214,0.107463,0.989923]] 2025-10-24T19:16:20.958Z,1761333380.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650711,-0.759001,0.022171],[0.753685,0.642051,-0.140459],[0.092374,0.108108,0.989838]] 2025-10-24T19:16:21.026Z,1761333381.026 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:16:21.360Z,1761333381.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650599,-0.759104,0.021947],[0.753789,0.641992,-0.140171],[0.092314,0.107739,0.989884]] 2025-10-24T19:16:21.765Z,1761333381.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649894,-0.759728,0.021219],[0.754374,0.641414,-0.139671],[0.092502,0.106778,0.989971]] 2025-10-24T19:16:22.168Z,1761333382.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649657,-0.759945,0.020723],[0.754560,0.641251,-0.139412],[0.092657,0.106206,0.990018]] 2025-10-24T19:16:22.571Z,1761333382.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648941,-0.760558,0.020682],[0.755142,0.640523,-0.139608],[0.092932,0.106215,0.989991]] 2025-10-24T19:16:22.982Z,1761333382.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649071,-0.760467,0.019894],[0.755045,0.640812,-0.138808],[0.092811,0.105117,0.990119]] 2025-10-24T19:16:23.382Z,1761333383.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648647,-0.760833,0.019732],[0.755458,0.640484,-0.138068],[0.092408,0.104464,0.990226]] 2025-10-24T19:16:23.783Z,1761333383.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648772,-0.760744,0.019061],[0.755371,0.640750,-0.137310],[0.092244,0.103481,0.990345]] 2025-10-24T19:16:24.187Z,1761333384.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648371,-0.761066,0.019828],[0.755776,0.640288,-0.137236],[0.091750,0.103965,0.990340]] 2025-10-24T19:16:24.603Z,1761333384.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647975,-0.761390,0.020341],[0.756115,0.639810,-0.137602],[0.091754,0.104543,0.990279]] 2025-10-24T19:16:24.996Z,1761333384.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647077,-0.762135,0.021002],[0.756930,0.638870,-0.137486],[0.091365,0.104861,0.990281]] 2025-10-24T19:16:25.399Z,1761333385.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646657,-0.762491,0.021027],[0.757322,0.638493,-0.137076],[0.091093,0.104565,0.990337]] 2025-10-24T19:16:25.804Z,1761333385.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645882,-0.763141,0.021258],[0.758034,0.637755,-0.136574],[0.090668,0.104325,0.990402]] 2025-10-24T19:16:26.207Z,1761333386.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644779,-0.764012,0.023349],[0.759096,0.636451,-0.136762],[0.089628,0.105905,0.990329]] 2025-10-24T19:16:26.612Z,1761333386.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643334,-0.765184,0.024796],[0.760460,0.634951,-0.136157],[0.088441,0.106451,0.990377]] 2025-10-24T19:16:27.018Z,1761333387.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641749,-0.766472,0.026049],[0.761951,0.633369,-0.135180],[0.087114,0.106600,0.990479]] 2025-10-24T19:16:27.419Z,1761333387.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640388,-0.767593,0.026543],[0.763237,0.632130,-0.133722],[0.085866,0.105892,0.990663]] 2025-10-24T19:16:27.823Z,1761333387.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638601,-0.769039,0.027713],[0.764890,0.630379,-0.132536],[0.084456,0.105835,0.990791]] 2025-10-24T19:16:28.227Z,1761333388.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636739,-0.770545,0.028696],[0.766576,0.628565,-0.131408],[0.083219,0.105670,0.990913]] 2025-10-24T19:16:28.633Z,1761333388.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634536,-0.772313,0.029949],[0.768588,0.626444,-0.129773],[0.081464,0.105364,0.991091]] 2025-10-24T19:16:29.034Z,1761333389.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632855,-0.773643,0.031172],[0.770118,0.624787,-0.128682],[0.080078,0.105443,0.991196]] 2025-10-24T19:16:29.440Z,1761333389.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630483,-0.775504,0.032947],[0.772202,0.622363,-0.127934],[0.078708,0.106102,0.991235]] 2025-10-24T19:16:29.846Z,1761333389.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628886,-0.776736,0.034402],[0.773650,0.620765,-0.126950],[0.077251,0.106452,0.991312]] 2025-10-24T19:16:30.253Z,1761333390.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627116,-0.778086,0.036162],[0.775224,0.618941,-0.126256],[0.075855,0.107211,0.991338]] 2025-10-24T19:16:30.651Z,1761333390.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625377,-0.779434,0.037221],[0.776730,0.617217,-0.125433],[0.074793,0.107354,0.991404]] 2025-10-24T19:16:31.054Z,1761333391.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624155,-0.780404,0.037421],[0.777818,0.616142,-0.123969],[0.073689,0.106482,0.991580]] 2025-10-24T19:16:31.460Z,1761333391.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622880,-0.781369,0.038496],[0.778984,0.614937,-0.122623],[0.072141,0.106367,0.991706]] 2025-10-24T19:16:31.863Z,1761333391.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622136,-0.781955,0.038647],[0.779683,0.614340,-0.121162],[0.071001,0.105511,0.991880]] 2025-10-24T19:16:32.267Z,1761333392.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621160,-0.782733,0.038607],[0.780548,0.613520,-0.119742],[0.070040,0.104514,0.992054]] 2025-10-24T19:16:32.672Z,1761333392.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620279,-0.783376,0.039699],[0.781340,0.612630,-0.119132],[0.069004,0.104914,0.992084]] 2025-10-24T19:16:33.079Z,1761333393.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619820,-0.783706,0.040342],[0.781791,0.612215,-0.118307],[0.068020,0.104868,0.992157]] 2025-10-24T19:16:33.883Z,1761333393.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619014,-0.784292,0.041325],[0.782579,0.611511,-0.116724],[0.066275,0.104594,0.992304]] 2025-10-24T19:16:34.287Z,1761333394.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618535,-0.784684,0.041049],[0.783042,0.611218,-0.115143],[0.065261,0.103363,0.992500]] 2025-10-24T19:16:34.692Z,1761333394.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618848,-0.784418,0.041430],[0.782871,0.611588,-0.114341],[0.064353,0.103194,0.992577]] 2025-10-24T19:16:35.104Z,1761333395.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618789,-0.784434,0.041994],[0.783015,0.611606,-0.113253],[0.063156,0.102961,0.992678]] 2025-10-24T19:16:35.533Z,1761333395.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619425,-0.783946,0.041742],[0.782600,0.612411,-0.111754],[0.062046,0.101891,0.992859]] 2025-10-24T19:16:35.908Z,1761333395.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619076,-0.784191,0.042298],[0.782947,0.612108,-0.110986],[0.061143,0.101826,0.992921]] 2025-10-24T19:16:36.322Z,1761333396.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620389,-0.783172,0.041943],[0.781992,0.613587,-0.109545],[0.060057,0.100760,0.993097]] 2025-10-24T19:16:36.719Z,1761333396.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620914,-0.782748,0.042080],[0.781564,0.614066,-0.109915],[0.060196,0.101136,0.993050]] 2025-10-24T19:16:37.119Z,1761333397.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621872,-0.781976,0.042291],[0.780828,0.615021,-0.109806],[0.059856,0.101307,0.993053]] 2025-10-24T19:16:37.570Z,1761333397.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622786,-0.781298,0.041376],[0.780122,0.616084,-0.108857],[0.059559,0.100073,0.993196]] 2025-10-24T19:16:37.940Z,1761333397.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624203,-0.780218,0.040383],[0.778998,0.617629,-0.108147],[0.059437,0.098964,0.993314]] 2025-10-24T19:16:38.332Z,1761333398.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625175,-0.779455,0.040077],[0.778244,0.618671,-0.107621],[0.059091,0.098471,0.993384]] 2025-10-24T19:16:38.731Z,1761333398.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627363,-0.777784,0.038317],[0.776505,0.621100,-0.106184],[0.058790,0.096369,0.993608]] 2025-10-24T19:16:39.137Z,1761333399.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628076,-0.777190,0.038677],[0.775950,0.621787,-0.106221],[0.058506,0.096726,0.993590]] 2025-10-24T19:16:39.573Z,1761333399.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629366,-0.776152,0.038560],[0.774925,0.623105,-0.105978],[0.058228,0.096580,0.993621]] 2025-10-24T19:16:39.949Z,1761333399.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629942,-0.775677,0.038713],[0.774465,0.623665,-0.106051],[0.058117,0.096788,0.993607]] 2025-10-24T19:16:40.346Z,1761333400.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630593,-0.775087,0.039908],[0.773970,0.624201,-0.106503],[0.057639,0.098047,0.993511]] 2025-10-24T19:16:40.752Z,1761333400.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631084,-0.774658,0.040470],[0.773593,0.624645,-0.106643],[0.057332,0.098608,0.993473]] 2025-10-24T19:16:41.157Z,1761333401.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631713,-0.774143,0.040509],[0.773155,0.625389,-0.105447],[0.056297,0.097932,0.993599]] 2025-10-24T19:16:41.578Z,1761333401.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632206,-0.773680,0.041650],[0.772863,0.625913,-0.104480],[0.054764,0.098243,0.993654]] 2025-10-24T19:16:41.966Z,1761333401.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632002,-0.773774,0.042973],[0.773161,0.625778,-0.103069],[0.052860,0.098364,0.993746]] 2025-10-24T19:16:42.370Z,1761333402.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632008,-0.773691,0.044359],[0.773290,0.625852,-0.101644],[0.050879,0.098542,0.993831]] 2025-10-24T19:16:42.771Z,1761333402.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631304,-0.774189,0.045680],[0.774002,0.625260,-0.099857],[0.048747,0.098397,0.993953]] 2025-10-24T19:16:43.177Z,1761333403.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630752,-0.774571,0.046809],[0.774557,0.624789,-0.098487],[0.047039,0.098377,0.994037]] 2025-10-24T19:16:43.583Z,1761333403.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629611,-0.775350,0.049222],[0.775608,0.623626,-0.097584],[0.044966,0.099617,0.994009]] 2025-10-24T19:16:43.992Z,1761333403.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628764,-0.775916,0.051094],[0.776391,0.622776,-0.096785],[0.043277,0.100523,0.993993]] 2025-10-24T19:16:44.387Z,1761333404.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627181,-0.777119,0.052243],[0.777752,0.621270,-0.095524],[0.041776,0.100543,0.994055]] 2025-10-24T19:16:44.791Z,1761333404.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625627,-0.778310,0.053149],[0.779078,0.619815,-0.094161],[0.040344,0.100317,0.994137]] 2025-10-24T19:16:45.199Z,1761333405.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623982,-0.779518,0.054755],[0.780486,0.618231,-0.092912],[0.038575,0.100711,0.994168]] 2025-10-24T19:16:45.601Z,1761333405.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622305,-0.780784,0.055789],[0.781889,0.616631,-0.091736],[0.037225,0.100708,0.994219]] 2025-10-24T19:16:46.013Z,1761333406.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620932,-0.781814,0.056661],[0.783040,0.615340,-0.090586],[0.035956,0.100616,0.994275]] 2025-10-24T19:16:46.410Z,1761333406.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619070,-0.783155,0.058485],[0.784571,0.613464,-0.090060],[0.034652,0.101639,0.994218]] 2025-10-24T19:16:46.812Z,1761333406.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618512,-0.783564,0.058910],[0.785070,0.613042,-0.088563],[0.033281,0.101026,0.994327]] 2025-10-24T19:16:47.221Z,1761333407.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617420,-0.784369,0.059651],[0.785988,0.612066,-0.087171],[0.031863,0.100706,0.994406]] 2025-10-24T19:16:47.619Z,1761333407.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617074,-0.784516,0.061275],[0.786324,0.611755,-0.086315],[0.030230,0.101445,0.994382]] 2025-10-24T19:16:48.023Z,1761333408.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616609,-0.784794,0.062379],[0.786745,0.611371,-0.085192],[0.028722,0.101606,0.994410]] 2025-10-24T19:16:48.427Z,1761333408.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616717,-0.784653,0.063086],[0.786698,0.611534,-0.084453],[0.027687,0.101713,0.994428]] 2025-10-24T19:16:48.832Z,1761333408.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617765,-0.783778,0.063706],[0.785918,0.612663,-0.083525],[0.026434,0.101666,0.994467]] 2025-10-24T19:16:49.236Z,1761333409.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618699,-0.782980,0.064455],[0.785228,0.613683,-0.082523],[0.025059,0.101669,0.994503]] 2025-10-24T19:16:49.640Z,1761333409.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619967,-0.781912,0.065220],[0.784267,0.615017,-0.081727],[0.023792,0.101818,0.994519]] 2025-10-24T19:16:50.044Z,1761333410.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620925,-0.781098,0.065858],[0.783551,0.616080,-0.080582],[0.022369,0.101638,0.994570]] 2025-10-24T19:16:50.448Z,1761333410.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622268,-0.779995,0.066264],[0.782523,0.617540,-0.079384],[0.020999,0.101251,0.994639]] 2025-10-24T19:16:51.148Z,1761333411.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:16:51.255Z,1761333411.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624093,-0.778377,0.068095],[0.781138,0.619520,-0.077578],[0.018198,0.101608,0.994658]] 2025-10-24T19:16:51.676Z,1761333411.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624844,-0.777692,0.069019],[0.780566,0.620337,-0.076801],[0.016912,0.101863,0.994655]] 2025-10-24T19:16:52.063Z,1761333412.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625979,-0.776740,0.069468],[0.779682,0.621573,-0.075776],[0.015679,0.101597,0.994702]] 2025-10-24T19:16:52.152Z,1761333412.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:16:52.555Z,1761333412.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627571,-0.775398,0.070094],[0.778437,0.623324,-0.074181],[0.013829,0.101117,0.994778]] 2025-10-24T19:16:53.287Z,1761333413.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628230,-0.774861,0.070131],[0.777917,0.624060,-0.073444],[0.013143,0.100696,0.994830]] 2025-10-24T19:16:53.688Z,1761333413.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628479,-0.774554,0.071284],[0.777734,0.624340,-0.073011],[0.012046,0.101326,0.994780]] 2025-10-24T19:16:54.089Z,1761333414.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628060,-0.774806,0.072229],[0.778080,0.623912,-0.072968],[0.011472,0.102028,0.994715]] 2025-10-24T19:16:54.494Z,1761333414.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628356,-0.774516,0.072758],[0.777852,0.624254,-0.072475],[0.010714,0.102135,0.994713]] 2025-10-24T19:16:54.896Z,1761333414.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627813,-0.774894,0.073411],[0.778298,0.623730,-0.072203],[0.010161,0.102465,0.994685]] 2025-10-24T19:16:55.295Z,1761333415.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628274,-0.774551,0.073092],[0.777934,0.624300,-0.071195],[0.009513,0.101590,0.994781]] 2025-10-24T19:16:55.699Z,1761333415.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627663,-0.775007,0.073502],[0.778435,0.623747,-0.070560],[0.008838,0.101504,0.994796]] 2025-10-24T19:16:56.104Z,1761333416.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626948,-0.775593,0.073428],[0.779017,0.623119,-0.069680],[0.008289,0.100887,0.994863]] 2025-10-24T19:16:56.512Z,1761333416.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626381,-0.775984,0.074129],[0.779478,0.622568,-0.069449],[0.007741,0.101284,0.994828]] 2025-10-24T19:16:56.911Z,1761333416.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625791,-0.776396,0.074800],[0.779956,0.621975,-0.069390],[0.007350,0.101765,0.994781]] 2025-10-24T19:16:57.318Z,1761333417.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625268,-0.776850,0.074459],[0.780378,0.621526,-0.068668],[0.007066,0.101042,0.994857]] 2025-10-24T19:16:57.719Z,1761333417.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624596,-0.777331,0.075080],[0.780920,0.620872,-0.068422],[0.006572,0.101367,0.994827]] 2025-10-24T19:16:58.125Z,1761333418.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624402,-0.777503,0.074904],[0.781078,0.620745,-0.067764],[0.006191,0.100818,0.994886]] 2025-10-24T19:16:58.526Z,1761333418.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623175,-0.778543,0.074325],[0.782063,0.619657,-0.066353],[0.005602,0.099476,0.995024]] 2025-10-24T19:16:58.936Z,1761333418.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623141,-0.778505,0.074999],[0.782096,0.619691,-0.065643],[0.004627,0.099561,0.995021]] 2025-10-24T19:16:59.336Z,1761333419.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622367,-0.778974,0.076539],[0.782718,0.618971,-0.065016],[0.003270,0.100372,0.994945]] 2025-10-24T19:16:59.739Z,1761333419.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622349,-0.778896,0.077476],[0.782738,0.619098,-0.063547],[0.001531,0.100191,0.994967]] 2025-10-24T19:17:00.142Z,1761333420.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621364,-0.779362,0.080634],[0.783522,0.618136,-0.063258],[-0.000542,0.102485,0.994734]] 2025-10-24T19:17:00.546Z,1761333420.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621552,-0.779085,0.081853],[0.783369,0.618444,-0.062122],[-0.002224,0.102733,0.994706]] 2025-10-24T19:17:00.955Z,1761333420.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621318,-0.779086,0.083596],[0.783548,0.618317,-0.061128],[-0.004065,0.103481,0.994623]] 2025-10-24T19:17:01.355Z,1761333421.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621680,-0.778714,0.084375],[0.783252,0.618813,-0.059899],[-0.005568,0.103325,0.994632]] 2025-10-24T19:17:01.758Z,1761333421.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622228,-0.778176,0.085286],[0.782801,0.619524,-0.058416],[-0.007378,0.103110,0.994642]] 2025-10-24T19:17:02.163Z,1761333422.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622531,-0.777774,0.086730],[0.782540,0.619970,-0.057177],[-0.009299,0.103464,0.994590]] 2025-10-24T19:17:02.570Z,1761333422.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623121,-0.777191,0.087714],[0.782044,0.620739,-0.055588],[-0.011245,0.103235,0.994594]] 2025-10-24T19:17:02.975Z,1761333422.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623343,-0.776889,0.088814],[0.781839,0.621127,-0.054120],[-0.013119,0.103174,0.994577]] 2025-10-24T19:17:03.375Z,1761333423.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624172,-0.776078,0.090070],[0.781142,0.622118,-0.052794],[-0.015062,0.103310,0.994535]] 2025-10-24T19:17:03.779Z,1761333423.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624396,-0.775766,0.091201],[0.780926,0.622504,-0.051421],[-0.016882,0.103328,0.994504]] 2025-10-24T19:17:03.831Z,1761333423.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:17:04.185Z,1761333424.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625534,-0.774829,0.091364],[0.779969,0.623878,-0.049234],[-0.018852,0.102059,0.994600]] 2025-10-24T19:17:04.592Z,1761333424.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626336,-0.774208,0.091140],[0.779280,0.624920,-0.046881],[-0.020659,0.100387,0.994734]] 2025-10-24T19:17:04.991Z,1761333424.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627192,-0.773454,0.091646],[0.778538,0.625981,-0.045014],[-0.022552,0.099582,0.994774]] 2025-10-24T19:17:05.395Z,1761333425.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627425,-0.773213,0.092087],[0.778301,0.626398,-0.043291],[-0.024210,0.098833,0.994810]] 2025-10-24T19:17:05.805Z,1761333425.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627916,-0.772731,0.092784],[0.777852,0.627051,-0.041866],[-0.025830,0.098461,0.994806]] 2025-10-24T19:17:06.205Z,1761333426.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628169,-0.772406,0.093773],[0.777587,0.627475,-0.040423],[-0.027617,0.098309,0.994773]] 2025-10-24T19:17:06.607Z,1761333426.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628409,-0.772097,0.094703],[0.777333,0.627870,-0.039142],[-0.029240,0.098213,0.994736]] 2025-10-24T19:17:07.012Z,1761333427.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628519,-0.771990,0.094839],[0.777178,0.628188,-0.037074],[-0.030956,0.097008,0.994802]] 2025-10-24T19:17:07.422Z,1761333427.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628841,-0.771678,0.095247],[0.776863,0.628655,-0.035740],[-0.032298,0.096469,0.994812]] 2025-10-24T19:17:07.829Z,1761333427.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628928,-0.771517,0.095978],[0.776731,0.628888,-0.034484],[-0.033754,0.096237,0.994786]] 2025-10-24T19:17:08.225Z,1761333428.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629036,-0.771380,0.096373],[0.776585,0.629140,-0.033142],[-0.035067,0.095689,0.994793]] 2025-10-24T19:17:08.628Z,1761333428.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629149,-0.771211,0.096983],[0.776430,0.629395,-0.031902],[-0.036437,0.095372,0.994775]] 2025-10-24T19:17:09.033Z,1761333429.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628999,-0.771244,0.097684],[0.776490,0.629376,-0.030801],[-0.037725,0.095224,0.994741]] 2025-10-24T19:17:09.437Z,1761333429.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629214,-0.770827,0.099572],[0.776261,0.629651,-0.030954],[-0.038835,0.096771,0.994549]] 2025-10-24T19:17:09.841Z,1761333429.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629530,-0.770487,0.100204],[0.775933,0.630114,-0.029725],[-0.040238,0.096464,0.994523]] 2025-10-24T19:17:10.243Z,1761333430.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629353,-0.770522,0.101047],[0.776015,0.630054,-0.028872],[-0.041418,0.096585,0.994463]] 2025-10-24T19:17:10.648Z,1761333430.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630130,-0.769769,0.101941],[0.775327,0.630923,-0.028366],[-0.042481,0.096912,0.994386]] 2025-10-24T19:17:11.459Z,1761333431.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632199,-0.767736,0.104427],[0.773427,0.633353,-0.025970],[-0.046201,0.097185,0.994193]] 2025-10-24T19:17:11.859Z,1761333431.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633418,-0.766675,0.104837],[0.772347,0.634718,-0.024768],[-0.047553,0.096659,0.994181]] 2025-10-24T19:17:12.264Z,1761333432.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633845,-0.766237,0.105457],[0.771926,0.635263,-0.023898],[-0.048682,0.096553,0.994137]] 2025-10-24T19:17:12.669Z,1761333432.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634439,-0.765664,0.106047],[0.771368,0.635971,-0.023061],[-0.049786,0.096432,0.994094]] 2025-10-24T19:17:13.091Z,1761333433.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635103,-0.765059,0.106437],[0.770749,0.636757,-0.022064],[-0.050895,0.096049,0.994075]] 2025-10-24T19:17:13.475Z,1761333433.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634982,-0.765048,0.107233],[0.770794,0.636716,-0.021649],[-0.051715,0.096402,0.993998]] 2025-10-24T19:17:13.882Z,1761333433.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635558,-0.764539,0.107455],[0.770251,0.637406,-0.020635],[-0.052716,0.095882,0.993996]] 2025-10-24T19:17:14.286Z,1761333434.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635345,-0.764612,0.108191],[0.770377,0.637267,-0.020264],[-0.053452,0.096223,0.993924]] 2025-10-24T19:17:14.688Z,1761333434.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635479,-0.764426,0.108713],[0.770217,0.637474,-0.019827],[-0.054146,0.096332,0.993875]] 2025-10-24T19:17:15.091Z,1761333435.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634886,-0.764786,0.109644],[0.770659,0.636944,-0.019651],[-0.054809,0.096974,0.993777]] 2025-10-24T19:17:15.579Z,1761333435.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634544,-0.764982,0.110257],[0.770902,0.636658,-0.019400],[-0.055355,0.097307,0.993714]] 2025-10-24T19:17:15.901Z,1761333435.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633628,-0.765652,0.110875],[0.771620,0.635796,-0.019133],[-0.055845,0.097677,0.993650]] 2025-10-24T19:17:16.303Z,1761333436.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632822,-0.766162,0.111944],[0.772243,0.635036,-0.019228],[-0.056357,0.098615,0.993528]] 2025-10-24T19:17:16.707Z,1761333436.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632116,-0.766621,0.112791],[0.772774,0.634398,-0.018975],[-0.057007,0.099156,0.993438]] 2025-10-24T19:17:17.116Z,1761333437.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631501,-0.766958,0.113941],[0.773250,0.633806,-0.019353],[-0.057374,0.100326,0.993299]] 2025-10-24T19:17:17.563Z,1761333437.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630860,-0.767377,0.114668],[0.773725,0.633236,-0.019024],[-0.058013,0.100723,0.993222]] 2025-10-24T19:17:17.924Z,1761333437.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630317,-0.767749,0.115159],[0.774150,0.632716,-0.019039],[-0.058245,0.101151,0.993165]] 2025-10-24T19:17:18.323Z,1761333438.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629700,-0.768206,0.115486],[0.774661,0.632080,-0.019368],[-0.058118,0.101659,0.993120]] 2025-10-24T19:17:18.729Z,1761333438.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629169,-0.768666,0.115320],[0.775112,0.631523,-0.019478],[-0.057855,0.101641,0.993137]] 2025-10-24T19:17:19.135Z,1761333439.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629359,-0.768733,0.113830],[0.775025,0.631631,-0.019446],[-0.056949,0.100459,0.993310]] 2025-10-24T19:17:19.571Z,1761333439.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629590,-0.768630,0.113241],[0.774896,0.631771,-0.020036],[-0.056142,0.100364,0.993366]] 2025-10-24T19:17:19.943Z,1761333439.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630238,-0.768081,0.113367],[0.774426,0.632308,-0.021244],[-0.055366,0.101183,0.993326]] 2025-10-24T19:17:20.344Z,1761333440.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631215,-0.767315,0.113116],[0.773658,0.633230,-0.021729],[-0.054956,0.101229,0.993344]] 2025-10-24T19:17:20.747Z,1761333440.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632294,-0.766368,0.113509],[0.772803,0.634239,-0.022715],[-0.054584,0.102082,0.993277]] 2025-10-24T19:17:21.151Z,1761333441.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633931,-0.765064,0.113173],[0.771487,0.635823,-0.023189],[-0.054217,0.102011,0.993305]] 2025-10-24T19:17:21.575Z,1761333441.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635295,-0.763909,0.113329],[0.770386,0.637127,-0.023964],[-0.053899,0.102532,0.993268]] 2025-10-24T19:17:21.964Z,1761333441.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637200,-0.762394,0.112830],[0.768827,0.639000,-0.024170],[-0.053671,0.102148,0.993320]] 2025-10-24T19:17:22.272Z,1761333442.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:17:22.363Z,1761333442.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638921,-0.760993,0.112558],[0.767423,0.640664,-0.024714],[-0.053305,0.102170,0.993338]] 2025-10-24T19:17:22.767Z,1761333442.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640583,-0.759674,0.112024],[0.766067,0.642270,-0.025119],[-0.052867,0.101909,0.993388]] 2025-10-24T19:17:23.172Z,1761333443.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642070,-0.758619,0.110648],[0.764853,0.643726,-0.024820],[-0.052398,0.100566,0.993550]] 2025-10-24T19:17:23.277Z,1761333443.277 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:17:23.583Z,1761333443.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643639,-0.757438,0.109619],[0.763567,0.645250,-0.024860],[-0.051902,0.099702,0.993663]] 2025-10-24T19:17:23.985Z,1761333443.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644800,-0.756478,0.109427],[0.762624,0.646336,-0.025596],[-0.051364,0.099956,0.993665]] 2025-10-24T19:17:24.383Z,1761333444.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645220,-0.756208,0.108814],[0.762311,0.646690,-0.025971],[-0.050730,0.099707,0.993723]] 2025-10-24T19:17:24.788Z,1761333444.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645442,-0.755980,0.109083],[0.762096,0.646954,-0.025709],[-0.051136,0.099725,0.993700]] 2025-10-24T19:17:25.194Z,1761333445.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645238,-0.756226,0.108581],[0.762293,0.646721,-0.025731],[-0.050763,0.099373,0.993754]] 2025-10-24T19:17:25.596Z,1761333445.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645240,-0.756311,0.107972],[0.762317,0.646692,-0.025723],[-0.050370,0.098906,0.993821]] 2025-10-24T19:17:26.004Z,1761333446.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644643,-0.756820,0.107977],[0.762853,0.646040,-0.026230],[-0.049906,0.099279,0.993807]] 2025-10-24T19:17:26.405Z,1761333446.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644396,-0.757070,0.107698],[0.763092,0.645744,-0.026560],[-0.049438,0.099299,0.993829]] 2025-10-24T19:17:26.807Z,1761333446.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643353,-0.757922,0.107944],[0.764011,0.644621,-0.027386],[-0.048826,0.100090,0.993780]] 2025-10-24T19:17:27.211Z,1761333447.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642803,-0.758386,0.107959],[0.764509,0.644004,-0.028013],[-0.048281,0.100542,0.993761]] 2025-10-24T19:17:27.615Z,1761333447.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641636,-0.759335,0.108228],[0.765518,0.642775,-0.028671],[-0.047795,0.101247,0.993713]] 2025-10-24T19:17:28.031Z,1761333448.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639898,-0.760803,0.108212],[0.767044,0.640898,-0.029873],[-0.046625,0.102119,0.993679]] 2025-10-24T19:17:28.430Z,1761333448.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638566,-0.761920,0.108220],[0.768204,0.639466,-0.030743],[-0.045780,0.102766,0.993651]] 2025-10-24T19:17:28.830Z,1761333448.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637419,-0.762863,0.108339],[0.769207,0.638209,-0.031765],[-0.044910,0.103583,0.993606]] 2025-10-24T19:17:29.231Z,1761333449.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636859,-0.763333,0.108317],[0.769698,0.637592,-0.032257],[-0.044439,0.103915,0.993593]] 2025-10-24T19:17:29.636Z,1761333449.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636213,-0.763881,0.108255],[0.770268,0.636872,-0.032893],[-0.043819,0.104312,0.993579]] 2025-10-24T19:17:30.043Z,1761333450.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635187,-0.764632,0.108975],[0.771148,0.635744,-0.034073],[-0.043227,0.105679,0.993460]] 2025-10-24T19:17:30.443Z,1761333450.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635099,-0.764756,0.108617],[0.771246,0.635610,-0.034344],[-0.042773,0.105582,0.993490]] 2025-10-24T19:17:30.847Z,1761333450.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634496,-0.765215,0.108909],[0.771777,0.634913,-0.035296],[-0.042139,0.106449,0.993425]] 2025-10-24T19:17:31.253Z,1761333451.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634572,-0.765203,0.108544],[0.771740,0.634940,-0.035619],[-0.041663,0.106370,0.993453]] 2025-10-24T19:17:31.657Z,1761333451.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634037,-0.765636,0.108621],[0.772197,0.634363,-0.035996],[-0.041345,0.106700,0.993431]] 2025-10-24T19:17:32.058Z,1761333452.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634073,-0.765566,0.108905],[0.772185,0.634339,-0.036661],[-0.041016,0.107340,0.993376]] 2025-10-24T19:17:32.463Z,1761333452.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633153,-0.766276,0.109262],[0.772963,0.633350,-0.037363],[-0.040571,0.108112,0.993311]] 2025-10-24T19:17:32.868Z,1761333452.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633999,-0.765640,0.108813],[0.772280,0.634180,-0.037405],[-0.040368,0.107749,0.993358]] 2025-10-24T19:17:33.271Z,1761333453.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634380,-0.765389,0.108360],[0.771977,0.634551,-0.037364],[-0.040162,0.107354,0.993409]] 2025-10-24T19:17:33.674Z,1761333453.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634869,-0.765007,0.108191],[0.771581,0.635027,-0.037459],[-0.040048,0.107259,0.993424]] 2025-10-24T19:17:34.082Z,1761333454.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635376,-0.764675,0.107556],[0.771182,0.635509,-0.037494],[-0.039683,0.106768,0.993492]] 2025-10-24T19:17:34.498Z,1761333454.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635201,-0.764831,0.107488],[0.771340,0.635303,-0.037742],[-0.039422,0.106883,0.993490]] 2025-10-24T19:17:34.889Z,1761333454.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635811,-0.764359,0.107237],[0.770835,0.635926,-0.037575],[-0.039474,0.106553,0.993523]] 2025-10-24T19:17:35.291Z,1761333455.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635664,-0.764539,0.106825],[0.770966,0.635773,-0.037461],[-0.039276,0.106171,0.993572]] 2025-10-24T19:17:35.695Z,1761333455.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635898,-0.764353,0.106762],[0.770778,0.635996,-0.037557],[-0.039193,0.106172,0.993575]] 2025-10-24T19:17:36.103Z,1761333456.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635480,-0.764706,0.106725],[0.771134,0.635553,-0.037756],[-0.038957,0.106293,0.993571]] 2025-10-24T19:17:36.505Z,1761333456.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635451,-0.764751,0.106573],[0.771167,0.635507,-0.037856],[-0.038778,0.106241,0.993584]] 2025-10-24T19:17:36.907Z,1761333456.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635605,-0.764758,0.105605],[0.771047,0.635688,-0.037248],[-0.038646,0.105102,0.993710]] 2025-10-24T19:17:37.315Z,1761333457.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635261,-0.765047,0.105581],[0.771338,0.635329,-0.037360],[-0.038497,0.105172,0.993709]] 2025-10-24T19:17:37.716Z,1761333457.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635497,-0.764875,0.105404],[0.771141,0.635576,-0.037208],[-0.038533,0.104927,0.993733]] 2025-10-24T19:17:38.523Z,1761333458.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635082,-0.765254,0.105157],[0.771495,0.635145,-0.037232],[-0.038298,0.104773,0.993758]] 2025-10-24T19:17:38.932Z,1761333458.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634238,-0.765925,0.105365],[0.772192,0.634292,-0.037329],[-0.038241,0.105037,0.993733]] 2025-10-24T19:17:39.337Z,1761333459.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634114,-0.766062,0.105110],[0.772296,0.634175,-0.037157],[-0.038194,0.104737,0.993766]] 2025-10-24T19:17:39.738Z,1761333459.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633474,-0.766582,0.105184],[0.772813,0.633560,-0.036900],[-0.038353,0.104663,0.993768]] 2025-10-24T19:17:40.152Z,1761333460.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633080,-0.766901,0.105230],[0.773132,0.633179,-0.036762],[-0.038437,0.104630,0.993768]] 2025-10-24T19:17:40.545Z,1761333460.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631977,-0.767799,0.105308],[0.774038,0.632071,-0.036761],[-0.038337,0.104745,0.993760]] 2025-10-24T19:17:40.951Z,1761333460.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631198,-0.768441,0.105297],[0.774685,0.631269,-0.036911],[-0.038107,0.104870,0.993756]] 2025-10-24T19:17:41.353Z,1761333461.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629947,-0.769544,0.104730],[0.775732,0.629978,-0.036986],[-0.037515,0.104541,0.993813]] 2025-10-24T19:17:41.755Z,1761333461.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628870,-0.770550,0.103807],[0.776647,0.628838,-0.037172],[-0.036635,0.103998,0.993903]] 2025-10-24T19:17:42.160Z,1761333462.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627651,-0.771658,0.102944],[0.777676,0.627549,-0.037455],[-0.035700,0.103566,0.993982]] 2025-10-24T19:17:42.563Z,1761333462.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625720,-0.773290,0.102452],[0.779285,0.625500,-0.038271],[-0.034489,0.103787,0.994001]] 2025-10-24T19:17:42.969Z,1761333462.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624488,-0.774385,0.101697],[0.780328,0.624149,-0.039070],[-0.033219,0.103755,0.994048]] 2025-10-24T19:17:43.375Z,1761333463.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622472,-0.776017,0.101620],[0.782007,0.621933,-0.040809],[-0.031532,0.104870,0.993986]] 2025-10-24T19:17:43.775Z,1761333463.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621288,-0.777069,0.100821],[0.782993,0.620650,-0.041420],[-0.030389,0.104676,0.994042]] 2025-10-24T19:17:44.583Z,1761333464.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618957,-0.779149,0.099089],[0.784933,0.618090,-0.042946],[-0.027784,0.104360,0.994151]] 2025-10-24T19:17:44.989Z,1761333464.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617637,-0.780285,0.098386],[0.786019,0.616644,-0.043872],[-0.026436,0.104431,0.994181]] 2025-10-24T19:17:45.398Z,1761333465.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615988,-0.781792,0.096751],[0.787389,0.614786,-0.045350],[-0.024027,0.104116,0.994275]] 2025-10-24T19:17:45.801Z,1761333465.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614817,-0.782795,0.096085],[0.788346,0.613479,-0.046415],[-0.022612,0.104285,0.994290]] 2025-10-24T19:17:46.216Z,1761333466.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614442,-0.783175,0.095384],[0.788667,0.613015,-0.047092],[-0.021591,0.104162,0.994326]] 2025-10-24T19:17:46.603Z,1761333466.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613649,-0.783832,0.095090],[0.789311,0.612112,-0.048026],[-0.020561,0.104527,0.994309]] 2025-10-24T19:17:47.008Z,1761333467.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613760,-0.783833,0.094362],[0.789250,0.612138,-0.048703],[-0.019588,0.104367,0.994346]] 2025-10-24T19:17:47.413Z,1761333467.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613338,-0.784177,0.094251],[0.789596,0.611630,-0.049470],[-0.018853,0.104763,0.994318]] 2025-10-24T19:17:47.817Z,1761333467.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614255,-0.783556,0.093445],[0.788898,0.612499,-0.049840],[-0.018183,0.104333,0.994376]] 2025-10-24T19:17:48.219Z,1761333468.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614791,-0.783244,0.092530],[0.788500,0.612972,-0.050323],[-0.017303,0.103898,0.994437]] 2025-10-24T19:17:48.623Z,1761333468.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616018,-0.782393,0.091560],[0.787555,0.614168,-0.050541],[-0.016690,0.103243,0.994516]] 2025-10-24T19:17:49.027Z,1761333469.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616963,-0.781771,0.090500],[0.786830,0.615077,-0.050777],[-0.015968,0.102535,0.994601]] 2025-10-24T19:17:49.433Z,1761333469.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617903,-0.781150,0.089447],[0.786110,0.615959,-0.051241],[-0.015069,0.101977,0.994673]] 2025-10-24T19:17:49.835Z,1761333469.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618539,-0.780744,0.088588],[0.785624,0.616540,-0.051697],[-0.014256,0.101574,0.994726]] 2025-10-24T19:17:50.242Z,1761333470.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619146,-0.780346,0.087862],[0.785162,0.617076,-0.052320],[-0.013390,0.101379,0.994758]] 2025-10-24T19:17:51.047Z,1761333471.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620372,-0.779503,0.086683],[0.784222,0.618140,-0.053844],[-0.011611,0.101382,0.994780]] 2025-10-24T19:17:51.450Z,1761333471.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620893,-0.779138,0.086235],[0.783822,0.618571,-0.054706],[-0.010719,0.101560,0.994772]] 2025-10-24T19:17:51.857Z,1761333471.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620987,-0.779118,0.085732],[0.783761,0.618561,-0.055679],[-0.009650,0.101770,0.994761]] 2025-10-24T19:17:52.260Z,1761333472.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621399,-0.778848,0.085195],[0.783447,0.618868,-0.056680],[-0.008579,0.101966,0.994751]] 2025-10-24T19:17:52.663Z,1761333472.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621220,-0.779101,0.084186],[0.783600,0.618624,-0.057229],[-0.007492,0.101520,0.994805]] 2025-10-24T19:17:53.067Z,1761333473.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621073,-0.779307,0.083360],[0.783729,0.618359,-0.058320],[-0.006098,0.101552,0.994812]] 2025-10-24T19:17:53.408Z,1761333473.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:17:53.473Z,1761333473.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620363,-0.779893,0.083165],[0.784297,0.617576,-0.058978],[-0.005364,0.101814,0.994789]] 2025-10-24T19:17:53.875Z,1761333473.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619823,-0.780399,0.082443],[0.784730,0.616968,-0.059586],[-0.004364,0.101628,0.994813]] 2025-10-24T19:17:54.283Z,1761333474.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619703,-0.780609,0.081348],[0.784826,0.616888,-0.059136],[-0.004020,0.100491,0.994930]] 2025-10-24T19:17:54.412Z,1761333474.412 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:17:54.683Z,1761333474.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618615,-0.781557,0.080524],[0.785685,0.615831,-0.058741],[-0.003679,0.099605,0.995020]] 2025-10-24T19:17:55.087Z,1761333475.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617800,-0.782265,0.079904],[0.786329,0.615011,-0.058724],[-0.003204,0.099110,0.995071]] 2025-10-24T19:17:55.505Z,1761333475.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616500,-0.783267,0.080131],[0.787351,0.613647,-0.059304],[-0.002722,0.099652,0.995019]] 2025-10-24T19:17:55.594Z,1761333475.594 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD+22.92, +224.69, +11.54, 20.00, 0.00 2025-10-24T19:17:55.904Z,1761333475.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615999,-0.783643,0.080305],[0.787744,0.613083,-0.059912],[-0.002284,0.100165,0.994968]] 2025-10-24T19:17:56.299Z,1761333476.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614934,-0.784332,0.081724],[0.788575,0.611924,-0.060814],[-0.002311,0.101842,0.994798]] 2025-10-24T19:17:56.703Z,1761333476.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614276,-0.784871,0.081498],[0.789089,0.611211,-0.061310],[-0.001693,0.101970,0.994786]] 2025-10-24T19:17:57.107Z,1761333477.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613826,-0.785285,0.080901],[0.789441,0.610738,-0.061502],[-0.001113,0.101618,0.994823]] 2025-10-24T19:17:57.548Z,1761333477.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613562,-0.785518,0.080644],[0.789647,0.610421,-0.062002],[-0.000523,0.101722,0.994813]] 2025-10-24T19:17:57.917Z,1761333477.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613477,-0.785605,0.080443],[0.789713,0.610309,-0.062262],[-0.000182,0.101723,0.994813]] 2025-10-24T19:17:58.320Z,1761333478.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612882,-0.786060,0.080531],[0.790175,0.609652,-0.062839],[0.000300,0.102146,0.994769]] 2025-10-24T19:17:58.723Z,1761333478.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613155,-0.785860,0.080405],[0.789962,0.609909,-0.063016],[0.000482,0.102155,0.994768]] 2025-10-24T19:17:59.129Z,1761333479.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612674,-0.786217,0.080583],[0.790336,0.609402,-0.063230],[0.000604,0.102427,0.994740]] 2025-10-24T19:17:59.571Z,1761333479.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613302,-0.785783,0.080041],[0.789848,0.610022,-0.063347],[0.000950,0.102071,0.994777]] 2025-10-24T19:17:59.940Z,1761333479.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613500,-0.785639,0.079931],[0.789694,0.610210,-0.063456],[0.001079,0.102051,0.994779]] 2025-10-24T19:18:00.340Z,1761333480.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613953,-0.785305,0.079733],[0.789341,0.610633,-0.063777],[0.001396,0.102093,0.994774]] 2025-10-24T19:18:00.745Z,1761333480.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614098,-0.785193,0.079728],[0.789229,0.610762,-0.063934],[0.001506,0.102186,0.994764]] 2025-10-24T19:18:01.147Z,1761333481.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614620,-0.784828,0.079290],[0.788821,0.611263,-0.064180],[0.001903,0.101992,0.994783]] 2025-10-24T19:18:01.589Z,1761333481.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616566,-0.783470,0.077598],[0.787299,0.613234,-0.064063],[0.002606,0.100592,0.994924]] 2025-10-24T19:18:02.367Z,1761333482.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617314,-0.782924,0.077165],[0.786712,0.613972,-0.064213],[0.002897,0.100346,0.994948]] 2025-10-24T19:18:02.768Z,1761333482.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619002,-0.781680,0.076240],[0.785381,0.615639,-0.064533],[0.003508,0.099824,0.994999]] 2025-10-24T19:18:03.171Z,1761333483.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619234,-0.781411,0.077108],[0.785198,0.615769,-0.065526],[0.003722,0.101121,0.994867]] 2025-10-24T19:18:03.584Z,1761333483.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619581,-0.781137,0.077105],[0.784923,0.616075,-0.065939],[0.004005,0.101376,0.994840]] 2025-10-24T19:18:03.981Z,1761333483.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620123,-0.780755,0.076611],[0.784493,0.616606,-0.066090],[0.004361,0.101084,0.994868]] 2025-10-24T19:18:04.003Z,1761333484.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:18:04.379Z,1761333484.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620412,-0.780527,0.076591],[0.784262,0.616852,-0.066533],[0.004685,0.101345,0.994840]] 2025-10-24T19:18:04.784Z,1761333484.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621407,-0.779817,0.075758],[0.783473,0.617880,-0.066290],[0.004885,0.100547,0.994920]] 2025-10-24T19:18:05.190Z,1761333485.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622166,-0.779316,0.074678],[0.782872,0.618749,-0.065286],[0.004671,0.099082,0.995068]] 2025-10-24T19:18:05.630Z,1761333485.630 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -24, +565A 2025-10-24T19:18:05.998Z,1761333485.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622770,-0.778879,0.074194],[0.782387,0.619322,-0.065654],[0.005186,0.098936,0.995080]] 2025-10-24T19:18:06.399Z,1761333486.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623347,-0.778464,0.073703],[0.781926,0.619902,-0.065666],[0.005430,0.098563,0.995116]] 2025-10-24T19:18:06.496Z,1761333486.496 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:18:06.496Z,1761333486.496 [DAT] No Fault, FailCount= 8 2025-10-24T19:18:06.720Z,1761333486.720 [DAT](INFO): Powering up 2025-10-24T19:18:06.720Z,1761333486.720 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:18:06.803Z,1761333486.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623182,-0.778599,0.073670],[0.782056,0.619707,-0.065970],[0.005710,0.098725,0.995098]] 2025-10-24T19:18:07.207Z,1761333487.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623634,-0.778249,0.073542],[0.781695,0.620156,-0.066029],[0.005780,0.098665,0.995104]] 2025-10-24T19:18:07.611Z,1761333487.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622999,-0.778724,0.073898],[0.782200,0.619468,-0.066506],[0.006012,0.099237,0.995046]] 2025-10-24T19:18:08.019Z,1761333488.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623168,-0.778601,0.073772],[0.782065,0.619636,-0.066532],[0.006091,0.099155,0.995053]] 2025-10-24T19:18:08.422Z,1761333488.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622576,-0.779030,0.074234],[0.782536,0.619022,-0.066700],[0.006009,0.099616,0.995008]] 2025-10-24T19:18:08.827Z,1761333488.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622920,-0.778800,0.073772],[0.782261,0.619374,-0.066663],[0.006224,0.099235,0.995045]] 2025-10-24T19:18:09.228Z,1761333489.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622275,-0.779288,0.074059],[0.782773,0.618702,-0.066879],[0.006298,0.099589,0.995009]] 2025-10-24T19:18:09.632Z,1761333489.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622161,-0.779373,0.074111],[0.782863,0.618572,-0.067044],[0.006409,0.099731,0.994994]] 2025-10-24T19:18:10.035Z,1761333490.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621870,-0.779612,0.074050],[0.783094,0.618279,-0.067041],[0.006482,0.099679,0.994999]] 2025-10-24T19:18:10.439Z,1761333490.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621801,-0.779687,0.073840],[0.783147,0.618203,-0.067128],[0.006691,0.099567,0.995008]] 2025-10-24T19:18:10.849Z,1761333490.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621362,-0.780028,0.073928],[0.783494,0.617738,-0.067365],[0.006879,0.099780,0.994986]] 2025-10-24T19:18:11.249Z,1761333491.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621127,-0.780221,0.073868],[0.783679,0.617501,-0.067380],[0.006958,0.099740,0.994989]] 2025-10-24T19:18:11.651Z,1761333491.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621101,-0.780198,0.074334],[0.783699,0.617422,-0.067863],[0.007051,0.100405,0.994922]] 2025-10-24T19:18:12.055Z,1761333492.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620517,-0.780627,0.074696],[0.784160,0.616801,-0.068192],[0.007160,0.100888,0.994872]] 2025-10-24T19:18:12.459Z,1761333492.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620164,-0.780869,0.075101],[0.784439,0.616413,-0.068487],[0.007186,0.101385,0.994821]] 2025-10-24T19:18:12.863Z,1761333492.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619916,-0.781086,0.074890],[0.784632,0.616140,-0.068737],[0.007547,0.101373,0.994820]] 2025-10-24T19:18:13.269Z,1761333493.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619320,-0.781511,0.075391],[0.785101,0.615496,-0.069143],[0.007633,0.102011,0.994754]] 2025-10-24T19:18:13.671Z,1761333493.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619671,-0.781282,0.074880],[0.784824,0.615875,-0.068914],[0.007724,0.101471,0.994808]] 2025-10-24T19:18:14.075Z,1761333494.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619334,-0.781552,0.074846],[0.785089,0.615528,-0.068997],[0.007855,0.101493,0.994805]] 2025-10-24T19:18:14.480Z,1761333494.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619554,-0.781415,0.074454],[0.784912,0.615747,-0.069058],[0.008118,0.101225,0.994830]] 2025-10-24T19:18:14.887Z,1761333494.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619089,-0.781806,0.074220],[0.785274,0.615246,-0.069405],[0.008597,0.101251,0.994824]] 2025-10-24T19:18:15.287Z,1761333495.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619074,-0.781912,0.073221],[0.785275,0.615205,-0.069753],[0.009494,0.100681,0.994874]] 2025-10-24T19:18:15.692Z,1761333495.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618985,-0.782043,0.072576],[0.785331,0.615025,-0.070709],[0.010661,0.100764,0.994853]] 2025-10-24T19:18:16.095Z,1761333496.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618884,-0.782170,0.072062],[0.785388,0.614783,-0.072158],[0.012138,0.101254,0.994787]] 2025-10-24T19:18:16.502Z,1761333496.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618954,-0.782204,0.071083],[0.785312,0.614774,-0.073059],[0.013447,0.101043,0.994791]] 2025-10-24T19:18:16.903Z,1761333496.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618517,-0.782626,0.070241],[0.785632,0.614243,-0.074088],[0.014838,0.101008,0.994775]] 2025-10-24T19:18:17.310Z,1761333497.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618863,-0.782467,0.068945],[0.785334,0.614551,-0.074677],[0.016062,0.100360,0.994822]] 2025-10-24T19:18:17.713Z,1761333497.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618223,-0.783038,0.068201],[0.785804,0.613787,-0.076009],[0.017658,0.100583,0.994772]] 2025-10-24T19:18:18.117Z,1761333498.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618355,-0.783036,0.067020],[0.785667,0.613851,-0.076904],[0.019078,0.100209,0.994783]] 2025-10-24T19:18:18.520Z,1761333498.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617757,-0.783577,0.066203],[0.786099,0.613147,-0.078102],[0.020607,0.100290,0.994745]] 2025-10-24T19:18:19.080Z,1761333499.080 [DAT](INFO): DAT read: 2025-10-24T19:18:19.081Z,1761333499.081 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:18:19.334Z,1761333499.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618058,-0.783500,0.064278],[0.785783,0.613274,-0.080252],[0.023457,0.100109,0.994700]] 2025-10-24T19:18:19.740Z,1761333499.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618825,-0.783107,0.061638],[0.785075,0.613890,-0.082444],[0.026723,0.099409,0.994688]] 2025-10-24T19:18:20.139Z,1761333500.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618838,-0.783178,0.060599],[0.785002,0.613789,-0.083870],[0.028491,0.099472,0.994632]] 2025-10-24T19:18:20.572Z,1761333500.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619422,-0.782812,0.059344],[0.784479,0.614292,-0.085074],[0.030143,0.099251,0.994606]] 2025-10-24T19:18:20.951Z,1761333500.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619056,-0.783128,0.058990],[0.784705,0.613768,-0.086757],[0.031736,0.099997,0.994481]] 2025-10-24T19:18:21.358Z,1761333501.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619351,-0.782972,0.057956],[0.784406,0.613969,-0.088030],[0.033341,0.099982,0.994430]] 2025-10-24T19:18:21.751Z,1761333501.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619545,-0.782910,0.056715],[0.784174,0.614072,-0.089368],[0.035140,0.099842,0.994383]] 2025-10-24T19:18:22.155Z,1761333502.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620145,-0.782533,0.055338],[0.783620,0.614599,-0.090602],[0.036888,0.099550,0.994349]] 2025-10-24T19:18:22.559Z,1761333502.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620606,-0.782246,0.054215],[0.783185,0.615003,-0.091608],[0.038317,0.099313,0.994318]] 2025-10-24T19:18:22.977Z,1761333502.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621248,-0.781846,0.052614],[0.782591,0.615606,-0.092626],[0.040030,0.098719,0.994310]] 2025-10-24T19:18:23.369Z,1761333503.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621567,-0.781676,0.051358],[0.782254,0.615870,-0.093713],[0.041623,0.098424,0.994274]] 2025-10-24T19:18:23.771Z,1761333503.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621975,-0.781430,0.050140],[0.781848,0.616228,-0.094746],[0.043140,0.098131,0.994238]] 2025-10-24T19:18:24.175Z,1761333504.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622497,-0.781075,0.049186],[0.781366,0.616709,-0.095587],[0.044327,0.097935,0.994205]] 2025-10-24T19:18:24.548Z,1761333504.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:18:24.586Z,1761333504.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622484,-0.781087,0.049163],[0.781324,0.616583,-0.096741],[0.045250,0.098632,0.994095]] 2025-10-24T19:18:24.629Z,1761333504.629 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:18:24.630Z,1761333504.630 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:18:24.631Z,1761333504.631 [DAT](INFO): DAT read: Oct 24 2025 19:13:57 2025-10-24T19:18:24.991Z,1761333504.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623175,-0.780593,0.048249],[0.780713,0.617249,-0.097415],[0.046260,0.098375,0.994074]] 2025-10-24T19:18:25.388Z,1761333505.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623231,-0.780567,0.047940],[0.780625,0.617252,-0.098100],[0.046983,0.098562,0.994021]] 2025-10-24T19:18:25.554Z,1761333505.554 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:18:25.791Z,1761333505.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623530,-0.780351,0.047574],[0.780345,0.617507,-0.098726],[0.047664,0.098683,0.993977]] 2025-10-24T19:18:25.890Z,1761333505.890 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:18:25.892Z,1761333505.892 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:18:25.892Z,1761333505.892 [DAT](INFO): commRate: 600 2025-10-24T19:18:26.195Z,1761333506.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623217,-0.780602,0.047559],[0.780557,0.617122,-0.099457],[0.048286,0.099106,0.993905]] 2025-10-24T19:18:26.599Z,1761333506.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623837,-0.780138,0.047026],[0.780025,0.617727,-0.099868],[0.048862,0.098983,0.993889]] 2025-10-24T19:18:27.015Z,1761333507.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624035,-0.779973,0.047144],[0.779851,0.617875,-0.100312],[0.049112,0.099363,0.993838]] 2025-10-24T19:18:27.430Z,1761333507.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623786,-0.780131,0.047816],[0.780025,0.617490,-0.101323],[0.049519,0.100502,0.993704]] 2025-10-24T19:18:27.813Z,1761333507.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624508,-0.779559,0.047724],[0.779437,0.618193,-0.101559],[0.049669,0.100623,0.993684]] 2025-10-24T19:18:27.956Z,1761333507.956 [DAT](INFO): entering command mode 2025-10-24T19:18:28.156Z,1761333508.156 [DAT](INFO): DAT read: 2025-10-24T19:18:28.157Z,1761333508.157 [DAT](INFO): DAT read: user:1> 2025-10-24T19:18:28.157Z,1761333508.157 [DAT](INFO): setting verbose to 3 2025-10-24T19:18:28.234Z,1761333508.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624378,-0.779661,0.047768],[0.779510,0.617996,-0.102199],[0.050160,0.101046,0.993616]] 2025-10-24T19:18:28.409Z,1761333508.409 [DAT](INFO): DAT read: user:1> 2025-10-24T19:18:28.411Z,1761333508.411 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:18:28.411Z,1761333508.411 [DAT](INFO): set verbose to 3 2025-10-24T19:18:28.411Z,1761333508.411 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:18:28.623Z,1761333508.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624316,-0.779693,0.048050],[0.779534,0.617846,-0.102919],[0.050558,0.101710,0.993529]] 2025-10-24T19:18:28.661Z,1761333508.661 [DAT](INFO): DAT read: user:2> 2025-10-24T19:18:28.662Z,1761333508.662 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:18:28.662Z,1761333508.662 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:18:28.662Z,1761333508.662 [DAT](INFO): setting transmit power to 8 2025-10-24T19:18:28.913Z,1761333508.913 [DAT](INFO): DAT read: user:3> 2025-10-24T19:18:28.914Z,1761333508.914 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:18:28.915Z,1761333508.915 [DAT](INFO): set transmit power to 8 2025-10-24T19:18:28.915Z,1761333508.915 [DAT](INFO): setting local address to 10 2025-10-24T19:18:29.025Z,1761333509.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624452,-0.779592,0.047908],[0.779409,0.617968,-0.103135],[0.050798,0.101743,0.993513]] 2025-10-24T19:18:29.165Z,1761333509.165 [DAT](INFO): DAT read: user:4> 2025-10-24T19:18:29.166Z,1761333509.166 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:18:29.166Z,1761333509.166 [DAT](INFO): set local address to 10 2025-10-24T19:18:29.167Z,1761333509.167 [DAT](INFO): Setting time to: 19:18:29 And date to:10/24/2025 2025-10-24T19:18:29.417Z,1761333509.417 [DAT](INFO): DAT read: user:5> 2025-10-24T19:18:29.417Z,1761333509.417 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:18:29 2025-10-24T19:18:29.418Z,1761333509.418 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:18:29 2025-10-24T19:18:29.418Z,1761333509.418 [DAT](INFO): setting remote address to 11 2025-10-24T19:18:29.419Z,1761333509.419 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:18:29.419Z,1761333509.419 [DAT](INFO): setting remote address to 0 2025-10-24T19:18:29.442Z,1761333509.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624957,-0.779184,0.047973],[0.779000,0.618444,-0.103376],[0.050880,0.101977,0.993485]] 2025-10-24T19:18:29.669Z,1761333509.669 [DAT](INFO): DAT read: user:6> 2025-10-24T19:18:29.670Z,1761333509.670 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:18:29.670Z,1761333509.670 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:18:29.671Z,1761333509.671 [DAT] Communications Fault, FailCount= 1 2025-10-24T19:18:29.671Z,1761333509.671 [DAT](ERROR): Communications Fault 2025-10-24T19:18:29.671Z,1761333509.671 [DAT](INFO): DAT read: user:7> 2025-10-24T19:18:29.672Z,1761333509.672 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:18:29.673Z,1761333509.673 [DAT](INFO): set remote address to 0 2025-10-24T19:18:29.673Z,1761333509.673 [DAT](INFO): setting remote address to 11 2025-10-24T19:18:29.673Z,1761333509.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:18:29.674Z,1761333509.674 [DAT](INFO): setting remote address to 0 2025-10-24T19:18:29.831Z,1761333509.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625411,-0.778838,0.047672],[0.778653,0.618966,-0.102863],[0.050606,0.101452,0.993553]] 2025-10-24T19:18:29.948Z,1761333509.948 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:18:30.076Z,1761333510.076 [DAT](INFO): Powering down 2025-10-24T19:18:30.237Z,1761333510.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626414,-0.778058,0.047245],[0.777847,0.620010,-0.102673],[0.050593,0.101065,0.993593]] 2025-10-24T19:18:30.640Z,1761333510.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627061,-0.777519,0.047529],[0.777358,0.620673,-0.102374],[0.050098,0.101142,0.993610]] 2025-10-24T19:18:31.046Z,1761333511.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627741,-0.776966,0.047591],[0.776829,0.621375,-0.102127],[0.049777,0.101079,0.993632]] 2025-10-24T19:18:31.146Z,1761333511.146 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:18:31.146Z,1761333511.146 [DAT] No Fault, FailCount= 1 2025-10-24T19:18:31.853Z,1761333511.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629313,-0.775694,0.047574],[0.775623,0.623060,-0.101021],[0.048720,0.100473,0.993746]] 2025-10-24T19:18:32.255Z,1761333512.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630086,-0.775075,0.047442],[0.775027,0.623902,-0.100390],[0.048211,0.100023,0.993816]] 2025-10-24T19:18:32.661Z,1761333512.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630089,-0.775048,0.047834],[0.775050,0.623908,-0.100181],[0.047801,0.100197,0.993819]] 2025-10-24T19:18:33.063Z,1761333513.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631106,-0.774240,0.047517],[0.774255,0.625016,-0.099423],[0.047278,0.099536,0.993910]] 2025-10-24T19:18:33.125Z,1761333513.125 [DAT](INFO): Powering up 2025-10-24T19:18:33.126Z,1761333513.126 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:18:34.275Z,1761333514.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631687,-0.773731,0.048088],[0.773856,0.625675,-0.098371],[0.046025,0.099352,0.993987]] 2025-10-24T19:18:34.681Z,1761333514.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631942,-0.773492,0.048578],[0.773664,0.625899,-0.098459],[0.045753,0.099804,0.993955]] 2025-10-24T19:18:35.089Z,1761333515.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631684,-0.773620,0.049873],[0.773904,0.625544,-0.098834],[0.045262,0.101029,0.993853]] 2025-10-24T19:18:35.505Z,1761333515.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631147,-0.774025,0.050378],[0.774345,0.624960,-0.099071],[0.045199,0.101538,0.993804]] 2025-10-24T19:18:35.891Z,1761333515.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630609,-0.774432,0.050862],[0.774797,0.624401,-0.099060],[0.044957,0.101876,0.993781]] 2025-10-24T19:18:35.911Z,1761333515.911 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, +59, +643, 2025-10-24T19:18:36.295Z,1761333516.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629789,-0.775066,0.051364],[0.775467,0.623538,-0.099251],[0.044899,0.102338,0.993736]] 2025-10-24T19:18:36.699Z,1761333516.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629084,-0.775618,0.051670],[0.776087,0.622914,-0.098324],[0.044076,0.101955,0.993812]] 2025-10-24T19:18:37.113Z,1761333517.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627044,-0.777198,0.052716],[0.777764,0.620840,-0.098189],[0.043584,0.102569,0.993771]] 2025-10-24T19:18:37.571Z,1761333517.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625606,-0.778310,0.053387],[0.778959,0.619433,-0.097599],[0.042893,0.102645,0.993793]] 2025-10-24T19:18:37.914Z,1761333517.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624470,-0.779199,0.053726],[0.779878,0.618292,-0.097497],[0.042751,0.102784,0.993785]] 2025-10-24T19:18:38.721Z,1761333518.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620763,-0.782016,0.055706],[0.782865,0.614480,-0.097659],[0.042140,0.104234,0.993660]] 2025-10-24T19:18:39.124Z,1761333519.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618933,-0.783412,0.056459],[0.784327,0.612621,-0.097603],[0.041876,0.104692,0.993623]] 2025-10-24T19:18:39.573Z,1761333519.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617056,-0.784838,0.057194],[0.785816,0.610714,-0.097582],[0.041657,0.105157,0.993583]] 2025-10-24T19:18:39.941Z,1761333519.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615956,-0.785698,0.057241],[0.786687,0.609648,-0.097229],[0.041496,0.104919,0.993615]] 2025-10-24T19:18:40.347Z,1761333520.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614366,-0.786894,0.057904],[0.787945,0.608042,-0.097091],[0.041192,0.105275,0.993590]] 2025-10-24T19:18:40.739Z,1761333520.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613886,-0.787271,0.057869],[0.788336,0.607617,-0.096585],[0.040876,0.104912,0.993641]] 2025-10-24T19:18:41.146Z,1761333521.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613724,-0.787391,0.057942],[0.788471,0.607474,-0.096381],[0.040691,0.104837,0.993657]] 2025-10-24T19:18:41.955Z,1761333521.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613706,-0.787438,0.057501],[0.788499,0.607542,-0.095722],[0.040441,0.104085,0.993746]] 2025-10-24T19:18:42.358Z,1761333522.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614895,-0.786546,0.057007],[0.787546,0.608706,-0.096169],[0.040941,0.104029,0.993731]] 2025-10-24T19:18:42.760Z,1761333522.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616177,-0.785546,0.056961],[0.786526,0.609928,-0.096770],[0.041275,0.104428,0.993676]] 2025-10-24T19:18:43.163Z,1761333523.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617909,-0.784215,0.056529],[0.785151,0.611649,-0.097076],[0.041553,0.104368,0.993670]] 2025-10-24T19:18:43.567Z,1761333523.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620028,-0.782540,0.056538],[0.783487,0.613753,-0.097240],[0.041393,0.104588,0.993654]] 2025-10-24T19:18:43.973Z,1761333523.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621928,-0.781067,0.056031],[0.781974,0.615670,-0.097305],[0.041505,0.104331,0.993676]] 2025-10-24T19:18:44.398Z,1761333524.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624278,-0.779281,0.054748],[0.780104,0.618153,-0.096563],[0.041407,0.102991,0.993820]] 2025-10-24T19:18:44.779Z,1761333524.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625721,-0.778162,0.054194],[0.778954,0.619659,-0.096191],[0.041271,0.102403,0.993886]] 2025-10-24T19:18:45.184Z,1761333525.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627867,-0.776500,0.053204],[0.777225,0.621892,-0.095771],[0.041279,0.101483,0.993980]] 2025-10-24T19:18:45.481Z,1761333525.481 [DAT](INFO): DAT read: 2025-10-24T19:18:45.481Z,1761333525.481 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:18:45.995Z,1761333525.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631195,-0.773843,0.052544],[0.774562,0.625339,-0.094890],[0.040572,0.100593,0.994100]] 2025-10-24T19:18:46.399Z,1761333526.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631517,-0.773538,0.053161],[0.774302,0.625584,-0.095399],[0.040539,0.101409,0.994019]] 2025-10-24T19:18:46.799Z,1761333526.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632394,-0.772853,0.052692],[0.773597,0.626533,-0.094892],[0.040324,0.100772,0.994092]] 2025-10-24T19:18:47.205Z,1761333527.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632291,-0.772954,0.052434],[0.773698,0.626509,-0.094221],[0.039978,0.100143,0.994170]] 2025-10-24T19:18:47.607Z,1761333527.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632156,-0.773077,0.052262],[0.773820,0.626422,-0.093799],[0.039776,0.099736,0.994219]] 2025-10-24T19:18:48.012Z,1761333528.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630403,-0.774451,0.053088],[0.775246,0.624590,-0.094237],[0.039823,0.100563,0.994133]] 2025-10-24T19:18:48.415Z,1761333528.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629103,-0.775485,0.053405],[0.776303,0.623279,-0.094211],[0.039773,0.100727,0.994119]] 2025-10-24T19:18:49.228Z,1761333529.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626255,-0.777635,0.055574],[0.778641,0.620312,-0.094502],[0.039015,0.102455,0.993972]] 2025-10-24T19:18:49.627Z,1761333529.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625398,-0.778264,0.056409],[0.779363,0.619456,-0.094171],[0.038347,0.102858,0.993957]] 2025-10-24T19:18:50.040Z,1761333530.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624030,-0.779267,0.057698],[0.780502,0.618070,-0.093844],[0.037469,0.103595,0.993914]] 2025-10-24T19:18:50.437Z,1761333530.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623220,-0.779832,0.058809],[0.781197,0.617274,-0.093301],[0.036457,0.104088,0.993900]] 2025-10-24T19:18:51.025Z,1761333531.025 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:18:51.027Z,1761333531.027 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:18:51.028Z,1761333531.028 [DAT](INFO): DAT read: Oct 24 2025 19:18:41 2025-10-24T19:18:51.246Z,1761333531.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621239,-0.781177,0.061846],[0.782887,0.615305,-0.092127],[0.033913,0.105651,0.993825]] 2025-10-24T19:18:51.647Z,1761333531.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621155,-0.781189,0.062531],[0.783011,0.615322,-0.090954],[0.032576,0.105459,0.993890]] 2025-10-24T19:18:52.041Z,1761333532.041 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:18:52.043Z,1761333532.043 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:18:52.043Z,1761333532.043 [DAT](INFO): commRate: 600 2025-10-24T19:18:52.055Z,1761333532.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620746,-0.781429,0.063589],[0.783392,0.614988,-0.089923],[0.031162,0.105634,0.993917]] 2025-10-24T19:18:52.454Z,1761333532.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620677,-0.781455,0.063941],[0.783486,0.615015,-0.088917],[0.030160,0.105286,0.993985]] 2025-10-24T19:18:52.861Z,1761333532.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619570,-0.782213,0.065381],[0.784388,0.613857,-0.088964],[0.029454,0.106404,0.993887]] 2025-10-24T19:18:53.265Z,1761333533.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619826,-0.781968,0.065897],[0.784229,0.614209,-0.087930],[0.028284,0.106179,0.993945]] 2025-10-24T19:18:53.668Z,1761333533.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619963,-0.781791,0.066702],[0.784171,0.614446,-0.086785],[0.026863,0.106110,0.993991]] 2025-10-24T19:18:54.079Z,1761333534.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620788,-0.781004,0.068233],[0.783567,0.615288,-0.086271],[0.025395,0.107021,0.993932]] 2025-10-24T19:18:54.108Z,1761333534.108 [DAT](INFO): entering command mode 2025-10-24T19:18:54.308Z,1761333534.308 [DAT](INFO): DAT read: 2025-10-24T19:18:54.310Z,1761333534.310 [DAT](INFO): DAT read: user:1> 2025-10-24T19:18:54.310Z,1761333534.310 [DAT](INFO): setting verbose to 3 2025-10-24T19:18:54.490Z,1761333534.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621623,-0.780260,0.069136],[0.782981,0.616348,-0.083996],[0.022926,0.106346,0.994065]] 2025-10-24T19:18:54.563Z,1761333534.563 [DAT](INFO): DAT read: user:1> 2025-10-24T19:18:54.567Z,1761333534.567 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:18:54.569Z,1761333534.569 [DAT](INFO): set verbose to 3 2025-10-24T19:18:54.570Z,1761333534.570 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:18:54.813Z,1761333534.813 [DAT](INFO): DAT read: user:2> 2025-10-24T19:18:54.814Z,1761333534.814 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:18:54.814Z,1761333534.814 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:18:54.814Z,1761333534.814 [DAT](INFO): setting transmit power to 8 2025-10-24T19:18:54.883Z,1761333534.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622278,-0.779728,0.069240],[0.782493,0.617137,-0.082749],[0.021791,0.105672,0.994162]] 2025-10-24T19:18:55.065Z,1761333535.065 [DAT](INFO): DAT read: user:3> 2025-10-24T19:18:55.065Z,1761333535.065 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:18:55.066Z,1761333535.066 [DAT](INFO): set transmit power to 8 2025-10-24T19:18:55.066Z,1761333535.066 [DAT](INFO): setting local address to 10 2025-10-24T19:18:55.285Z,1761333535.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623364,-0.778833,0.069540],[0.781663,0.618349,-0.081532],[0.020499,0.105181,0.994242]] 2025-10-24T19:18:55.317Z,1761333535.317 [DAT](INFO): DAT read: user:4> 2025-10-24T19:18:55.318Z,1761333535.318 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:18:55.318Z,1761333535.318 [DAT](INFO): set local address to 10 2025-10-24T19:18:55.319Z,1761333535.319 [DAT](INFO): DAT read: user:5>Rx Time:19:18:51.2212 2025-10-24T19:18:55.319Z,1761333535.319 [DAT](INFO): Rx dataTimestamp_ set to:1761333535.318893 2025-10-24T19:18:55.320Z,1761333535.320 [DAT](INFO): Setting time to: 19:18:55 And date to:10/24/2025 2025-10-24T19:18:55.573Z,1761333535.573 [DAT](INFO): DAT read: 2025-10-24T19:18:55.576Z,1761333535.576 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:18:55 2025-10-24T19:18:55.578Z,1761333535.578 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:18:55 2025-10-24T19:18:55.581Z,1761333535.581 [DAT](INFO): setting remote address to 11 2025-10-24T19:18:55.583Z,1761333535.583 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:18:55.588Z,1761333535.588 [DAT](INFO): setting remote address to 0 2025-10-24T19:18:55.672Z,1761333535.672 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:18:55.689Z,1761333535.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624697,-0.777746,0.069744],[0.780627,0.619794,-0.080481],[0.019367,0.104721,0.994313]] 2025-10-24T19:18:55.821Z,1761333535.821 [DAT](INFO): DAT read: user:6> 2025-10-24T19:18:55.822Z,1761333535.822 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:18:55.822Z,1761333535.822 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:18:55.822Z,1761333535.822 [DAT] Communications Fault, FailCount= 2 2025-10-24T19:18:55.822Z,1761333535.822 [DAT](ERROR): Communications Fault 2025-10-24T19:18:55.823Z,1761333535.823 [DAT](INFO): DAT read: user:7> 2025-10-24T19:18:55.824Z,1761333535.824 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:18:55.825Z,1761333535.825 [DAT](INFO): set remote address to 0 2025-10-24T19:18:55.825Z,1761333535.825 [DAT](INFO): setting remote address to 11 2025-10-24T19:18:55.827Z,1761333535.827 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:18:55.829Z,1761333535.829 [DAT](INFO): setting remote address to 0 2025-10-24T19:18:56.094Z,1761333536.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625200,-0.777302,0.070195],[0.780248,0.620373,-0.079685],[0.018392,0.104588,0.994346]] 2025-10-24T19:18:56.157Z,1761333536.157 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:18:56.232Z,1761333536.232 [DAT](INFO): Powering down 2025-10-24T19:18:56.513Z,1761333536.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626485,-0.776191,0.071016],[0.779244,0.621717,-0.079041],[0.017199,0.104857,0.994339]] 2025-10-24T19:18:56.676Z,1761333536.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:18:56.899Z,1761333536.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627182,-0.775590,0.071436],[0.778709,0.622532,-0.077884],[0.015935,0.104475,0.994400]] 2025-10-24T19:18:57.305Z,1761333537.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628496,-0.774536,0.071319],[0.777672,0.623988,-0.076583],[0.014814,0.103595,0.994509]] 2025-10-24T19:18:57.383Z,1761333537.383 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:18:57.384Z,1761333537.384 [DAT] No Fault, FailCount= 2 2025-10-24T19:18:57.709Z,1761333537.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629128,-0.773997,0.071603],[0.777181,0.624726,-0.075554],[0.013746,0.103182,0.994568]] 2025-10-24T19:18:58.112Z,1761333538.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629676,-0.773490,0.072258],[0.776758,0.625368,-0.074577],[0.012497,0.103086,0.994594]] 2025-10-24T19:18:58.521Z,1761333538.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629742,-0.773369,0.072976],[0.776720,0.625507,-0.073801],[0.011428,0.103157,0.994599]] 2025-10-24T19:18:58.924Z,1761333538.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629667,-0.773341,0.073911],[0.776795,0.625471,-0.073321],[0.010473,0.103581,0.994566]] 2025-10-24T19:18:59.276Z,1761333539.276 [DAT](INFO): Powering up 2025-10-24T19:18:59.277Z,1761333539.277 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:18:59.338Z,1761333539.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630272,-0.772801,0.074403],[0.776317,0.626156,-0.072532],[0.009465,0.103475,0.994587]] 2025-10-24T19:18:59.728Z,1761333539.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629585,-0.773214,0.075912],[0.776884,0.625460,-0.072461],[0.008547,0.104595,0.994478]] 2025-10-24T19:19:00.131Z,1761333540.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629804,-0.772966,0.076616],[0.776717,0.625734,-0.071891],[0.007628,0.104786,0.994466]] 2025-10-24T19:19:00.545Z,1761333540.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629640,-0.773025,0.077366],[0.776858,0.625617,-0.071388],[0.006783,0.105051,0.994444]] 2025-10-24T19:19:00.946Z,1761333540.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630052,-0.772639,0.077873],[0.776531,0.626101,-0.070687],[0.005859,0.105007,0.994454]] 2025-10-24T19:19:01.346Z,1761333541.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629611,-0.772880,0.079032],[0.776893,0.625656,-0.070652],[0.005159,0.105883,0.994365]] 2025-10-24T19:19:01.747Z,1761333541.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629740,-0.772743,0.079349],[0.776793,0.625841,-0.070119],[0.004524,0.105794,0.994378]] 2025-10-24T19:19:02.151Z,1761333542.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630186,-0.772436,0.078793],[0.776435,0.626419,-0.068913],[0.003874,0.104605,0.994506]] 2025-10-24T19:19:02.645Z,1761333542.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631024,-0.771722,0.079078],[0.775758,0.627348,-0.068075],[0.002925,0.104303,0.994541]] 2025-10-24T19:19:02.963Z,1761333542.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630971,-0.771690,0.079819],[0.775804,0.627337,-0.067658],[0.002138,0.104614,0.994511]] 2025-10-24T19:19:03.364Z,1761333543.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632164,-0.770817,0.078804],[0.774833,0.628680,-0.066306],[0.001567,0.102976,0.994683]] 2025-10-24T19:19:03.768Z,1761333543.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632941,-0.770158,0.079001],[0.774199,0.629536,-0.065578],[0.000771,0.102669,0.994715]] 2025-10-24T19:19:04.174Z,1761333544.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634026,-0.769181,0.079822],[0.773311,0.630577,-0.066046],[0.000467,0.103602,0.994619]] 2025-10-24T19:19:04.190Z,1761333544.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:19:04.575Z,1761333544.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635129,-0.768206,0.080437],[0.772406,0.631687,-0.066037],[-0.000082,0.104072,0.994570]] 2025-10-24T19:19:04.981Z,1761333544.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635870,-0.767562,0.080742],[0.771796,0.632475,-0.065618],[-0.000701,0.104041,0.994573]] 2025-10-24T19:19:05.384Z,1761333545.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637107,-0.766425,0.081782],[0.770775,0.633681,-0.065990],[-0.001247,0.105078,0.994463]] 2025-10-24T19:19:06.192Z,1761333546.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639575,-0.764226,0.083085],[0.768724,0.636208,-0.065594],[-0.002731,0.105822,0.994381]] 2025-10-24T19:19:06.606Z,1761333546.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640216,-0.763645,0.083478],[0.768188,0.636882,-0.065340],[-0.003269,0.105959,0.994365]] 2025-10-24T19:19:07.005Z,1761333547.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641185,-0.762797,0.083802],[0.767377,0.637886,-0.065075],[-0.003818,0.106033,0.994355]] 2025-10-24T19:19:07.404Z,1761333547.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641566,-0.762470,0.083863],[0.767058,0.638284,-0.064931],[-0.004020,0.105985,0.994360]] 2025-10-24T19:19:07.807Z,1761333547.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641974,-0.762185,0.083324],[0.766716,0.638709,-0.064779],[-0.003846,0.105472,0.994415]] 2025-10-24T19:19:08.214Z,1761333548.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642590,-0.761665,0.083335],[0.766199,0.639354,-0.064532],[-0.004129,0.105319,0.994430]] 2025-10-24T19:19:08.619Z,1761333548.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642631,-0.761611,0.083509],[0.766164,0.639403,-0.064472],[-0.004293,0.105414,0.994419]] 2025-10-24T19:19:09.023Z,1761333549.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643232,-0.761161,0.082985],[0.765659,0.640057,-0.063985],[-0.004412,0.104695,0.994495]] 2025-10-24T19:19:09.423Z,1761333549.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642970,-0.761364,0.083152],[0.765878,0.639803,-0.063901],[-0.004549,0.104771,0.994486]] 2025-10-24T19:19:09.833Z,1761333549.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643196,-0.761177,0.083115],[0.765688,0.640034,-0.063861],[-0.004587,0.104715,0.994492]] 2025-10-24T19:19:10.231Z,1761333550.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642495,-0.761693,0.083808],[0.766275,0.639311,-0.064065],[-0.004782,0.105381,0.994420]] 2025-10-24T19:19:10.637Z,1761333550.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641906,-0.762077,0.084824],[0.766768,0.638663,-0.064632],[-0.004919,0.106528,0.994298]] 2025-10-24T19:19:11.039Z,1761333551.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640127,-0.763397,0.086385],[0.768253,0.636787,-0.065500],[-0.005006,0.108294,0.994106]] 2025-10-24T19:19:11.457Z,1761333551.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636976,-0.765833,0.088101],[0.770870,0.633472,-0.066871],[-0.004598,0.110510,0.993864]] 2025-10-24T19:19:11.641Z,1761333551.641 [DAT](INFO): DAT read: 2025-10-24T19:19:11.642Z,1761333551.642 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:19:12.253Z,1761333552.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633602,-0.768341,0.090558],[0.773646,0.629922,-0.068345],[-0.004532,0.113363,0.993543]] 2025-10-24T19:19:12.656Z,1761333552.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631717,-0.769765,0.091631],[0.775187,0.627951,-0.069017],[-0.004413,0.114630,0.993398]] 2025-10-24T19:19:13.062Z,1761333553.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630766,-0.770469,0.092262],[0.775961,0.626954,-0.069378],[-0.004390,0.115353,0.993315]] 2025-10-24T19:19:13.464Z,1761333553.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629812,-0.771125,0.093287],[0.776733,0.625962,-0.069687],[-0.004657,0.116349,0.993197]] 2025-10-24T19:19:13.895Z,1761333553.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629571,-0.771367,0.092922],[0.776928,0.625784,-0.069119],[-0.004833,0.115709,0.993271]] 2025-10-24T19:19:14.273Z,1761333554.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628863,-0.771940,0.092953],[0.777499,0.625125,-0.068653],[-0.005112,0.115444,0.993301]] 2025-10-24T19:19:14.677Z,1761333554.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629282,-0.771588,0.093035],[0.777158,0.625578,-0.068395],[-0.005428,0.115343,0.993311]] 2025-10-24T19:19:15.079Z,1761333555.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628672,-0.772028,0.093515],[0.777650,0.624964,-0.068412],[-0.005628,0.115731,0.993265]] 2025-10-24T19:19:15.485Z,1761333555.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629077,-0.771704,0.093457],[0.777320,0.625418,-0.068014],[-0.005962,0.115432,0.993298]] 2025-10-24T19:19:15.920Z,1761333555.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628927,-0.771802,0.093663],[0.777439,0.625303,-0.067712],[-0.006307,0.115403,0.993299]] 2025-10-24T19:19:16.291Z,1761333556.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628712,-0.771934,0.094018],[0.777611,0.625085,-0.067746],[-0.006474,0.115702,0.993263]] 2025-10-24T19:19:16.698Z,1761333556.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629154,-0.771535,0.094337],[0.777252,0.625516,-0.067884],[-0.006634,0.116033,0.993223]] 2025-10-24T19:19:17.102Z,1761333557.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628945,-0.771661,0.094694],[0.777420,0.625308,-0.067886],[-0.006827,0.116314,0.993189]] 2025-10-24T19:19:17.194Z,1761333557.194 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:19:17.195Z,1761333557.195 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:19:17.196Z,1761333557.196 [DAT](INFO): DAT read: Oct 24 2025 19:19:07 2025-10-24T19:19:17.510Z,1761333557.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629502,-0.771220,0.094591],[0.776966,0.625906,-0.067562],[-0.007099,0.116024,0.993221]] 2025-10-24T19:19:17.950Z,1761333557.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629449,-0.771268,0.094549],[0.777008,0.625873,-0.067384],[-0.007205,0.115880,0.993237]] 2025-10-24T19:19:18.202Z,1761333558.202 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:19:18.204Z,1761333558.204 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:19:18.205Z,1761333558.205 [DAT](INFO): commRate: 600 2025-10-24T19:19:18.312Z,1761333558.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630066,-0.770802,0.094246],[0.776507,0.626524,-0.067108],[-0.007320,0.115465,0.993285]] 2025-10-24T19:19:18.718Z,1761333558.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630150,-0.770734,0.094229],[0.776438,0.626625,-0.066976],[-0.007426,0.115368,0.993295]] 2025-10-24T19:19:19.122Z,1761333559.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630121,-0.770885,0.093187],[0.776466,0.626616,-0.066735],[-0.006948,0.114408,0.993410]] 2025-10-24T19:19:19.523Z,1761333559.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630612,-0.770550,0.092632],[0.776064,0.627190,-0.066004],[-0.007238,0.113511,0.993510]] 2025-10-24T19:19:19.975Z,1761333559.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631531,-0.769876,0.091972],[0.775312,0.628219,-0.065049],[-0.007699,0.112388,0.993635]] 2025-10-24T19:19:20.268Z,1761333560.268 [DAT](INFO): entering command mode 2025-10-24T19:19:20.336Z,1761333560.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632319,-0.769300,0.091377],[0.774667,0.629096,-0.064265],[-0.008046,0.111423,0.993741]] 2025-10-24T19:19:20.469Z,1761333560.469 [DAT](INFO): DAT read: 2025-10-24T19:19:20.470Z,1761333560.470 [DAT](INFO): DAT read: user:1> 2025-10-24T19:19:20.470Z,1761333560.470 [DAT](INFO): setting verbose to 3 2025-10-24T19:19:20.721Z,1761333560.721 [DAT](INFO): DAT read: user:1> 2025-10-24T19:19:20.721Z,1761333560.721 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:19:20.722Z,1761333560.722 [DAT](INFO): set verbose to 3 2025-10-24T19:19:20.722Z,1761333560.722 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:19:20.773Z,1761333560.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632948,-0.768870,0.090637],[0.774151,0.629793,-0.063648],[-0.008145,0.110453,0.993848]] 2025-10-24T19:19:20.976Z,1761333560.976 [DAT](INFO): DAT read: user:2> 2025-10-24T19:19:20.979Z,1761333560.979 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:19:20.982Z,1761333560.982 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:19:20.983Z,1761333560.983 [DAT](INFO): setting transmit power to 8 2025-10-24T19:19:21.139Z,1761333561.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633144,-0.768757,0.090226],[0.773989,0.630050,-0.063076],[-0.008357,0.109770,0.993922]] 2025-10-24T19:19:21.224Z,1761333561.224 [DAT](INFO): DAT read: user:3> 2025-10-24T19:19:21.226Z,1761333561.226 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:19:21.227Z,1761333561.227 [DAT](INFO): set transmit power to 8 2025-10-24T19:19:21.227Z,1761333561.227 [DAT](INFO): setting local address to 10 2025-10-24T19:19:21.478Z,1761333561.478 [DAT](INFO): DAT read: user:4> 2025-10-24T19:19:21.479Z,1761333561.479 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:19:21.479Z,1761333561.479 [DAT](INFO): set local address to 10 2025-10-24T19:19:21.480Z,1761333561.480 [DAT](INFO): Setting time to: 19:19:21 And date to:10/24/2025 2025-10-24T19:19:21.559Z,1761333561.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633001,-0.768918,0.089862],[0.774106,0.629938,-0.062758],[-0.008352,0.109288,0.993975]] 2025-10-24T19:19:21.729Z,1761333561.729 [DAT](INFO): DAT read: user:5> 2025-10-24T19:19:21.729Z,1761333561.729 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:19:21 2025-10-24T19:19:21.730Z,1761333561.730 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:19:21 2025-10-24T19:19:21.730Z,1761333561.730 [DAT](INFO): setting remote address to 11 2025-10-24T19:19:21.731Z,1761333561.731 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:19:21.731Z,1761333561.731 [DAT](INFO): setting remote address to 0 2025-10-24T19:19:21.987Z,1761333561.987 [DAT](INFO): DAT read: user:6> 2025-10-24T19:19:21.990Z,1761333561.990 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:19:21.992Z,1761333561.992 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:19:21.992Z,1761333561.992 [DAT] Communications Fault, FailCount= 3 2025-10-24T19:19:21.993Z,1761333561.993 [DAT](ERROR): Communications Fault 2025-10-24T19:19:21.995Z,1761333561.995 [DAT](INFO): DAT read: user:7> 2025-10-24T19:19:21.998Z,1761333561.998 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:19:21.998Z,1761333561.998 [DAT](INFO): set remote address to 0 2025-10-24T19:19:21.999Z,1761333561.999 [DAT](INFO): setting remote address to 11 2025-10-24T19:19:21.999Z,1761333561.999 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:19:21.999Z,1761333561.999 [DAT](INFO): setting remote address to 0 2025-10-24T19:19:22.050Z,1761333562.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632893,-0.769046,0.089526],[0.774194,0.629862,-0.062426],[-0.008380,0.108820,0.994026]] 2025-10-24T19:19:22.200Z,1761333562.200 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:19:22.353Z,1761333562.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631874,-0.769854,0.089775],[0.775026,0.628837,-0.062444],[-0.008381,0.109034,0.994003]] 2025-10-24T19:19:22.406Z,1761333562.406 [DAT](INFO): Powering down 2025-10-24T19:19:22.757Z,1761333562.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630910,-0.770603,0.090132],[0.775810,0.627861,-0.062516],[-0.008415,0.109368,0.993966]] 2025-10-24T19:19:23.159Z,1761333563.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629496,-0.771669,0.090895],[0.776957,0.626413,-0.062797],[-0.008480,0.110152,0.993879]] 2025-10-24T19:19:23.564Z,1761333563.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627667,-0.773019,0.092061],[0.778437,0.624496,-0.063568],[-0.008352,0.111563,0.993722]] 2025-10-24T19:19:23.660Z,1761333563.660 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:19:23.660Z,1761333563.660 [DAT] No Fault, FailCount= 3 2025-10-24T19:19:23.995Z,1761333563.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626255,-0.774143,0.092231],[0.779577,0.623040,-0.063876],[-0.008014,0.111904,0.993687]] 2025-10-24T19:19:24.373Z,1761333564.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624240,-0.775668,0.093078],[0.781194,0.620955,-0.064430],[-0.007821,0.112932,0.993572]] 2025-10-24T19:19:24.775Z,1761333564.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623032,-0.776625,0.093193],[0.782160,0.619708,-0.064713],[-0.007495,0.113210,0.993543]] 2025-10-24T19:19:25.179Z,1761333565.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620925,-0.778211,0.094016],[0.783836,0.617532,-0.065232],[-0.007294,0.114197,0.993431]] 2025-10-24T19:19:25.452Z,1761333565.452 [DAT](INFO): Powering up 2025-10-24T19:19:25.452Z,1761333565.452 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:19:25.607Z,1761333565.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619537,-0.779273,0.094377],[0.784936,0.616095,-0.065593],[-0.007030,0.114717,0.993373]] 2025-10-24T19:19:26.009Z,1761333566.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617859,-0.780543,0.094879],[0.786258,0.614380,-0.065842],[-0.006899,0.115280,0.993309]] 2025-10-24T19:19:26.392Z,1761333566.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616968,-0.781328,0.094220],[0.786959,0.613542,-0.065282],[-0.006801,0.114425,0.993409]] 2025-10-24T19:19:26.796Z,1761333566.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615845,-0.782196,0.094367],[0.787839,0.612417,-0.065241],[-0.006761,0.114524,0.993398]] 2025-10-24T19:19:26.800Z,1761333566.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:19:27.199Z,1761333567.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614827,-0.782920,0.094992],[0.788633,0.611365,-0.065507],[-0.006787,0.115189,0.993320]] 2025-10-24T19:19:27.606Z,1761333567.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613706,-0.783769,0.095248],[0.789506,0.610230,-0.065569],[-0.006732,0.115439,0.993292]] 2025-10-24T19:19:27.804Z,1761333567.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:19:28.031Z,1761333568.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613584,-0.783858,0.095298],[0.789598,0.610153,-0.065175],[-0.007059,0.115238,0.993313]] 2025-10-24T19:19:28.412Z,1761333568.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613128,-0.784209,0.095343],[0.789949,0.609750,-0.064694],[-0.007401,0.114982,0.993340]] 2025-10-24T19:19:29.226Z,1761333569.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612439,-0.784805,0.094864],[0.790478,0.609189,-0.063507],[-0.007949,0.113883,0.993462]] 2025-10-24T19:19:29.623Z,1761333569.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612942,-0.784485,0.094260],[0.790087,0.609751,-0.062977],[-0.008071,0.113075,0.993554]] 2025-10-24T19:19:30.031Z,1761333570.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612903,-0.784557,0.093923],[0.790116,0.609758,-0.062541],[-0.008203,0.112541,0.993613]] 2025-10-24T19:19:30.432Z,1761333570.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612629,-0.784804,0.093640],[0.790328,0.609505,-0.062324],[-0.008162,0.112188,0.993654]] 2025-10-24T19:19:30.837Z,1761333570.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612697,-0.784787,0.093330],[0.790275,0.609599,-0.062077],[-0.008177,0.111791,0.993698]] 2025-10-24T19:19:31.239Z,1761333571.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612181,-0.785158,0.093601],[0.790675,0.609079,-0.062096],[-0.008255,0.112023,0.993671]] 2025-10-24T19:19:31.643Z,1761333571.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612170,-0.785129,0.093918],[0.790685,0.609024,-0.062509],[-0.008120,0.112526,0.993616]] 2025-10-24T19:19:32.052Z,1761333572.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611272,-0.785784,0.094284],[0.791381,0.608084,-0.062855],[-0.007942,0.113036,0.993559]] 2025-10-24T19:19:32.452Z,1761333572.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611044,-0.785971,0.094206],[0.791558,0.607839,-0.062990],[-0.007753,0.113059,0.993558]] 2025-10-24T19:19:32.866Z,1761333572.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610683,-0.786233,0.094362],[0.791837,0.607464,-0.063095],[-0.007714,0.113250,0.993537]] 2025-10-24T19:19:33.674Z,1761333573.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610524,-0.786330,0.094577],[0.791959,0.607311,-0.063048],[-0.007861,0.113394,0.993519]] 2025-10-24T19:19:34.066Z,1761333574.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610017,-0.786665,0.095062],[0.792348,0.606786,-0.063206],[-0.007960,0.113879,0.993463]] 2025-10-24T19:19:34.471Z,1761333574.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610372,-0.786412,0.094886],[0.792074,0.607171,-0.062951],[-0.008106,0.113581,0.993496]] 2025-10-24T19:19:34.874Z,1761333574.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610398,-0.786401,0.094805],[0.792053,0.607208,-0.062853],[-0.008139,0.113456,0.993510]] 2025-10-24T19:19:35.683Z,1761333575.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609878,-0.786850,0.094425],[0.792456,0.606680,-0.062866],[-0.007820,0.113168,0.993545]] 2025-10-24T19:19:36.091Z,1761333576.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610645,-0.786349,0.093633],[0.791866,0.607496,-0.062430],[-0.007790,0.112267,0.993648]] 2025-10-24T19:19:36.501Z,1761333576.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610223,-0.786682,0.093590],[0.792192,0.607076,-0.062374],[-0.007748,0.112203,0.993655]] 2025-10-24T19:19:36.895Z,1761333576.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609949,-0.786941,0.093200],[0.792405,0.606807,-0.062293],[-0.007534,0.111848,0.993697]] 2025-10-24T19:19:37.299Z,1761333577.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609217,-0.787532,0.092999],[0.792968,0.606099,-0.062015],[-0.007527,0.111526,0.993733]] 2025-10-24T19:19:37.710Z,1761333577.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608721,-0.788008,0.092202],[0.793348,0.605671,-0.061322],[-0.007522,0.110477,0.993850]] 2025-10-24T19:19:37.812Z,1761333577.812 [DAT](INFO): DAT read: 2025-10-24T19:19:37.813Z,1761333577.813 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:19:38.110Z,1761333578.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607915,-0.788669,0.091873],[0.793971,0.604839,-0.061483],[-0.007078,0.110321,0.993871]] 2025-10-24T19:19:38.519Z,1761333578.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606238,-0.789898,0.092390],[0.795252,0.603134,-0.061669],[-0.007012,0.110860,0.993811]] 2025-10-24T19:19:38.917Z,1761333578.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605717,-0.790336,0.092064],[0.795650,0.602640,-0.061366],[-0.006981,0.110421,0.993860]] 2025-10-24T19:19:39.325Z,1761333579.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604414,-0.791290,0.092431],[0.796641,0.601312,-0.061539],[-0.006885,0.110829,0.993816]] 2025-10-24T19:19:40.129Z,1761333580.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601692,-0.793297,0.092980],[0.798701,0.598531,-0.061943],[-0.006512,0.111534,0.993739]] 2025-10-24T19:19:40.944Z,1761333580.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598580,-0.795511,0.094151],[0.801036,0.595364,-0.062309],[-0.006487,0.112716,0.993606]] 2025-10-24T19:19:41.345Z,1761333581.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596828,-0.796738,0.094890],[0.802343,0.593574,-0.062576],[-0.006467,0.113482,0.993519]] 2025-10-24T19:19:42.148Z,1761333582.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594416,-0.798460,0.095552],[0.804131,0.591144,-0.062625],[-0.006481,0.114062,0.993452]] 2025-10-24T19:19:42.958Z,1761333582.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592878,-0.799736,0.094438],[0.805267,0.589701,-0.061630],[-0.006403,0.112587,0.993621]] 2025-10-24T19:19:43.362Z,1761333583.362 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:19:43.364Z,1761333583.364 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:19:43.366Z,1761333583.366 [DAT](INFO): DAT read: Oct 24 2025 19:19:33 2025-10-24T19:19:43.388Z,1761333583.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593086,-0.799635,0.093988],[0.805111,0.589985,-0.060940],[-0.006722,0.111814,0.993706]] 2025-10-24T19:19:43.764Z,1761333583.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592837,-0.799808,0.094087],[0.805290,0.589806,-0.060303],[-0.007263,0.111518,0.993736]] 2025-10-24T19:19:44.167Z,1761333584.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593473,-0.799308,0.094322],[0.804812,0.590554,-0.059365],[-0.008251,0.111143,0.993770]] 2025-10-24T19:19:44.371Z,1761333584.371 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:19:44.375Z,1761333584.375 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:19:44.376Z,1761333584.376 [DAT](INFO): commRate: 600 2025-10-24T19:19:44.574Z,1761333584.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593153,-0.799372,0.095781],[0.805035,0.590295,-0.058914],[-0.009445,0.112052,0.993657]] 2025-10-24T19:19:44.977Z,1761333584.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593781,-0.798861,0.096153],[0.804557,0.591052,-0.057849],[-0.010619,0.111710,0.993684]] 2025-10-24T19:19:45.382Z,1761333585.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594090,-0.798538,0.096925],[0.804309,0.591499,-0.056715],[-0.012042,0.111651,0.993675]] 2025-10-24T19:19:46.197Z,1761333586.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597326,-0.795886,0.098823],[0.801792,0.595415,-0.051093],[-0.018176,0.109754,0.993793]] 2025-10-24T19:19:46.436Z,1761333586.436 [DAT](INFO): entering command mode 2025-10-24T19:19:46.595Z,1761333586.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599251,-0.794448,0.098744],[0.800290,0.597684,-0.048059],[-0.020837,0.107823,0.993952]] 2025-10-24T19:19:46.637Z,1761333586.637 [DAT](INFO): DAT read: 2025-10-24T19:19:46.637Z,1761333586.637 [DAT](INFO): DAT read: user:1> 2025-10-24T19:19:46.637Z,1761333586.637 [DAT](INFO): setting verbose to 3 2025-10-24T19:19:46.889Z,1761333586.889 [DAT](INFO): DAT read: user:1> 2025-10-24T19:19:46.889Z,1761333586.889 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:19:46.890Z,1761333586.890 [DAT](INFO): set verbose to 3 2025-10-24T19:19:46.890Z,1761333586.890 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:19:46.997Z,1761333586.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599663,-0.794052,0.099423],[0.799934,0.598286,-0.046472],[-0.022582,0.107400,0.993959]] 2025-10-24T19:19:47.141Z,1761333587.141 [DAT](INFO): DAT read: user:2> 2025-10-24T19:19:47.142Z,1761333587.142 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:19:47.142Z,1761333587.142 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:19:47.143Z,1761333587.143 [DAT](INFO): setting transmit power to 8 2025-10-24T19:19:47.395Z,1761333587.395 [DAT](INFO): DAT read: user:3> 2025-10-24T19:19:47.398Z,1761333587.398 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:19:47.398Z,1761333587.398 [DAT](INFO): set transmit power to 8 2025-10-24T19:19:47.399Z,1761333587.399 [DAT](INFO): setting local address to 10 2025-10-24T19:19:47.440Z,1761333587.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600684,-0.793227,0.099851],[0.799116,0.599506,-0.044784],[-0.024337,0.106693,0.993994]] 2025-10-24T19:19:47.645Z,1761333587.645 [DAT](INFO): DAT read: user:4> 2025-10-24T19:19:47.646Z,1761333587.646 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:19:47.646Z,1761333587.646 [DAT](INFO): set local address to 10 2025-10-24T19:19:47.647Z,1761333587.647 [DAT](INFO): Setting time to: 19:19:47 And date to:10/24/2025 2025-10-24T19:19:47.803Z,1761333587.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600915,-0.792954,0.100623],[0.798893,0.599901,-0.043462],[-0.025901,0.106503,0.993975]] 2025-10-24T19:19:47.897Z,1761333587.897 [DAT](INFO): DAT read: user:5> 2025-10-24T19:19:47.898Z,1761333587.898 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:19:47 2025-10-24T19:19:47.898Z,1761333587.898 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:19:47 2025-10-24T19:19:47.899Z,1761333587.899 [DAT](INFO): setting remote address to 11 2025-10-24T19:19:47.899Z,1761333587.899 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:19:47.899Z,1761333587.899 [DAT](INFO): setting remote address to 0 2025-10-24T19:19:48.149Z,1761333588.149 [DAT](INFO): DAT read: user:6> 2025-10-24T19:19:48.150Z,1761333588.150 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:19:48.150Z,1761333588.150 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:19:48.150Z,1761333588.150 [DAT] Communications Fault, FailCount= 4 2025-10-24T19:19:48.150Z,1761333588.150 [DAT](ERROR): Communications Fault 2025-10-24T19:19:48.151Z,1761333588.151 [DAT](INFO): DAT read: user:7> 2025-10-24T19:19:48.152Z,1761333588.152 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:19:48.153Z,1761333588.153 [DAT](INFO): set remote address to 0 2025-10-24T19:19:48.153Z,1761333588.153 [DAT](INFO): setting remote address to 11 2025-10-24T19:19:48.153Z,1761333588.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:19:48.154Z,1761333588.154 [DAT](INFO): setting remote address to 0 2025-10-24T19:19:48.230Z,1761333588.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601773,-0.792341,0.100321],[0.798184,0.601015,-0.041032],[-0.027783,0.104767,0.994109]] 2025-10-24T19:19:48.324Z,1761333588.324 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:19:48.560Z,1761333588.560 [DAT](INFO): Powering down 2025-10-24T19:19:48.611Z,1761333588.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601636,-0.792334,0.101199],[0.798233,0.601034,-0.039783],[-0.029302,0.104715,0.994071]] 2025-10-24T19:19:49.015Z,1761333589.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601705,-0.792219,0.101691],[0.798122,0.601281,-0.038230],[-0.030858,0.104165,0.994081]] 2025-10-24T19:19:49.434Z,1761333589.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601406,-0.792340,0.102511],[0.798297,0.601113,-0.037215],[-0.032134,0.104216,0.994035]] 2025-10-24T19:19:49.555Z,1761333589.555 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:19:49.556Z,1761333589.556 [DAT] No Fault, FailCount= 4 2025-10-24T19:19:49.825Z,1761333589.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600662,-0.792716,0.103957],[0.798802,0.600486,-0.036497],[-0.033493,0.104963,0.993912]] 2025-10-24T19:19:50.239Z,1761333590.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600196,-0.792973,0.104687],[0.799092,0.600174,-0.035256],[-0.034873,0.104815,0.993880]] 2025-10-24T19:19:50.647Z,1761333590.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599393,-0.793475,0.105476],[0.799644,0.599495,-0.034285],[-0.036027,0.104893,0.993831]] 2025-10-24T19:19:51.035Z,1761333591.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599272,-0.793479,0.106133],[0.799671,0.599530,-0.033028],[-0.037423,0.104665,0.993803]] 2025-10-24T19:19:51.462Z,1761333591.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597968,-0.794308,0.107279],[0.800588,0.598352,-0.032163],[-0.038644,0.105119,0.993709]] 2025-10-24T19:19:51.616Z,1761333591.616 [DAT](INFO): Powering up 2025-10-24T19:19:51.616Z,1761333591.616 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:19:51.846Z,1761333591.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596754,-0.795093,0.108219],[0.801442,0.597250,-0.031371],[-0.039691,0.105452,0.993632]] 2025-10-24T19:19:52.251Z,1761333592.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596312,-0.795422,0.108241],[0.801725,0.596930,-0.030189],[-0.040599,0.104782,0.993666]] 2025-10-24T19:19:52.651Z,1761333592.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595364,-0.796090,0.108544],[0.802394,0.596071,-0.029390],[-0.041303,0.104593,0.993657]] 2025-10-24T19:19:53.056Z,1761333593.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594568,-0.796639,0.108878],[0.802942,0.595373,-0.028531],[-0.042094,0.104387,0.993646]] 2025-10-24T19:19:53.492Z,1761333593.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593892,-0.797042,0.109618],[0.803414,0.594748,-0.028296],[-0.042642,0.104873,0.993571]] 2025-10-24T19:19:53.863Z,1761333593.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593695,-0.797077,0.110426],[0.803522,0.594616,-0.028008],[-0.043337,0.105358,0.993490]] 2025-10-24T19:19:54.274Z,1761333594.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592691,-0.797737,0.111057],[0.804234,0.593670,-0.027645],[-0.043878,0.105701,0.993429]] 2025-10-24T19:19:54.671Z,1761333594.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592360,-0.797964,0.111190],[0.804445,0.593415,-0.026959],[-0.044470,0.105416,0.993433]] 2025-10-24T19:19:55.077Z,1761333595.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591883,-0.798473,0.110066],[0.804818,0.592928,-0.026544],[-0.044067,0.104294,0.993570]] 2025-10-24T19:19:55.519Z,1761333595.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591804,-0.798510,0.110227],[0.804846,0.592916,-0.025952],[-0.044633,0.104074,0.993568]] 2025-10-24T19:19:55.883Z,1761333595.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591401,-0.798803,0.110270],[0.805129,0.592546,-0.025633],[-0.044864,0.103941,0.993571]] 2025-10-24T19:19:56.289Z,1761333596.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591330,-0.798765,0.110920],[0.805186,0.592441,-0.026232],[-0.044760,0.104823,0.993483]] 2025-10-24T19:19:56.693Z,1761333596.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591649,-0.798459,0.111417],[0.804932,0.592789,-0.026199],[-0.045128,0.105184,0.993428]] 2025-10-24T19:19:57.095Z,1761333597.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591032,-0.798894,0.111574],[0.805388,0.592165,-0.026282],[-0.045073,0.105394,0.993409]] 2025-10-24T19:19:57.543Z,1761333597.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591109,-0.798868,0.111358],[0.805335,0.592241,-0.026203],[-0.045018,0.105169,0.993435]] 2025-10-24T19:19:57.905Z,1761333597.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590292,-0.799341,0.112290],[0.805955,0.591350,-0.027232],[-0.044635,0.106576,0.993302]] 2025-10-24T19:19:57.933Z,1761333597.933 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:19:58.310Z,1761333598.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590041,-0.799458,0.112774],[0.806129,0.591108,-0.027341],[-0.044804,0.107043,0.993244]] 2025-10-24T19:19:58.711Z,1761333598.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589029,-0.800086,0.113610],[0.806876,0.590060,-0.027943],[-0.044680,0.108128,0.993132]] 2025-10-24T19:19:58.937Z,1761333598.937 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:19:59.116Z,1761333599.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588661,-0.800330,0.113798],[0.807151,0.589673,-0.028163],[-0.044564,0.108430,0.993105]] 2025-10-24T19:19:59.551Z,1761333599.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588372,-0.800540,0.113820],[0.807376,0.589352,-0.028446],[-0.044307,0.108632,0.993094]] 2025-10-24T19:19:59.938Z,1761333599.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588614,-0.800410,0.113480],[0.807199,0.589603,-0.028250],[-0.044297,0.108229,0.993139]] 2025-10-24T19:20:00.331Z,1761333600.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588502,-0.800507,0.113372],[0.807285,0.589486,-0.028236],[-0.044228,0.108140,0.993151]] 2025-10-24T19:20:00.731Z,1761333600.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588662,-0.800450,0.112951],[0.807185,0.589618,-0.028331],[-0.043920,0.107850,0.993197]] 2025-10-24T19:20:01.136Z,1761333601.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587927,-0.801073,0.112355],[0.807765,0.588802,-0.028775],[-0.043104,0.107674,0.993251]] 2025-10-24T19:20:01.566Z,1761333601.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587597,-0.801371,0.111962],[0.808042,0.588395,-0.029301],[-0.042396,0.107687,0.993280]] 2025-10-24T19:20:02.347Z,1761333602.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586480,-0.802368,0.110668],[0.808965,0.587048,-0.030839],[-0.040223,0.107613,0.993379]] 2025-10-24T19:20:02.752Z,1761333602.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586312,-0.802511,0.110518],[0.809142,0.586734,-0.032116],[-0.039071,0.108255,0.993355]] 2025-10-24T19:20:03.161Z,1761333603.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585885,-0.802852,0.110309],[0.809512,0.586151,-0.033438],[-0.037812,0.108887,0.993335]] 2025-10-24T19:20:03.573Z,1761333603.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586405,-0.802681,0.108779],[0.809223,0.586472,-0.034771],[-0.035886,0.108417,0.993458]] 2025-10-24T19:20:03.965Z,1761333603.965 [DAT](INFO): DAT read: 2025-10-24T19:20:03.965Z,1761333603.965 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:20:03.971Z,1761333603.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587084,-0.802286,0.108024],[0.808773,0.587047,-0.035528],[-0.034912,0.108225,0.993513]] 2025-10-24T19:20:04.368Z,1761333604.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587436,-0.802125,0.107303],[0.808555,0.587308,-0.036164],[-0.034012,0.108004,0.993568]] 2025-10-24T19:20:04.395Z,1761333604.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:20:04.771Z,1761333604.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587737,-0.801950,0.106966],[0.808382,0.587474,-0.037315],[-0.032914,0.108401,0.993562]] 2025-10-24T19:20:05.177Z,1761333605.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588342,-0.801631,0.106025],[0.807984,0.587978,-0.038006],[-0.031873,0.108027,0.993637]] 2025-10-24T19:20:05.582Z,1761333605.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588374,-0.801701,0.105311],[0.808007,0.587881,-0.038984],[-0.030657,0.108029,0.993675]] 2025-10-24T19:20:05.986Z,1761333605.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589688,-0.800928,0.103840],[0.807087,0.589119,-0.039356],[-0.029653,0.107016,0.993815]] 2025-10-24T19:20:06.014Z,1761333606.014 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +2 +256.11, +10.93, 20.00, 84.24 2025-10-24T19:20:06.388Z,1761333606.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590145,-0.800731,0.102754],[0.806797,0.589464,-0.040146],[-0.028424,0.106594,0.993896]] 2025-10-24T19:20:06.795Z,1761333606.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590818,-0.800384,0.101589],[0.806349,0.590017,-0.041005],[-0.027119,0.106142,0.993981]] 2025-10-24T19:20:07.196Z,1761333607.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590821,-0.800464,0.100934],[0.806387,0.589891,-0.042053],[-0.025878,0.106238,0.994004]] 2025-10-24T19:20:07.603Z,1761333607.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591997,-0.799712,0.099999],[0.805558,0.590963,-0.042876],[-0.024807,0.105937,0.994063]] 2025-10-24T19:20:08.009Z,1761333608.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591940,-0.799786,0.099751],[0.805634,0.590774,-0.044045],[-0.023703,0.106435,0.994037]] 2025-10-24T19:20:08.410Z,1761333608.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592291,-0.799556,0.099506],[0.805403,0.591011,-0.045086],[-0.022760,0.106846,0.994015]] 2025-10-24T19:20:08.830Z,1761333608.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591935,-0.799864,0.099148],[0.805696,0.590525,-0.046201],[-0.021594,0.107231,0.994000]] 2025-10-24T19:20:09.217Z,1761333609.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592052,-0.799833,0.098699],[0.805641,0.590508,-0.047356],[-0.020406,0.107553,0.993990]] 2025-10-24T19:20:09.510Z,1761333609.510 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:20:09.511Z,1761333609.511 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:20:09.512Z,1761333609.512 [DAT](INFO): DAT read: Oct 24 2025 19:19:59 2025-10-24T19:20:09.620Z,1761333609.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592290,-0.799723,0.098160],[0.805488,0.590659,-0.048077],[-0.019530,0.107542,0.994009]] 2025-10-24T19:20:10.030Z,1761333610.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592226,-0.799842,0.097578],[0.805558,0.590500,-0.048843],[-0.018553,0.107531,0.994029]] 2025-10-24T19:20:10.437Z,1761333610.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592398,-0.799809,0.096796],[0.805449,0.590614,-0.049261],[-0.017770,0.107147,0.994084]] 2025-10-24T19:20:10.517Z,1761333610.517 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:20:10.518Z,1761333610.518 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:20:10.519Z,1761333610.519 [DAT](INFO): commRate: 600 2025-10-24T19:20:10.839Z,1761333610.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592016,-0.800115,0.096606],[0.805753,0.590108,-0.050353],[-0.016720,0.107650,0.994048]] 2025-10-24T19:20:11.238Z,1761333611.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591582,-0.800546,0.095692],[0.806094,0.589587,-0.050984],[-0.015604,0.107298,0.994104]] 2025-10-24T19:20:11.639Z,1761333611.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591067,-0.800936,0.095613],[0.806487,0.588975,-0.051840],[-0.014793,0.107751,0.994068]] 2025-10-24T19:20:12.044Z,1761333612.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590911,-0.801209,0.094282],[0.806616,0.588798,-0.051849],[-0.013971,0.106687,0.994195]] 2025-10-24T19:20:12.457Z,1761333612.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590968,-0.801300,0.093141],[0.806581,0.588876,-0.051511],[-0.013572,0.105567,0.994320]] 2025-10-24T19:20:12.588Z,1761333612.588 [DAT](INFO): entering command mode 2025-10-24T19:20:12.789Z,1761333612.789 [DAT](INFO): DAT read: 2025-10-24T19:20:12.789Z,1761333612.789 [DAT](INFO): DAT read: user:1> 2025-10-24T19:20:12.789Z,1761333612.789 [DAT](INFO): setting verbose to 3 2025-10-24T19:20:12.866Z,1761333612.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590313,-0.801728,0.093609],[0.807074,0.588088,-0.052770],[-0.012743,0.106700,0.994210]] 2025-10-24T19:20:13.041Z,1761333613.041 [DAT](INFO): DAT read: user:1> 2025-10-24T19:20:13.042Z,1761333613.042 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:20:13.043Z,1761333613.043 [DAT](INFO): set verbose to 3 2025-10-24T19:20:13.043Z,1761333613.043 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:20:13.256Z,1761333613.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589964,-0.802032,0.093205],[0.807335,0.587713,-0.052940],[-0.012318,0.106480,0.994238]] 2025-10-24T19:20:13.294Z,1761333613.294 [DAT](INFO): DAT read: user:2> 2025-10-24T19:20:13.295Z,1761333613.295 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:20:13.295Z,1761333613.295 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:20:13.295Z,1761333613.295 [DAT](INFO): setting transmit power to 8 2025-10-24T19:20:13.545Z,1761333613.545 [DAT](INFO): DAT read: user:3> 2025-10-24T19:20:13.546Z,1761333613.546 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:20:13.546Z,1761333613.546 [DAT](INFO): set transmit power to 8 2025-10-24T19:20:13.546Z,1761333613.546 [DAT](INFO): setting local address to 10 2025-10-24T19:20:13.659Z,1761333613.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589599,-0.802318,0.093055],[0.807612,0.587276,-0.053573],[-0.011666,0.106738,0.994219]] 2025-10-24T19:20:13.797Z,1761333613.797 [DAT](INFO): DAT read: user:4> 2025-10-24T19:20:13.798Z,1761333613.798 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:20:13.798Z,1761333613.798 [DAT](INFO): set local address to 10 2025-10-24T19:20:13.799Z,1761333613.799 [DAT](INFO): Setting time to: 19:20:13 And date to:10/24/2025 2025-10-24T19:20:14.049Z,1761333614.049 [DAT](INFO): DAT read: user:5> 2025-10-24T19:20:14.049Z,1761333614.049 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:20:13 2025-10-24T19:20:14.050Z,1761333614.050 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:20:13 2025-10-24T19:20:14.050Z,1761333614.050 [DAT](INFO): setting remote address to 11 2025-10-24T19:20:14.051Z,1761333614.051 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:20:14.051Z,1761333614.051 [DAT](INFO): setting remote address to 0 2025-10-24T19:20:14.074Z,1761333614.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589702,-0.802258,0.092920],[0.807545,0.587308,-0.054224],[-0.011071,0.107013,0.994196]] 2025-10-24T19:20:14.301Z,1761333614.301 [DAT](INFO): DAT read: user:6> 2025-10-24T19:20:14.302Z,1761333614.302 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:20:14.302Z,1761333614.302 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:20:14.302Z,1761333614.302 [DAT] Communications Fault, FailCount= 5 2025-10-24T19:20:14.302Z,1761333614.302 [DAT](ERROR): Communications Fault 2025-10-24T19:20:14.303Z,1761333614.303 [DAT](INFO): DAT read: user:7> 2025-10-24T19:20:14.304Z,1761333614.304 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:20:14.304Z,1761333614.304 [DAT](INFO): set remote address to 0 2025-10-24T19:20:14.305Z,1761333614.305 [DAT](INFO): setting remote address to 11 2025-10-24T19:20:14.305Z,1761333614.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:20:14.305Z,1761333614.305 [DAT](INFO): setting remote address to 0 2025-10-24T19:20:14.471Z,1761333614.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589411,-0.802447,0.093134],[0.807763,0.586951,-0.054847],[-0.010653,0.107557,0.994142]] 2025-10-24T19:20:14.688Z,1761333614.688 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:20:14.708Z,1761333614.708 [DAT](INFO): Powering down 2025-10-24T19:20:14.875Z,1761333614.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589820,-0.802202,0.092653],[0.807471,0.587323,-0.055156],[-0.010171,0.107347,0.994170]] 2025-10-24T19:20:15.279Z,1761333615.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589769,-0.802250,0.092564],[0.807513,0.587227,-0.055565],[-0.009779,0.107517,0.994155]] 2025-10-24T19:20:15.696Z,1761333615.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591042,-0.801411,0.091700],[0.806584,0.588511,-0.055463],[-0.009518,0.106745,0.994241]] 2025-10-24T19:20:15.952Z,1761333615.952 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:20:15.952Z,1761333615.952 [DAT] No Fault, FailCount= 5 2025-10-24T19:20:16.087Z,1761333616.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591862,-0.800911,0.090775],[0.805986,0.589348,-0.055273],[-0.009229,0.105877,0.994336]] 2025-10-24T19:20:16.491Z,1761333616.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593321,-0.799965,0.089589],[0.804916,0.590843,-0.054910],[-0.009007,0.104691,0.994464]] 2025-10-24T19:20:16.897Z,1761333616.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594975,-0.798867,0.088404],[0.803694,0.592554,-0.054369],[-0.008950,0.103398,0.994600]] 2025-10-24T19:20:17.302Z,1761333617.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596472,-0.797855,0.087453],[0.802591,0.594018,-0.054688],[-0.008315,0.102809,0.994666]] 2025-10-24T19:20:17.703Z,1761333617.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598244,-0.796641,0.086418],[0.801281,0.595711,-0.055471],[-0.007290,0.102430,0.994713]] 2025-10-24T19:20:17.753Z,1761333617.753 [DAT](INFO): Powering up 2025-10-24T19:20:17.753Z,1761333617.753 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:20:18.107Z,1761333618.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599632,-0.795757,0.084930],[0.800258,0.596954,-0.056862],[-0.005451,0.102063,0.994763]] 2025-10-24T19:20:18.513Z,1761333618.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601958,-0.794179,0.083218],[0.798520,0.599138,-0.058310],[-0.003551,0.101552,0.994824]] 2025-10-24T19:20:18.922Z,1761333618.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604339,-0.792570,0.081276],[0.796726,0.601381,-0.059741],[-0.001529,0.100859,0.994900]] 2025-10-24T19:20:19.320Z,1761333619.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606929,-0.790763,0.079571],[0.794756,0.603817,-0.061380],[0.000491,0.100492,0.994938]] 2025-10-24T19:20:19.723Z,1761333619.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608984,-0.789372,0.077654],[0.793178,0.605722,-0.063004],[0.002697,0.099962,0.994988]] 2025-10-24T19:20:20.127Z,1761333620.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611721,-0.787426,0.075882],[0.791060,0.608328,-0.064499],[0.004628,0.099483,0.995028]] 2025-10-24T19:20:20.537Z,1761333620.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616256,-0.784304,0.071388],[0.787497,0.612670,-0.066958],[0.008778,0.097482,0.995199]] 2025-10-24T19:20:20.945Z,1761333620.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618454,-0.782845,0.068324],[0.785747,0.614864,-0.067410],[0.010761,0.095376,0.995383]] 2025-10-24T19:20:21.352Z,1761333621.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620886,-0.781112,0.066063],[0.783799,0.617240,-0.068364],[0.012623,0.094226,0.995471]] 2025-10-24T19:20:21.744Z,1761333621.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623249,-0.779356,0.064529],[0.781893,0.619515,-0.069603],[0.014268,0.093835,0.995486]] 2025-10-24T19:20:22.147Z,1761333622.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625173,-0.777946,0.062909],[0.780318,0.621331,-0.071080],[0.016209,0.093527,0.995485]] 2025-10-24T19:20:22.553Z,1761333622.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627212,-0.776496,0.060495],[0.778635,0.623325,-0.072072],[0.018256,0.092308,0.995563]] 2025-10-24T19:20:22.958Z,1761333622.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628401,-0.775604,0.059583],[0.777627,0.624352,-0.074037],[0.020223,0.092858,0.995474]] 2025-10-24T19:20:23.360Z,1761333623.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629382,-0.774888,0.058532],[0.776786,0.625216,-0.075557],[0.021953,0.093021,0.995422]] 2025-10-24T19:20:23.763Z,1761333623.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629655,-0.774739,0.057561],[0.776499,0.625317,-0.077643],[0.024160,0.093584,0.995318]] 2025-10-24T19:20:24.167Z,1761333624.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629839,-0.774621,0.057143],[0.776280,0.625277,-0.080112],[0.026326,0.094817,0.995147]] 2025-10-24T19:20:24.577Z,1761333624.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629814,-0.774738,0.055811],[0.776219,0.625116,-0.081940],[0.028594,0.094928,0.995073]] 2025-10-24T19:20:24.977Z,1761333624.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629319,-0.775254,0.054214],[0.776528,0.624501,-0.083685],[0.031020,0.094764,0.995016]] 2025-10-24T19:20:25.380Z,1761333625.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628637,-0.775876,0.053214],[0.776985,0.623658,-0.085706],[0.033310,0.095225,0.994898]] 2025-10-24T19:20:25.785Z,1761333625.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627332,-0.776902,0.053646],[0.777963,0.622109,-0.088051],[0.035033,0.096972,0.994670]] 2025-10-24T19:20:26.594Z,1761333626.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624109,-0.779533,0.053069],[0.780388,0.618563,-0.091517],[0.038514,0.098531,0.994388]] 2025-10-24T19:20:27.002Z,1761333627.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622300,-0.781009,0.052611],[0.781749,0.616629,-0.092937],[0.040144,0.098963,0.994281]] 2025-10-24T19:20:27.400Z,1761333627.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620503,-0.782459,0.052294],[0.783097,0.614704,-0.094329],[0.041663,0.099482,0.994167]] 2025-10-24T19:20:27.803Z,1761333627.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618097,-0.784326,0.052809],[0.784927,0.612108,-0.095990],[0.042962,0.100782,0.993980]] 2025-10-24T19:20:28.207Z,1761333628.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615818,-0.786124,0.052692],[0.786659,0.609747,-0.096831],[0.043992,0.101081,0.993905]] 2025-10-24T19:20:28.614Z,1761333628.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613803,-0.787651,0.053402],[0.788173,0.607539,-0.098390],[0.045053,0.102482,0.993714]] 2025-10-24T19:20:29.021Z,1761333629.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611802,-0.789204,0.053433],[0.789682,0.605465,-0.099069],[0.045834,0.102806,0.993645]] 2025-10-24T19:20:29.085Z,1761333629.085 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:20:29.420Z,1761333629.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609828,-0.790696,0.053931],[0.791147,0.603326,-0.100420],[0.046863,0.103907,0.993482]] 2025-10-24T19:20:29.827Z,1761333629.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608551,-0.791711,0.053472],[0.792064,0.601986,-0.101229],[0.047955,0.103957,0.993425]] 2025-10-24T19:20:30.088Z,1761333630.088 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:20:30.106Z,1761333630.106 [DAT](INFO): DAT read: 2025-10-24T19:20:30.107Z,1761333630.107 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:20:30.632Z,1761333630.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606197,-0.793505,0.053617],[0.793740,0.599381,-0.103536],[0.050019,0.105321,0.993179]] 2025-10-24T19:20:31.038Z,1761333631.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605404,-0.794121,0.053463],[0.794271,0.598466,-0.104749],[0.051187,0.105880,0.993061]] 2025-10-24T19:20:31.439Z,1761333631.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605543,-0.794138,0.051601],[0.794076,0.598669,-0.105065],[0.052545,0.104596,0.993126]] 2025-10-24T19:20:31.844Z,1761333631.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605955,-0.793855,0.051119],[0.793699,0.599014,-0.105941],[0.053481,0.104769,0.993058]] 2025-10-24T19:20:32.653Z,1761333632.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608188,-0.792317,0.048381],[0.791846,0.601302,-0.106849],[0.055567,0.103295,0.993097]] 2025-10-24T19:20:33.054Z,1761333633.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609940,-0.791011,0.047694],[0.790450,0.603027,-0.107458],[0.056240,0.103243,0.993065]] 2025-10-24T19:20:33.864Z,1761333633.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613011,-0.788746,0.045787],[0.788021,0.606216,-0.107355],[0.056919,0.101891,0.993166]] 2025-10-24T19:20:34.267Z,1761333634.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614481,-0.787658,0.044818],[0.786855,0.607754,-0.107213],[0.057208,0.101146,0.993225]] 2025-10-24T19:20:34.671Z,1761333634.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615599,-0.786838,0.043870],[0.785939,0.608909,-0.107381],[0.057779,0.100583,0.993250]] 2025-10-24T19:20:35.074Z,1761333635.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616865,-0.785902,0.042838],[0.784901,0.610218,-0.107543],[0.058378,0.099963,0.993277]] 2025-10-24T19:20:35.494Z,1761333635.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617401,-0.785508,0.042353],[0.784425,0.610718,-0.108167],[0.059100,0.100005,0.993230]] 2025-10-24T19:20:35.650Z,1761333635.650 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:20:35.651Z,1761333635.651 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:20:35.651Z,1761333635.651 [DAT](INFO): DAT read: Oct 24 2025 19:20:25 2025-10-24T19:20:35.883Z,1761333635.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618761,-0.784482,0.041516],[0.783314,0.612103,-0.108396],[0.059623,0.099591,0.993240]] 2025-10-24T19:20:36.287Z,1761333636.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619233,-0.784150,0.040729],[0.782890,0.612593,-0.108689],[0.060278,0.099190,0.993241]] 2025-10-24T19:20:36.657Z,1761333636.657 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:20:36.659Z,1761333636.659 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:20:36.659Z,1761333636.659 [DAT](INFO): commRate: 600 2025-10-24T19:20:36.695Z,1761333636.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619995,-0.783580,0.040104],[0.782236,0.613346,-0.109146],[0.060927,0.099041,0.993216]] 2025-10-24T19:20:37.118Z,1761333637.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620328,-0.783363,0.039184],[0.781904,0.613691,-0.109591],[0.061803,0.098621,0.993204]] 2025-10-24T19:20:37.506Z,1761333637.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620988,-0.782936,0.037233],[0.781261,0.614426,-0.110051],[0.063286,0.097429,0.993228]] 2025-10-24T19:20:37.911Z,1761333637.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620420,-0.783401,0.036905],[0.781619,0.613771,-0.111159],[0.064431,0.097811,0.993117]] 2025-10-24T19:20:37.963Z,1761333637.963 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-24T19:10:37.9Z 2025-10-24T19:20:37.963Z,1761333637.963 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T19:20:37.963Z,1761333637.963 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:20:37.963Z,1761333637.963 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T19:20:37.963Z,1761333637.963 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:20:37.963Z,1761333637.963 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-24T19:20:38.309Z,1761333638.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620811,-0.783115,0.036384],[0.781303,0.614222,-0.110891],[0.064493,0.097270,0.993166]] 2025-10-24T19:20:38.356Z,1761333638.356 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T19:20:38.357Z,1761333638.357 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T19:20:38.357Z,1761333638.357 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T19:20:38.357Z,1761333638.357 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:20:38.357Z,1761333638.357 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T19:20:38.724Z,1761333638.724 [DAT](INFO): entering command mode 2025-10-24T19:20:38.925Z,1761333638.925 [DAT](INFO): DAT read: 2025-10-24T19:20:38.926Z,1761333638.926 [DAT](INFO): DAT read: user:1> 2025-10-24T19:20:38.927Z,1761333638.927 [DAT](INFO): setting verbose to 3 2025-10-24T19:20:38.990Z,1761333638.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620376,-0.783404,0.037583],[0.781696,0.613697,-0.111032],[0.063918,0.098260,0.993106]] 2025-10-24T19:20:39.178Z,1761333639.178 [DAT](INFO): DAT read: user:1> 2025-10-24T19:20:39.179Z,1761333639.179 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:20:39.180Z,1761333639.180 [DAT](INFO): set verbose to 3 2025-10-24T19:20:39.181Z,1761333639.181 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:20:39.313Z,1761333639.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619462,-0.784120,0.037716],[0.782457,0.612838,-0.110415],[0.063465,0.097909,0.993170]] 2025-10-24T19:20:39.429Z,1761333639.429 [DAT](INFO): DAT read: user:2> 2025-10-24T19:20:39.430Z,1761333639.430 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:20:39.430Z,1761333639.430 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:20:39.430Z,1761333639.430 [DAT](INFO): setting transmit power to 8 2025-10-24T19:20:39.681Z,1761333639.681 [DAT](INFO): DAT read: user:3> 2025-10-24T19:20:39.682Z,1761333639.682 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:20:39.682Z,1761333639.682 [DAT](INFO): set transmit power to 8 2025-10-24T19:20:39.682Z,1761333639.682 [DAT](INFO): setting local address to 10 2025-10-24T19:20:39.717Z,1761333639.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617843,-0.785305,0.039573],[0.783779,0.611051,-0.110934],[0.062936,0.099556,0.993040]] 2025-10-24T19:20:39.933Z,1761333639.933 [DAT](INFO): DAT read: user:4> 2025-10-24T19:20:39.934Z,1761333639.934 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:20:39.935Z,1761333639.935 [DAT](INFO): set local address to 10 2025-10-24T19:20:39.937Z,1761333639.937 [DAT](INFO): Setting time to: 19:20:39 And date to:10/24/2025 2025-10-24T19:20:40.150Z,1761333640.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616550,-0.786263,0.040708],[0.784842,0.609694,-0.110891],[0.062370,0.100319,0.992999]] 2025-10-24T19:20:40.185Z,1761333640.185 [DAT](INFO): DAT read: user:5> 2025-10-24T19:20:40.186Z,1761333640.186 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:20:39 2025-10-24T19:20:40.186Z,1761333640.186 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:20:39 2025-10-24T19:20:40.187Z,1761333640.187 [DAT](INFO): setting remote address to 11 2025-10-24T19:20:40.187Z,1761333640.187 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:20:40.187Z,1761333640.187 [DAT](INFO): setting remote address to 0 2025-10-24T19:20:40.437Z,1761333640.437 [DAT](INFO): DAT read: user:6> 2025-10-24T19:20:40.438Z,1761333640.438 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:20:40.438Z,1761333640.438 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:20:40.438Z,1761333640.438 [DAT] Communications Fault, FailCount= 6 2025-10-24T19:20:40.438Z,1761333640.438 [DAT](ERROR): Communications Fault 2025-10-24T19:20:40.439Z,1761333640.439 [DAT](INFO): DAT read: user:7> 2025-10-24T19:20:40.440Z,1761333640.440 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:20:40.441Z,1761333640.441 [DAT](INFO): set remote address to 0 2025-10-24T19:20:40.441Z,1761333640.441 [DAT](INFO): setting remote address to 11 2025-10-24T19:20:40.442Z,1761333640.442 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:20:40.443Z,1761333640.443 [DAT](INFO): setting remote address to 0 2025-10-24T19:20:40.553Z,1761333640.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614610,-0.787682,0.042561],[0.786404,0.607597,-0.111335],[0.061837,0.101898,0.992871]] 2025-10-24T19:20:40.736Z,1761333640.736 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:20:40.848Z,1761333640.848 [DAT](INFO): Powering down 2025-10-24T19:20:41.324Z,1761333641.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611402,-0.790062,0.044592],[0.789007,0.604342,-0.110623],[0.060451,0.102819,0.992862]] 2025-10-24T19:20:41.736Z,1761333641.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610150,-0.790972,0.045609],[0.790030,0.603062,-0.110307],[0.059745,0.103336,0.992850]] 2025-10-24T19:20:41.809Z,1761333641.809 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:20:41.809Z,1761333641.809 [DAT] No Fault, FailCount= 6 2025-10-24T19:20:42.162Z,1761333642.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608602,-0.792122,0.046321],[0.791271,0.601527,-0.109796],[0.059109,0.103475,0.992874]] 2025-10-24T19:20:42.544Z,1761333642.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607764,-0.792739,0.046782],[0.791975,0.600745,-0.109001],[0.058305,0.103297,0.992940]] 2025-10-24T19:20:42.944Z,1761333642.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606811,-0.793426,0.047500],[0.792755,0.599801,-0.108528],[0.057618,0.103511,0.992958]] 2025-10-24T19:20:43.745Z,1761333643.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606691,-0.793380,0.049729],[0.792943,0.599554,-0.108520],[0.056282,0.105271,0.992850]] 2025-10-24T19:20:43.904Z,1761333643.904 [DAT](INFO): Powering up 2025-10-24T19:20:43.904Z,1761333643.904 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:20:44.554Z,1761333644.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608085,-0.792310,0.049778],[0.791895,0.600955,-0.108423],[0.055990,0.105349,0.992858]] 2025-10-24T19:20:44.978Z,1761333644.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609806,-0.790996,0.049617],[0.790623,0.602767,-0.107639],[0.055235,0.104867,0.992951]] 2025-10-24T19:20:45.360Z,1761333645.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611118,-0.789930,0.050453],[0.789653,0.604023,-0.107727],[0.054622,0.105675,0.992899]] 2025-10-24T19:20:45.767Z,1761333645.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612809,-0.788567,0.051250],[0.788403,0.605696,-0.107485],[0.053717,0.106273,0.992885]] 2025-10-24T19:20:46.995Z,1761333646.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620809,-0.782396,0.049514],[0.782314,0.614175,-0.103800],[0.050803,0.103175,0.993365]] 2025-10-24T19:20:47.387Z,1761333647.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622472,-0.781085,0.049344],[0.781028,0.615905,-0.103230],[0.050240,0.102797,0.993433]] 2025-10-24T19:20:47.785Z,1761333647.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624623,-0.779370,0.049284],[0.779353,0.618118,-0.102664],[0.049550,0.102536,0.993494]] 2025-10-24T19:20:48.239Z,1761333648.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626286,-0.778021,0.049492],[0.778063,0.619819,-0.102189],[0.048829,0.102507,0.993533]] 2025-10-24T19:20:48.594Z,1761333648.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628159,-0.776543,0.048960],[0.776601,0.621834,-0.101061],[0.048033,0.101505,0.993675]] 2025-10-24T19:20:48.999Z,1761333648.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629813,-0.775237,0.048399],[0.775294,0.623604,-0.100192],[0.047491,0.100626,0.993790]] 2025-10-24T19:20:49.402Z,1761333649.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631131,-0.774131,0.048927],[0.774252,0.624898,-0.100184],[0.046981,0.101111,0.993765]] 2025-10-24T19:20:49.806Z,1761333649.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632023,-0.773385,0.049213],[0.773548,0.625788,-0.100064],[0.046591,0.101311,0.993763]] 2025-10-24T19:20:50.259Z,1761333650.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633166,-0.772452,0.049180],[0.772651,0.626999,-0.099417],[0.045960,0.100946,0.993830]] 2025-10-24T19:20:50.613Z,1761333650.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633925,-0.771821,0.049307],[0.772040,0.627756,-0.099382],[0.045752,0.101067,0.993827]] 2025-10-24T19:20:51.023Z,1761333651.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634146,-0.771593,0.050040],[0.771880,0.627925,-0.099559],[0.045397,0.101760,0.993773]] 2025-10-24T19:20:51.427Z,1761333651.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634606,-0.771194,0.050357],[0.771515,0.628365,-0.099609],[0.045175,0.102063,0.993752]] 2025-10-24T19:20:51.861Z,1761333651.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634121,-0.771542,0.051121],[0.771927,0.627823,-0.099833],[0.044930,0.102768,0.993690]] 2025-10-24T19:20:52.298Z,1761333652.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633883,-0.771757,0.050819],[0.772144,0.627676,-0.099079],[0.044567,0.102044,0.993781]] 2025-10-24T19:20:52.644Z,1761333652.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633258,-0.772234,0.051368],[0.772657,0.626991,-0.099417],[0.044566,0.102646,0.993719]] 2025-10-24T19:20:53.039Z,1761333653.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632321,-0.772930,0.052427],[0.773431,0.625952,-0.099943],[0.044432,0.103745,0.993611]] 2025-10-24T19:20:53.451Z,1761333653.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631809,-0.773302,0.053117],[0.773860,0.625384,-0.100173],[0.044245,0.104396,0.993551]] 2025-10-24T19:20:53.852Z,1761333653.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630888,-0.773987,0.054088],[0.774626,0.624387,-0.100479],[0.043998,0.105289,0.993468]] 2025-10-24T19:20:54.259Z,1761333654.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630701,-0.774085,0.054847],[0.774799,0.624158,-0.100562],[0.043610,0.105920,0.993418]] 2025-10-24T19:20:54.654Z,1761333654.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630286,-0.774377,0.055489],[0.775157,0.623716,-0.100552],[0.043255,0.106389,0.993383]] 2025-10-24T19:20:55.066Z,1761333655.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630363,-0.774279,0.055992],[0.775125,0.623802,-0.100263],[0.042703,0.106603,0.993384]] 2025-10-24T19:20:55.474Z,1761333655.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630843,-0.773885,0.056027],[0.774760,0.624335,-0.099762],[0.042224,0.106342,0.993433]] 2025-10-24T19:20:56.277Z,1761333656.277 [DAT](INFO): DAT read: 2025-10-24T19:20:56.279Z,1761333656.279 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:20:56.282Z,1761333656.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630784,-0.773867,0.056925],[0.774833,0.624223,-0.099902],[0.041777,0.107124,0.993368]] 2025-10-24T19:20:56.683Z,1761333656.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631045,-0.773637,0.057164],[0.774635,0.624486,-0.099786],[0.041500,0.107251,0.993366]] 2025-10-24T19:20:57.097Z,1761333657.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631601,-0.773193,0.057042],[0.774184,0.625052,-0.099742],[0.041465,0.107158,0.993377]] 2025-10-24T19:20:57.515Z,1761333657.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632126,-0.772760,0.057088],[0.773767,0.625592,-0.099597],[0.041251,0.107130,0.993389]] 2025-10-24T19:20:57.897Z,1761333657.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633359,-0.771765,0.056874],[0.772766,0.626854,-0.099431],[0.041085,0.106926,0.993418]] 2025-10-24T19:20:58.291Z,1761333658.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634000,-0.771233,0.056952],[0.772249,0.627492,-0.099427],[0.040944,0.107018,0.993414]] 2025-10-24T19:20:58.704Z,1761333658.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635320,-0.770164,0.056719],[0.771178,0.628856,-0.099123],[0.040673,0.106715,0.993457]] 2025-10-24T19:20:59.097Z,1761333659.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636677,-0.769076,0.056258],[0.770070,0.630282,-0.098677],[0.040432,0.106147,0.993528]] 2025-10-24T19:20:59.906Z,1761333659.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638667,-0.767408,0.056472],[0.768443,0.632270,-0.098641],[0.039992,0.106394,0.993519]] 2025-10-24T19:21:00.209Z,1761333660.209 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:21:00.317Z,1761333660.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639601,-0.766636,0.056382],[0.767679,0.633232,-0.098420],[0.039749,0.106233,0.993546]] 2025-10-24T19:21:00.713Z,1761333660.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640769,-0.765683,0.056075],[0.766714,0.634445,-0.098128],[0.039559,0.105871,0.993593]] 2025-10-24T19:21:01.119Z,1761333661.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641667,-0.764917,0.056261],[0.765985,0.635365,-0.097864],[0.039111,0.105891,0.993608]] 2025-10-24T19:21:01.212Z,1761333661.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:21:01.524Z,1761333661.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643268,-0.763632,0.055438],[0.764658,0.637085,-0.097060],[0.038800,0.104827,0.993733]] 2025-10-24T19:21:01.821Z,1761333661.821 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:21:01.822Z,1761333661.822 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:21:01.823Z,1761333661.823 [DAT](INFO): DAT read: Oct 24 2025 19:20:51 2025-10-24T19:21:01.945Z,1761333661.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643904,-0.763091,0.055491],[0.764134,0.637738,-0.096901],[0.038556,0.104798,0.993746]] 2025-10-24T19:21:02.334Z,1761333662.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644792,-0.762346,0.055425],[0.763401,0.638662,-0.096591],[0.038238,0.104593,0.993780]] 2025-10-24T19:21:02.744Z,1761333662.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645386,-0.761849,0.055337],[0.762918,0.639309,-0.096124],[0.037855,0.104255,0.993830]] 2025-10-24T19:21:02.833Z,1761333662.833 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:21:02.834Z,1761333662.834 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:21:02.835Z,1761333662.835 [DAT](INFO): commRate: 600 2025-10-24T19:21:03.139Z,1761333663.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645873,-0.761426,0.055482],[0.762521,0.639811,-0.095938],[0.037552,0.104270,0.993840]] 2025-10-24T19:21:03.543Z,1761333663.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644855,-0.762195,0.056752],[0.763400,0.638702,-0.096332],[0.037176,0.105445,0.993730]] 2025-10-24T19:21:03.958Z,1761333663.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642743,-0.763810,0.058955],[0.765171,0.636322,-0.098024],[0.037357,0.108115,0.993436]] 2025-10-24T19:21:04.359Z,1761333664.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641812,-0.764485,0.060325],[0.765979,0.635313,-0.098254],[0.036788,0.109269,0.993331]] 2025-10-24T19:21:04.760Z,1761333664.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640788,-0.765264,0.061332],[0.766841,0.634191,-0.098777],[0.036695,0.110327,0.993218]] 2025-10-24T19:21:04.797Z,1761333664.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:21:04.904Z,1761333664.904 [DAT](INFO): entering command mode 2025-10-24T19:21:05.104Z,1761333665.104 [DAT](INFO): DAT read: 2025-10-24T19:21:05.105Z,1761333665.105 [DAT](INFO): DAT read: user:1> 2025-10-24T19:21:05.105Z,1761333665.105 [DAT](INFO): setting verbose to 3 2025-10-24T19:21:05.163Z,1761333665.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639678,-0.766161,0.061720],[0.767764,0.633046,-0.098951],[0.036740,0.110683,0.993176]] 2025-10-24T19:21:05.357Z,1761333665.357 [DAT](INFO): DAT read: user:1> 2025-10-24T19:21:05.358Z,1761333665.358 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:21:05.358Z,1761333665.358 [DAT](INFO): set verbose to 3 2025-10-24T19:21:05.359Z,1761333665.359 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:21:05.561Z,1761333665.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639292,-0.766463,0.061974],[0.768091,0.632649,-0.098948],[0.036632,0.110858,0.993161]] 2025-10-24T19:21:05.609Z,1761333665.609 [DAT](INFO): DAT read: user:2> 2025-10-24T19:21:05.610Z,1761333665.610 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:21:05.610Z,1761333665.610 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:21:05.610Z,1761333665.610 [DAT](INFO): setting transmit power to 8 2025-10-24T19:21:05.861Z,1761333665.861 [DAT](INFO): DAT read: user:3> 2025-10-24T19:21:05.862Z,1761333665.862 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:21:05.862Z,1761333665.862 [DAT](INFO): set transmit power to 8 2025-10-24T19:21:05.862Z,1761333665.862 [DAT](INFO): setting local address to 10 2025-10-24T19:21:05.966Z,1761333665.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638667,-0.766952,0.062360],[0.768616,0.632005,-0.098986],[0.036506,0.111150,0.993133]] 2025-10-24T19:21:06.113Z,1761333666.113 [DAT](INFO): DAT read: user:4> 2025-10-24T19:21:06.114Z,1761333666.114 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:21:06.114Z,1761333666.114 [DAT](INFO): set local address to 10 2025-10-24T19:21:06.115Z,1761333666.115 [DAT](INFO): Setting time to: 19:21:6 And date to:10/24/2025 2025-10-24T19:21:06.366Z,1761333666.366 [DAT](INFO): DAT read: user:5> 2025-10-24T19:21:06.367Z,1761333666.367 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:21:06 2025-10-24T19:21:06.367Z,1761333666.367 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:21:06 2025-10-24T19:21:06.368Z,1761333666.368 [DAT](INFO): setting remote address to 11 2025-10-24T19:21:06.368Z,1761333666.368 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:21:06.369Z,1761333666.369 [DAT](INFO): setting remote address to 0 2025-10-24T19:21:06.387Z,1761333666.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638183,-0.767357,0.062334],[0.769009,0.631506,-0.099119],[0.036696,0.111191,0.993121]] 2025-10-24T19:21:06.617Z,1761333666.617 [DAT](INFO): DAT read: user:6> 2025-10-24T19:21:06.618Z,1761333666.618 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:21:06.618Z,1761333666.618 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:21:06.618Z,1761333666.618 [DAT] Communications Fault, FailCount= 7 2025-10-24T19:21:06.618Z,1761333666.618 [DAT](ERROR): Communications Fault 2025-10-24T19:21:06.619Z,1761333666.619 [DAT](INFO): DAT read: user:7> 2025-10-24T19:21:06.620Z,1761333666.620 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:21:06.620Z,1761333666.620 [DAT](INFO): set remote address to 0 2025-10-24T19:21:06.621Z,1761333666.621 [DAT](INFO): setting remote address to 11 2025-10-24T19:21:06.621Z,1761333666.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:21:06.621Z,1761333666.621 [DAT](INFO): setting remote address to 0 2025-10-24T19:21:06.778Z,1761333666.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637645,-0.767723,0.063331],[0.769446,0.630817,-0.100115],[0.036910,0.112568,0.992958]] 2025-10-24T19:21:06.879Z,1761333666.879 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:21:07.024Z,1761333667.024 [DAT](INFO): Powering down 2025-10-24T19:21:07.179Z,1761333667.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637360,-0.767961,0.063319],[0.769682,0.630539,-0.100054],[0.036912,0.112506,0.992965]] 2025-10-24T19:21:07.583Z,1761333667.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637349,-0.767963,0.063392],[0.769696,0.630537,-0.099954],[0.036790,0.112499,0.992971]] 2025-10-24T19:21:07.986Z,1761333667.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636970,-0.768184,0.064517],[0.770018,0.630043,-0.100593],[0.036625,0.113753,0.992834]] 2025-10-24T19:21:08.212Z,1761333668.212 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:21:08.212Z,1761333668.212 [DAT] No Fault, FailCount= 7 2025-10-24T19:21:08.395Z,1761333668.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637393,-0.767835,0.064497],[0.769688,0.630520,-0.100126],[0.036213,0.113462,0.992882]] 2025-10-24T19:21:08.823Z,1761333668.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637290,-0.767874,0.065050],[0.769803,0.630441,-0.099737],[0.035576,0.113637,0.992885]] 2025-10-24T19:21:09.199Z,1761333669.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638344,-0.767001,0.065014],[0.768970,0.631615,-0.098730],[0.034662,0.113018,0.992988]] 2025-10-24T19:21:09.603Z,1761333669.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638620,-0.766652,0.066403],[0.768798,0.631893,-0.098294],[0.033398,0.113823,0.992940]] 2025-10-24T19:21:10.007Z,1761333670.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638784,-0.766437,0.067301],[0.768705,0.632091,-0.097743],[0.032373,0.114171,0.992934]] 2025-10-24T19:21:10.080Z,1761333670.080 [DAT](INFO): Powering up 2025-10-24T19:21:10.081Z,1761333670.081 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:21:10.416Z,1761333670.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639005,-0.766262,0.067199],[0.768592,0.632574,-0.095484],[0.030657,0.112663,0.993160]] 2025-10-24T19:21:10.813Z,1761333670.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639038,-0.766217,0.067398],[0.768597,0.632702,-0.094591],[0.029834,0.112249,0.993232]] 2025-10-24T19:21:11.218Z,1761333671.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638834,-0.766330,0.068044],[0.768803,0.632565,-0.093822],[0.028856,0.112249,0.993261]] 2025-10-24T19:21:11.630Z,1761333671.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638362,-0.766634,0.069036],[0.769231,0.632123,-0.093295],[0.027884,0.112661,0.993242]] 2025-10-24T19:21:12.035Z,1761333672.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638026,-0.766837,0.069882],[0.769549,0.631851,-0.092515],[0.026789,0.112805,0.993256]] 2025-10-24T19:21:12.475Z,1761333672.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637266,-0.767363,0.071035],[0.770214,0.631123,-0.091948],[0.025726,0.113308,0.993227]] 2025-10-24T19:21:12.837Z,1761333672.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636935,-0.767573,0.071728],[0.770526,0.630886,-0.090952],[0.024560,0.113199,0.993269]] 2025-10-24T19:21:13.250Z,1761333673.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634808,-0.769095,0.074233],[0.772311,0.628653,-0.091272],[0.023530,0.115271,0.993055]] 2025-10-24T19:21:13.664Z,1761333673.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633239,-0.770250,0.075650],[0.773625,0.627079,-0.090973],[0.022633,0.116132,0.992976]] 2025-10-24T19:21:14.067Z,1761333674.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631120,-0.771872,0.076820],[0.775377,0.624978,-0.090514],[0.021854,0.116690,0.992928]] 2025-10-24T19:21:14.463Z,1761333674.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628623,-0.773710,0.078779],[0.777422,0.622400,-0.090739],[0.021173,0.118285,0.992754]] 2025-10-24T19:21:14.854Z,1761333674.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626985,-0.774933,0.079804],[0.778765,0.620795,-0.090213],[0.020367,0.118710,0.992720]] 2025-10-24T19:21:15.268Z,1761333675.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624918,-0.776441,0.081338],[0.780444,0.618702,-0.090089],[0.019625,0.119778,0.992607]] 2025-10-24T19:21:15.698Z,1761333675.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622998,-0.777989,0.081284],[0.781990,0.616903,-0.089009],[0.019104,0.119016,0.992709]] 2025-10-24T19:21:16.076Z,1761333676.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620856,-0.779626,0.081981],[0.783703,0.614793,-0.088542],[0.018628,0.119221,0.992693]] 2025-10-24T19:21:16.470Z,1761333676.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619646,-0.780513,0.082686],[0.784677,0.613634,-0.087952],[0.017908,0.119381,0.992687]] 2025-10-24T19:21:16.879Z,1761333676.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617961,-0.781794,0.083198],[0.786018,0.612008,-0.087307],[0.017338,0.119348,0.992701]] 2025-10-24T19:21:17.278Z,1761333677.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617098,-0.782442,0.083517],[0.786711,0.611234,-0.086478],[0.016615,0.119069,0.992747]] 2025-10-24T19:21:17.711Z,1761333677.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615981,-0.783298,0.083737],[0.787600,0.610215,-0.085578],[0.015935,0.118666,0.992806]] 2025-10-24T19:21:18.086Z,1761333678.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615134,-0.783938,0.083973],[0.788274,0.609448,-0.084840],[0.015333,0.118381,0.992850]] 2025-10-24T19:21:18.494Z,1761333678.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614640,-0.784320,0.084022],[0.788670,0.609049,-0.084016],[0.014722,0.117905,0.992916]] 2025-10-24T19:21:18.895Z,1761333678.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613791,-0.784910,0.084717],[0.789342,0.608224,-0.083686],[0.014159,0.118236,0.992885]] 2025-10-24T19:21:19.304Z,1761333679.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612908,-0.785564,0.085047],[0.790038,0.607412,-0.083004],[0.013546,0.118065,0.992914]] 2025-10-24T19:21:19.728Z,1761333679.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613436,-0.785220,0.084413],[0.789637,0.608076,-0.081956],[0.013024,0.116930,0.993055]] 2025-10-24T19:21:20.110Z,1761333680.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613372,-0.785284,0.084284],[0.789695,0.608106,-0.081166],[0.012485,0.116343,0.993131]] 2025-10-24T19:21:20.512Z,1761333680.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613604,-0.785181,0.083557],[0.789522,0.608468,-0.080137],[0.012080,0.115143,0.993275]] 2025-10-24T19:21:20.921Z,1761333680.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613854,-0.784988,0.083535],[0.789338,0.608823,-0.079246],[0.011349,0.114583,0.993349]] 2025-10-24T19:21:21.326Z,1761333681.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612845,-0.785722,0.084036],[0.790131,0.607879,-0.078582],[0.010660,0.114559,0.993359]] 2025-10-24T19:21:21.754Z,1761333681.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612366,-0.786096,0.084027],[0.790511,0.607496,-0.077724],[0.010053,0.114020,0.993428]] 2025-10-24T19:21:22.131Z,1761333682.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611501,-0.786723,0.084460],[0.791183,0.606632,-0.077636],[0.009842,0.114298,0.993398]] 2025-10-24T19:21:22.428Z,1761333682.428 [DAT](INFO): DAT read: 2025-10-24T19:21:22.429Z,1761333682.429 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:21:22.543Z,1761333682.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610798,-0.787233,0.084789],[0.791730,0.605971,-0.077215],[0.009407,0.114293,0.993403]] 2025-10-24T19:21:22.942Z,1761333682.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610185,-0.787690,0.084965],[0.792208,0.605405,-0.076757],[0.009022,0.114146,0.993423]] 2025-10-24T19:21:23.349Z,1761333683.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609190,-0.788508,0.084516],[0.792979,0.604546,-0.075550],[0.008478,0.113043,0.993554]] 2025-10-24T19:21:23.782Z,1761333683.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607272,-0.789850,0.085771],[0.794450,0.602560,-0.075960],[0.008314,0.114269,0.993415]] 2025-10-24T19:21:24.150Z,1761333684.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605954,-0.790888,0.085535],[0.795464,0.601398,-0.074548],[0.007518,0.113213,0.993542]] 2025-10-24T19:21:24.555Z,1761333684.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603280,-0.792904,0.085769],[0.797498,0.598807,-0.073672],[0.007056,0.112846,0.993587]] 2025-10-24T19:21:24.966Z,1761333684.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600642,-0.794884,0.085962],[0.799486,0.596169,-0.073518],[0.007190,0.112883,0.993582]] 2025-10-24T19:21:25.378Z,1761333685.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597887,-0.796964,0.085899],[0.801553,0.593536,-0.072305],[0.006640,0.112082,0.993677]] 2025-10-24T19:21:25.818Z,1761333685.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595649,-0.798561,0.086618],[0.803215,0.591227,-0.072779],[0.006907,0.112924,0.993580]] 2025-10-24T19:21:26.167Z,1761333686.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593344,-0.800183,0.087462],[0.804919,0.588872,-0.073040],[0.006942,0.113738,0.993487]] 2025-10-24T19:21:26.575Z,1761333686.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590847,-0.801914,0.088504],[0.806754,0.586328,-0.073264],[0.006859,0.114688,0.993378]] 2025-10-24T19:21:27.383Z,1761333687.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585929,-0.805287,0.090556],[0.810336,0.581343,-0.073458],[0.006511,0.116422,0.993178]] 2025-10-24T19:21:27.835Z,1761333687.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584714,-0.806151,0.090717],[0.811216,0.580182,-0.072921],[0.006153,0.116229,0.993203]] 2025-10-24T19:21:27.981Z,1761333687.981 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:21:27.982Z,1761333687.982 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:21:27.983Z,1761333687.983 [DAT](INFO): DAT read: Oct 24 2025 19:21:18 2025-10-24T19:21:28.599Z,1761333688.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581808,-0.808198,0.091192],[0.813309,0.577392,-0.071749],[0.005334,0.115912,0.993245]] 2025-10-24T19:21:29.001Z,1761333689.001 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:21:29.002Z,1761333689.002 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:21:29.002Z,1761333689.002 [DAT](INFO): commRate: 600 2025-10-24T19:21:29.022Z,1761333689.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580966,-0.808850,0.090778],[0.813913,0.576658,-0.070791],[0.004911,0.115013,0.993352]] 2025-10-24T19:21:29.440Z,1761333689.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580420,-0.809369,0.089631],[0.814303,0.576235,-0.069742],[0.004799,0.113466,0.993530]] 2025-10-24T19:21:29.819Z,1761333689.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579720,-0.809897,0.089395],[0.814805,0.575630,-0.068869],[0.004319,0.112764,0.993612]] 2025-10-24T19:21:30.218Z,1761333690.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579514,-0.810078,0.089097],[0.814954,0.575528,-0.067952],[0.003769,0.111989,0.993702]] 2025-10-24T19:21:30.513Z,1761333690.513 [DAT](INFO): DAT read: Rx Time:19:21:24.6535 2025-10-24T19:21:30.513Z,1761333690.513 [DAT](INFO): Rx dataTimestamp_ set to:1761333690.513071 2025-10-24T19:21:30.514Z,1761333690.514 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-24T19:21:30.514Z,1761333690.514 [DAT](INFO): Received low SNR in chirp 2025-10-24T19:21:30.623Z,1761333690.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580903,-0.809098,0.088948],[0.813965,0.576948,-0.067760],[0.003505,0.111763,0.993729]] 2025-10-24T19:21:31.034Z,1761333691.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582147,-0.808275,0.088298],[0.813078,0.578307,-0.066817],[0.002943,0.110690,0.993851]] 2025-10-24T19:21:31.068Z,1761333691.068 [DAT](INFO): entering command mode 2025-10-24T19:21:31.268Z,1761333691.268 [DAT](INFO): DAT read: 2025-10-24T19:21:31.269Z,1761333691.269 [DAT](INFO): DAT read: user1> 2025-10-24T19:21:31.269Z,1761333691.269 [DAT](INFO): unknown deviceResponse_: user1> 2025-10-24T19:21:31.269Z,1761333691.269 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:31.344Z,1761333691.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:21:31.429Z,1761333691.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583893,-0.807095,0.087561],[0.811828,0.580209,-0.065518],[0.002076,0.109340,0.994002]] 2025-10-24T19:21:31.525Z,1761333691.525 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:31.777Z,1761333691.777 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:31.829Z,1761333691.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585770,-0.805733,0.087566],[0.810476,0.582139,-0.065137],[0.001507,0.109126,0.994027]] 2025-10-24T19:21:32.028Z,1761333692.028 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:32.280Z,1761333692.280 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:32.349Z,1761333692.349 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:21:32.532Z,1761333692.532 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:32.635Z,1761333692.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590368,-0.802269,0.088490],[0.807134,0.586812,-0.064700],[-0.000020,0.109620,0.993973]] 2025-10-24T19:21:32.785Z,1761333692.785 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:33.036Z,1761333693.036 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:33.052Z,1761333693.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592411,-0.800734,0.088745],[0.805636,0.588887,-0.064523],[-0.000595,0.109720,0.993962]] 2025-10-24T19:21:33.288Z,1761333693.288 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:33.445Z,1761333693.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594665,-0.798983,0.089442],[0.803973,0.591137,-0.064691],[-0.001186,0.110378,0.993889]] 2025-10-24T19:21:33.542Z,1761333693.542 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:33.793Z,1761333693.793 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:33.851Z,1761333693.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596418,-0.797681,0.089389],[0.802672,0.592959,-0.064172],[-0.001815,0.110024,0.993927]] 2025-10-24T19:21:34.044Z,1761333694.044 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:34.246Z,1761333694.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598908,-0.796086,0.086926],[0.800814,0.595719,-0.061773],[-0.002607,0.106608,0.994298]] 2025-10-24T19:21:34.297Z,1761333694.297 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:34.548Z,1761333694.548 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:34.653Z,1761333694.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599798,-0.795545,0.085736],[0.800146,0.596736,-0.060598],[-0.002953,0.104948,0.994473]] 2025-10-24T19:21:34.800Z,1761333694.800 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:35.052Z,1761333695.052 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:35.058Z,1761333695.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601182,-0.794500,0.085732],[0.799105,0.598176,-0.060147],[-0.003496,0.104668,0.994501]] 2025-10-24T19:21:35.304Z,1761333695.304 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:35.556Z,1761333695.556 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:35.809Z,1761333695.809 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:35.862Z,1761333695.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602394,-0.793678,0.084836],[0.798186,0.599588,-0.058261],[-0.004626,0.102811,0.994690]] 2025-10-24T19:21:36.060Z,1761333696.060 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:36.269Z,1761333696.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602623,-0.793472,0.085126],[0.798010,0.599841,-0.058054],[-0.004998,0.102916,0.994677]] 2025-10-24T19:21:36.312Z,1761333696.312 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:36.564Z,1761333696.564 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:36.670Z,1761333696.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602358,-0.793683,0.085039],[0.798208,0.599624,-0.057573],[-0.005297,0.102558,0.994713]] 2025-10-24T19:21:36.816Z,1761333696.816 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:37.068Z,1761333697.068 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:37.079Z,1761333697.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601702,-0.794177,0.085074],[0.798702,0.598992,-0.057300],[-0.005452,0.102426,0.994726]] 2025-10-24T19:21:37.320Z,1761333697.320 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:37.477Z,1761333697.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599800,-0.795589,0.085312],[0.800132,0.597082,-0.057282],[-0.005365,0.102618,0.994706]] 2025-10-24T19:21:37.572Z,1761333697.572 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:37.825Z,1761333697.825 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:37.881Z,1761333697.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598421,-0.796589,0.085665],[0.801164,0.595689,-0.057363],[-0.005335,0.102959,0.994671]] 2025-10-24T19:21:38.076Z,1761333698.076 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:38.299Z,1761333698.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593805,-0.799827,0.087593],[0.804595,0.590916,-0.058703],[-0.004808,0.105335,0.994425]] 2025-10-24T19:21:38.328Z,1761333698.328 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:38.580Z,1761333698.580 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:38.833Z,1761333698.833 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:39.085Z,1761333699.085 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:39.103Z,1761333699.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589108,-0.803112,0.089235],[0.808041,0.586129,-0.059346],[-0.004642,0.107067,0.994241]] 2025-10-24T19:21:39.336Z,1761333699.336 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:39.497Z,1761333699.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587103,-0.804576,0.089261],[0.809499,0.584150,-0.058994],[-0.004677,0.106893,0.994260]] 2025-10-24T19:21:39.589Z,1761333699.589 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:39.840Z,1761333699.840 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:39.902Z,1761333699.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585178,-0.805898,0.089972],[0.810892,0.582188,-0.059262],[-0.004621,0.107636,0.994180]] 2025-10-24T19:21:40.093Z,1761333700.093 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:40.315Z,1761333700.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583114,-0.807370,0.090180],[0.812379,0.580100,-0.059370],[-0.004380,0.107880,0.994154]] 2025-10-24T19:21:40.345Z,1761333700.345 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:40.596Z,1761333700.596 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:40.719Z,1761333700.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582045,-0.808105,0.090495],[0.813144,0.579034,-0.059300],[-0.004479,0.108101,0.994130]] 2025-10-24T19:21:40.848Z,1761333700.848 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:41.101Z,1761333701.101 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:41.114Z,1761333701.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580803,-0.808989,0.090583],[0.814032,0.577800,-0.059155],[-0.004483,0.108095,0.994130]] 2025-10-24T19:21:41.352Z,1761333701.352 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:41.518Z,1761333701.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579077,-0.810061,0.092039],[0.815262,0.575957,-0.060175],[-0.004265,0.109882,0.993935]] 2025-10-24T19:21:41.604Z,1761333701.604 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:41.856Z,1761333701.856 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:41.935Z,1761333701.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578118,-0.810694,0.092495],[0.815941,0.575004,-0.060087],[-0.004473,0.110208,0.993898]] 2025-10-24T19:21:42.109Z,1761333702.109 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:42.359Z,1761333702.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576865,-0.811518,0.093088],[0.816826,0.573756,-0.060001],[-0.004718,0.110649,0.993848]] 2025-10-24T19:21:42.360Z,1761333702.360 [DAT](DEBUG): checking for command mode acknowledgment 2025-10-24T19:21:42.614Z,1761333702.614 [DAT](INFO): DAT read: user:1>Rx Time:19:21:38.5098 2025-10-24T19:21:42.615Z,1761333702.615 [DAT](INFO): Rx dataTimestamp_ set to:1761333702.614258 2025-10-24T19:21:42.615Z,1761333702.615 [DAT](INFO): setting verbose to 3 2025-10-24T19:21:42.741Z,1761333702.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576779,-0.811561,0.093248],[0.816883,0.573734,-0.059420],[-0.005277,0.110445,0.993868]] 2025-10-24T19:21:42.864Z,1761333702.864 [DAT](INFO): DAT read: 2025-10-24T19:21:42.865Z,1761333702.865 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:21:42.866Z,1761333702.866 [DAT](INFO): set verbose to 3 2025-10-24T19:21:42.866Z,1761333702.866 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:21:43.117Z,1761333703.117 [DAT](INFO): DAT read: user:2> 2025-10-24T19:21:43.118Z,1761333703.118 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:21:43.118Z,1761333703.118 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:21:43.118Z,1761333703.118 [DAT](INFO): setting transmit power to 8 2025-10-24T19:21:43.161Z,1761333703.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576691,-0.811623,0.093251],[0.816942,0.573719,-0.058764],[-0.005806,0.110070,0.993907]] 2025-10-24T19:21:43.369Z,1761333703.369 [DAT](INFO): DAT read: user:3> 2025-10-24T19:21:43.370Z,1761333703.370 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:21:43.370Z,1761333703.370 [DAT](INFO): set transmit power to 8 2025-10-24T19:21:43.370Z,1761333703.370 [DAT](INFO): setting local address to 10 2025-10-24T19:21:43.539Z,1761333703.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577536,-0.811000,0.093441],[0.816340,0.574614,-0.058375],[-0.006350,0.109993,0.993912]] 2025-10-24T19:21:43.622Z,1761333703.622 [DAT](INFO): DAT read: user:4> 2025-10-24T19:21:43.623Z,1761333703.623 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:21:43.623Z,1761333703.623 [DAT](INFO): set local address to 10 2025-10-24T19:21:43.626Z,1761333703.626 [DAT](INFO): Setting time to: 19:21:43 And date to:10/24/2025 2025-10-24T19:21:43.873Z,1761333703.873 [DAT](INFO): DAT read: user:5> 2025-10-24T19:21:43.873Z,1761333703.873 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:21:43 2025-10-24T19:21:43.874Z,1761333703.874 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:21:43 2025-10-24T19:21:43.875Z,1761333703.875 [DAT](INFO): setting remote address to 11 2025-10-24T19:21:43.875Z,1761333703.875 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:21:43.877Z,1761333703.877 [DAT](INFO): setting remote address to 0 2025-10-24T19:21:43.987Z,1761333703.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578159,-0.810580,0.093235],[0.815895,0.575320,-0.057645],[-0.006914,0.109398,0.993974]] 2025-10-24T19:21:44.125Z,1761333704.125 [DAT](INFO): DAT read: user:6> 2025-10-24T19:21:44.127Z,1761333704.127 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:21:44.128Z,1761333704.128 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:21:44.128Z,1761333704.128 [DAT] Communications Fault, FailCount= 8 2025-10-24T19:21:44.128Z,1761333704.128 [DAT](ERROR): Communications Fault 2025-10-24T19:21:44.130Z,1761333704.130 [DAT](INFO): DAT read: user:7> 2025-10-24T19:21:44.130Z,1761333704.130 [DAT](INFO): DAT read: 2025-10-24T19:21:44.134Z,1761333704.134 [DAT](INFO): DAT read: DATA(0046):Îú›Kthers_j_|ããÄp€À±j^Ê6û&Ô?lÀçZ Ýénùó cr 2025-10-24T19:21:44.134Z,1761333704.134 [DAT](INFO): Got DATA 46 2025-10-24T19:21:44.135Z,1761333704.135 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:21:44.136Z,1761333704.136 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:21:44.136Z,1761333704.136 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:21:44.138Z,1761333704.138 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:01.5 PSNR:07.7 AGC:70 SPD:-1.6 CCERR:006 2025-10-24T19:21:44.138Z,1761333704.138 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:01.5 PSNR:07.7 AGC:70 SPD:-1.6 CCERR:006 2025-10-24T19:21:44.139Z,1761333704.139 [DAT](INFO): DAT read: 2025-10-24T19:21:44.139Z,1761333704.139 [DAT](INFO): DAT read: 2025-10-24T19:21:44.148Z,1761333704.148 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:21:44.148Z,1761333704.148 [CBIT](FAULT): Communications Fault in component: DAT 2025-10-24T19:21:44.152Z,1761333704.152 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:21:44.153Z,1761333704.153 [DAT](INFO): set remote address to 0 2025-10-24T19:21:44.153Z,1761333704.153 [DAT](INFO): setting remote address to 11 2025-10-24T19:21:44.155Z,1761333704.155 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:21:44.160Z,1761333704.160 [DAT](INFO): setting remote address to 0 2025-10-24T19:21:44.348Z,1761333704.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579644,-0.809573,0.092762],[0.814836,0.576892,-0.056906],[-0.007444,0.108571,0.994061]] 2025-10-24T19:21:44.564Z,1761333704.564 [DAT](INFO): Powering down 2025-10-24T19:21:44.757Z,1761333704.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581051,-0.808550,0.092884],[0.813828,0.578355,-0.056479],[-0.008054,0.108409,0.994074]] 2025-10-24T19:21:45.162Z,1761333705.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582421,-0.807600,0.092564],[0.812840,0.579823,-0.055641],[-0.008735,0.107646,0.994151]] 2025-10-24T19:21:45.566Z,1761333705.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584153,-0.806397,0.092135],[0.811588,0.581671,-0.054628],[-0.009540,0.106687,0.994247]] 2025-10-24T19:21:45.979Z,1761333705.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585990,-0.805049,0.092261],[0.810258,0.583519,-0.054655],[-0.009836,0.106782,0.994234]] 2025-10-24T19:21:46.365Z,1761333706.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587896,-0.803715,0.091758],[0.808869,0.585514,-0.053889],[-0.010414,0.105901,0.994322]] 2025-10-24T19:21:46.782Z,1761333706.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589148,-0.802838,0.091410],[0.807953,0.586831,-0.053314],[-0.010839,0.105265,0.994385]] 2025-10-24T19:21:47.189Z,1761333707.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590975,-0.801571,0.090735],[0.806612,0.588726,-0.052704],[-0.011172,0.104335,0.994479]] 2025-10-24T19:21:47.597Z,1761333707.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591781,-0.800978,0.090718],[0.806018,0.589557,-0.052518],[-0.011418,0.104199,0.994491]] 2025-10-24T19:21:47.985Z,1761333707.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593144,-0.800004,0.090410],[0.805013,0.590950,-0.052269],[-0.011613,0.103784,0.994532]] 2025-10-24T19:21:48.387Z,1761333708.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593704,-0.799584,0.090448],[0.804598,0.591518,-0.052238],[-0.011733,0.103788,0.994530]] 2025-10-24T19:21:48.799Z,1761333708.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594987,-0.798668,0.090107],[0.803648,0.592824,-0.052056],[-0.011842,0.103387,0.994571]] 2025-10-24T19:21:49.195Z,1761333709.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595412,-0.798373,0.089918],[0.803334,0.593251,-0.052042],[-0.011795,0.103221,0.994588]] 2025-10-24T19:21:49.607Z,1761333709.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595521,-0.798371,0.089208],[0.803255,0.593384,-0.051728],[-0.011637,0.102462,0.994669]] 2025-10-24T19:21:50.002Z,1761333710.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595454,-0.798513,0.088384],[0.803304,0.593382,-0.050994],[-0.011726,0.101363,0.994780]] 2025-10-24T19:21:50.421Z,1761333710.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594958,-0.798860,0.088581],[0.803675,0.592842,-0.051425],[-0.011433,0.101786,0.994741]] 2025-10-24T19:21:50.814Z,1761333710.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594605,-0.799113,0.088675],[0.803939,0.592471,-0.051588],[-0.011313,0.101964,0.994724]] 2025-10-24T19:21:51.217Z,1761333711.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593245,-0.799964,0.090098],[0.804944,0.591018,-0.052566],[-0.011199,0.103708,0.994545]] 2025-10-24T19:21:51.618Z,1761333711.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592286,-0.800596,0.090798],[0.805655,0.589981,-0.053317],[-0.010883,0.104731,0.994441]] 2025-10-24T19:21:52.024Z,1761333712.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590819,-0.801585,0.091616],[0.806735,0.588429,-0.054129],[-0.010520,0.105890,0.994322]] 2025-10-24T19:21:52.559Z,1761333712.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588229,-0.803310,0.093167],[0.808633,0.585688,-0.055511],[-0.009974,0.107991,0.994102]] 2025-10-24T19:21:53.235Z,1761333713.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587406,-0.803870,0.093532],[0.809234,0.584816,-0.055951],[-0.009722,0.108556,0.994043]] 2025-10-24T19:21:53.637Z,1761333713.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586429,-0.804537,0.093918],[0.809945,0.583786,-0.056409],[-0.009445,0.109148,0.993981]] 2025-10-24T19:21:54.042Z,1761333714.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585960,-0.804964,0.093184],[0.810291,0.583310,-0.056383],[-0.008969,0.108545,0.994051]] 2025-10-24T19:21:54.850Z,1761333714.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585864,-0.805140,0.092265],[0.810366,0.583206,-0.056373],[-0.008421,0.107795,0.994137]] 2025-10-24T19:21:55.260Z,1761333715.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585758,-0.805159,0.092768],[0.810442,0.583066,-0.056720],[-0.008421,0.108407,0.994071]] 2025-10-24T19:21:55.664Z,1761333715.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585283,-0.805445,0.093285],[0.810787,0.582544,-0.057161],[-0.008303,0.109090,0.993997]] 2025-10-24T19:21:56.069Z,1761333716.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584834,-0.805698,0.093918],[0.811110,0.582058,-0.057516],[-0.008325,0.109816,0.993917]] 2025-10-24T19:21:56.473Z,1761333716.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585161,-0.805437,0.094118],[0.810872,0.582400,-0.057426],[-0.008561,0.109921,0.993904]] 2025-10-24T19:21:56.869Z,1761333716.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585321,-0.805319,0.094127],[0.810756,0.582567,-0.057371],[-0.008633,0.109894,0.993906]] 2025-10-24T19:21:57.287Z,1761333717.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586039,-0.804830,0.093846],[0.810236,0.583311,-0.057157],[-0.008740,0.109534,0.993945]] 2025-10-24T19:21:57.677Z,1761333717.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586633,-0.804424,0.093618],[0.809804,0.583933,-0.056911],[-0.008886,0.109199,0.993980]] 2025-10-24T19:21:58.081Z,1761333718.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587768,-0.803668,0.092983],[0.808980,0.585102,-0.056624],[-0.008898,0.108503,0.994056]] 2025-10-24T19:21:58.489Z,1761333718.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588351,-0.803284,0.092616],[0.808556,0.585715,-0.056348],[-0.008983,0.108038,0.994106]] 2025-10-24T19:21:58.924Z,1761333718.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589354,-0.802627,0.091930],[0.807823,0.586782,-0.055763],[-0.009187,0.107127,0.994203]] 2025-10-24T19:21:59.320Z,1761333719.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590743,-0.801673,0.091345],[0.806804,0.588244,-0.055111],[-0.009552,0.106254,0.994293]] 2025-10-24T19:21:59.697Z,1761333719.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591289,-0.801298,0.091099],[0.806400,0.588838,-0.054671],[-0.009834,0.105788,0.994340]] 2025-10-24T19:22:00.099Z,1761333720.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592469,-0.800465,0.090755],[0.805527,0.590093,-0.053996],[-0.010332,0.105097,0.994408]] 2025-10-24T19:22:00.502Z,1761333720.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593003,-0.800059,0.090845],[0.805127,0.590688,-0.053466],[-0.010885,0.104848,0.994429]] 2025-10-24T19:22:00.910Z,1761333720.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594005,-0.799326,0.090750],[0.804381,0.591748,-0.052963],[-0.011366,0.104458,0.994464]] 2025-10-24T19:22:01.339Z,1761333721.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595225,-0.798489,0.090131],[0.803474,0.593038,-0.052301],[-0.011689,0.103549,0.994556]] 2025-10-24T19:22:01.716Z,1761333721.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596007,-0.797902,0.090159],[0.802887,0.593873,-0.051840],[-0.012179,0.103285,0.994577]] 2025-10-24T19:22:02.121Z,1761333722.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596930,-0.797266,0.089672],[0.802198,0.594840,-0.051414],[-0.012350,0.102625,0.994643]] 2025-10-24T19:22:02.468Z,1761333722.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:22:02.543Z,1761333722.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597458,-0.796900,0.089414],[0.801803,0.595396,-0.051146],[-0.012479,0.102250,0.994680]] 2025-10-24T19:22:02.962Z,1761333722.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597976,-0.796519,0.089345],[0.801414,0.595931,-0.051001],[-0.012621,0.102100,0.994694]] 2025-10-24T19:22:03.367Z,1761333723.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597919,-0.796556,0.089392],[0.801457,0.595876,-0.050982],[-0.012657,0.102127,0.994691]] 2025-10-24T19:22:03.479Z,1761333723.479 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:22:03.735Z,1761333723.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598078,-0.796410,0.089638],[0.801337,0.596030,-0.051070],[-0.012755,0.102374,0.994664]] 2025-10-24T19:22:04.139Z,1761333724.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597882,-0.796486,0.090264],[0.801478,0.595831,-0.051167],[-0.013028,0.102937,0.994603]] 2025-10-24T19:22:04.580Z,1761333724.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597983,-0.796396,0.090386],[0.801404,0.595917,-0.051333],[-0.012981,0.103132,0.994583]] 2025-10-24T19:22:04.950Z,1761333724.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597729,-0.796542,0.090779],[0.801591,0.595659,-0.051411],[-0.013122,0.103498,0.994543]] 2025-10-24T19:22:04.993Z,1761333724.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:22:05.403Z,1761333725.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597919,-0.796363,0.091104],[0.801448,0.595840,-0.051545],[-0.013234,0.103835,0.994507]] 2025-10-24T19:22:05.786Z,1761333725.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597522,-0.796620,0.091456],[0.801741,0.595444,-0.051553],[-0.013389,0.104128,0.994474]] 2025-10-24T19:22:06.161Z,1761333726.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597946,-0.796331,0.091200],[0.801421,0.595910,-0.051149],[-0.013616,0.103674,0.994518]] 2025-10-24T19:22:06.563Z,1761333726.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598151,-0.796213,0.090884],[0.801268,0.596133,-0.050944],[-0.013617,0.103295,0.994558]] 2025-10-24T19:22:06.967Z,1761333726.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598141,-0.796248,0.090639],[0.801275,0.596141,-0.050738],[-0.013633,0.102976,0.994590]] 2025-10-24T19:22:07.434Z,1761333727.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598192,-0.796213,0.090612],[0.801233,0.596220,-0.050465],[-0.013844,0.102789,0.994607]] 2025-10-24T19:22:07.788Z,1761333727.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597180,-0.796923,0.091049],[0.801989,0.595177,-0.050767],[-0.013733,0.103338,0.994551]] 2025-10-24T19:22:08.180Z,1761333728.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597292,-0.796922,0.090319],[0.801910,0.595311,-0.050452],[-0.013561,0.102562,0.994634]] 2025-10-24T19:22:08.583Z,1761333728.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596646,-0.797403,0.090344],[0.802393,0.594648,-0.050595],[-0.013379,0.102679,0.994625]] 2025-10-24T19:22:08.989Z,1761333728.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596043,-0.797834,0.090521],[0.802844,0.594015,-0.050866],[-0.013188,0.102992,0.994595]] 2025-10-24T19:22:09.445Z,1761333729.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595684,-0.798123,0.090330],[0.803113,0.593654,-0.050844],[-0.013045,0.102833,0.994613]] 2025-10-24T19:22:09.795Z,1761333729.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594802,-0.798687,0.091160],[0.803769,0.592710,-0.051485],[-0.012911,0.103895,0.994505]] 2025-10-24T19:22:10.202Z,1761333730.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594812,-0.798690,0.091065],[0.803761,0.592726,-0.051419],[-0.012909,0.103779,0.994517]] 2025-10-24T19:22:10.603Z,1761333730.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594027,-0.799242,0.091350],[0.804345,0.591905,-0.051752],[-0.012708,0.104218,0.994473]] 2025-10-24T19:22:11.007Z,1761333731.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594126,-0.799198,0.091087],[0.804273,0.592007,-0.051690],[-0.012614,0.103969,0.994501]] 2025-10-24T19:22:11.437Z,1761333731.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593368,-0.799765,0.091055],[0.804836,0.591228,-0.051840],[-0.012374,0.104044,0.994496]] 2025-10-24T19:22:11.829Z,1761333731.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593346,-0.799770,0.091152],[0.804854,0.591187,-0.052046],[-0.012263,0.104245,0.994476]] 2025-10-24T19:22:12.220Z,1761333732.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593272,-0.799826,0.091142],[0.804908,0.591122,-0.051940],[-0.012334,0.104176,0.994482]] 2025-10-24T19:22:12.623Z,1761333732.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593419,-0.799742,0.090925],[0.804799,0.591281,-0.051810],[-0.012328,0.103921,0.994509]] 2025-10-24T19:22:13.038Z,1761333733.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594175,-0.799223,0.090543],[0.804238,0.592086,-0.051340],[-0.012577,0.103323,0.994568]] 2025-10-24T19:22:13.459Z,1761333733.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595063,-0.798632,0.089923],[0.803580,0.593007,-0.051003],[-0.012592,0.102610,0.994642]] 2025-10-24T19:22:13.835Z,1761333733.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595462,-0.798326,0.090005],[0.803285,0.593394,-0.051156],[-0.012569,0.102761,0.994627]] 2025-10-24T19:22:14.239Z,1761333734.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596541,-0.797579,0.089481],[0.802482,0.594510,-0.050795],[-0.012684,0.102108,0.994692]] 2025-10-24T19:22:14.643Z,1761333734.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597073,-0.797218,0.089147],[0.802084,0.595075,-0.050460],[-0.012822,0.101632,0.994739]] 2025-10-24T19:22:15.049Z,1761333735.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597891,-0.796616,0.089049],[0.801474,0.595893,-0.050498],[-0.012836,0.101563,0.994746]] 2025-10-24T19:22:15.455Z,1761333735.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597775,-0.796682,0.089231],[0.801561,0.595765,-0.050634],[-0.012821,0.101792,0.994723]] 2025-10-24T19:22:15.857Z,1761333735.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598329,-0.796271,0.089196],[0.801148,0.596315,-0.050692],[-0.012824,0.101790,0.994723]] 2025-10-24T19:22:16.260Z,1761333736.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598529,-0.796140,0.089018],[0.801002,0.596498,-0.050854],[-0.012611,0.101741,0.994731]] 2025-10-24T19:22:16.664Z,1761333736.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599417,-0.795520,0.088585],[0.800339,0.597392,-0.050794],[-0.012512,0.101344,0.994773]] 2025-10-24T19:22:17.067Z,1761333737.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599928,-0.795202,0.087982],[0.799959,0.597911,-0.050663],[-0.012318,0.100776,0.994833]] 2025-10-24T19:22:17.489Z,1761333737.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600278,-0.794986,0.087541],[0.799701,0.598252,-0.050724],[-0.012047,0.100455,0.994869]] 2025-10-24T19:22:17.874Z,1761333737.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600935,-0.794613,0.086411],[0.799209,0.598957,-0.050149],[-0.011908,0.099197,0.994997]] 2025-10-24T19:22:18.280Z,1761333738.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600425,-0.794977,0.086612],[0.799598,0.598397,-0.050640],[-0.011570,0.099660,0.994954]] 2025-10-24T19:22:18.685Z,1761333738.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601000,-0.794627,0.085830],[0.799170,0.598978,-0.050522],[-0.011265,0.098956,0.995028]] 2025-10-24T19:22:19.087Z,1761333739.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600570,-0.794972,0.085648],[0.799497,0.598530,-0.050660],[-0.010989,0.098900,0.995037]] 2025-10-24T19:22:19.491Z,1761333739.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600103,-0.795285,0.086013],[0.799851,0.598007,-0.051244],[-0.010683,0.099550,0.994975]] 2025-10-24T19:22:19.895Z,1761333739.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599366,-0.795831,0.086107],[0.800407,0.597248,-0.051429],[-0.010499,0.099745,0.994958]] 2025-10-24T19:22:20.302Z,1761333740.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599086,-0.796062,0.085915],[0.800617,0.596972,-0.051352],[-0.010409,0.099549,0.994978]] 2025-10-24T19:22:20.703Z,1761333740.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598249,-0.796546,0.087255],[0.801236,0.596123,-0.051565],[-0.010941,0.100760,0.994851]] 2025-10-24T19:22:21.106Z,1761333741.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597504,-0.797087,0.087409],[0.801793,0.595358,-0.051738],[-0.010799,0.100998,0.994828]] 2025-10-24T19:22:21.512Z,1761333741.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596636,-0.797738,0.087397],[0.802439,0.594501,-0.051581],[-0.010810,0.100906,0.994837]] 2025-10-24T19:22:21.938Z,1761333741.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595810,-0.798339,0.087552],[0.803054,0.593661,-0.051678],[-0.010719,0.101099,0.994819]] 2025-10-24T19:22:22.319Z,1761333742.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594704,-0.799097,0.088155],[0.803870,0.592554,-0.051691],[-0.010931,0.101606,0.994765]] 2025-10-24T19:22:22.725Z,1761333742.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593782,-0.799744,0.088498],[0.804550,0.591637,-0.051624],[-0.011073,0.101854,0.994738]] 2025-10-24T19:22:23.129Z,1761333743.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593466,-0.800035,0.087991],[0.804783,0.591357,-0.051200],[-0.011073,0.101199,0.994805]] 2025-10-24T19:22:23.533Z,1761333743.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592852,-0.800525,0.087668],[0.805235,0.590773,-0.050837],[-0.011096,0.100732,0.994852]] 2025-10-24T19:22:23.948Z,1761333743.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593236,-0.800298,0.087150],[0.804949,0.591216,-0.050211],[-0.011340,0.099938,0.994929]] 2025-10-24T19:22:24.343Z,1761333744.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592757,-0.800698,0.086732],[0.805303,0.590757,-0.049931],[-0.011258,0.099442,0.994980]] 2025-10-24T19:22:24.743Z,1761333744.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592877,-0.800685,0.086023],[0.805213,0.590931,-0.049320],[-0.011344,0.098508,0.995072]] 2025-10-24T19:22:24.876Z,1761333744.876 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:22:25.147Z,1761333745.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593858,-0.800124,0.084464],[0.804490,0.591997,-0.048325],[-0.011336,0.096649,0.995254]] 2025-10-24T19:22:25.551Z,1761333745.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594185,-0.799969,0.083630],[0.804251,0.592355,-0.047925],[-0.011200,0.095736,0.995344]] 2025-10-24T19:22:25.958Z,1761333745.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595392,-0.799172,0.082662],[0.803352,0.593653,-0.046918],[-0.011578,0.094341,0.995473]] 2025-10-24T19:22:26.359Z,1761333746.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596073,-0.798696,0.082345],[0.802843,0.594379,-0.046447],[-0.011847,0.093796,0.995521]] 2025-10-24T19:22:26.765Z,1761333746.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597377,-0.797756,0.082011],[0.801870,0.595717,-0.046113],[-0.012069,0.093309,0.995564]] 2025-10-24T19:22:27.168Z,1761333747.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598172,-0.797165,0.081964],[0.801269,0.596566,-0.045570],[-0.012570,0.092934,0.995593]] 2025-10-24T19:22:27.574Z,1761333747.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599404,-0.796238,0.081972],[0.800339,0.597849,-0.045092],[-0.013103,0.092633,0.995614]] 2025-10-24T19:22:27.975Z,1761333747.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599800,-0.795943,0.081943],[0.800040,0.598264,-0.044907],[-0.013280,0.092493,0.995625]] 2025-10-24T19:22:28.386Z,1761333748.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601277,-0.794859,0.081647],[0.798924,0.599788,-0.044430],[-0.013656,0.091944,0.995671]] 2025-10-24T19:22:28.784Z,1761333748.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601646,-0.794608,0.081364],[0.798646,0.600173,-0.044246],[-0.013675,0.091601,0.995702]] 2025-10-24T19:22:29.189Z,1761333749.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602189,-0.794214,0.081194],[0.798237,0.600718,-0.044221],[-0.013654,0.091441,0.995717]] 2025-10-24T19:22:29.593Z,1761333749.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602411,-0.794066,0.080997],[0.798072,0.600931,-0.044305],[-0.013492,0.091332,0.995729]] 2025-10-24T19:22:29.994Z,1761333749.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602912,-0.793722,0.080631],[0.797699,0.601407,-0.044554],[-0.013128,0.091182,0.995748]] 2025-10-24T19:22:30.414Z,1761333750.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603571,-0.793336,0.079500],[0.797219,0.601996,-0.045194],[-0.012004,0.090657,0.995810]] 2025-10-24T19:22:30.827Z,1761333750.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604040,-0.793035,0.078940],[0.796875,0.602410,-0.045754],[-0.011270,0.090543,0.995829]] 2025-10-24T19:22:31.207Z,1761333751.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603935,-0.793173,0.078351],[0.796967,0.602233,-0.046464],[-0.010332,0.090505,0.995842]] 2025-10-24T19:22:31.612Z,1761333751.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604431,-0.792892,0.077369],[0.796603,0.602668,-0.047053],[-0.009320,0.090072,0.995892]] 2025-10-24T19:22:32.017Z,1761333752.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604664,-0.792797,0.076512],[0.796436,0.602845,-0.047612],[-0.008378,0.089726,0.995931]] 2025-10-24T19:22:32.435Z,1761333752.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604623,-0.792896,0.075806],[0.796479,0.602715,-0.048528],[-0.007212,0.089719,0.995941]] 2025-10-24T19:22:32.826Z,1761333752.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605415,-0.792445,0.074184],[0.795885,0.603494,-0.048596],[-0.006260,0.088463,0.996060]] 2025-10-24T19:22:33.242Z,1761333753.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605738,-0.792274,0.073367],[0.795647,0.603750,-0.049313],[-0.005226,0.088245,0.996085]] 2025-10-24T19:22:33.596Z,1761333753.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:22:33.640Z,1761333753.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607078,-0.791290,0.072905],[0.794629,0.605026,-0.050082],[-0.004480,0.088336,0.996081]] 2025-10-24T19:22:34.038Z,1761333754.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607878,-0.790740,0.072220],[0.794022,0.605778,-0.050615],[-0.003726,0.088112,0.996104]] 2025-10-24T19:22:34.454Z,1761333754.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609377,-0.789667,0.071323],[0.792875,0.607255,-0.050897],[-0.003119,0.087566,0.996154]] 2025-10-24T19:22:34.600Z,1761333754.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:22:34.851Z,1761333754.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610763,-0.788633,0.070900],[0.791809,0.608594,-0.051495],[-0.002538,0.087591,0.996153]] 2025-10-24T19:22:35.247Z,1761333755.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612185,-0.787566,0.070487],[0.790712,0.609965,-0.052126],[-0.001942,0.087646,0.996150]] 2025-10-24T19:22:35.655Z,1761333755.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613117,-0.786858,0.070294],[0.789990,0.610869,-0.052482],[-0.001645,0.087709,0.996145]] 2025-10-24T19:22:36.058Z,1761333756.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613979,-0.786202,0.070117],[0.789321,0.611684,-0.053050],[-0.001182,0.087917,0.996127]] 2025-10-24T19:22:36.459Z,1761333756.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615167,-0.785304,0.069763],[0.788396,0.612839,-0.053474],[-0.000760,0.087896,0.996129]] 2025-10-24T19:22:36.878Z,1761333756.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616255,-0.784478,0.069450],[0.787547,0.613879,-0.054064],[-0.000222,0.088013,0.996119]] 2025-10-24T19:22:37.285Z,1761333757.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617962,-0.783191,0.068809],[0.786208,0.615582,-0.054181],[0.000077,0.087580,0.996157]] 2025-10-24T19:22:37.672Z,1761333757.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619044,-0.782356,0.068589],[0.785356,0.616629,-0.054625],[0.000442,0.087682,0.996148]] 2025-10-24T19:22:38.075Z,1761333758.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620523,-0.781226,0.068099],[0.784188,0.618082,-0.054990],[0.000869,0.087525,0.996162]] 2025-10-24T19:22:38.565Z,1761333758.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621424,-0.780511,0.068074],[0.783474,0.618938,-0.055539],[0.001215,0.087848,0.996133]] 2025-10-24T19:22:38.908Z,1761333758.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622778,-0.779466,0.067681],[0.782397,0.620276,-0.055789],[0.001505,0.087698,0.996146]] 2025-10-24T19:22:39.289Z,1761333759.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623871,-0.778610,0.067464],[0.781526,0.621365,-0.055881],[0.001590,0.087588,0.996156]] 2025-10-24T19:22:39.693Z,1761333759.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624930,-0.777783,0.067200],[0.780678,0.622398,-0.056233],[0.001912,0.087603,0.996154]] 2025-10-24T19:22:40.097Z,1761333760.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626338,-0.776634,0.067386],[0.779550,0.623797,-0.056392],[0.001760,0.087851,0.996132]] 2025-10-24T19:22:40.499Z,1761333760.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627021,-0.776021,0.068092],[0.779000,0.624422,-0.057064],[0.001765,0.088824,0.996046]] 2025-10-24T19:22:40.939Z,1761333760.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628433,-0.774856,0.068330],[0.777862,0.625815,-0.057329],[0.001659,0.089179,0.996014]] 2025-10-24T19:22:41.307Z,1761333761.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629285,-0.774166,0.068324],[0.777173,0.626643,-0.057635],[0.001804,0.089368,0.995997]] 2025-10-24T19:22:41.714Z,1761333761.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631098,-0.772691,0.068285],[0.775701,0.628439,-0.057908],[0.001832,0.089514,0.995984]] 2025-10-24T19:22:42.115Z,1761333762.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632353,-0.771609,0.068913],[0.774677,0.629618,-0.058790],[0.001974,0.090561,0.995889]] 2025-10-24T19:22:42.519Z,1761333762.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633908,-0.770326,0.068976],[0.773405,0.631123,-0.059399],[0.002225,0.091000,0.995848]] 2025-10-24T19:22:42.963Z,1761333762.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635275,-0.769150,0.069521],[0.772282,0.632428,-0.060122],[0.002276,0.091884,0.995767]] 2025-10-24T19:22:43.330Z,1761333763.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637085,-0.767691,0.069092],[0.770790,0.634234,-0.060251],[0.002434,0.091640,0.995789]] 2025-10-24T19:22:43.738Z,1761333763.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638931,-0.766194,0.068654],[0.769259,0.636075,-0.060403],[0.002611,0.091406,0.995810]] 2025-10-24T19:22:44.136Z,1761333764.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640466,-0.764911,0.068666],[0.767982,0.637568,-0.060920],[0.002819,0.091752,0.995778]] 2025-10-24T19:22:44.542Z,1761333764.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641875,-0.763743,0.068500],[0.766803,0.638947,-0.061324],[0.003068,0.091888,0.995765]] 2025-10-24T19:22:44.988Z,1761333764.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642948,-0.762847,0.068431],[0.765902,0.639958,-0.062035],[0.003530,0.092296,0.995725]] 2025-10-24T19:22:45.347Z,1761333765.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644490,-0.761592,0.067895],[0.764601,0.641459,-0.062572],[0.004103,0.092240,0.995728]] 2025-10-24T19:22:45.755Z,1761333765.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645383,-0.760827,0.067997],[0.763846,0.642286,-0.063304],[0.004489,0.092795,0.995675]] 2025-10-24T19:22:46.159Z,1761333766.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646794,-0.759617,0.068107],[0.762650,0.643657,-0.063803],[0.004628,0.093209,0.995636]] 2025-10-24T19:22:46.560Z,1761333766.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647449,-0.759027,0.068461],[0.762092,0.644223,-0.064754],[0.005046,0.094099,0.995550]] 2025-10-24T19:22:47.018Z,1761333767.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648574,-0.758057,0.068571],[0.761128,0.645207,-0.066276],[0.005998,0.095176,0.995442]] 2025-10-24T19:22:47.781Z,1761333767.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650336,-0.756624,0.067703],[0.759615,0.646907,-0.067057],[0.006939,0.095038,0.995449]] 2025-10-24T19:22:48.177Z,1761333768.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650335,-0.756578,0.068223],[0.759613,0.646817,-0.067945],[0.007278,0.096010,0.995354]] 2025-10-24T19:22:48.579Z,1761333768.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650841,-0.756114,0.068538],[0.759176,0.647254,-0.068659],[0.007553,0.096719,0.995283]] 2025-10-24T19:22:49.040Z,1761333769.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650694,-0.756191,0.069076],[0.759298,0.647010,-0.069605],[0.007942,0.097740,0.995180]] 2025-10-24T19:22:49.387Z,1761333769.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650705,-0.756168,0.069231],[0.759286,0.646971,-0.070089],[0.008208,0.098173,0.995136]] 2025-10-24T19:22:49.791Z,1761333769.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650564,-0.756258,0.069576],[0.759404,0.646760,-0.070764],[0.008517,0.098873,0.995064]] 2025-10-24T19:22:50.195Z,1761333770.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650687,-0.756137,0.069741],[0.759296,0.646836,-0.071224],[0.008744,0.099298,0.995019]] 2025-10-24T19:22:50.600Z,1761333770.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651287,-0.755628,0.069651],[0.758780,0.647433,-0.071293],[0.008777,0.099282,0.995021]] 2025-10-24T19:22:51.040Z,1761333771.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651220,-0.755720,0.069278],[0.758836,0.647374,-0.071238],[0.008988,0.098962,0.995051]] 2025-10-24T19:22:51.408Z,1761333771.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652092,-0.755000,0.068930],[0.758085,0.648251,-0.071261],[0.009118,0.098723,0.995073]] 2025-10-24T19:22:51.812Z,1761333771.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652001,-0.755084,0.068870],[0.758160,0.648136,-0.071507],[0.009357,0.098837,0.995060]] 2025-10-24T19:22:52.215Z,1761333772.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652419,-0.754744,0.068635],[0.757798,0.648533,-0.071746],[0.009638,0.098820,0.995059]] 2025-10-24T19:22:52.620Z,1761333772.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651713,-0.755306,0.069168],[0.758400,0.647732,-0.072623],[0.010051,0.099786,0.994958]] 2025-10-24T19:22:53.027Z,1761333773.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651951,-0.755073,0.069460],[0.758195,0.647938,-0.072923],[0.010057,0.100206,0.994916]] 2025-10-24T19:22:53.435Z,1761333773.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651312,-0.755558,0.070179],[0.758742,0.647222,-0.073582],[0.010174,0.101173,0.994817]] 2025-10-24T19:22:53.831Z,1761333773.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651612,-0.755335,0.069792],[0.758483,0.647539,-0.073464],[0.010297,0.100805,0.994853]] 2025-10-24T19:22:54.236Z,1761333774.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651567,-0.755360,0.069943],[0.758519,0.647459,-0.073794],[0.010456,0.101135,0.994818]] 2025-10-24T19:22:54.641Z,1761333774.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651131,-0.755755,0.069738],[0.758890,0.647020,-0.073828],[0.010674,0.100995,0.994830]] 2025-10-24T19:22:55.043Z,1761333775.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651286,-0.755644,0.069488],[0.758753,0.647166,-0.073953],[0.010911,0.100889,0.994838]] 2025-10-24T19:22:55.451Z,1761333775.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650764,-0.756118,0.069227],[0.759199,0.646649,-0.073913],[0.011121,0.100656,0.994859]] 2025-10-24T19:22:55.855Z,1761333775.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651117,-0.755886,0.068441],[0.758891,0.647028,-0.073748],[0.011462,0.099958,0.994926]] 2025-10-24T19:22:56.659Z,1761333776.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651084,-0.755906,0.068526],[0.758912,0.646931,-0.074375],[0.011889,0.100430,0.994873]] 2025-10-24T19:22:57.064Z,1761333777.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650533,-0.756354,0.068814],[0.759381,0.646325,-0.074859],[0.012144,0.100955,0.994817]] 2025-10-24T19:22:57.875Z,1761333777.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650777,-0.756162,0.068617],[0.759171,0.646582,-0.074774],[0.012174,0.100753,0.994837]] 2025-10-24T19:22:58.275Z,1761333778.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650903,-0.756085,0.068276],[0.759060,0.646710,-0.074801],[0.012401,0.100514,0.994858]] 2025-10-24T19:22:59.084Z,1761333779.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649964,-0.756920,0.067967],[0.759838,0.645614,-0.076342],[0.013904,0.101263,0.994762]] 2025-10-24T19:22:59.490Z,1761333779.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649965,-0.756963,0.067470],[0.759818,0.645532,-0.077235],[0.014910,0.101465,0.994727]] 2025-10-24T19:22:59.892Z,1761333779.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649130,-0.757700,0.067246],[0.760506,0.644566,-0.078520],[0.016150,0.102111,0.994642]] 2025-10-24T19:23:00.309Z,1761333780.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648310,-0.758413,0.067114],[0.761165,0.643531,-0.080597],[0.017936,0.103337,0.994485]] 2025-10-24T19:23:00.700Z,1761333780.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647527,-0.759078,0.067147],[0.761792,0.642541,-0.082542],[0.019511,0.104600,0.994323]] 2025-10-24T19:23:01.506Z,1761333781.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647250,-0.759380,0.066398],[0.761953,0.641971,-0.085450],[0.022264,0.105900,0.994128]] 2025-10-24T19:23:01.932Z,1761333781.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647148,-0.759497,0.066060],[0.761997,0.641716,-0.086954],[0.023650,0.106610,0.994020]] 2025-10-24T19:23:02.316Z,1761333782.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647666,-0.759173,0.064692],[0.761521,0.642226,-0.087356],[0.024771,0.105841,0.994074]] 2025-10-24T19:23:02.720Z,1761333782.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647596,-0.759316,0.063704],[0.761534,0.642076,-0.088339],[0.026174,0.105721,0.994051]] 2025-10-24T19:23:03.123Z,1761333783.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647800,-0.759244,0.062482],[0.761307,0.642209,-0.089326],[0.027694,0.105433,0.994041]] 2025-10-24T19:23:03.537Z,1761333783.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647538,-0.759507,0.062001],[0.761486,0.641846,-0.090403],[0.028866,0.105753,0.993973]] 2025-10-24T19:23:03.959Z,1761333783.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647170,-0.759997,0.059787],[0.761721,0.641477,-0.091040],[0.030838,0.104460,0.994051]] 2025-10-24T19:23:04.724Z,1761333784.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:23:04.747Z,1761333784.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646264,-0.760883,0.058306],[0.762395,0.640452,-0.092601],[0.033116,0.104297,0.993995]] 2025-10-24T19:23:05.151Z,1761333785.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645971,-0.761191,0.057524],[0.762585,0.640079,-0.093617],[0.034441,0.104341,0.993945]] 2025-10-24T19:23:05.169Z,1761333785.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:23:05.562Z,1761333785.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644982,-0.762090,0.056719],[0.763350,0.638994,-0.094786],[0.035993,0.104432,0.993881]] 2025-10-24T19:23:05.728Z,1761333785.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:23:05.979Z,1761333785.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643668,-0.763252,0.056022],[0.764390,0.637596,-0.095813],[0.037410,0.104494,0.993822]] 2025-10-24T19:23:06.355Z,1761333786.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642835,-0.764019,0.055119],[0.765019,0.636696,-0.096767],[0.038838,0.104372,0.993780]] 2025-10-24T19:23:06.769Z,1761333786.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641391,-0.765270,0.054586],[0.766156,0.635146,-0.097948],[0.040287,0.104644,0.993693]] 2025-10-24T19:23:07.164Z,1761333787.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640380,-0.766193,0.053486],[0.766939,0.634138,-0.098349],[0.041437,0.104001,0.993714]] 2025-10-24T19:23:07.582Z,1761333787.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639157,-0.767261,0.052812],[0.767896,0.632867,-0.099070],[0.042589,0.103875,0.993678]] 2025-10-24T19:23:07.975Z,1761333787.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637788,-0.768427,0.052412],[0.768966,0.631412,-0.100052],[0.043788,0.104115,0.993601]] 2025-10-24T19:23:08.376Z,1761333788.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636527,-0.769533,0.051497],[0.769945,0.630139,-0.100545],[0.044923,0.103650,0.993599]] 2025-10-24T19:23:08.778Z,1761333788.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635057,-0.770765,0.051218],[0.771099,0.628598,-0.101346],[0.045919,0.103854,0.993532]] 2025-10-24T19:23:09.187Z,1761333789.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633716,-0.771915,0.050514],[0.772138,0.627231,-0.101905],[0.046978,0.103582,0.993511]] 2025-10-24T19:23:09.588Z,1761333789.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632021,-0.773301,0.050556],[0.773459,0.625412,-0.103057],[0.048076,0.104237,0.993390]] 2025-10-24T19:23:09.992Z,1761333789.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631422,-0.773814,0.050192],[0.773892,0.624751,-0.103815],[0.048976,0.104394,0.993329]] 2025-10-24T19:23:10.399Z,1761333790.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629792,-0.775141,0.050186],[0.775152,0.623011,-0.104864],[0.050019,0.104944,0.993219]] 2025-10-24T19:23:10.849Z,1761333790.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629100,-0.775732,0.049735],[0.775673,0.622308,-0.105185],[0.050645,0.104750,0.993208]] 2025-10-24T19:23:11.204Z,1761333791.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628057,-0.776588,0.049549],[0.776472,0.621216,-0.105742],[0.051338,0.104886,0.993158]] 2025-10-24T19:23:11.607Z,1761333791.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627144,-0.777338,0.049352],[0.777160,0.620247,-0.106372],[0.052077,0.105065,0.993101]] 2025-10-24T19:23:12.011Z,1761333792.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626026,-0.778243,0.049297],[0.778020,0.619074,-0.106925],[0.052695,0.105292,0.993044]] 2025-10-24T19:23:12.459Z,1761333792.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625864,-0.778407,0.048749],[0.778112,0.618915,-0.107171],[0.053251,0.105006,0.993045]] 2025-10-24T19:23:12.823Z,1761333792.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626052,-0.778291,0.048188],[0.777937,0.619130,-0.107198],[0.053597,0.104598,0.993069]] 2025-10-24T19:23:13.222Z,1761333793.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625506,-0.778705,0.048576],[0.778339,0.618469,-0.108094],[0.054130,0.105422,0.992953]] 2025-10-24T19:23:13.631Z,1761333793.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625919,-0.778398,0.048192],[0.777988,0.618891,-0.108201],[0.054397,0.105218,0.992960]] 2025-10-24T19:23:14.031Z,1761333794.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625212,-0.778973,0.048071],[0.778521,0.618145,-0.108640],[0.054912,0.105348,0.992918]] 2025-10-24T19:23:14.435Z,1761333794.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625084,-0.779086,0.047910],[0.778600,0.617995,-0.108929],[0.055257,0.105393,0.992894]] 2025-10-24T19:23:14.842Z,1761333794.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624431,-0.779596,0.048126],[0.779109,0.617297,-0.109243],[0.055457,0.105710,0.992849]] 2025-10-24T19:23:15.244Z,1761333795.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624212,-0.779775,0.048070],[0.779269,0.617061,-0.109432],[0.055671,0.105768,0.992831]] 2025-10-24T19:23:15.648Z,1761333795.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623714,-0.780177,0.048001],[0.779645,0.616540,-0.109689],[0.055982,0.105839,0.992806]] 2025-10-24T19:23:16.458Z,1761333796.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622237,-0.781383,0.047553],[0.780761,0.615036,-0.110196],[0.056858,0.105695,0.992772]] 2025-10-24T19:23:16.858Z,1761333796.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621668,-0.781861,0.047139],[0.781175,0.614464,-0.110451],[0.057392,0.105488,0.992763]] 2025-10-24T19:23:17.263Z,1761333797.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621205,-0.782246,0.046857],[0.781524,0.614014,-0.110487],[0.057658,0.105255,0.992772]] 2025-10-24T19:23:17.668Z,1761333797.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619850,-0.783340,0.046525],[0.782586,0.612705,-0.110239],[0.057848,0.104741,0.992816]] 2025-10-24T19:23:18.074Z,1761333798.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619388,-0.783758,0.045634],[0.782939,0.612356,-0.109663],[0.058005,0.103653,0.992921]] 2025-10-24T19:23:18.479Z,1761333798.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618348,-0.784556,0.046030],[0.783737,0.611235,-0.110221],[0.058340,0.104230,0.992841]] 2025-10-24T19:23:18.878Z,1761333798.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617413,-0.785285,0.046136],[0.784447,0.610258,-0.110578],[0.058681,0.104463,0.992796]] 2025-10-24T19:23:19.284Z,1761333799.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616799,-0.785793,0.045706],[0.784907,0.609673,-0.110546],[0.059001,0.104059,0.992819]] 2025-10-24T19:23:19.690Z,1761333799.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615846,-0.786547,0.045593],[0.785619,0.608692,-0.110889],[0.059467,0.104109,0.992787]] 2025-10-24T19:23:20.093Z,1761333800.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614987,-0.787224,0.045497],[0.786271,0.607827,-0.111014],[0.059739,0.104045,0.992777]] 2025-10-24T19:23:20.509Z,1761333800.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614045,-0.787942,0.045783],[0.786986,0.606824,-0.111434],[0.060022,0.104456,0.992717]] 2025-10-24T19:23:20.902Z,1761333800.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613424,-0.788433,0.045651],[0.787459,0.606215,-0.111403],[0.060159,0.104286,0.992726]] 2025-10-24T19:23:21.304Z,1761333801.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612966,-0.788782,0.045784],[0.787816,0.605748,-0.111424],[0.060156,0.104368,0.992718]] 2025-10-24T19:23:21.724Z,1761333801.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611563,-0.789835,0.046394],[0.788941,0.604347,-0.111072],[0.059690,0.104530,0.992729]] 2025-10-24T19:23:21.834Z,1761333801.834 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:23:22.129Z,1761333802.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611264,-0.790051,0.046647],[0.789199,0.604066,-0.110766],[0.059333,0.104521,0.992751]] 2025-10-24T19:23:22.574Z,1761333802.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610800,-0.790398,0.046852],[0.789596,0.603646,-0.110230],[0.058843,0.104323,0.992801]] 2025-10-24T19:23:22.938Z,1761333802.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610490,-0.790636,0.046870],[0.789858,0.603380,-0.109800],[0.058532,0.104053,0.992848]] 2025-10-24T19:23:23.326Z,1761333803.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609488,-0.791397,0.047067],[0.790648,0.602397,-0.109517],[0.058318,0.103963,0.992870]] 2025-10-24T19:23:23.727Z,1761333803.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608560,-0.792104,0.047186],[0.791376,0.601493,-0.109229],[0.058139,0.103815,0.992896]] 2025-10-24T19:23:24.135Z,1761333804.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608038,-0.792514,0.047025],[0.791798,0.601041,-0.108652],[0.057844,0.103298,0.992967]] 2025-10-24T19:23:24.565Z,1761333804.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606390,-0.793729,0.047806],[0.793082,0.599354,-0.108606],[0.057551,0.103772,0.992935]] 2025-10-24T19:23:24.950Z,1761333804.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605028,-0.794738,0.048294],[0.794150,0.598000,-0.108267],[0.057164,0.103857,0.992948]] 2025-10-24T19:23:25.346Z,1761333805.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603227,-0.796086,0.048634],[0.795526,0.596199,-0.108101],[0.057062,0.103899,0.992950]] 2025-10-24T19:23:25.747Z,1761333805.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602273,-0.796801,0.048740],[0.796288,0.595319,-0.107335],[0.056508,0.103456,0.993028]] 2025-10-24T19:23:26.151Z,1761333806.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600811,-0.797863,0.049408],[0.797431,0.593867,-0.106891],[0.055943,0.103621,0.993042]] 2025-10-24T19:23:26.590Z,1761333806.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599014,-0.799178,0.049967],[0.798815,0.592087,-0.106428],[0.055470,0.103667,0.993064]] 2025-10-24T19:23:26.962Z,1761333806.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596919,-0.800692,0.050794],[0.800405,0.589962,-0.106286],[0.055135,0.104100,0.993037]] 2025-10-24T19:23:27.391Z,1761333807.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595210,-0.801937,0.051197],[0.801696,0.588267,-0.105951],[0.054849,0.104108,0.993052]] 2025-10-24T19:23:27.767Z,1761333807.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593105,-0.803455,0.051833],[0.803275,0.586153,-0.105706],[0.054548,0.104331,0.993046]] 2025-10-24T19:23:28.173Z,1761333808.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591810,-0.804397,0.052029],[0.804262,0.584916,-0.105053],[0.054072,0.104016,0.993105]] 2025-10-24T19:23:28.618Z,1761333808.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590408,-0.805409,0.052294],[0.805321,0.583560,-0.104484],[0.053636,0.103801,0.993151]] 2025-10-24T19:23:28.979Z,1761333808.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589098,-0.806343,0.052676],[0.806306,0.582272,-0.104071],[0.053245,0.103781,0.993174]] 2025-10-24T19:23:29.384Z,1761333809.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588082,-0.807080,0.052736],[0.807074,0.581318,-0.103444],[0.052831,0.103396,0.993236]] 2025-10-24T19:23:29.789Z,1761333809.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586935,-0.807907,0.052862],[0.807933,0.580222,-0.102891],[0.052455,0.103099,0.993287]] 2025-10-24T19:23:30.191Z,1761333810.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586747,-0.808082,0.052259],[0.808095,0.580163,-0.101953],[0.052068,0.102051,0.993416]] 2025-10-24T19:23:30.652Z,1761333810.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586376,-0.808376,0.051883],[0.808394,0.579904,-0.101047],[0.051597,0.101193,0.993528]] 2025-10-24T19:23:31.003Z,1761333811.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586735,-0.808177,0.050902],[0.808155,0.580421,-0.099985],[0.051261,0.099802,0.993686]] 2025-10-24T19:23:31.403Z,1761333811.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587204,-0.807831,0.050991],[0.807828,0.580900,-0.099845],[0.051037,0.099822,0.993695]] 2025-10-24T19:23:31.808Z,1761333811.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587706,-0.807451,0.051235],[0.807494,0.581424,-0.099502],[0.050554,0.099850,0.993717]] 2025-10-24T19:23:32.215Z,1761333812.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588358,-0.806975,0.051241],[0.807074,0.582177,-0.098497],[0.049653,0.099307,0.993817]] 2025-10-24T19:23:32.678Z,1761333812.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588061,-0.807191,0.051252],[0.807314,0.581930,-0.097989],[0.049271,0.099000,0.993867]] 2025-10-24T19:23:33.022Z,1761333813.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588551,-0.806823,0.051426],[0.806993,0.582462,-0.097471],[0.048688,0.098868,0.993909]] 2025-10-24T19:23:33.428Z,1761333813.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588383,-0.806883,0.052393],[0.807150,0.582251,-0.097435],[0.048112,0.099618,0.993862]] 2025-10-24T19:23:33.828Z,1761333813.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589187,-0.806292,0.052461],[0.806619,0.583150,-0.096446],[0.047171,0.099141,0.993955]] 2025-10-24T19:23:34.237Z,1761333814.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589736,-0.805894,0.052411],[0.806305,0.583884,-0.094614],[0.045646,0.098057,0.994133]] 2025-10-24T19:23:34.677Z,1761333814.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590424,-0.805344,0.053110],[0.805871,0.584630,-0.093703],[0.044413,0.098124,0.994183]] 2025-10-24T19:23:35.039Z,1761333815.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590458,-0.805269,0.053854],[0.805921,0.584748,-0.092531],[0.043022,0.098038,0.994252]] 2025-10-24T19:23:35.445Z,1761333815.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590380,-0.805280,0.054551],[0.806063,0.584788,-0.091022],[0.041398,0.097709,0.994354]] 2025-10-24T19:23:35.847Z,1761333815.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590711,-0.804965,0.055607],[0.805898,0.585182,-0.089945],[0.039863,0.097945,0.994393]] 2025-10-24T19:23:35.852Z,1761333815.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:23:36.259Z,1761333816.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590115,-0.805333,0.056588],[0.806389,0.584623,-0.089173],[0.038731,0.098254,0.994407]] 2025-10-24T19:23:36.661Z,1761333816.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589867,-0.805475,0.057152],[0.806631,0.584471,-0.087984],[0.037465,0.097999,0.994481]] 2025-10-24T19:23:36.857Z,1761333816.857 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:23:37.059Z,1761333817.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589081,-0.806012,0.057690],[0.807263,0.583789,-0.086707],[0.036208,0.097648,0.994562]] 2025-10-24T19:23:37.463Z,1761333817.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589188,-0.805897,0.058202],[0.807239,0.583989,-0.085569],[0.034970,0.097399,0.994631]] 2025-10-24T19:23:37.868Z,1761333817.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588445,-0.806399,0.058755],[0.807832,0.583344,-0.084360],[0.033753,0.097106,0.994702]] 2025-10-24T19:23:38.275Z,1761333818.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588239,-0.806530,0.059026],[0.808025,0.583237,-0.083244],[0.032712,0.096662,0.994780]] 2025-10-24T19:23:38.699Z,1761333818.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587529,-0.806980,0.059943],[0.808588,0.582581,-0.082373],[0.031552,0.096865,0.994797]] 2025-10-24T19:23:39.087Z,1761333819.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585843,-0.808106,0.061267],[0.809890,0.581035,-0.080473],[0.029432,0.096764,0.994872]] 2025-10-24T19:23:39.489Z,1761333819.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584944,-0.808711,0.061862],[0.810573,0.580199,-0.079631],[0.028506,0.096723,0.994903]] 2025-10-24T19:23:39.888Z,1761333819.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583944,-0.809377,0.062591],[0.811330,0.579267,-0.078703],[0.027444,0.096740,0.994931]] 2025-10-24T19:23:40.291Z,1761333820.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583349,-0.809761,0.063182],[0.811794,0.578752,-0.077688],[0.026342,0.096610,0.994974]] 2025-10-24T19:23:40.702Z,1761333820.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582474,-0.810314,0.064155],[0.812461,0.577939,-0.076774],[0.025133,0.096842,0.994982]] 2025-10-24T19:23:41.099Z,1761333821.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581231,-0.811114,0.065312],[0.813382,0.576726,-0.076132],[0.024085,0.097374,0.994956]] 2025-10-24T19:23:41.503Z,1761333821.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580588,-0.811504,0.066172],[0.813874,0.576145,-0.075275],[0.022961,0.097560,0.994965]] 2025-10-24T19:23:41.908Z,1761333821.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580673,-0.811499,0.065480],[0.813853,0.576468,-0.072993],[0.021486,0.095676,0.995181]] 2025-10-24T19:23:42.330Z,1761333822.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581132,-0.811184,0.065319],[0.813559,0.577087,-0.071357],[0.020189,0.094608,0.995310]] 2025-10-24T19:23:42.716Z,1761333822.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581468,-0.810984,0.064804],[0.813349,0.577610,-0.069495],[0.018928,0.093118,0.995475]] 2025-10-24T19:23:43.125Z,1761333823.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582425,-0.810350,0.064141],[0.812689,0.578739,-0.067817],[0.017834,0.091625,0.995634]] 2025-10-24T19:23:43.526Z,1761333823.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582849,-0.810055,0.064018],[0.812407,0.579282,-0.066542],[0.016818,0.090792,0.995728]] 2025-10-24T19:23:43.931Z,1761333823.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583616,-0.809501,0.064035],[0.811878,0.580169,-0.065251],[0.015670,0.090070,0.995812]] 2025-10-24T19:23:44.338Z,1761333824.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584206,-0.809037,0.064527],[0.811471,0.580812,-0.064585],[0.014774,0.090093,0.995824]] 2025-10-24T19:23:44.737Z,1761333824.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584873,-0.808528,0.064846],[0.811009,0.581572,-0.063542],[0.013663,0.089755,0.995870]] 2025-10-24T19:23:45.139Z,1761333825.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585759,-0.807869,0.065076],[0.810388,0.582551,-0.062495],[0.012578,0.089343,0.995921]] 2025-10-24T19:23:45.543Z,1761333825.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585498,-0.807970,0.066150],[0.810596,0.582360,-0.061570],[0.011224,0.089670,0.995908]] 2025-10-24T19:23:45.951Z,1761333825.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586736,-0.807075,0.066108],[0.809715,0.583710,-0.060376],[0.010140,0.088954,0.995984]] 2025-10-24T19:23:46.353Z,1761333826.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586861,-0.806920,0.066892],[0.809637,0.583896,-0.059616],[0.009047,0.089144,0.995978]] 2025-10-24T19:23:46.759Z,1761333826.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587941,-0.806010,0.068365],[0.808865,0.584978,-0.059487],[0.007956,0.090273,0.995885]] 2025-10-24T19:23:47.161Z,1761333827.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588493,-0.805560,0.068918],[0.808474,0.585616,-0.058508],[0.006772,0.090150,0.995905]] 2025-10-24T19:23:47.563Z,1761333827.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589294,-0.804917,0.069575],[0.807897,0.586468,-0.057937],[0.005831,0.090352,0.995893]] 2025-10-24T19:23:47.967Z,1761333827.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589597,-0.804645,0.070161],[0.807682,0.586819,-0.057387],[0.005005,0.090503,0.995884]] 2025-10-24T19:23:48.372Z,1761333828.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590562,-0.803898,0.070599],[0.806982,0.587857,-0.056600],[0.003998,0.090398,0.995898]] 2025-10-24T19:23:48.789Z,1761333828.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592070,-0.802774,0.070764],[0.805881,0.589448,-0.055745],[0.003040,0.090032,0.995934]] 2025-10-24T19:23:49.179Z,1761333829.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593177,-0.801898,0.071417],[0.805069,0.590615,-0.055114],[0.002016,0.090188,0.995923]] 2025-10-24T19:23:49.583Z,1761333829.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594483,-0.800889,0.071880],[0.804108,0.591988,-0.054416],[0.001029,0.090149,0.995928]] 2025-10-24T19:23:49.989Z,1761333829.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595443,-0.800092,0.072801],[0.803397,0.592991,-0.053982],[0.000020,0.090631,0.995885]] 2025-10-24T19:23:50.392Z,1761333830.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596694,-0.799100,0.073454],[0.802469,0.594288,-0.053536],[-0.000872,0.090889,0.995861]] 2025-10-24T19:23:50.796Z,1761333830.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597682,-0.798315,0.073956],[0.801731,0.595323,-0.053082],[-0.001652,0.091019,0.995848]] 2025-10-24T19:23:51.603Z,1761333831.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600075,-0.796467,0.074507],[0.799937,0.597840,-0.051845],[-0.003250,0.090712,0.995872]] 2025-10-24T19:23:52.007Z,1761333832.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601219,-0.795667,0.073828],[0.799074,0.599107,-0.050509],[-0.004043,0.089361,0.995991]] 2025-10-24T19:23:52.474Z,1761333832.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602398,-0.794765,0.073932],[0.798182,0.600349,-0.049865],[-0.004754,0.089050,0.996016]] 2025-10-24T19:23:52.816Z,1761333832.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602931,-0.794285,0.074735],[0.797774,0.600914,-0.049584],[-0.005526,0.089518,0.995970]] 2025-10-24T19:23:53.219Z,1761333833.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603867,-0.793534,0.075159],[0.797060,0.601906,-0.049032],[-0.006330,0.089515,0.995965]] 2025-10-24T19:23:53.625Z,1761333833.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605108,-0.792560,0.075457],[0.796111,0.603212,-0.048399],[-0.007158,0.089359,0.995974]] 2025-10-24T19:23:54.030Z,1761333834.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605902,-0.791988,0.075084],[0.795503,0.604068,-0.047717],[-0.007565,0.088642,0.996035]] 2025-10-24T19:23:54.438Z,1761333834.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606772,-0.791309,0.075216],[0.794834,0.604988,-0.047200],[-0.008155,0.088424,0.996050]] 2025-10-24T19:23:54.837Z,1761333834.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607435,-0.790776,0.075478],[0.794324,0.605666,-0.047086],[-0.008480,0.088556,0.996035]] 2025-10-24T19:23:55.239Z,1761333835.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607581,-0.790631,0.075811],[0.794208,0.605832,-0.046907],[-0.008843,0.088710,0.996018]] 2025-10-24T19:23:55.643Z,1761333835.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608067,-0.790248,0.075909],[0.793833,0.606335,-0.046759],[-0.009075,0.088692,0.996018]] 2025-10-24T19:23:56.075Z,1761333836.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610143,-0.788661,0.075767],[0.792231,0.608480,-0.046066],[-0.009772,0.088131,0.996061]] 2025-10-24T19:23:56.469Z,1761333836.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610649,-0.788248,0.075975],[0.791838,0.608995,-0.046011],[-0.010000,0.088256,0.996048]] 2025-10-24T19:23:56.863Z,1761333836.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611702,-0.787455,0.075732],[0.791022,0.610077,-0.045720],[-0.010200,0.087873,0.996079]] 2025-10-24T19:23:57.259Z,1761333837.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612809,-0.786609,0.075575],[0.790162,0.611216,-0.045386],[-0.010491,0.087529,0.996107]] 2025-10-24T19:23:57.663Z,1761333837.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613435,-0.786117,0.075619],[0.789671,0.611875,-0.045048],[-0.010856,0.087348,0.996119]] 2025-10-24T19:23:58.087Z,1761333838.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614041,-0.785625,0.075810],[0.789197,0.612489,-0.045014],[-0.011069,0.087470,0.996106]] 2025-10-24T19:23:58.470Z,1761333838.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613991,-0.785566,0.076820],[0.789229,0.612426,-0.045285],[-0.011472,0.088433,0.996016]] 2025-10-24T19:23:58.876Z,1761333838.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614790,-0.784887,0.077364],[0.788601,0.613237,-0.045269],[-0.011911,0.088841,0.995975]] 2025-10-24T19:23:59.281Z,1761333839.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615204,-0.784524,0.077755],[0.788272,0.613670,-0.045129],[-0.012311,0.089056,0.995951]] 2025-10-24T19:23:59.684Z,1761333839.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615832,-0.783986,0.078206],[0.787773,0.614323,-0.044952],[-0.012802,0.089291,0.995923]] 2025-10-24T19:24:00.125Z,1761333840.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616667,-0.783340,0.078099],[0.787114,0.615201,-0.044496],[-0.013191,0.088912,0.995952]] 2025-10-24T19:24:00.491Z,1761333840.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617505,-0.782651,0.078389],[0.786449,0.616065,-0.044298],[-0.013623,0.089003,0.995938]] 2025-10-24T19:24:00.899Z,1761333840.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618261,-0.782051,0.078421],[0.785850,0.616848,-0.044037],[-0.013934,0.088853,0.995947]] 2025-10-24T19:24:01.300Z,1761333841.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618711,-0.781658,0.078789],[0.785492,0.617294,-0.044167],[-0.014113,0.089215,0.995912]] 2025-10-24T19:24:01.704Z,1761333841.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619808,-0.780731,0.079352],[0.784614,0.618424,-0.043953],[-0.014758,0.089503,0.995877]] 2025-10-24T19:24:02.143Z,1761333842.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620167,-0.780372,0.080079],[0.784324,0.618781,-0.044114],[-0.015126,0.090166,0.995812]] 2025-10-24T19:24:02.510Z,1761333842.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620564,-0.780036,0.080275],[0.784006,0.619190,-0.044031],[-0.015360,0.090260,0.995800]] 2025-10-24T19:24:02.922Z,1761333842.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621457,-0.779298,0.080539],[0.783285,0.620133,-0.043578],[-0.015985,0.090167,0.995798]] 2025-10-24T19:24:03.319Z,1761333843.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621970,-0.778853,0.080879],[0.782871,0.620663,-0.043486],[-0.016329,0.090364,0.995775]] 2025-10-24T19:24:03.722Z,1761333843.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622917,-0.778029,0.081520],[0.782115,0.621582,-0.043952],[-0.016476,0.091136,0.995702]] 2025-10-24T19:24:04.170Z,1761333844.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623545,-0.777464,0.082100],[0.781605,0.622220,-0.043998],[-0.016877,0.091605,0.995652]] 2025-10-24T19:24:04.538Z,1761333844.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624478,-0.776679,0.082444],[0.780855,0.623154,-0.044100],[-0.017124,0.091916,0.995619]] 2025-10-24T19:24:04.952Z,1761333844.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624854,-0.776320,0.082975],[0.780550,0.623519,-0.044337],[-0.017317,0.092470,0.995565]] 2025-10-24T19:24:05.339Z,1761333845.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626218,-0.775213,0.083039],[0.779451,0.624892,-0.044337],[-0.017519,0.092489,0.995560]] 2025-10-24T19:24:05.390Z,1761333845.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:24:05.745Z,1761333845.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626467,-0.774966,0.083463],[0.779250,0.625120,-0.044665],[-0.017560,0.093020,0.995509]] 2025-10-24T19:24:06.199Z,1761333846.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627669,-0.773964,0.083731],[0.778276,0.626330,-0.044699],[-0.017848,0.093222,0.995485]] 2025-10-24T19:24:06.551Z,1761333846.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628273,-0.773448,0.083974],[0.777792,0.626894,-0.045205],[-0.017680,0.093715,0.995442]] 2025-10-24T19:24:06.955Z,1761333846.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628633,-0.773196,0.083598],[0.777508,0.627238,-0.045316],[-0.017398,0.093485,0.995469]] 2025-10-24T19:24:06.976Z,1761333846.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:24:07.359Z,1761333847.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629419,-0.772585,0.083331],[0.776877,0.628005,-0.045521],[-0.017164,0.093390,0.995482]] 2025-10-24T19:24:07.770Z,1761333847.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629773,-0.772261,0.083660],[0.776592,0.628323,-0.045990],[-0.017050,0.093933,0.995432]] 2025-10-24T19:24:07.980Z,1761333847.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:24:08.215Z,1761333848.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630589,-0.771585,0.083747],[0.775932,0.629113,-0.046328],[-0.016940,0.094196,0.995410]] 2025-10-24T19:24:08.571Z,1761333848.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631019,-0.771357,0.082603],[0.775583,0.629601,-0.045529],[-0.016888,0.092795,0.995542]] 2025-10-24T19:24:08.977Z,1761333848.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631083,-0.771324,0.082425],[0.775541,0.629621,-0.045965],[-0.016443,0.092932,0.995537]] 2025-10-24T19:24:09.381Z,1761333849.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631198,-0.771313,0.081646],[0.775457,0.629729,-0.045914],[-0.016001,0.092294,0.995603]] 2025-10-24T19:24:09.783Z,1761333849.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630940,-0.771551,0.081390],[0.775676,0.629436,-0.046228],[-0.015562,0.092299,0.995610]] 2025-10-24T19:24:10.225Z,1761333850.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630441,-0.771961,0.081366],[0.776095,0.628860,-0.047028],[-0.014864,0.092796,0.995574]] 2025-10-24T19:24:10.591Z,1761333850.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629858,-0.772480,0.080952],[0.776572,0.628287,-0.046825],[-0.014690,0.092358,0.995618]] 2025-10-24T19:24:11.000Z,1761333851.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629733,-0.772616,0.080627],[0.776686,0.628096,-0.047477],[-0.013960,0.092520,0.995613]] 2025-10-24T19:24:11.399Z,1761333851.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629007,-0.773177,0.080923],[0.777282,0.627309,-0.048131],[-0.013550,0.093175,0.995558]] 2025-10-24T19:24:11.803Z,1761333851.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628568,-0.773508,0.081163],[0.777640,0.626834,-0.048526],[-0.013341,0.093618,0.995519]] 2025-10-24T19:24:12.211Z,1761333852.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627746,-0.774163,0.081281],[0.778311,0.625965,-0.048992],[-0.012951,0.094016,0.995486]] 2025-10-24T19:24:13.016Z,1761333853.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626752,-0.774954,0.081413],[0.779118,0.624920,-0.049492],[-0.012523,0.094450,0.995451]] 2025-10-24T19:24:13.425Z,1761333853.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625702,-0.775752,0.081886],[0.779969,0.623797,-0.050268],[-0.012084,0.095321,0.995373]] 2025-10-24T19:24:13.835Z,1761333853.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624874,-0.776331,0.082728],[0.780631,0.622932,-0.050704],[-0.012171,0.096263,0.995282]] 2025-10-24T19:24:14.236Z,1761333854.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624758,-0.776412,0.082836],[0.780723,0.622813,-0.050748],[-0.012190,0.096377,0.995270]] 2025-10-24T19:24:14.632Z,1761333854.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624506,-0.776577,0.083192],[0.780926,0.622533,-0.051064],[-0.012135,0.096857,0.995224]] 2025-10-24T19:24:15.038Z,1761333855.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624963,-0.776145,0.083786],[0.780563,0.622919,-0.051895],[-0.011913,0.097833,0.995132]] 2025-10-24T19:24:15.439Z,1761333855.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624837,-0.776192,0.084289],[0.780663,0.622776,-0.052115],[-0.012042,0.098365,0.995078]] 2025-10-24T19:24:15.916Z,1761333855.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626123,-0.775181,0.084058],[0.779630,0.624080,-0.051973],[-0.012170,0.098075,0.995105]] 2025-10-24T19:24:16.247Z,1761333856.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626671,-0.774749,0.083944],[0.779195,0.624581,-0.052477],[-0.011773,0.098295,0.995088]] 2025-10-24T19:24:16.651Z,1761333856.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628986,-0.773037,0.082400],[0.777328,0.626971,-0.051660],[-0.011727,0.096545,0.995259]] 2025-10-24T19:24:17.059Z,1761333857.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631228,-0.771358,0.080983],[0.775508,0.629287,-0.050839],[-0.011747,0.094894,0.995418]] 2025-10-24T19:24:17.462Z,1761333857.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632917,-0.769974,0.080965],[0.774122,0.631024,-0.050435],[-0.012257,0.094598,0.995440]] 2025-10-24T19:24:17.865Z,1761333857.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635337,-0.768109,0.079714],[0.772134,0.633527,-0.049523],[-0.012462,0.093014,0.995587]] 2025-10-24T19:24:18.267Z,1761333858.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637118,-0.766714,0.078931],[0.770662,0.635371,-0.048834],[-0.012709,0.091942,0.995683]] 2025-10-24T19:24:18.671Z,1761333858.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639573,-0.764761,0.078014],[0.768616,0.637923,-0.047785],[-0.013223,0.090525,0.995806]] 2025-10-24T19:24:19.076Z,1761333859.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640571,-0.763934,0.077929],[0.767783,0.638928,-0.047743],[-0.013318,0.090415,0.995815]] 2025-10-24T19:24:19.480Z,1761333859.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641430,-0.763162,0.078423],[0.767063,0.639764,-0.048122],[-0.013447,0.091022,0.995758]] 2025-10-24T19:24:20.288Z,1761333860.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643239,-0.761674,0.078078],[0.765541,0.641620,-0.047653],[-0.013801,0.090424,0.995808]] 2025-10-24T19:24:20.693Z,1761333860.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643996,-0.761025,0.078176],[0.764905,0.642365,-0.047838],[-0.013812,0.090604,0.995791]] 2025-10-24T19:24:21.096Z,1761333861.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644034,-0.760955,0.078538],[0.764869,0.642404,-0.047880],[-0.014019,0.090908,0.995761]] 2025-10-24T19:24:21.501Z,1761333861.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643960,-0.760981,0.078884],[0.764934,0.642287,-0.048405],[-0.013831,0.091512,0.995708]] 2025-10-24T19:24:21.918Z,1761333861.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643013,-0.761619,0.080449],[0.765728,0.641264,-0.049401],[-0.013964,0.093367,0.995534]] 2025-10-24T19:24:22.307Z,1761333862.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642634,-0.761867,0.081119],[0.766048,0.640831,-0.050055],[-0.013849,0.094308,0.995447]] 2025-10-24T19:24:22.713Z,1761333862.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641285,-0.762892,0.082162],[0.767181,0.639409,-0.050893],[-0.013709,0.095670,0.995319]] 2025-10-24T19:24:23.115Z,1761333863.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640698,-0.763299,0.082951],[0.767670,0.638779,-0.051425],[-0.013735,0.096627,0.995226]] 2025-10-24T19:24:23.519Z,1761333863.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639991,-0.763817,0.083640],[0.768259,0.638039,-0.051806],[-0.013795,0.097413,0.995148]] 2025-10-24T19:24:23.932Z,1761333863.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639074,-0.764514,0.084277],[0.769023,0.637080,-0.052274],[-0.013727,0.098218,0.995070]] 2025-10-24T19:24:24.330Z,1761333864.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638377,-0.765045,0.084746],[0.769601,0.636364,-0.052487],[-0.013774,0.098728,0.995019]] 2025-10-24T19:24:24.732Z,1761333864.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637553,-0.765732,0.084740],[0.770288,0.635517,-0.052676],[-0.013518,0.098858,0.995010]] 2025-10-24T19:24:25.135Z,1761333865.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636923,-0.766244,0.084854],[0.770812,0.634864,-0.052884],[-0.013349,0.099090,0.994989]] 2025-10-24T19:24:25.541Z,1761333865.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636091,-0.766892,0.085233],[0.771500,0.634001,-0.053201],[-0.013239,0.099598,0.994940]] 2025-10-24T19:24:25.952Z,1761333865.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636065,-0.766921,0.085167],[0.771522,0.633981,-0.053122],[-0.013254,0.099497,0.994950]] 2025-10-24T19:24:26.347Z,1761333866.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635207,-0.767609,0.085372],[0.772233,0.633079,-0.053543],[-0.012947,0.099938,0.994909]] 2025-10-24T19:24:26.751Z,1761333866.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635370,-0.767453,0.085555],[0.772096,0.633251,-0.053484],[-0.013131,0.100039,0.994897]] 2025-10-24T19:24:27.156Z,1761333867.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635078,-0.767728,0.085266],[0.772342,0.632936,-0.053664],[-0.012768,0.099935,0.994912]] 2025-10-24T19:24:27.659Z,1761333867.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634392,-0.768287,0.085329],[0.772915,0.632182,-0.054305],[-0.012222,0.100403,0.994872]] 2025-10-24T19:24:28.368Z,1761333868.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634526,-0.768156,0.085513],[0.772806,0.632287,-0.054624],[-0.012109,0.100746,0.994839]] 2025-10-24T19:24:28.771Z,1761333868.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634322,-0.768327,0.085495],[0.772980,0.632039,-0.055034],[-0.011752,0.100996,0.994817]] 2025-10-24T19:24:29.175Z,1761333869.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634657,-0.768041,0.085583],[0.772707,0.632345,-0.055351],[-0.011606,0.101260,0.994792]] 2025-10-24T19:24:29.579Z,1761333869.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634796,-0.767931,0.085533],[0.772596,0.632455,-0.055641],[-0.011367,0.101403,0.994781]] 2025-10-24T19:24:29.986Z,1761333869.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634555,-0.768088,0.085911],[0.772797,0.632160,-0.056203],[-0.011140,0.102056,0.994716]] 2025-10-24T19:24:30.391Z,1761333870.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635317,-0.767507,0.085471],[0.772168,0.632976,-0.055661],[-0.011381,0.101360,0.994785]] 2025-10-24T19:24:30.798Z,1761333870.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635966,-0.766976,0.085405],[0.771631,0.633639,-0.055561],[-0.011502,0.101237,0.994796]] 2025-10-24T19:24:31.200Z,1761333871.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636080,-0.766868,0.085529],[0.771537,0.633743,-0.055681],[-0.011504,0.101407,0.994779]] 2025-10-24T19:24:31.609Z,1761333871.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636882,-0.766270,0.084924],[0.770874,0.634598,-0.055133],[-0.011646,0.100579,0.994861]] 2025-10-24T19:24:32.003Z,1761333872.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636814,-0.766306,0.085108],[0.770929,0.634525,-0.055201],[-0.011702,0.100765,0.994841]] 2025-10-24T19:24:32.410Z,1761333872.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637187,-0.765997,0.085098],[0.770620,0.634899,-0.055207],[-0.011741,0.100755,0.994842]] 2025-10-24T19:24:32.812Z,1761333872.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637760,-0.765567,0.084673],[0.770143,0.635519,-0.054729],[-0.011912,0.100114,0.994905]] 2025-10-24T19:24:33.215Z,1761333873.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637463,-0.765748,0.085265],[0.770388,0.635189,-0.055108],[-0.011960,0.100817,0.994833]] 2025-10-24T19:24:33.620Z,1761333873.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637577,-0.765637,0.085411],[0.770291,0.635314,-0.055028],[-0.012131,0.100876,0.994825]] 2025-10-24T19:24:34.025Z,1761333874.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637050,-0.766030,0.085816],[0.770729,0.634748,-0.055432],[-0.012008,0.101454,0.994768]] 2025-10-24T19:24:34.431Z,1761333874.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637012,-0.766015,0.086241],[0.770757,0.634711,-0.055456],[-0.012258,0.101797,0.994730]] 2025-10-24T19:24:34.833Z,1761333874.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636366,-0.766493,0.086752],[0.771288,0.634049,-0.055642],[-0.012356,0.102319,0.994675]] 2025-10-24T19:24:35.235Z,1761333875.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636409,-0.766430,0.086997],[0.771249,0.634101,-0.055596],[-0.012555,0.102478,0.994656]] 2025-10-24T19:24:36.045Z,1761333876.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635653,-0.767190,0.085820],[0.771869,0.633464,-0.054239],[-0.012753,0.100719,0.994833]] 2025-10-24T19:24:36.447Z,1761333876.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635283,-0.767583,0.085044],[0.772176,0.633138,-0.053667],[-0.012651,0.099763,0.994931]] 2025-10-24T19:24:36.851Z,1761333876.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634817,-0.767967,0.085052],[0.772558,0.632681,-0.053557],[-0.012681,0.099707,0.994936]] 2025-10-24T19:24:37.266Z,1761333877.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634964,-0.767877,0.084769],[0.772436,0.632862,-0.053181],[-0.012811,0.099247,0.994980]] 2025-10-24T19:24:37.666Z,1761333877.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634154,-0.768516,0.085046],[0.773101,0.632039,-0.053305],[-0.012787,0.099553,0.994950]] 2025-10-24T19:24:38.063Z,1761333878.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633828,-0.768701,0.085793],[0.773365,0.631688,-0.053636],[-0.012964,0.100345,0.994868]] 2025-10-24T19:24:38.112Z,1761333878.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:24:38.467Z,1761333878.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632989,-0.769315,0.086486],[0.774048,0.630840,-0.053756],[-0.013204,0.100972,0.994802]] 2025-10-24T19:24:38.874Z,1761333878.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632724,-0.769510,0.086687],[0.774265,0.630565,-0.053870],[-0.013208,0.101203,0.994778]] 2025-10-24T19:24:39.119Z,1761333879.119 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:24:39.285Z,1761333879.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632216,-0.769886,0.087052],[0.774681,0.630022,-0.054230],[-0.013094,0.101722,0.994727]] 2025-10-24T19:24:39.686Z,1761333879.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632712,-0.769473,0.087100],[0.774274,0.630532,-0.054131],[-0.013267,0.101689,0.994728]] 2025-10-24T19:24:40.083Z,1761333880.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633137,-0.769141,0.086950],[0.773926,0.630967,-0.054038],[-0.013300,0.101506,0.994746]] 2025-10-24T19:24:40.488Z,1761333880.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632653,-0.769545,0.086891],[0.774327,0.630450,-0.054320],[-0.012979,0.101648,0.994736]] 2025-10-24T19:24:40.901Z,1761333880.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634006,-0.768510,0.086192],[0.773214,0.631875,-0.053614],[-0.013260,0.100636,0.994835]] 2025-10-24T19:24:41.294Z,1761333881.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633698,-0.768767,0.086167],[0.773469,0.631557,-0.053687],[-0.013147,0.100669,0.994833]] 2025-10-24T19:24:41.714Z,1761333881.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633652,-0.768815,0.086071],[0.773507,0.631517,-0.053611],[-0.013138,0.100547,0.994846]] 2025-10-24T19:24:42.105Z,1761333882.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633586,-0.768829,0.086434],[0.773559,0.631442,-0.053741],[-0.013260,0.100912,0.994807]] 2025-10-24T19:24:42.507Z,1761333882.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634036,-0.768498,0.086074],[0.773186,0.631945,-0.053194],[-0.013514,0.100278,0.994868]] 2025-10-24T19:24:42.915Z,1761333882.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633714,-0.768729,0.086384],[0.773447,0.631621,-0.053238],[-0.013636,0.100551,0.994838]] 2025-10-24T19:24:43.322Z,1761333883.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633557,-0.768826,0.086666],[0.773574,0.631455,-0.053361],[-0.013700,0.100850,0.994807]] 2025-10-24T19:24:43.743Z,1761333883.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633717,-0.768690,0.086704],[0.773440,0.631634,-0.053186],[-0.013882,0.100765,0.994813]] 2025-10-24T19:24:44.123Z,1761333884.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632908,-0.769308,0.087139],[0.774105,0.630781,-0.053626],[-0.013710,0.101395,0.994752]] 2025-10-24T19:24:44.527Z,1761333884.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632691,-0.769416,0.087753],[0.774277,0.630568,-0.053664],[-0.014044,0.101898,0.994696]] 2025-10-24T19:24:44.938Z,1761333884.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631394,-0.770420,0.088288],[0.775340,0.629214,-0.054205],[-0.013791,0.102678,0.994619]] 2025-10-24T19:24:45.343Z,1761333885.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630979,-0.770810,0.087849],[0.775679,0.628823,-0.053887],[-0.013705,0.102144,0.994675]] 2025-10-24T19:24:45.769Z,1761333885.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630875,-0.770867,0.088098],[0.775758,0.628743,-0.053685],[-0.014006,0.102211,0.994664]] 2025-10-24T19:24:46.143Z,1761333886.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630892,-0.770832,0.088277],[0.775742,0.628760,-0.053710],[-0.014104,0.102366,0.994647]] 2025-10-24T19:24:46.548Z,1761333886.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630776,-0.770912,0.088405],[0.775837,0.628636,-0.053803],[-0.014097,0.102526,0.994631]] 2025-10-24T19:24:46.959Z,1761333886.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630497,-0.771109,0.088682],[0.776066,0.628318,-0.054194],[-0.013931,0.102993,0.994585]] 2025-10-24T19:24:47.799Z,1761333887.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630480,-0.771118,0.088722],[0.776079,0.628308,-0.054137],[-0.013998,0.102988,0.994584]] 2025-10-24T19:24:48.169Z,1761333888.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630387,-0.771200,0.088667],[0.776154,0.628221,-0.054061],[-0.014011,0.102899,0.994593]] 2025-10-24T19:24:48.572Z,1761333888.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630591,-0.771048,0.088542],[0.775991,0.628415,-0.054150],[-0.013889,0.102854,0.994600]] 2025-10-24T19:24:48.977Z,1761333888.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630850,-0.770866,0.088288],[0.775781,0.628687,-0.054004],[-0.013876,0.102560,0.994630]] 2025-10-24T19:24:49.374Z,1761333889.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631229,-0.770573,0.088136],[0.775473,0.629067,-0.054003],[-0.013830,0.102436,0.994643]] 2025-10-24T19:24:49.845Z,1761333889.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631506,-0.770378,0.087849],[0.775249,0.629349,-0.053934],[-0.013738,0.102164,0.994673]] 2025-10-24T19:24:50.185Z,1761333890.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631285,-0.770547,0.087960],[0.775433,0.629098,-0.054217],[-0.013558,0.102434,0.994647]] 2025-10-24T19:24:50.587Z,1761333890.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631624,-0.770287,0.087799],[0.775158,0.629430,-0.054292],[-0.013443,0.102350,0.994658]] 2025-10-24T19:24:50.991Z,1761333890.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631526,-0.770317,0.088247],[0.775236,0.629322,-0.054443],[-0.013597,0.102794,0.994610]] 2025-10-24T19:24:51.395Z,1761333891.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631668,-0.770250,0.087810],[0.775119,0.629499,-0.054059],[-0.013637,0.102211,0.994669]] 2025-10-24T19:24:51.866Z,1761333891.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631150,-0.770644,0.088075],[0.775542,0.628957,-0.054293],[-0.013555,0.102573,0.994633]] 2025-10-24T19:24:52.203Z,1761333892.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631507,-0.770345,0.088138],[0.775250,0.629317,-0.054286],[-0.013648,0.102611,0.994628]] 2025-10-24T19:24:52.607Z,1761333892.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631401,-0.770408,0.088346],[0.775333,0.629225,-0.054170],[-0.013857,0.102700,0.994616]] 2025-10-24T19:24:53.020Z,1761333893.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631364,-0.770426,0.088447],[0.775362,0.629187,-0.054197],[-0.013895,0.102796,0.994605]] 2025-10-24T19:24:53.422Z,1761333893.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631601,-0.770309,0.087773],[0.775170,0.629466,-0.053708],[-0.013879,0.101961,0.994692]] 2025-10-24T19:24:53.833Z,1761333893.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631439,-0.770438,0.087805],[0.775304,0.629288,-0.053864],[-0.013755,0.102087,0.994680]] 2025-10-24T19:24:54.223Z,1761333894.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632029,-0.769977,0.087602],[0.774821,0.629899,-0.053665],[-0.013860,0.101793,0.994709]] 2025-10-24T19:24:54.629Z,1761333894.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631665,-0.770248,0.087847],[0.775117,0.629528,-0.053740],[-0.013909,0.102037,0.994683]] 2025-10-24T19:24:55.031Z,1761333895.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632044,-0.769967,0.087580],[0.774807,0.629926,-0.053551],[-0.013936,0.101704,0.994717]] 2025-10-24T19:24:55.441Z,1761333895.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631217,-0.770593,0.088044],[0.775479,0.629086,-0.053687],[-0.014016,0.102164,0.994669]] 2025-10-24T19:24:55.845Z,1761333895.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630973,-0.770775,0.088197],[0.775679,0.628832,-0.053794],[-0.013998,0.102355,0.994649]] 2025-10-24T19:24:56.246Z,1761333896.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630738,-0.770958,0.088282],[0.775868,0.628604,-0.053723],[-0.014076,0.102381,0.994646]] 2025-10-24T19:24:56.647Z,1761333896.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630996,-0.770791,0.087894],[0.775661,0.628868,-0.053615],[-0.013947,0.102007,0.994686]] 2025-10-24T19:24:57.051Z,1761333897.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630748,-0.770991,0.087920],[0.775862,0.628623,-0.053584],[-0.013956,0.102011,0.994685]] 2025-10-24T19:24:57.454Z,1761333897.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630510,-0.771172,0.088038],[0.776056,0.628380,-0.053633],[-0.013961,0.102138,0.994672]] 2025-10-24T19:24:57.865Z,1761333897.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630932,-0.770907,0.087333],[0.775716,0.628819,-0.053398],[-0.013752,0.101436,0.994747]] 2025-10-24T19:24:58.264Z,1761333898.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630415,-0.771314,0.087476],[0.776139,0.628275,-0.053643],[-0.013584,0.101711,0.994721]] 2025-10-24T19:24:58.676Z,1761333898.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630245,-0.771419,0.087777],[0.776276,0.628100,-0.053720],[-0.013692,0.101996,0.994691]] 2025-10-24T19:24:59.071Z,1761333899.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628974,-0.772408,0.088187],[0.777310,0.626782,-0.054165],[-0.013437,0.102617,0.994630]] 2025-10-24T19:24:59.478Z,1761333899.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629284,-0.772169,0.088076],[0.777057,0.627117,-0.053926],[-0.013594,0.102375,0.994653]] 2025-10-24T19:25:00.283Z,1761333900.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628309,-0.772906,0.088567],[0.777849,0.626087,-0.054451],[-0.013365,0.103104,0.994581]] 2025-10-24T19:25:00.687Z,1761333900.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628191,-0.772997,0.088615],[0.777944,0.625975,-0.054393],[-0.013425,0.103106,0.994580]] 2025-10-24T19:25:01.092Z,1761333901.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627320,-0.773678,0.088834],[0.778647,0.625090,-0.054513],[-0.013354,0.103367,0.994554]] 2025-10-24T19:25:01.494Z,1761333901.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627556,-0.773509,0.088643],[0.778457,0.625337,-0.054399],[-0.013353,0.103143,0.994577]] 2025-10-24T19:25:01.901Z,1761333901.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627001,-0.773893,0.089216],[0.778901,0.624775,-0.054505],[-0.013559,0.103665,0.994520]] 2025-10-24T19:25:02.305Z,1761333902.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627125,-0.773799,0.089163],[0.778799,0.624915,-0.054351],[-0.013663,0.103525,0.994533]] 2025-10-24T19:25:02.709Z,1761333902.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626352,-0.774381,0.089540],[0.779419,0.624137,-0.054399],[-0.013760,0.103861,0.994497]] 2025-10-24T19:25:03.111Z,1761333903.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626451,-0.774321,0.089364],[0.779340,0.624246,-0.054280],[-0.013755,0.103648,0.994519]] 2025-10-24T19:25:03.514Z,1761333903.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625982,-0.774668,0.089643],[0.779716,0.623766,-0.054405],[-0.013771,0.103953,0.994487]] 2025-10-24T19:25:03.924Z,1761333903.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625285,-0.775184,0.090045],[0.780276,0.623040,-0.054686],[-0.013710,0.104455,0.994435]] 2025-10-24T19:25:04.329Z,1761333904.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624962,-0.775425,0.090215],[0.780536,0.622696,-0.054889],[-0.013614,0.104720,0.994409]] 2025-10-24T19:25:04.727Z,1761333904.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624969,-0.775453,0.089924],[0.780532,0.622715,-0.054733],[-0.013554,0.104395,0.994444]] 2025-10-24T19:25:05.137Z,1761333905.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625089,-0.775352,0.089959],[0.780432,0.622859,-0.054513],[-0.013765,0.104282,0.994453]] 2025-10-24T19:25:05.553Z,1761333905.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625775,-0.774815,0.089823],[0.779878,0.623579,-0.054216],[-0.014004,0.103978,0.994481]] 2025-10-24T19:25:05.569Z,1761333905.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:25:05.950Z,1761333905.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625547,-0.774991,0.089887],[0.780061,0.623348,-0.054244],[-0.013993,0.104050,0.994474]] 2025-10-24T19:25:06.343Z,1761333906.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626251,-0.774441,0.089729],[0.779497,0.624046,-0.054316],[-0.013931,0.103959,0.994484]] 2025-10-24T19:25:06.749Z,1761333906.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626474,-0.774226,0.090031],[0.779313,0.624281,-0.054260],[-0.014195,0.104155,0.994460]] 2025-10-24T19:25:07.153Z,1761333907.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627247,-0.773640,0.089679],[0.778690,0.625082,-0.053987],[-0.014290,0.103695,0.994506]] 2025-10-24T19:25:07.556Z,1761333907.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627962,-0.773133,0.089050],[0.778114,0.625825,-0.053681],[-0.014227,0.103001,0.994580]] 2025-10-24T19:25:07.960Z,1761333907.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628858,-0.772456,0.088598],[0.777388,0.626753,-0.053365],[-0.014307,0.102434,0.994637]] 2025-10-24T19:25:08.363Z,1761333908.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630040,-0.771586,0.087781],[0.776430,0.627985,-0.052835],[-0.014359,0.101444,0.994738]] 2025-10-24T19:25:08.773Z,1761333908.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630954,-0.770906,0.087186],[0.775687,0.628931,-0.052492],[-0.014367,0.100749,0.994808]] 2025-10-24T19:25:09.171Z,1761333909.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632112,-0.770012,0.086695],[0.774743,0.630118,-0.052206],[-0.014429,0.100167,0.994866]] 2025-10-24T19:25:09.240Z,1761333909.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:25:09.577Z,1761333909.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632246,-0.769829,0.087339],[0.774640,0.630161,-0.053206],[-0.014078,0.101295,0.994757]] 2025-10-24T19:25:09.983Z,1761333909.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632339,-0.769642,0.088306],[0.774570,0.630135,-0.054503],[-0.013697,0.102864,0.994601]] 2025-10-24T19:25:10.244Z,1761333910.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:25:10.383Z,1761333910.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632367,-0.769621,0.088289],[0.774553,0.630129,-0.054824],[-0.013440,0.103054,0.994585]] 2025-10-24T19:25:10.790Z,1761333910.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632264,-0.769660,0.088686],[0.774638,0.629988,-0.055242],[-0.013353,0.103627,0.994527]] 2025-10-24T19:25:11.193Z,1761333911.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631518,-0.770107,0.090109],[0.775251,0.629104,-0.056685],[-0.013034,0.105655,0.994317]] 2025-10-24T19:25:11.597Z,1761333911.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631411,-0.770170,0.090323],[0.775342,0.628954,-0.057113],[-0.012823,0.106093,0.994274]] 2025-10-24T19:25:11.999Z,1761333911.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630055,-0.771262,0.090479],[0.776455,0.627512,-0.057846],[-0.012162,0.106699,0.994217]] 2025-10-24T19:25:12.403Z,1761333912.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629116,-0.772007,0.090656],[0.777224,0.626502,-0.058469],[-0.011657,0.107244,0.994164]] 2025-10-24T19:25:12.807Z,1761333912.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628375,-0.772573,0.090968],[0.777825,0.625730,-0.058743],[-0.011538,0.107670,0.994120]] 2025-10-24T19:25:13.214Z,1761333913.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626561,-0.774068,0.090775],[0.779291,0.623916,-0.058601],[-0.011275,0.107457,0.994146]] 2025-10-24T19:25:13.616Z,1761333913.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625771,-0.774780,0.090148],[0.779926,0.623179,-0.058000],[-0.011242,0.106604,0.994238]] 2025-10-24T19:25:14.020Z,1761333914.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624258,-0.776003,0.090115],[0.781143,0.621631,-0.058224],[-0.010836,0.106739,0.994228]] 2025-10-24T19:25:14.425Z,1761333914.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623424,-0.776697,0.089915],[0.781814,0.620764,-0.058463],[-0.010408,0.106744,0.994232]] 2025-10-24T19:25:14.833Z,1761333914.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621833,-0.777960,0.090015],[0.783087,0.619119,-0.058870],[-0.009932,0.107096,0.994199]] 2025-10-24T19:25:15.232Z,1761333915.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620741,-0.778816,0.090141],[0.783954,0.618020,-0.058890],[-0.009845,0.107222,0.994186]] 2025-10-24T19:25:15.636Z,1761333915.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619507,-0.779802,0.090113],[0.784932,0.616780,-0.058864],[-0.009677,0.107199,0.994190]] 2025-10-24T19:25:16.038Z,1761333916.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617846,-0.781089,0.090371],[0.786242,0.615091,-0.059045],[-0.009467,0.107534,0.994156]] 2025-10-24T19:25:16.446Z,1761333916.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616779,-0.781941,0.090285],[0.787081,0.614031,-0.058911],[-0.009373,0.107396,0.994172]] 2025-10-24T19:25:16.846Z,1761333916.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615272,-0.783112,0.090420],[0.788261,0.612517,-0.058895],[-0.009263,0.107511,0.994161]] 2025-10-24T19:25:17.258Z,1761333917.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614304,-0.783871,0.090429],[0.789015,0.611556,-0.058774],[-0.009231,0.107455,0.994167]] 2025-10-24T19:25:17.656Z,1761333917.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612757,-0.785000,0.091123],[0.790218,0.609970,-0.059098],[-0.009191,0.108220,0.994084]] 2025-10-24T19:25:18.062Z,1761333918.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611761,-0.785646,0.092245],[0.790988,0.608918,-0.059643],[-0.009311,0.109452,0.993948]] 2025-10-24T19:25:18.869Z,1761333918.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610262,-0.786798,0.092352],[0.792140,0.607480,-0.059000],[-0.009681,0.109161,0.993977]] 2025-10-24T19:25:19.286Z,1761333919.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610114,-0.786844,0.092939],[0.792252,0.607321,-0.059145],[-0.009906,0.109716,0.993914]] 2025-10-24T19:25:19.675Z,1761333919.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609080,-0.787628,0.093081],[0.793047,0.606287,-0.059094],[-0.009890,0.109810,0.993903]] 2025-10-24T19:25:20.085Z,1761333920.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608861,-0.787795,0.093103],[0.793212,0.606108,-0.058724],[-0.010168,0.109605,0.993923]] 2025-10-24T19:25:20.487Z,1761333920.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608088,-0.788392,0.093098],[0.793805,0.605341,-0.058626],[-0.010136,0.109552,0.993929]] 2025-10-24T19:25:20.917Z,1761333920.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607945,-0.788523,0.092920],[0.793912,0.605233,-0.058276],[-0.010286,0.109199,0.993967]] 2025-10-24T19:25:21.327Z,1761333921.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607431,-0.788914,0.092966],[0.794306,0.604726,-0.058181],[-0.010319,0.109184,0.993968]] 2025-10-24T19:25:22.111Z,1761333922.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606782,-0.789360,0.093420],[0.794800,0.604072,-0.058232],[-0.010466,0.109585,0.993922]] 2025-10-24T19:25:22.512Z,1761333922.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606132,-0.789837,0.093601],[0.795295,0.603413,-0.058291],[-0.010440,0.109773,0.993902]] 2025-10-24T19:25:22.914Z,1761333922.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605249,-0.790553,0.093267],[0.795977,0.602462,-0.058825],[-0.009686,0.109842,0.993902]] 2025-10-24T19:25:23.338Z,1761333923.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604853,-0.790893,0.092954],[0.796283,0.602035,-0.059047],[-0.009261,0.109732,0.993918]] 2025-10-24T19:25:23.718Z,1761333923.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603190,-0.792171,0.092875],[0.797554,0.600260,-0.059956],[-0.008254,0.110237,0.993871]] 2025-10-24T19:25:24.132Z,1761333924.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602636,-0.792664,0.092271],[0.797982,0.599641,-0.060462],[-0.007404,0.110067,0.993897]] 2025-10-24T19:25:24.523Z,1761333924.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601640,-0.793500,0.091583],[0.798742,0.598577,-0.060973],[-0.006437,0.109835,0.993929]] 2025-10-24T19:25:24.934Z,1761333924.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601376,-0.793843,0.090337],[0.798947,0.598294,-0.061059],[-0.005577,0.108894,0.994038]] 2025-10-24T19:25:25.366Z,1761333925.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600263,-0.794829,0.089055],[0.799790,0.597164,-0.061088],[-0.004626,0.107894,0.994152]] 2025-10-24T19:25:25.742Z,1761333925.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599322,-0.795547,0.088985],[0.800498,0.596151,-0.061694],[-0.003968,0.108207,0.994120]] 2025-10-24T19:25:26.138Z,1761333926.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598123,-0.796579,0.087808],[0.801398,0.594960,-0.061514],[-0.003242,0.107162,0.994236]] 2025-10-24T19:25:26.568Z,1761333926.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596441,-0.797890,0.087347],[0.802654,0.593215,-0.061990],[-0.002354,0.107083,0.994247]] 2025-10-24T19:25:26.955Z,1761333926.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595368,-0.798701,0.087253],[0.803451,0.592082,-0.062492],[-0.001749,0.107309,0.994224]] 2025-10-24T19:25:27.395Z,1761333927.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593791,-0.799919,0.086845],[0.804619,0.590435,-0.063048],[-0.000843,0.107314,0.994225]] 2025-10-24T19:25:27.755Z,1761333927.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592490,-0.800896,0.086724],[0.805578,0.589053,-0.063731],[-0.000043,0.107623,0.994192]] 2025-10-24T19:25:28.160Z,1761333928.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590862,-0.802120,0.086520],[0.806772,0.587352,-0.064320],[0.000775,0.107806,0.994172]] 2025-10-24T19:25:28.566Z,1761333928.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589722,-0.802981,0.086307],[0.807605,0.586143,-0.064887],[0.001515,0.107967,0.994153]] 2025-10-24T19:25:28.967Z,1761333928.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588255,-0.804084,0.086055],[0.808672,0.584603,-0.065482],[0.002345,0.108111,0.994136]] 2025-10-24T19:25:29.413Z,1761333929.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587327,-0.804802,0.085677],[0.809344,0.583621,-0.065942],[0.003067,0.108071,0.994138]] 2025-10-24T19:25:29.776Z,1761333929.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586617,-0.805421,0.084722],[0.809855,0.582890,-0.066137],[0.003885,0.107410,0.994207]] 2025-10-24T19:25:30.186Z,1761333930.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585364,-0.806402,0.084051],[0.810756,0.581586,-0.066574],[0.004802,0.107115,0.994235]] 2025-10-24T19:25:30.585Z,1761333930.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585384,-0.806497,0.082997],[0.810739,0.581628,-0.066422],[0.005296,0.106172,0.994334]] 2025-10-24T19:25:30.987Z,1761333930.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584555,-0.807185,0.082149],[0.811331,0.580775,-0.066645],[0.006085,0.105608,0.994389]] 2025-10-24T19:25:31.411Z,1761333931.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584293,-0.807448,0.081422],[0.811516,0.580514,-0.066673],[0.006569,0.105032,0.994447]] 2025-10-24T19:25:31.795Z,1761333931.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583165,-0.808310,0.080948],[0.812320,0.579334,-0.067141],[0.007375,0.104910,0.994454]] 2025-10-24T19:25:32.210Z,1761333932.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583148,-0.808415,0.080022],[0.812327,0.579319,-0.067192],[0.007960,0.104187,0.994526]] 2025-10-24T19:25:32.605Z,1761333932.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582449,-0.808979,0.079418],[0.812821,0.578584,-0.067545],[0.008692,0.103894,0.994550]] 2025-10-24T19:25:33.007Z,1761333933.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582758,-0.808792,0.079051],[0.812595,0.578869,-0.067825],[0.009097,0.103762,0.994561]] 2025-10-24T19:25:33.425Z,1761333933.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582534,-0.808983,0.078739],[0.812752,0.578643,-0.067866],[0.009341,0.103530,0.994582]] 2025-10-24T19:25:33.818Z,1761333933.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583265,-0.808541,0.077872],[0.812223,0.579380,-0.067915],[0.009794,0.102862,0.994647]] 2025-10-24T19:25:34.219Z,1761333934.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583580,-0.808386,0.077110],[0.811993,0.579722,-0.067746],[0.010063,0.102148,0.994718]] 2025-10-24T19:25:34.623Z,1761333934.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583730,-0.808341,0.076445],[0.811880,0.579868,-0.067860],[0.010526,0.101676,0.994762]] 2025-10-24T19:25:35.029Z,1761333935.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584831,-0.807642,0.075410],[0.811088,0.581059,-0.067130],[0.010400,0.100424,0.994890]] 2025-10-24T19:25:35.440Z,1761333935.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585527,-0.807226,0.074459],[0.810584,0.581810,-0.066711],[0.010530,0.099417,0.994990]] 2025-10-24T19:25:35.835Z,1761333935.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586115,-0.806807,0.074370],[0.810157,0.582375,-0.066968],[0.010719,0.099502,0.994980]] 2025-10-24T19:25:36.241Z,1761333936.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586182,-0.806757,0.074393],[0.810108,0.582439,-0.066998],[0.010721,0.099539,0.994976]] 2025-10-24T19:25:36.644Z,1761333936.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586411,-0.806610,0.074179],[0.809941,0.582669,-0.067025],[0.010842,0.099385,0.994990]] 2025-10-24T19:25:37.048Z,1761333937.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586816,-0.806364,0.073648],[0.809646,0.583091,-0.066920],[0.011019,0.098899,0.995036]] 2025-10-24T19:25:37.451Z,1761333937.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587121,-0.806162,0.073434],[0.809422,0.583391,-0.067012],[0.011182,0.098783,0.995046]] 2025-10-24T19:25:38.262Z,1761333938.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587351,-0.806036,0.072966],[0.809253,0.583645,-0.066840],[0.011289,0.098306,0.995092]] 2025-10-24T19:25:38.663Z,1761333938.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587412,-0.805986,0.073032],[0.809210,0.583705,-0.066834],[0.011238,0.098357,0.995088]] 2025-10-24T19:25:39.067Z,1761333939.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586691,-0.806454,0.073658],[0.809734,0.582947,-0.067110],[0.011183,0.099016,0.995023]] 2025-10-24T19:25:39.477Z,1761333939.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586327,-0.806678,0.074100],[0.809998,0.582555,-0.067325],[0.011142,0.099495,0.994976]] 2025-10-24T19:25:39.882Z,1761333939.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586059,-0.806842,0.074433],[0.810196,0.582298,-0.067173],[0.010856,0.099673,0.994961]] 2025-10-24T19:25:40.287Z,1761333940.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585572,-0.807234,0.074023],[0.810549,0.581864,-0.066665],[0.010743,0.099037,0.995026]] 2025-10-24T19:25:40.369Z,1761333940.369 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:25:40.683Z,1761333940.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585507,-0.807309,0.073708],[0.810597,0.581839,-0.066300],[0.010639,0.098567,0.995074]] 2025-10-24T19:25:41.087Z,1761333941.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585612,-0.807264,0.073369],[0.810523,0.581985,-0.065920],[0.010515,0.098071,0.995124]] 2025-10-24T19:25:41.372Z,1761333941.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:25:41.493Z,1761333941.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584434,-0.808088,0.073693],[0.811371,0.580772,-0.066187],[0.010686,0.098474,0.995082]] 2025-10-24T19:25:41.896Z,1761333941.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584264,-0.808215,0.073647],[0.811494,0.580619,-0.066018],[0.010596,0.098336,0.995097]] 2025-10-24T19:25:42.299Z,1761333942.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584099,-0.808351,0.073462],[0.811614,0.580478,-0.065783],[0.010532,0.098047,0.995126]] 2025-10-24T19:25:42.703Z,1761333942.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584304,-0.808226,0.073210],[0.811467,0.580710,-0.065548],[0.010464,0.097707,0.995160]] 2025-10-24T19:25:43.111Z,1761333943.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583656,-0.808615,0.074082],[0.811936,0.580014,-0.065913],[0.010330,0.098620,0.995072]] 2025-10-24T19:25:43.511Z,1761333943.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583783,-0.808535,0.073957],[0.811843,0.580142,-0.065925],[0.010397,0.098527,0.995080]] 2025-10-24T19:25:43.919Z,1761333943.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583288,-0.808877,0.074112],[0.812197,0.579621,-0.066155],[0.010554,0.098780,0.995053]] 2025-10-24T19:25:44.320Z,1761333944.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583754,-0.808569,0.073798],[0.811861,0.580100,-0.066077],[0.010618,0.098486,0.995082]] 2025-10-24T19:25:44.725Z,1761333944.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583584,-0.808706,0.073645],[0.811981,0.579928,-0.066103],[0.010749,0.098375,0.995091]] 2025-10-24T19:25:45.127Z,1761333945.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583994,-0.808435,0.073376],[0.811686,0.580351,-0.066014],[0.010785,0.098110,0.995117]] 2025-10-24T19:25:45.951Z,1761333945.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584300,-0.808308,0.072325],[0.811465,0.580729,-0.065407],[0.010868,0.096906,0.995234]] 2025-10-24T19:25:46.347Z,1761333946.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585587,-0.807464,0.071335],[0.810540,0.582110,-0.064608],[0.010643,0.095654,0.995358]] 2025-10-24T19:25:46.744Z,1761333946.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586302,-0.807029,0.070383],[0.810024,0.582906,-0.063888],[0.010532,0.094470,0.995472]] 2025-10-24T19:25:47.154Z,1761333947.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587240,-0.806407,0.069688],[0.809345,0.583898,-0.063433],[0.010463,0.093652,0.995550]] 2025-10-24T19:25:47.551Z,1761333947.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587657,-0.806166,0.068963],[0.809043,0.584369,-0.062953],[0.010451,0.092788,0.995631]] 2025-10-24T19:25:47.958Z,1761333947.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588334,-0.805782,0.067659],[0.808549,0.585131,-0.062211],[0.010539,0.091307,0.995767]] 2025-10-24T19:25:48.363Z,1761333948.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589563,-0.804978,0.066529],[0.807655,0.586449,-0.061406],[0.010414,0.089935,0.995893]] 2025-10-24T19:25:48.764Z,1761333948.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589912,-0.804780,0.065822],[0.807399,0.586839,-0.061048],[0.010504,0.089158,0.995962]] 2025-10-24T19:25:49.168Z,1761333949.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590999,-0.804051,0.064982],[0.806603,0.587974,-0.060638],[0.010549,0.088252,0.996042]] 2025-10-24T19:25:49.977Z,1761333949.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592835,-0.802777,0.063999],[0.805242,0.589765,-0.061339],[0.011497,0.087899,0.996063]] 2025-10-24T19:25:50.382Z,1761333950.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593783,-0.802074,0.064020],[0.804534,0.590632,-0.062281],[0.012142,0.088488,0.996003]] 2025-10-24T19:25:50.784Z,1761333950.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595620,-0.800760,0.063404],[0.803161,0.592404,-0.063161],[0.013017,0.088544,0.995987]] 2025-10-24T19:25:51.591Z,1761333951.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598703,-0.798528,0.062510],[0.800831,0.595312,-0.065364],[0.014982,0.089194,0.995902]] 2025-10-24T19:25:51.996Z,1761333951.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600708,-0.797110,0.061362],[0.799308,0.597279,-0.066057],[0.016004,0.088728,0.995927]] 2025-10-24T19:25:52.400Z,1761333952.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602166,-0.796006,0.061411],[0.798185,0.598581,-0.067827],[0.017231,0.089861,0.995805]] 2025-10-24T19:25:52.812Z,1761333952.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604175,-0.794569,0.060279],[0.796640,0.600539,-0.068685],[0.018375,0.089518,0.995816]] 2025-10-24T19:25:53.611Z,1761333953.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608095,-0.791746,0.057961],[0.793602,0.604395,-0.070020],[0.020407,0.088577,0.995860]] 2025-10-24T19:25:54.016Z,1761333954.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609766,-0.790496,0.057458],[0.792287,0.605963,-0.071343],[0.021579,0.089026,0.995795]] 2025-10-24T19:25:54.422Z,1761333954.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612280,-0.788572,0.057166],[0.790319,0.608364,-0.072725],[0.022571,0.089708,0.995712]] 2025-10-24T19:25:54.835Z,1761333954.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613558,-0.787600,0.056862],[0.789292,0.609520,-0.074186],[0.023771,0.090398,0.995622]] 2025-10-24T19:25:55.227Z,1761333955.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615562,-0.786073,0.056327],[0.787695,0.611424,-0.075483],[0.024895,0.090833,0.995555]] 2025-10-24T19:25:55.631Z,1761333955.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617144,-0.784890,0.055501],[0.786422,0.612945,-0.076409],[0.025953,0.090803,0.995531]] 2025-10-24T19:25:56.037Z,1761333956.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618744,-0.783680,0.054791],[0.785122,0.614453,-0.077658],[0.027193,0.091068,0.995473]] 2025-10-24T19:25:56.453Z,1761333956.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621943,-0.781296,0.052566],[0.782514,0.617594,-0.079051],[0.029298,0.090299,0.995484]] 2025-10-24T19:25:56.865Z,1761333956.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623216,-0.780360,0.051385],[0.781452,0.618827,-0.079910],[0.030560,0.089956,0.995477]] 2025-10-24T19:25:57.266Z,1761333957.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624040,-0.779704,0.051345],[0.780737,0.619479,-0.081826],[0.031993,0.091150,0.995323]] 2025-10-24T19:25:57.651Z,1761333957.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625111,-0.778862,0.051088],[0.779853,0.620488,-0.082605],[0.032638,0.091478,0.995272]] 2025-10-24T19:25:58.057Z,1761333958.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624822,-0.779092,0.051115],[0.780060,0.620130,-0.083336],[0.033228,0.091943,0.995210]] 2025-10-24T19:25:58.461Z,1761333958.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624344,-0.779464,0.051288],[0.780413,0.619559,-0.084279],[0.033916,0.092645,0.995121]] 2025-10-24T19:25:58.890Z,1761333958.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624095,-0.779690,0.050879],[0.780575,0.619259,-0.084976],[0.034747,0.092748,0.995083]] 2025-10-24T19:25:59.277Z,1761333959.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623659,-0.780052,0.050680],[0.780881,0.618737,-0.085958],[0.035694,0.093184,0.995009]] 2025-10-24T19:25:59.671Z,1761333959.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624345,-0.779563,0.049755],[0.780298,0.619426,-0.086287],[0.036447,0.092696,0.995027]] 2025-10-24T19:26:00.075Z,1761333960.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624070,-0.779819,0.049179],[0.780467,0.619093,-0.087155],[0.037519,0.092774,0.994980]] 2025-10-24T19:26:00.478Z,1761333960.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624378,-0.779568,0.049260],[0.780178,0.619279,-0.088410],[0.038416,0.093633,0.994865]] 2025-10-24T19:26:00.946Z,1761333960.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624830,-0.779220,0.049015],[0.779790,0.619694,-0.088921],[0.038915,0.093782,0.994832]] 2025-10-24T19:26:01.288Z,1761333961.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624869,-0.779205,0.048770],[0.779714,0.619651,-0.089883],[0.039817,0.094192,0.994757]] 2025-10-24T19:26:01.691Z,1761333961.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625060,-0.779085,0.048233],[0.779518,0.619802,-0.090537],[0.040640,0.094190,0.994724]] 2025-10-24T19:26:02.095Z,1761333962.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625212,-0.778977,0.048013],[0.779356,0.619884,-0.091371],[0.041413,0.094545,0.994659]] 2025-10-24T19:26:02.503Z,1761333962.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625460,-0.778769,0.048141],[0.779128,0.620050,-0.092181],[0.041938,0.095163,0.994578]] 2025-10-24T19:26:02.946Z,1761333962.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625425,-0.778795,0.048189],[0.779114,0.619914,-0.093209],[0.042718,0.095840,0.994480]] 2025-10-24T19:26:03.307Z,1761333963.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625973,-0.778396,0.047508],[0.778645,0.620471,-0.093420],[0.043241,0.095470,0.994493]] 2025-10-24T19:26:03.711Z,1761333963.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626670,-0.777886,0.046671],[0.778046,0.621176,-0.093730],[0.043921,0.095050,0.994503]] 2025-10-24T19:26:04.116Z,1761333964.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627275,-0.777441,0.045943],[0.777522,0.621781,-0.094069],[0.044566,0.094729,0.994505]] 2025-10-24T19:26:04.573Z,1761333964.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627486,-0.777292,0.045576],[0.777306,0.621939,-0.094800],[0.045342,0.094912,0.994452]] 2025-10-24T19:26:04.975Z,1761333964.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627880,-0.777014,0.044905],[0.776944,0.622317,-0.095283],[0.046091,0.094715,0.994437]] 2025-10-24T19:26:05.327Z,1761333965.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628046,-0.776891,0.044705],[0.776766,0.622417,-0.096081],[0.046819,0.095069,0.994369]] 2025-10-24T19:26:05.732Z,1761333965.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628839,-0.776270,0.044344],[0.776096,0.623185,-0.096522],[0.047292,0.095112,0.994343]] 2025-10-24T19:26:05.749Z,1761333965.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:26:06.541Z,1761333966.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629619,-0.775691,0.043389],[0.775376,0.623900,-0.097679],[0.048698,0.095143,0.994272]] 2025-10-24T19:26:06.995Z,1761333966.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630140,-0.775288,0.043033],[0.774917,0.624389,-0.098191],[0.049257,0.095221,0.994237]] 2025-10-24T19:26:07.357Z,1761333967.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631318,-0.774361,0.042457],[0.773931,0.625570,-0.098449],[0.049675,0.095011,0.994236]] 2025-10-24T19:26:07.751Z,1761333967.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632132,-0.773737,0.041718],[0.773219,0.626374,-0.098930],[0.050415,0.094794,0.994219]] 2025-10-24T19:26:08.156Z,1761333968.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633233,-0.772871,0.041070],[0.772285,0.627482,-0.099206],[0.050903,0.094539,0.994219]] 2025-10-24T19:26:08.570Z,1761333968.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634630,-0.771754,0.040493],[0.771109,0.628878,-0.099522],[0.051341,0.094384,0.994211]] 2025-10-24T19:26:08.990Z,1761333968.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635733,-0.770827,0.040868],[0.770181,0.629878,-0.100376],[0.051631,0.095288,0.994110]] 2025-10-24T19:26:09.368Z,1761333969.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636410,-0.770290,0.040450],[0.769578,0.630519,-0.100973],[0.052274,0.095390,0.994067]] 2025-10-24T19:26:09.774Z,1761333969.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636371,-0.770303,0.040803],[0.769567,0.630357,-0.102060],[0.052897,0.096348,0.993941]] 2025-10-24T19:26:10.177Z,1761333970.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636838,-0.769912,0.040908],[0.769145,0.630736,-0.102902],[0.053424,0.096996,0.993850]] 2025-10-24T19:26:10.580Z,1761333970.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636762,-0.769990,0.040619],[0.769176,0.630643,-0.103238],[0.053876,0.096981,0.993827]] 2025-10-24T19:26:10.989Z,1761333970.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636815,-0.769958,0.040385],[0.769081,0.630637,-0.103978],[0.054591,0.097275,0.993759]] 2025-10-24T19:26:11.391Z,1761333971.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636319,-0.770400,0.039774],[0.769440,0.630139,-0.104345],[0.055324,0.097000,0.993746]] 2025-10-24T19:26:11.492Z,1761333971.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:26:11.797Z,1761333971.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636466,-0.770285,0.039648],[0.769269,0.630216,-0.105130],[0.055993,0.097411,0.993668]] 2025-10-24T19:26:12.195Z,1761333972.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636404,-0.770381,0.038761],[0.769279,0.630203,-0.105143],[0.056573,0.096731,0.993701]] 2025-10-24T19:26:12.496Z,1761333972.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:26:12.601Z,1761333972.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635475,-0.771176,0.038196],[0.770009,0.629304,-0.105181],[0.057076,0.096251,0.993719]] 2025-10-24T19:26:13.008Z,1761333973.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635234,-0.771392,0.037851],[0.770141,0.629001,-0.106020],[0.057974,0.096498,0.993643]] 2025-10-24T19:26:13.408Z,1761333973.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634382,-0.772116,0.037366],[0.770800,0.628162,-0.106207],[0.058532,0.096177,0.993642]] 2025-10-24T19:26:13.811Z,1761333973.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633843,-0.772581,0.036908],[0.771195,0.627615,-0.106575],[0.059173,0.096015,0.993619]] 2025-10-24T19:26:14.226Z,1761333974.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632356,-0.773754,0.037837],[0.772427,0.626044,-0.106890],[0.059018,0.096819,0.993551]] 2025-10-24T19:26:14.622Z,1761333974.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632182,-0.773886,0.038034],[0.772598,0.625894,-0.106535],[0.058640,0.096735,0.993581]] 2025-10-24T19:26:15.023Z,1761333975.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632311,-0.773772,0.038213],[0.772504,0.626016,-0.106494],[0.058480,0.096857,0.993579]] 2025-10-24T19:26:15.429Z,1761333975.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632385,-0.773691,0.038626],[0.772478,0.626089,-0.106259],[0.058028,0.097034,0.993588]] 2025-10-24T19:26:15.837Z,1761333975.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631848,-0.773998,0.041176],[0.772998,0.625347,-0.106843],[0.056947,0.099338,0.993423]] 2025-10-24T19:26:16.236Z,1761333976.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632088,-0.773747,0.042193],[0.772863,0.625551,-0.106628],[0.056109,0.100007,0.993403]] 2025-10-24T19:26:16.640Z,1761333976.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632156,-0.773680,0.042412],[0.772847,0.625658,-0.106113],[0.055562,0.099858,0.993449]] 2025-10-24T19:26:17.045Z,1761333977.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632432,-0.773431,0.042837],[0.772673,0.625965,-0.105571],[0.054838,0.099866,0.993489]] 2025-10-24T19:26:17.447Z,1761333977.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632801,-0.773098,0.043392],[0.772438,0.626377,-0.104835],[0.053868,0.099858,0.993542]] 2025-10-24T19:26:17.854Z,1761333977.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633392,-0.772602,0.043597],[0.772004,0.627023,-0.104169],[0.053145,0.099636,0.993604]] 2025-10-24T19:26:18.255Z,1761333978.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634273,-0.771829,0.044481],[0.771355,0.627913,-0.103618],[0.052045,0.100033,0.993622]] 2025-10-24T19:26:18.659Z,1761333978.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634696,-0.771444,0.045109],[0.771067,0.628361,-0.103046],[0.051150,0.100185,0.993653]] 2025-10-24T19:26:19.064Z,1761333979.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635626,-0.770660,0.045402],[0.770365,0.629364,-0.102170],[0.050164,0.099918,0.993730]] 2025-10-24T19:26:19.469Z,1761333979.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635798,-0.770503,0.045662],[0.770263,0.629578,-0.101621],[0.049552,0.099782,0.993775]] 2025-10-24T19:26:19.873Z,1761333979.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636586,-0.769844,0.045814],[0.769663,0.630436,-0.100844],[0.048751,0.099457,0.993847]] 2025-10-24T19:26:20.275Z,1761333980.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636514,-0.769870,0.046366],[0.769772,0.630395,-0.100265],[0.047962,0.099511,0.993880]] 2025-10-24T19:26:20.679Z,1761333980.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636582,-0.769778,0.046956],[0.769767,0.630490,-0.099710],[0.047149,0.099619,0.993908]] 2025-10-24T19:26:21.085Z,1761333981.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636302,-0.769994,0.047224],[0.770030,0.630247,-0.099208],[0.046627,0.099490,0.993946]] 2025-10-24T19:26:21.487Z,1761333981.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635968,-0.770252,0.047494],[0.770328,0.629933,-0.098891],[0.046253,0.099478,0.993964]] 2025-10-24T19:26:21.891Z,1761333981.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634981,-0.771029,0.048087],[0.771161,0.628929,-0.098788],[0.045925,0.099811,0.993946]] 2025-10-24T19:26:22.298Z,1761333982.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634185,-0.771633,0.048915],[0.771841,0.628093,-0.098796],[0.045511,0.100409,0.993905]] 2025-10-24T19:26:22.700Z,1761333982.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633510,-0.772164,0.049273],[0.772410,0.627419,-0.098631],[0.045244,0.100543,0.993903]] 2025-10-24T19:26:23.103Z,1761333983.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632461,-0.772969,0.050114],[0.773282,0.626308,-0.098859],[0.045028,0.101277,0.993839]] 2025-10-24T19:26:23.509Z,1761333983.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631921,-0.773409,0.050145],[0.773735,0.625798,-0.098546],[0.044836,0.101072,0.993868]] 2025-10-24T19:26:23.913Z,1761333983.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630817,-0.774283,0.050548],[0.774635,0.624662,-0.098682],[0.044832,0.101407,0.993834]] 2025-10-24T19:26:24.315Z,1761333984.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630736,-0.774364,0.050329],[0.774711,0.624633,-0.098264],[0.044655,0.100969,0.993887]] 2025-10-24T19:26:24.721Z,1761333984.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629335,-0.775453,0.051089],[0.775853,0.623163,-0.098594],[0.044619,0.101686,0.993815]] 2025-10-24T19:26:25.123Z,1761333985.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629526,-0.775283,0.051318],[0.775727,0.623388,-0.098160],[0.044111,0.101603,0.993847]] 2025-10-24T19:26:25.527Z,1761333985.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628684,-0.775941,0.051694],[0.776412,0.622518,-0.098264],[0.044067,0.101913,0.993817]] 2025-10-24T19:26:25.965Z,1761333985.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629158,-0.775546,0.051858],[0.776052,0.623021,-0.097917],[0.043631,0.101849,0.993843]] 2025-10-24T19:26:26.336Z,1761333986.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628696,-0.775894,0.052246],[0.776444,0.622559,-0.097752],[0.043319,0.102023,0.993838]] 2025-10-24T19:26:26.740Z,1761333986.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629214,-0.775481,0.052145],[0.776055,0.623154,-0.097051],[0.042767,0.101533,0.993912]] 2025-10-24T19:26:27.145Z,1761333987.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629893,-0.774924,0.052230],[0.775520,0.623849,-0.096859],[0.042475,0.101516,0.993927]] 2025-10-24T19:26:27.547Z,1761333987.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629745,-0.775021,0.052580],[0.775659,0.623705,-0.096673],[0.042129,0.101663,0.993926]] 2025-10-24T19:26:27.958Z,1761333987.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630650,-0.774305,0.052266],[0.774946,0.624689,-0.096037],[0.041712,0.101069,0.994005]] 2025-10-24T19:26:28.355Z,1761333988.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630490,-0.774413,0.052602],[0.775094,0.624534,-0.095848],[0.041374,0.101203,0.994005]] 2025-10-24T19:26:28.761Z,1761333988.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631305,-0.773759,0.052459],[0.774454,0.625412,-0.095290],[0.040923,0.100784,0.994066]] 2025-10-24T19:26:29.164Z,1761333989.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632090,-0.773119,0.052429],[0.773845,0.626266,-0.094630],[0.040326,0.100387,0.994131]] 2025-10-24T19:26:29.976Z,1761333989.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633838,-0.771683,0.052493],[0.772468,0.628112,-0.093643],[0.039291,0.099904,0.994221]] 2025-10-24T19:26:30.375Z,1761333990.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634609,-0.771036,0.052671],[0.771855,0.628906,-0.093362],[0.038860,0.099902,0.994238]] 2025-10-24T19:26:30.780Z,1761333990.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635365,-0.770381,0.053147],[0.771272,0.629690,-0.092898],[0.038101,0.100015,0.994256]] 2025-10-24T19:26:31.190Z,1761333991.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638396,-0.767846,0.053503],[0.768886,0.632962,-0.090403],[0.035550,0.098850,0.994467]] 2025-10-24T19:26:31.595Z,1761333991.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638837,-0.767324,0.055683],[0.768597,0.633359,-0.090083],[0.033855,0.100347,0.994376]] 2025-10-24T19:26:31.996Z,1761333991.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640010,-0.766257,0.056896],[0.767698,0.634610,-0.088936],[0.032041,0.100599,0.994411]] 2025-10-24T19:26:32.401Z,1761333992.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640499,-0.765795,0.057612],[0.767334,0.635147,-0.088237],[0.030979,0.100724,0.994432]] 2025-10-24T19:26:32.800Z,1761333992.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641225,-0.765144,0.058185],[0.766794,0.636019,-0.086640],[0.029286,0.100171,0.994539]] 2025-10-24T19:26:33.203Z,1761333993.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641517,-0.764821,0.059198],[0.766596,0.636356,-0.085911],[0.028036,0.100494,0.994543]] 2025-10-24T19:26:33.609Z,1761333993.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641590,-0.764678,0.060255],[0.766590,0.636510,-0.084826],[0.026511,0.100614,0.994572]] 2025-10-24T19:26:34.010Z,1761333994.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641739,-0.764490,0.061040],[0.766514,0.636763,-0.083603],[0.025045,0.100439,0.994628]] 2025-10-24T19:26:34.415Z,1761333994.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641198,-0.764836,0.062368],[0.767006,0.636250,-0.082992],[0.023793,0.101051,0.994597]] 2025-10-24T19:26:34.821Z,1761333994.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641079,-0.764834,0.063608],[0.767150,0.636193,-0.082090],[0.022318,0.101424,0.994593]] 2025-10-24T19:26:35.226Z,1761333995.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640518,-0.765207,0.064772],[0.767658,0.635701,-0.081150],[0.020921,0.101701,0.994595]] 2025-10-24T19:26:35.635Z,1761333995.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639821,-0.765687,0.065969],[0.768271,0.635047,-0.080467],[0.019719,0.102166,0.994572]] 2025-10-24T19:26:36.030Z,1761333996.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638111,-0.766927,0.068098],[0.769724,0.633315,-0.080225],[0.018399,0.103609,0.994448]] 2025-10-24T19:26:36.448Z,1761333996.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636744,-0.767906,0.069834],[0.770884,0.631953,-0.079830],[0.017170,0.104666,0.994359]] 2025-10-24T19:26:36.843Z,1761333996.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634981,-0.769204,0.071578],[0.772361,0.630190,-0.079495],[0.016041,0.105762,0.994262]] 2025-10-24T19:26:37.247Z,1761333997.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633117,-0.770543,0.073661],[0.773909,0.628271,-0.079624],[0.015075,0.107418,0.994100]] 2025-10-24T19:26:37.651Z,1761333997.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631832,-0.771485,0.074834],[0.774977,0.627015,-0.079143],[0.014136,0.108000,0.994050]] 2025-10-24T19:26:38.058Z,1761333998.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630733,-0.772293,0.075763],[0.775889,0.625973,-0.078452],[0.013163,0.108266,0.994035]] 2025-10-24T19:26:38.477Z,1761333998.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629641,-0.773079,0.076822],[0.776790,0.624924,-0.077893],[0.012210,0.108719,0.993997]] 2025-10-24T19:26:38.865Z,1761333998.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628570,-0.773860,0.077723],[0.777669,0.623888,-0.077427],[0.011427,0.109111,0.993964]] 2025-10-24T19:26:39.270Z,1761333999.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628320,-0.773966,0.078677],[0.777882,0.623660,-0.077123],[0.010623,0.109659,0.993912]] 2025-10-24T19:26:40.077Z,1761334000.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628044,-0.773983,0.080693],[0.778137,0.623560,-0.075335],[0.007991,0.110103,0.993888]] 2025-10-24T19:26:40.502Z,1761334000.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628618,-0.773490,0.080945],[0.777684,0.624273,-0.074094],[0.006779,0.109527,0.993961]] 2025-10-24T19:26:40.883Z,1761334000.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628781,-0.773313,0.081366],[0.777561,0.624552,-0.073030],[0.005658,0.109187,0.994005]] 2025-10-24T19:26:41.293Z,1761334001.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629587,-0.772642,0.081516],[0.776918,0.625509,-0.071671],[0.004387,0.108454,0.994092]] 2025-10-24T19:26:41.693Z,1761334001.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629402,-0.772746,0.081958],[0.777071,0.625398,-0.070973],[0.003588,0.108357,0.994106]] 2025-10-24T19:26:42.096Z,1761334002.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630027,-0.772172,0.082561],[0.776569,0.626112,-0.070177],[0.002496,0.108328,0.994112]] 2025-10-24T19:26:42.528Z,1761334002.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629840,-0.772255,0.083210],[0.776723,0.625967,-0.069768],[0.001792,0.108574,0.994087]] 2025-10-24T19:26:42.620Z,1761334002.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:26:42.903Z,1761334002.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630220,-0.771908,0.083546],[0.776416,0.626427,-0.069049],[0.000964,0.108383,0.994109]] 2025-10-24T19:26:43.314Z,1761334003.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630791,-0.771430,0.083661],[0.775953,0.627098,-0.068156],[0.000114,0.107909,0.994161]] 2025-10-24T19:26:43.624Z,1761334003.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:26:43.711Z,1761334003.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631337,-0.770979,0.083695],[0.775509,0.627714,-0.067539],[-0.000466,0.107546,0.994200]] 2025-10-24T19:26:44.115Z,1761334004.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631354,-0.770932,0.084000],[0.775494,0.627802,-0.066888],[-0.001169,0.107372,0.994218]] 2025-10-24T19:26:44.204Z,1761334004.204 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:26:44.204Z,1761334004.204 [DAT] No Fault, FailCount= 8 2025-10-24T19:26:44.436Z,1761334004.436 [DAT](INFO): Powering up 2025-10-24T19:26:44.436Z,1761334004.436 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:26:44.558Z,1761334004.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631445,-0.770820,0.084347],[0.775419,0.627954,-0.066333],[-0.001836,0.107290,0.994226]] 2025-10-24T19:26:44.933Z,1761334004.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631112,-0.771132,0.083984],[0.775689,0.627704,-0.065529],[-0.002185,0.106502,0.994310]] 2025-10-24T19:26:45.327Z,1761334005.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631471,-0.770851,0.083864],[0.775395,0.628142,-0.064804],[-0.002724,0.105950,0.994368]] 2025-10-24T19:26:45.732Z,1761334005.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630948,-0.771251,0.084124],[0.775819,0.627670,-0.064306],[-0.003206,0.105838,0.994378]] 2025-10-24T19:26:46.136Z,1761334006.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630038,-0.772001,0.084066],[0.776557,0.626811,-0.063781],[-0.003454,0.105467,0.994417]] 2025-10-24T19:26:46.553Z,1761334006.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629728,-0.772271,0.083905],[0.776805,0.626589,-0.062925],[-0.003979,0.104803,0.994485]] 2025-10-24T19:26:47.353Z,1761334007.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627208,-0.774143,0.085517],[0.778838,0.624070,-0.062839],[-0.004722,0.106017,0.994353]] 2025-10-24T19:26:47.751Z,1761334007.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625985,-0.775065,0.086128],[0.779819,0.622848,-0.062785],[-0.004982,0.106467,0.994304]] 2025-10-24T19:26:48.163Z,1761334008.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623835,-0.776695,0.087037],[0.781538,0.620710,-0.062593],[-0.005409,0.107071,0.994237]] 2025-10-24T19:26:48.570Z,1761334008.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623314,-0.777105,0.087108],[0.781951,0.620231,-0.062181],[-0.005705,0.106872,0.994256]] 2025-10-24T19:26:48.964Z,1761334008.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622045,-0.778038,0.087844],[0.782961,0.618917,-0.062557],[-0.005696,0.107692,0.994168]] 2025-10-24T19:26:49.375Z,1761334009.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620675,-0.779060,0.088470],[0.784045,0.617545,-0.062535],[-0.005915,0.108178,0.994114]] 2025-10-24T19:26:49.771Z,1761334009.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619886,-0.779652,0.088793],[0.784668,0.616782,-0.062268],[-0.006219,0.108272,0.994102]] 2025-10-24T19:26:50.177Z,1761334010.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618532,-0.780598,0.089913],[0.785733,0.615386,-0.062642],[-0.006433,0.109394,0.993978]] 2025-10-24T19:26:50.579Z,1761334010.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617873,-0.781062,0.090414],[0.786248,0.614750,-0.062418],[-0.006829,0.109654,0.993946]] 2025-10-24T19:26:51.004Z,1761334011.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616825,-0.781835,0.090883],[0.787069,0.613695,-0.062451],[-0.006948,0.110052,0.993901]] 2025-10-24T19:26:51.395Z,1761334011.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616766,-0.781873,0.090960],[0.787113,0.613681,-0.062045],[-0.007309,0.109863,0.993920]] 2025-10-24T19:26:51.794Z,1761334011.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615623,-0.782722,0.091404],[0.788006,0.612543,-0.061956],[-0.007495,0.110168,0.993885]] 2025-10-24T19:26:52.196Z,1761334012.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615092,-0.783100,0.091739],[0.788416,0.612041,-0.061692],[-0.007837,0.110275,0.993870]] 2025-10-24T19:26:52.599Z,1761334012.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613684,-0.784104,0.092597],[0.789508,0.610659,-0.061424],[-0.008382,0.110801,0.993807]] 2025-10-24T19:26:53.005Z,1761334013.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613644,-0.784130,0.092634],[0.789533,0.610685,-0.060836],[-0.008867,0.110470,0.993840]] 2025-10-24T19:26:53.414Z,1761334013.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612425,-0.785132,0.092212],[0.790475,0.609568,-0.059804],[-0.009255,0.109517,0.993942]] 2025-10-24T19:26:53.811Z,1761334013.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611712,-0.785654,0.092500],[0.791022,0.608897,-0.059402],[-0.009654,0.109506,0.993939]] 2025-10-24T19:26:54.216Z,1761334014.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610816,-0.786305,0.092888],[0.791710,0.608028,-0.059139],[-0.009977,0.109664,0.993919]] 2025-10-24T19:26:54.619Z,1761334014.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609604,-0.787185,0.093394],[0.792640,0.606836,-0.058924],[-0.010291,0.109948,0.993884]] 2025-10-24T19:26:55.027Z,1761334015.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608924,-0.787725,0.093274],[0.793156,0.606229,-0.058220],[-0.010684,0.109433,0.993937]] 2025-10-24T19:26:55.427Z,1761334015.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607378,-0.788987,0.092686],[0.794335,0.604809,-0.056911],[-0.011155,0.108190,0.994068]] 2025-10-24T19:26:55.832Z,1761334015.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606541,-0.789662,0.092425],[0.794967,0.604064,-0.055984],[-0.011622,0.107431,0.994145]] 2025-10-24T19:26:56.235Z,1761334016.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605672,-0.790353,0.092212],[0.795625,0.603261,-0.055289],[-0.011930,0.106853,0.994203]] 2025-10-24T19:26:56.640Z,1761334016.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604058,-0.791584,0.092243],[0.796850,0.601675,-0.054932],[-0.012017,0.106686,0.994220]] 2025-10-24T19:26:56.787Z,1761334016.787 [DAT](INFO): DAT read: 2025-10-24T19:26:57.037Z,1761334017.037 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:26:57.066Z,1761334017.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603627,-0.791932,0.092077],[0.797168,0.601335,-0.054035],[-0.012577,0.106018,0.994285]] 2025-10-24T19:26:57.446Z,1761334017.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601743,-0.793290,0.092715],[0.798588,0.599458,-0.053926],[-0.012799,0.106491,0.994231]] 2025-10-24T19:26:57.851Z,1761334017.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600565,-0.794168,0.092833],[0.799465,0.598350,-0.053222],[-0.013279,0.106180,0.994258]] 2025-10-24T19:26:58.256Z,1761334018.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599263,-0.795100,0.093274],[0.800433,0.597106,-0.052649],[-0.013833,0.106210,0.994247]] 2025-10-24T19:26:58.659Z,1761334018.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598777,-0.795468,0.093255],[0.800790,0.596677,-0.052083],[-0.014213,0.105864,0.994279]] 2025-10-24T19:26:59.470Z,1761334019.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596756,-0.796921,0.093804],[0.802283,0.594746,-0.051185],[-0.014999,0.105803,0.994274]] 2025-10-24T19:26:59.873Z,1761334019.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596567,-0.797046,0.093944],[0.802409,0.594642,-0.050395],[-0.015696,0.105446,0.994301]] 2025-10-24T19:27:00.276Z,1761334020.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596277,-0.797317,0.093484],[0.802624,0.594395,-0.049904],[-0.015777,0.104789,0.994369]] 2025-10-24T19:27:00.679Z,1761334020.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596140,-0.797480,0.092971],[0.802720,0.594329,-0.049130],[-0.016076,0.103918,0.994456]] 2025-10-24T19:27:01.084Z,1761334021.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596352,-0.797410,0.092207],[0.802562,0.594589,-0.048564],[-0.016100,0.102963,0.994555]] 2025-10-24T19:27:01.490Z,1761334021.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597035,-0.796968,0.091603],[0.802045,0.595353,-0.047732],[-0.016496,0.101968,0.994651]] 2025-10-24T19:27:01.892Z,1761334021.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597449,-0.796692,0.091305],[0.801732,0.595814,-0.047238],[-0.016766,0.101425,0.994702]] 2025-10-24T19:27:02.581Z,1761334022.581 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:27:02.582Z,1761334022.582 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:27:02.582Z,1761334022.582 [DAT](INFO): DAT read: Oct 24 2025 19:22:36 2025-10-24T19:27:02.703Z,1761334022.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597875,-0.796431,0.090789],[0.801404,0.596324,-0.046362],[-0.017215,0.100477,0.994790]] 2025-10-24T19:27:03.107Z,1761334023.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598181,-0.796181,0.090971],[0.801168,0.596662,-0.046085],[-0.017587,0.100451,0.994787]] 2025-10-24T19:27:03.510Z,1761334023.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598057,-0.796304,0.090704],[0.801259,0.596565,-0.045767],[-0.017666,0.100048,0.994826]] 2025-10-24T19:27:03.589Z,1761334023.589 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:27:03.591Z,1761334023.591 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:27:03.591Z,1761334023.591 [DAT](INFO): commRate: 600 2025-10-24T19:27:03.919Z,1761334023.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598157,-0.796234,0.090657],[0.801179,0.596694,-0.045477],[-0.017884,0.099835,0.994843]] 2025-10-24T19:27:04.317Z,1761334024.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597869,-0.796517,0.090073],[0.801400,0.596412,-0.045288],[-0.017648,0.099260,0.994905]] 2025-10-24T19:27:04.723Z,1761334024.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597272,-0.797007,0.089696],[0.801853,0.595795,-0.045392],[-0.017263,0.099035,0.994934]] 2025-10-24T19:27:05.125Z,1761334025.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597497,-0.796896,0.089184],[0.801680,0.596078,-0.044732],[-0.017514,0.098224,0.995010]] 2025-10-24T19:27:05.535Z,1761334025.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597865,-0.796666,0.088768],[0.801396,0.596517,-0.043958],[-0.017932,0.097419,0.995082]] 2025-10-24T19:27:05.656Z,1761334025.656 [DAT](INFO): entering command mode 2025-10-24T19:27:05.858Z,1761334025.858 [DAT](INFO): DAT read: 2025-10-24T19:27:05.860Z,1761334025.860 [DAT](INFO): DAT read: user:1> 2025-10-24T19:27:05.862Z,1761334025.862 [DAT](INFO): setting verbose to 3 2025-10-24T19:27:05.944Z,1761334025.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596973,-0.797295,0.089129],[0.802061,0.595614,-0.044083],[-0.017940,0.097803,0.995044]] 2025-10-24T19:27:06.041Z,1761334026.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:27:06.110Z,1761334026.110 [DAT](INFO): DAT read: user:1> 2025-10-24T19:27:06.111Z,1761334026.111 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:27:06.111Z,1761334026.111 [DAT](INFO): set verbose to 3 2025-10-24T19:27:06.112Z,1761334026.112 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:27:06.339Z,1761334026.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596788,-0.797425,0.089203],[0.802192,0.595460,-0.043762],[-0.018219,0.097674,0.995052]] 2025-10-24T19:27:06.361Z,1761334026.361 [DAT](INFO): DAT read: user:2> 2025-10-24T19:27:06.362Z,1761334026.362 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:27:06.362Z,1761334026.362 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:27:06.362Z,1761334026.362 [DAT](INFO): setting transmit power to 8 2025-10-24T19:27:06.613Z,1761334026.613 [DAT](INFO): DAT read: user:3> 2025-10-24T19:27:06.615Z,1761334026.615 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:27:06.616Z,1761334026.616 [DAT](INFO): set transmit power to 8 2025-10-24T19:27:06.616Z,1761334026.616 [DAT](INFO): setting local address to 10 2025-10-24T19:27:06.745Z,1761334026.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595881,-0.798095,0.089279],[0.802867,0.594552,-0.043731],[-0.018179,0.097738,0.995046]] 2025-10-24T19:27:06.867Z,1761334026.867 [DAT](INFO): DAT read: user:4> 2025-10-24T19:27:06.870Z,1761334026.870 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:27:06.871Z,1761334026.871 [DAT](INFO): set local address to 10 2025-10-24T19:27:06.875Z,1761334026.875 [DAT](INFO): Setting time to: 19:27:6 And date to:10/24/2025 2025-10-24T19:27:07.116Z,1761334027.116 [DAT](INFO): DAT read: user:5> 2025-10-24T19:27:07.117Z,1761334027.117 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:27:06 2025-10-24T19:27:07.118Z,1761334027.118 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:27:06 2025-10-24T19:27:07.118Z,1761334027.118 [DAT](INFO): setting remote address to 11 2025-10-24T19:27:07.119Z,1761334027.119 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:27:07.119Z,1761334027.119 [DAT](INFO): setting remote address to 0 2025-10-24T19:27:07.146Z,1761334027.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594971,-0.798795,0.089081],[0.803543,0.593655,-0.043503],[-0.018134,0.097463,0.995074]] 2025-10-24T19:27:07.369Z,1761334027.369 [DAT](INFO): DAT read: user:6> 2025-10-24T19:27:07.370Z,1761334027.370 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:27:07.370Z,1761334027.370 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:27:07.370Z,1761334027.370 [DAT] Communications Fault, FailCount= 1 2025-10-24T19:27:07.370Z,1761334027.370 [DAT](ERROR): Communications Fault 2025-10-24T19:27:07.371Z,1761334027.371 [DAT](INFO): DAT read: user:7> 2025-10-24T19:27:07.373Z,1761334027.373 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:27:07.373Z,1761334027.373 [DAT](INFO): set remote address to 0 2025-10-24T19:27:07.374Z,1761334027.374 [DAT](INFO): setting remote address to 11 2025-10-24T19:27:07.374Z,1761334027.374 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:27:07.374Z,1761334027.374 [DAT](INFO): setting remote address to 0 2025-10-24T19:27:07.553Z,1761334027.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594099,-0.799477,0.088781],[0.804191,0.592790,-0.043326],[-0.017991,0.097137,0.995108]] 2025-10-24T19:27:07.776Z,1761334027.776 [DAT](INFO): Powering down 2025-10-24T19:27:07.788Z,1761334027.788 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:27:07.953Z,1761334027.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593438,-0.800023,0.088284],[0.804683,0.592139,-0.043091],[-0.017802,0.096613,0.995163]] 2025-10-24T19:27:08.358Z,1761334028.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593289,-0.800198,0.087700],[0.804793,0.592022,-0.042641],[-0.017799,0.095879,0.995234]] 2025-10-24T19:27:08.766Z,1761334028.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592177,-0.800977,0.088107],[0.805605,0.590932,-0.042430],[-0.018080,0.096105,0.995207]] 2025-10-24T19:27:08.956Z,1761334028.956 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:27:08.956Z,1761334028.956 [DAT] No Fault, FailCount= 1 2025-10-24T19:27:09.163Z,1761334029.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591593,-0.801382,0.088346],[0.806020,0.590415,-0.041744],[-0.018708,0.095904,0.995215]] 2025-10-24T19:27:09.572Z,1761334029.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590935,-0.801786,0.089072],[0.806478,0.589847,-0.040920],[-0.019729,0.096016,0.995184]] 2025-10-24T19:27:09.977Z,1761334029.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590320,-0.802093,0.090387],[0.806895,0.589326,-0.040191],[-0.021031,0.096658,0.995095]] 2025-10-24T19:27:10.384Z,1761334030.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589990,-0.802216,0.091442],[0.807096,0.589128,-0.039054],[-0.022541,0.096844,0.995044]] 2025-10-24T19:27:10.784Z,1761334030.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589774,-0.802257,0.092464],[0.807215,0.589027,-0.038099],[-0.023899,0.097108,0.994987]] 2025-10-24T19:27:10.828Z,1761334030.828 [DAT](INFO): Powering up 2025-10-24T19:27:10.828Z,1761334030.828 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:27:11.187Z,1761334031.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589598,-0.802324,0.093009],[0.807306,0.588976,-0.036949],[-0.025135,0.096872,0.994979]] 2025-10-24T19:27:11.614Z,1761334031.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589170,-0.802518,0.094037],[0.807573,0.588673,-0.035910],[-0.026539,0.097099,0.994921]] 2025-10-24T19:27:12.015Z,1761334032.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589547,-0.802167,0.094672],[0.807250,0.589192,-0.034661],[-0.027976,0.096858,0.994905]] 2025-10-24T19:27:12.422Z,1761334032.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589286,-0.802239,0.095678],[0.807380,0.589091,-0.033304],[-0.029645,0.096874,0.994855]] 2025-10-24T19:27:12.841Z,1761334032.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590233,-0.801527,0.095809],[0.806627,0.590219,-0.031536],[-0.031272,0.095896,0.994900]] 2025-10-24T19:27:13.228Z,1761334033.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591084,-0.800855,0.096175],[0.805935,0.591251,-0.029832],[-0.032973,0.095144,0.994917]] 2025-10-24T19:27:13.632Z,1761334033.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592159,-0.800045,0.096308],[0.805078,0.592504,-0.028080],[-0.034598,0.094164,0.994955]] 2025-10-24T19:27:13.752Z,1761334033.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:27:14.036Z,1761334034.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592911,-0.799425,0.096831],[0.804447,0.593438,-0.026395],[-0.036362,0.093545,0.994951]] 2025-10-24T19:27:14.439Z,1761334034.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594164,-0.798497,0.096804],[0.803455,0.594849,-0.024775],[-0.037801,0.092498,0.994995]] 2025-10-24T19:27:14.757Z,1761334034.757 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:27:14.842Z,1761334034.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595192,-0.797690,0.097149],[0.802612,0.596055,-0.023073],[-0.039501,0.091706,0.995002]] 2025-10-24T19:27:15.253Z,1761334035.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596412,-0.796737,0.097482],[0.801624,0.597443,-0.021466],[-0.041137,0.090947,0.995006]] 2025-10-24T19:27:15.653Z,1761334035.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597534,-0.795853,0.097834],[0.800703,0.598731,-0.019887],[-0.042749,0.090219,0.995004]] 2025-10-24T19:27:16.057Z,1761334036.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598620,-0.794993,0.098181],[0.799804,0.599981,-0.018310],[-0.044350,0.089487,0.995000]] 2025-10-24T19:27:16.459Z,1761334036.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600181,-0.793789,0.098397],[0.798546,0.601700,-0.016768],[-0.045896,0.088639,0.995006]] 2025-10-24T19:27:16.867Z,1761334036.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601133,-0.793004,0.098915],[0.797748,0.602790,-0.015543],[-0.047300,0.088253,0.994974]] 2025-10-24T19:27:17.267Z,1761334037.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602218,-0.792115,0.099435],[0.796838,0.604026,-0.014201],[-0.048813,0.087786,0.994943]] 2025-10-24T19:27:18.078Z,1761334038.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604145,-0.790483,0.100724],[0.795199,0.606232,-0.011897],[-0.051658,0.087283,0.994843]] 2025-10-24T19:27:18.486Z,1761334038.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604366,-0.790223,0.101436],[0.794954,0.606570,-0.011019],[-0.052820,0.087296,0.994781]] 2025-10-24T19:27:18.884Z,1761334038.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605481,-0.789309,0.101905],[0.794012,0.607822,-0.009814],[-0.054194,0.086856,0.994746]] 2025-10-24T19:27:19.288Z,1761334039.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606031,-0.788824,0.102391],[0.793515,0.608487,-0.008839],[-0.055331,0.086606,0.994705]] 2025-10-24T19:27:19.691Z,1761334039.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606353,-0.788500,0.102976],[0.793208,0.608894,-0.008261],[-0.056187,0.086690,0.994650]] 2025-10-24T19:27:20.106Z,1761334040.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606582,-0.788265,0.103427],[0.792990,0.609184,-0.007879],[-0.056795,0.086796,0.994606]] 2025-10-24T19:27:20.499Z,1761334040.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606789,-0.788070,0.103691],[0.792795,0.609443,-0.007476],[-0.057302,0.086742,0.994581]] 2025-10-24T19:27:20.907Z,1761334040.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607656,-0.787322,0.104305],[0.792115,0.610323,-0.007792],[-0.057525,0.087356,0.994515]] 2025-10-24T19:27:21.719Z,1761334041.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608509,-0.786521,0.105365],[0.791383,0.611276,-0.007416],[-0.058574,0.087897,0.994406]] 2025-10-24T19:27:22.134Z,1761334042.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609275,-0.785926,0.105377],[0.790773,0.612068,-0.007197],[-0.058841,0.087714,0.994406]] 2025-10-24T19:27:22.520Z,1761334042.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609946,-0.785441,0.105111],[0.790261,0.612728,-0.007185],[-0.058761,0.087448,0.994435]] 2025-10-24T19:27:22.932Z,1761334042.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610856,-0.784734,0.105109],[0.789567,0.613619,-0.007456],[-0.058646,0.087545,0.994433]] 2025-10-24T19:27:23.180Z,1761334043.180 [DAT](INFO): DAT read: 2025-10-24T19:27:23.181Z,1761334043.181 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:27:23.731Z,1761334043.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613321,-0.782703,0.105889],[0.787652,0.616064,-0.008390],[-0.058667,0.088550,0.994343]] 2025-10-24T19:27:24.166Z,1761334044.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614792,-0.781448,0.106630],[0.786495,0.617530,-0.009029],[-0.058791,0.089415,0.994258]] 2025-10-24T19:27:24.541Z,1761334044.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615394,-0.780894,0.107216],[0.786036,0.618104,-0.009775],[-0.058638,0.090291,0.994188]] 2025-10-24T19:27:24.948Z,1761334044.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616790,-0.779806,0.107109],[0.784925,0.619515,-0.009634],[-0.058843,0.090015,0.994201]] 2025-10-24T19:27:25.347Z,1761334045.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617595,-0.779186,0.106979],[0.784300,0.620304,-0.009795],[-0.058728,0.089953,0.994213]] 2025-10-24T19:27:25.751Z,1761334045.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618494,-0.778481,0.106918],[0.783590,0.621201,-0.009847],[-0.058752,0.089870,0.994219]] 2025-10-24T19:27:26.187Z,1761334046.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619227,-0.777862,0.107180],[0.782997,0.621946,-0.009932],[-0.058934,0.090072,0.994190]] 2025-10-24T19:27:26.561Z,1761334046.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619695,-0.777459,0.107409],[0.782646,0.622379,-0.010496],[-0.058689,0.090567,0.994160]] 2025-10-24T19:27:26.971Z,1761334046.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620615,-0.776726,0.107396],[0.781922,0.623284,-0.010721],[-0.058611,0.090629,0.994159]] 2025-10-24T19:27:27.368Z,1761334047.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620821,-0.776484,0.107954],[0.781764,0.623472,-0.011297],[-0.058534,0.091408,0.994092]] 2025-10-24T19:27:27.771Z,1761334047.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621334,-0.776055,0.108086],[0.781355,0.623982,-0.011451],[-0.058557,0.091568,0.994076]] 2025-10-24T19:27:28.215Z,1761334048.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621242,-0.776143,0.107981],[0.781467,0.623830,-0.012027],[-0.058027,0.091855,0.994080]] 2025-10-24T19:27:28.579Z,1761334048.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622234,-0.775349,0.107976],[0.780693,0.624791,-0.012432],[-0.057824,0.092031,0.994076]] 2025-10-24T19:27:28.725Z,1761334048.725 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:27:28.726Z,1761334048.726 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:27:28.727Z,1761334048.727 [DAT](INFO): DAT read: Oct 24 2025 19:27:18 2025-10-24T19:27:28.993Z,1761334048.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622175,-0.775515,0.107118],[0.780803,0.624645,-0.012834],[-0.056958,0.091623,0.994163]] 2025-10-24T19:27:29.389Z,1761334049.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622726,-0.775104,0.106893],[0.780418,0.625109,-0.013675],[-0.056220,0.091937,0.994177]] 2025-10-24T19:27:29.734Z,1761334049.734 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:27:29.736Z,1761334049.736 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:27:29.737Z,1761334049.737 [DAT](INFO): commRate: 600 2025-10-24T19:27:29.793Z,1761334049.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623045,-0.774899,0.106522],[0.780218,0.625341,-0.014405],[-0.055450,0.092085,0.994206]] 2025-10-24T19:27:30.251Z,1761334050.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623652,-0.774631,0.104909],[0.779848,0.625782,-0.015286],[-0.053809,0.091346,0.994364]] 2025-10-24T19:27:30.600Z,1761334050.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624471,-0.774018,0.104558],[0.779277,0.626456,-0.016717],[-0.052562,0.091919,0.994378]] 2025-10-24T19:27:31.052Z,1761334051.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624992,-0.773726,0.103595],[0.778956,0.626824,-0.017872],[-0.051108,0.091866,0.994459]] 2025-10-24T19:27:31.407Z,1761334051.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625857,-0.773213,0.102197],[0.778354,0.627547,-0.018699],[-0.049675,0.091248,0.994588]] 2025-10-24T19:27:31.808Z,1761334051.808 [DAT](INFO): entering command mode 2025-10-24T19:27:31.812Z,1761334051.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626652,-0.772628,0.101752],[0.777772,0.628240,-0.019625],[-0.048762,0.091438,0.994616]] 2025-10-24T19:27:32.005Z,1761334052.005 [DAT](INFO): DAT read: 2025-10-24T19:27:32.006Z,1761334052.006 [DAT](INFO): DAT read: user:1> 2025-10-24T19:27:32.006Z,1761334052.006 [DAT](INFO): setting verbose to 3 2025-10-24T19:27:32.260Z,1761334052.260 [DAT](INFO): DAT read: user:1> 2025-10-24T19:27:32.263Z,1761334052.263 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:27:32.265Z,1761334052.265 [DAT](INFO): set verbose to 3 2025-10-24T19:27:32.265Z,1761334052.265 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:27:32.278Z,1761334052.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628065,-0.771563,0.101120],[0.776679,0.629569,-0.020301],[-0.047998,0.091288,0.994667]] 2025-10-24T19:27:32.509Z,1761334052.509 [DAT](INFO): DAT read: user:2> 2025-10-24T19:27:32.510Z,1761334052.510 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:27:32.510Z,1761334052.510 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:27:32.510Z,1761334052.510 [DAT](INFO): setting transmit power to 8 2025-10-24T19:27:32.622Z,1761334052.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629297,-0.770652,0.100409],[0.775741,0.630698,-0.021139],[-0.047037,0.091194,0.994722]] 2025-10-24T19:27:32.764Z,1761334052.764 [DAT](INFO): DAT read: user:3> 2025-10-24T19:27:32.765Z,1761334052.765 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:27:32.765Z,1761334052.765 [DAT](INFO): set transmit power to 8 2025-10-24T19:27:32.766Z,1761334052.766 [DAT](INFO): setting local address to 10 2025-10-24T19:27:33.014Z,1761334053.014 [DAT](INFO): DAT read: user:4> 2025-10-24T19:27:33.015Z,1761334053.015 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:27:33.015Z,1761334053.015 [DAT](INFO): set local address to 10 2025-10-24T19:27:33.016Z,1761334053.016 [DAT](INFO): Setting time to: 19:27:33 And date to:10/24/2025 2025-10-24T19:27:33.055Z,1761334053.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630431,-0.769823,0.099646],[0.774904,0.631678,-0.022512],[-0.045614,0.091408,0.994768]] 2025-10-24T19:27:33.266Z,1761334053.266 [DAT](INFO): DAT read: user:5> 2025-10-24T19:27:33.273Z,1761334053.273 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:27:33 2025-10-24T19:27:33.274Z,1761334053.274 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:27:33 2025-10-24T19:27:33.277Z,1761334053.277 [DAT](INFO): setting remote address to 11 2025-10-24T19:27:33.280Z,1761334053.280 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:27:33.281Z,1761334053.281 [DAT](INFO): setting remote address to 0 2025-10-24T19:27:33.427Z,1761334053.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631573,-0.768935,0.099273],[0.774050,0.632666,-0.024081],[-0.044290,0.092051,0.994769]] 2025-10-24T19:27:33.517Z,1761334053.517 [DAT](INFO): DAT read: user:6> 2025-10-24T19:27:33.518Z,1761334053.518 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:27:33.519Z,1761334053.519 [DAT](ERROR): failed to set remote address to 0, device returned 11 instead. 2025-10-24T19:27:33.519Z,1761334053.519 [DAT] Communications Fault, FailCount= 2 2025-10-24T19:27:33.519Z,1761334053.519 [DAT](ERROR): Communications Fault 2025-10-24T19:27:33.520Z,1761334053.520 [DAT](INFO): DAT read: user:7> 2025-10-24T19:27:33.521Z,1761334053.521 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:27:33.521Z,1761334053.521 [DAT](INFO): set remote address to 0 2025-10-24T19:27:33.522Z,1761334053.522 [DAT](INFO): setting remote address to 11 2025-10-24T19:27:33.524Z,1761334053.524 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:27:33.525Z,1761334053.525 [DAT](INFO): setting remote address to 0 2025-10-24T19:27:33.534Z,1761334053.534 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:27:33.929Z,1761334053.929 [DAT](INFO): Powering down 2025-10-24T19:27:34.266Z,1761334054.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634644,-0.766654,0.097307],[0.771664,0.635502,-0.025921],[-0.041966,0.091539,0.994917]] 2025-10-24T19:27:34.640Z,1761334054.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635717,-0.765886,0.096344],[0.770858,0.636429,-0.027138],[-0.040532,0.091520,0.994978]] 2025-10-24T19:27:35.043Z,1761334055.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636919,-0.764970,0.095680],[0.769925,0.637507,-0.028291],[-0.039355,0.091685,0.995010]] 2025-10-24T19:27:35.133Z,1761334055.133 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:27:35.133Z,1761334055.133 [DAT] No Fault, FailCount= 2 2025-10-24T19:27:35.855Z,1761334055.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639628,-0.762923,0.093941],[0.767796,0.639974,-0.030368],[-0.036952,0.091552,0.995115]] 2025-10-24T19:27:36.264Z,1761334056.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640882,-0.761964,0.093173],[0.766808,0.641102,-0.031525],[-0.035712,0.091650,0.995151]] 2025-10-24T19:27:36.661Z,1761334056.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641985,-0.761048,0.093064],[0.765935,0.642070,-0.033013],[-0.034629,0.092475,0.995113]] 2025-10-24T19:27:36.976Z,1761334056.976 [DAT](INFO): Powering up 2025-10-24T19:27:36.976Z,1761334056.976 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:27:37.062Z,1761334057.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644179,-0.759340,0.091849],[0.764138,0.644170,-0.033728],[-0.033556,0.091913,0.995202]] 2025-10-24T19:27:37.470Z,1761334057.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645204,-0.758524,0.091395],[0.763318,0.645082,-0.034852],[-0.032521,0.092251,0.995205]] 2025-10-24T19:27:37.875Z,1761334057.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646624,-0.757394,0.090730],[0.762166,0.646374,-0.036109],[-0.031297,0.092500,0.995221]] 2025-10-24T19:27:38.281Z,1761334058.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647240,-0.756782,0.091444],[0.761690,0.646809,-0.038305],[-0.030158,0.094445,0.995073]] 2025-10-24T19:27:38.691Z,1761334058.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649174,-0.755201,0.090805],[0.760122,0.648497,-0.040812],[-0.028065,0.095517,0.995032]] 2025-10-24T19:27:39.091Z,1761334059.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650788,-0.753893,0.090118],[0.758771,0.650028,-0.041594],[-0.027222,0.095448,0.995062]] 2025-10-24T19:27:39.491Z,1761334059.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651773,-0.753067,0.089899],[0.757955,0.650909,-0.042678],[-0.026377,0.095956,0.995036]] 2025-10-24T19:27:39.904Z,1761334059.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653568,-0.751572,0.089377],[0.756431,0.652631,-0.043408],[-0.025706,0.095978,0.995052]] 2025-10-24T19:27:40.300Z,1761334060.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655101,-0.750284,0.088972],[0.755121,0.654107,-0.043992],[-0.025190,0.096004,0.995062]] 2025-10-24T19:27:40.707Z,1761334060.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656525,-0.749127,0.088220],[0.753914,0.655443,-0.044819],[-0.024248,0.095935,0.995092]] 2025-10-24T19:27:41.107Z,1761334061.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658582,-0.747452,0.087093],[0.752146,0.657435,-0.045337],[-0.023371,0.095365,0.995168]] 2025-10-24T19:27:41.508Z,1761334061.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659272,-0.746839,0.087134],[0.751574,0.657981,-0.046886],[-0.022317,0.096398,0.995093]] 2025-10-24T19:27:41.914Z,1761334061.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660503,-0.745768,0.086981],[0.750516,0.659103,-0.048057],[-0.021490,0.097022,0.995050]] 2025-10-24T19:27:42.325Z,1761334062.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660931,-0.745354,0.087277],[0.750166,0.659382,-0.049668],[-0.020529,0.098299,0.994945]] 2025-10-24T19:27:42.730Z,1761334062.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662051,-0.744412,0.086826],[0.749205,0.660386,-0.050818],[-0.019509,0.098695,0.994927]] 2025-10-24T19:27:43.126Z,1761334063.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662864,-0.743752,0.086277],[0.748512,0.661091,-0.051852],[-0.018472,0.098950,0.994921]] 2025-10-24T19:27:43.527Z,1761334063.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663555,-0.743126,0.086367],[0.747925,0.661628,-0.053448],[-0.017424,0.100062,0.994829]] 2025-10-24T19:27:43.938Z,1761334063.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664745,-0.742148,0.085618],[0.746890,0.662721,-0.054370],[-0.016390,0.100090,0.994843]] 2025-10-24T19:27:44.341Z,1761334064.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665372,-0.741617,0.085349],[0.746355,0.663213,-0.055701],[-0.015296,0.100763,0.994793]] 2025-10-24T19:27:44.746Z,1761334064.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665224,-0.741736,0.085464],[0.746507,0.662921,-0.057124],[-0.014285,0.101800,0.994702]] 2025-10-24T19:27:44.889Z,1761334064.889 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:27:45.144Z,1761334065.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665176,-0.741793,0.085346],[0.746571,0.662729,-0.058500],[-0.013167,0.102629,0.994633]] 2025-10-24T19:27:45.548Z,1761334065.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664750,-0.742212,0.085019],[0.746964,0.662224,-0.059204],[-0.012360,0.102862,0.994619]] 2025-10-24T19:27:45.892Z,1761334065.892 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:27:45.952Z,1761334065.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664425,-0.742518,0.084895],[0.747268,0.661782,-0.060293],[-0.011413,0.103499,0.994564]] 2025-10-24T19:27:46.358Z,1761334066.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663947,-0.742905,0.085246],[0.747703,0.661181,-0.061479],[-0.010690,0.104557,0.994461]] 2025-10-24T19:27:46.760Z,1761334066.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662322,-0.744318,0.085558],[0.749155,0.659429,-0.062617],[-0.009813,0.105569,0.994364]] 2025-10-24T19:27:47.164Z,1761334067.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661023,-0.745481,0.085473],[0.750312,0.658032,-0.063448],[-0.008945,0.106072,0.994318]] 2025-10-24T19:27:47.567Z,1761334067.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659383,-0.746879,0.085938],[0.751762,0.656274,-0.064488],[-0.008234,0.107127,0.994211]] 2025-10-24T19:27:47.974Z,1761334067.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658139,-0.747993,0.085788],[0.752859,0.654960,-0.065048],[-0.007532,0.107397,0.994188]] 2025-10-24T19:27:48.779Z,1761334068.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655527,-0.750345,0.085240],[0.755147,0.652216,-0.066078],[-0.006014,0.107685,0.994167]] 2025-10-24T19:27:49.183Z,1761334069.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654933,-0.750874,0.085149],[0.755668,0.651542,-0.066771],[-0.005341,0.108075,0.994128]] 2025-10-24T19:27:49.332Z,1761334069.332 [DAT](INFO): DAT read: 2025-10-24T19:27:49.333Z,1761334069.333 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:27:49.589Z,1761334069.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653969,-0.751764,0.084707],[0.756506,0.650563,-0.066829],[-0.004868,0.107786,0.994162]] 2025-10-24T19:27:49.991Z,1761334069.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653525,-0.752132,0.084870],[0.756891,0.650084,-0.067133],[-0.004680,0.108110,0.994128]] 2025-10-24T19:27:50.397Z,1761334070.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652723,-0.752817,0.084961],[0.757585,0.649211,-0.067744],[-0.004159,0.108583,0.994079]] 2025-10-24T19:27:50.800Z,1761334070.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653233,-0.752419,0.084563],[0.757147,0.649702,-0.067940],[-0.003822,0.108408,0.994099]] 2025-10-24T19:27:51.209Z,1761334071.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653411,-0.752310,0.084163],[0.756995,0.649871,-0.068011],[-0.003530,0.108150,0.994128]] 2025-10-24T19:27:51.610Z,1761334071.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653887,-0.751930,0.083867],[0.756586,0.650322,-0.068265],[-0.003210,0.108090,0.994136]] 2025-10-24T19:27:52.056Z,1761334072.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654057,-0.751793,0.083767],[0.756439,0.650461,-0.068556],[-0.002947,0.108204,0.994124]] 2025-10-24T19:27:52.532Z,1761334072.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655386,-0.750643,0.083696],[0.755289,0.651773,-0.068782],[-0.002920,0.108293,0.994115]] 2025-10-24T19:27:53.223Z,1761334073.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656077,-0.750072,0.083399],[0.754689,0.652447,-0.068972],[-0.002680,0.108191,0.994126]] 2025-10-24T19:27:54.033Z,1761334074.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657073,-0.749233,0.083098],[0.753824,0.653370,-0.069689],[-0.002081,0.108432,0.994102]] 2025-10-24T19:27:54.842Z,1761334074.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658064,-0.748406,0.082711],[0.752961,0.654287,-0.070416],[-0.001417,0.108617,0.994083]] 2025-10-24T19:27:54.877Z,1761334074.877 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:27:54.878Z,1761334074.878 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:27:54.879Z,1761334074.879 [DAT](INFO): DAT read: Oct 24 2025 19:27:45 2025-10-24T19:27:55.244Z,1761334075.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659082,-0.747650,0.081429],[0.752070,0.655344,-0.070103],[-0.000951,0.107444,0.994211]] 2025-10-24T19:27:55.669Z,1761334075.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659536,-0.747447,0.079599],[0.751673,0.655705,-0.070983],[0.000862,0.106649,0.994296]] 2025-10-24T19:27:55.885Z,1761334075.885 [DAT](INFO): DAT read: Features enabled P 2025-10-24T19:27:56.356Z,1761334076.356 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:27:56.460Z,1761334076.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657867,-0.749235,0.076536],[0.753120,0.653833,-0.072884],[0.004566,0.105589,0.994399]] 2025-10-24T19:27:56.859Z,1761334076.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656962,-0.750144,0.075403],[0.753897,0.652799,-0.074115],[0.006374,0.105537,0.994395]] 2025-10-24T19:27:57.265Z,1761334077.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656493,-0.750702,0.073917],[0.754284,0.652184,-0.075578],[0.008529,0.105371,0.994396]] 2025-10-24T19:27:57.683Z,1761334077.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655708,-0.751561,0.072135],[0.754941,0.651309,-0.076563],[0.010559,0.104661,0.994452]] 2025-10-24T19:27:58.073Z,1761334078.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654119,-0.753058,0.070930],[0.756287,0.649589,-0.077868],[0.012564,0.104579,0.994437]] 2025-10-24T19:27:58.481Z,1761334078.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653131,-0.754007,0.069953],[0.757108,0.648459,-0.079304],[0.014434,0.104758,0.994393]] 2025-10-24T19:27:58.881Z,1761334078.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651788,-0.755256,0.069005],[0.758224,0.646965,-0.080825],[0.016400,0.105002,0.994337]] 2025-10-24T19:27:59.283Z,1761334079.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650115,-0.756726,0.068673],[0.759615,0.645085,-0.082775],[0.018338,0.105978,0.994199]] 2025-10-24T19:27:59.711Z,1761334079.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647877,-0.758676,0.068310],[0.761470,0.642624,-0.084845],[0.020472,0.106985,0.994050]] 2025-10-24T19:28:00.092Z,1761334080.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645809,-0.760456,0.068105],[0.763161,0.640297,-0.087201],[0.022705,0.108290,0.993860]] 2025-10-24T19:28:00.510Z,1761334080.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643680,-0.762283,0.067829],[0.764890,0.637929,-0.089382],[0.024864,0.109415,0.993685]] 2025-10-24T19:28:00.901Z,1761334080.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641697,-0.763991,0.067404],[0.766484,0.635726,-0.091405],[0.026982,0.110318,0.993530]] 2025-10-24T19:28:01.738Z,1761334081.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638593,-0.766674,0.066415],[0.768936,0.632273,-0.094703],[0.030614,0.111546,0.993288]] 2025-10-24T19:28:02.521Z,1761334082.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635596,-0.769208,0.065855],[0.771284,0.628943,-0.097736],[0.033760,0.112913,0.993031]] 2025-10-24T19:28:02.931Z,1761334082.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635246,-0.769592,0.064743],[0.771535,0.628618,-0.097847],[0.034603,0.112108,0.993093]] 2025-10-24T19:28:03.766Z,1761334083.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633830,-0.770849,0.063647],[0.772635,0.627170,-0.098448],[0.035971,0.111575,0.993105]] 2025-10-24T19:28:04.133Z,1761334084.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633344,-0.771294,0.063095],[0.773016,0.626709,-0.098396],[0.036351,0.111092,0.993145]] 2025-10-24T19:28:04.534Z,1761334084.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632955,-0.771686,0.062189],[0.773320,0.626398,-0.097987],[0.036660,0.110113,0.993243]] 2025-10-24T19:28:04.944Z,1761334084.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632163,-0.772368,0.061788],[0.773941,0.625591,-0.098239],[0.037222,0.109923,0.993243]] 2025-10-24T19:28:05.345Z,1761334085.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631811,-0.772667,0.061651],[0.774216,0.625226,-0.098397],[0.037482,0.109900,0.993236]] 2025-10-24T19:28:05.804Z,1761334085.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631938,-0.772602,0.061158],[0.774102,0.625386,-0.098280],[0.037684,0.109450,0.993278]] 2025-10-24T19:28:06.183Z,1761334086.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:28:06.555Z,1761334086.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631762,-0.772770,0.060857],[0.774229,0.625202,-0.098448],[0.038030,0.109313,0.993280]] 2025-10-24T19:28:07.366Z,1761334087.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631666,-0.772878,0.060472],[0.774299,0.625135,-0.098324],[0.038190,0.108931,0.993315]] 2025-10-24T19:28:07.833Z,1761334087.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631238,-0.773225,0.060514],[0.774640,0.624684,-0.098504],[0.038364,0.109056,0.993295]] 2025-10-24T19:28:08.172Z,1761334088.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630689,-0.773667,0.060587],[0.775080,0.624114,-0.098659],[0.038516,0.109183,0.993275]] 2025-10-24T19:28:08.579Z,1761334088.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630594,-0.773756,0.060441],[0.775154,0.624032,-0.098595],[0.038571,0.109025,0.993290]] 2025-10-24T19:28:08.986Z,1761334088.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629622,-0.774545,0.060465],[0.775924,0.623019,-0.098938],[0.038961,0.109210,0.993255]] 2025-10-24T19:28:09.384Z,1761334089.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629467,-0.774694,0.060173],[0.776038,0.622871,-0.098982],[0.039200,0.109003,0.993268]] 2025-10-24T19:28:09.834Z,1761334089.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628984,-0.775095,0.060056],[0.776431,0.622416,-0.098756],[0.039165,0.108746,0.993298]] 2025-10-24T19:28:10.191Z,1761334090.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628311,-0.775717,0.059063],[0.776977,0.621884,-0.097814],[0.039146,0.107348,0.993451]] 2025-10-24T19:28:10.605Z,1761334090.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627333,-0.776512,0.059015],[0.777746,0.620873,-0.098118],[0.039549,0.107452,0.993423]] 2025-10-24T19:28:11.000Z,1761334091.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625594,-0.777889,0.059335],[0.779120,0.619055,-0.098705],[0.040050,0.107979,0.993346]] 2025-10-24T19:28:11.404Z,1761334091.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624863,-0.778482,0.059259],[0.779702,0.618334,-0.098631],[0.040140,0.107835,0.993358]] 2025-10-24T19:28:11.837Z,1761334091.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623440,-0.779633,0.059126],[0.780811,0.616874,-0.098998],[0.040709,0.107885,0.993330]] 2025-10-24T19:28:12.616Z,1761334092.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620250,-0.782136,0.059610],[0.783312,0.613587,-0.099666],[0.041376,0.108512,0.993234]] 2025-10-24T19:28:13.020Z,1761334093.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619177,-0.783008,0.059319],[0.784162,0.612574,-0.099211],[0.041346,0.107945,0.993297]] 2025-10-24T19:28:13.431Z,1761334093.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616320,-0.785221,0.059821],[0.786409,0.609702,-0.099116],[0.041355,0.108131,0.993276]] 2025-10-24T19:28:13.875Z,1761334093.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614739,-0.786434,0.060147],[0.787648,0.608113,-0.099042],[0.041314,0.108259,0.993264]] 2025-10-24T19:28:14.239Z,1761334094.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613051,-0.787663,0.061286],[0.788973,0.606337,-0.099385],[0.041121,0.109281,0.993160]] 2025-10-24T19:28:14.644Z,1761334094.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611321,-0.788942,0.062113],[0.790318,0.604543,-0.099632],[0.041054,0.109997,0.993084]] 2025-10-24T19:28:15.050Z,1761334095.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609475,-0.790323,0.062690],[0.791741,0.602656,-0.099759],[0.041062,0.110435,0.993035]] 2025-10-24T19:28:15.453Z,1761334095.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608655,-0.790923,0.063085],[0.792391,0.601854,-0.099437],[0.040679,0.110510,0.993042]] 2025-10-24T19:28:15.872Z,1761334095.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607557,-0.791749,0.063302],[0.793241,0.600768,-0.099233],[0.040538,0.110503,0.993049]] 2025-10-24T19:28:16.017Z,1761334096.017 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:28:16.259Z,1761334096.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607644,-0.791715,0.062894],[0.793189,0.600943,-0.098583],[0.040254,0.109791,0.993139]] 2025-10-24T19:28:16.663Z,1761334096.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607429,-0.791888,0.062790],[0.793371,0.600794,-0.098023],[0.039899,0.109358,0.993201]] 2025-10-24T19:28:17.020Z,1761334097.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:28:17.075Z,1761334097.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607733,-0.791682,0.062446],[0.793155,0.601182,-0.097392],[0.039562,0.108718,0.993285]] 2025-10-24T19:28:17.471Z,1761334097.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607822,-0.791674,0.061690],[0.793091,0.601371,-0.096744],[0.039491,0.107729,0.993396]] 2025-10-24T19:28:17.874Z,1761334097.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608483,-0.791195,0.061301],[0.792615,0.602155,-0.095769],[0.038859,0.106861,0.993514]] 2025-10-24T19:28:18.282Z,1761334098.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608578,-0.791162,0.060782],[0.792549,0.602330,-0.095211],[0.038717,0.106116,0.993600]] 2025-10-24T19:28:18.683Z,1761334098.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608802,-0.791022,0.060378],[0.792384,0.602618,-0.094759],[0.038572,0.105531,0.993668]] 2025-10-24T19:28:19.089Z,1761334099.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608790,-0.791041,0.060251],[0.792404,0.602650,-0.094381],[0.038349,0.105201,0.993711]] 2025-10-24T19:28:19.492Z,1761334099.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609652,-0.790356,0.060521],[0.791729,0.603434,-0.095038],[0.038593,0.105856,0.993632]] 2025-10-24T19:28:19.906Z,1761334099.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610182,-0.789958,0.060372],[0.791338,0.604020,-0.094571],[0.038241,0.105480,0.993686]] 2025-10-24T19:28:20.299Z,1761334100.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609910,-0.790142,0.060706],[0.791550,0.603719,-0.094719],[0.038192,0.105822,0.993651]] 2025-10-24T19:28:20.703Z,1761334100.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610754,-0.789515,0.060371],[0.790912,0.604627,-0.094256],[0.037914,0.105315,0.993716]] 2025-10-24T19:28:21.108Z,1761334101.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611116,-0.789298,0.059543],[0.790632,0.605081,-0.093693],[0.037924,0.104333,0.993819]] 2025-10-24T19:28:21.512Z,1761334101.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612076,-0.788605,0.058856],[0.789896,0.606127,-0.093139],[0.037776,0.103498,0.993912]] 2025-10-24T19:28:21.922Z,1761334101.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611764,-0.788877,0.058451],[0.790128,0.605842,-0.093022],[0.037971,0.103091,0.993947]] 2025-10-24T19:28:22.319Z,1761334102.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611819,-0.788854,0.058203],[0.790083,0.605917,-0.092913],[0.038029,0.102832,0.993972]] 2025-10-24T19:28:22.735Z,1761334102.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611053,-0.789454,0.058111],[0.790664,0.605143,-0.093018],[0.038268,0.102785,0.993967]] 2025-10-24T19:28:23.128Z,1761334103.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610591,-0.789805,0.058193],[0.791016,0.604667,-0.093118],[0.038358,0.102888,0.993953]] 2025-10-24T19:28:23.532Z,1761334103.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610255,-0.790068,0.058156],[0.791280,0.604352,-0.092923],[0.038269,0.102724,0.993973]] 2025-10-24T19:28:23.941Z,1761334103.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609503,-0.790629,0.058419],[0.791853,0.603561,-0.093185],[0.038416,0.103056,0.993933]] 2025-10-24T19:28:24.342Z,1761334104.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608968,-0.791034,0.058500],[0.792265,0.603030,-0.093116],[0.038381,0.103052,0.993935]] 2025-10-24T19:28:24.377Z,1761334104.377 [DAT](INFO): DAT read: Rx Time:19:28:19.9513 2025-10-24T19:28:24.377Z,1761334104.377 [DAT](INFO): Rx dataTimestamp_ set to:1761334104.377091 2025-10-24T19:28:24.744Z,1761334104.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608622,-0.791292,0.058622],[0.792533,0.602680,-0.093103],[0.038341,0.103124,0.993929]] 2025-10-24T19:28:25.137Z,1761334105.137 [DAT](INFO): DAT read: 19:28:19.9513 LVL= 31584, 32753, 25250, 32755, AGC= 63, IDX= 454, 0.10,-2.362, 2.526,-2.256,-2.967, PHS= 0.693,-0.743, 0.708, RAW= 150.5, -9.2, CAL= 156.6, -17.1, ROT= 353.4, 17.1 2025-10-24T19:28:25.139Z,1761334105.139 [DAT](INFO): got valid direction response: 19:28:19.9513 LVL= 31584, 32753, 25250, 32755, AGC= 63, IDX= 454, 0.10,-2.362, 2.526,-2.256,-2.967, PHS= 0.693,-0.743, 0.708, RAW= 150.5, -9.2, CAL= 156.6, -17.1, ROT= 353.4, 17.1 2025-10-24T19:28:25.139Z,1761334105.139 [DAT](INFO): DAT read: bearing request 2025-10-24T19:28:25.140Z,1761334105.140 [DAT](INFO): received a bearing request message 2025-10-24T19:28:25.140Z,1761334105.140 [DAT](INFO): DAT read: Tx time:19:28:21.5541 2025-10-24T19:28:25.141Z,1761334105.141 [DAT](INFO): Ping request sent. 2025-10-24T19:28:25.141Z,1761334105.141 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:28:25.157Z,1761334105.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607761,-0.791944,0.058739],[0.793193,0.601817,-0.093063],[0.038351,0.103152,0.993926]] 2025-10-24T19:28:25.577Z,1761334105.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606636,-0.792733,0.059726],[0.794079,0.600661,-0.092976],[0.037830,0.103830,0.993875]] 2025-10-24T19:28:25.967Z,1761334105.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605943,-0.793189,0.060700],[0.794648,0.599976,-0.092538],[0.036982,0.104308,0.993857]] 2025-10-24T19:28:26.397Z,1761334106.397 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for water velocity. Device response is::WS,-32768-32768,-32768,-32768,-32768,V 2025-10-24T19:28:26.770Z,1761334106.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601232,-0.796710,0.061427],[0.798255,0.595356,-0.091331],[0.036193,0.103946,0.993924]] 2025-10-24T19:28:27.175Z,1761334107.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599965,-0.797539,0.063034],[0.799287,0.594161,-0.090073],[0.034384,0.104423,0.993938]] 2025-10-24T19:28:27.579Z,1761334107.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599593,-0.797724,0.064217],[0.799626,0.593849,-0.089111],[0.032951,0.104780,0.993949]] 2025-10-24T19:28:27.985Z,1761334107.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599217,-0.797825,0.066438],[0.799985,0.593483,-0.088329],[0.031041,0.106078,0.993873]] 2025-10-24T19:28:28.389Z,1761334108.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598466,-0.798274,0.067808],[0.800599,0.592776,-0.087504],[0.029657,0.106655,0.993854]] 2025-10-24T19:28:28.793Z,1761334108.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598853,-0.797941,0.068298],[0.800360,0.593290,-0.086204],[0.028265,0.106287,0.993934]] 2025-10-24T19:28:29.198Z,1761334109.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598555,-0.798059,0.069527],[0.800632,0.593056,-0.085281],[0.026826,0.106711,0.993928]] 2025-10-24T19:28:29.606Z,1761334109.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598615,-0.797961,0.070131],[0.800629,0.593216,-0.084191],[0.025578,0.106547,0.993979]] 2025-10-24T19:28:30.011Z,1761334110.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599756,-0.797010,0.071190],[0.799859,0.594604,-0.081681],[0.022771,0.105930,0.994113]] 2025-10-24T19:28:30.409Z,1761334110.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600808,-0.796197,0.071416],[0.799109,0.595811,-0.080215],[0.021316,0.105263,0.994216]] 2025-10-24T19:28:30.812Z,1761334110.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602115,-0.795183,0.071698],[0.798160,0.597253,-0.078919],[0.019933,0.104745,0.994299]] 2025-10-24T19:28:31.216Z,1761334111.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603810,-0.793900,0.071671],[0.796913,0.599108,-0.077461],[0.018558,0.103888,0.994416]] 2025-10-24T19:28:31.619Z,1761334111.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605857,-0.792384,0.071170],[0.795383,0.601325,-0.075988],[0.017415,0.102645,0.994566]] 2025-10-24T19:28:32.029Z,1761334112.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607901,-0.790834,0.070985],[0.793848,0.603520,-0.074622],[0.016173,0.101714,0.994682]] 2025-10-24T19:28:32.432Z,1761334112.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608981,-0.789967,0.071380],[0.793041,0.604682,-0.073800],[0.015137,0.101550,0.994715]] 2025-10-24T19:28:32.832Z,1761334112.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611336,-0.788233,0.070400],[0.791249,0.607254,-0.071885],[0.013911,0.099650,0.994925]] 2025-10-24T19:28:33.640Z,1761334113.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613538,-0.786473,0.070931],[0.789574,0.609624,-0.070228],[0.011991,0.099093,0.995006]] 2025-10-24T19:28:34.050Z,1761334114.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614213,-0.785914,0.071288],[0.789062,0.610371,-0.069489],[0.011100,0.098931,0.995032]] 2025-10-24T19:28:34.448Z,1761334114.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615045,-0.785230,0.071650],[0.788425,0.611260,-0.068907],[0.010311,0.098871,0.995047]] 2025-10-24T19:28:34.851Z,1761334114.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615566,-0.784771,0.072201],[0.788030,0.611845,-0.068224],[0.009364,0.098893,0.995054]] 2025-10-24T19:28:35.262Z,1761334115.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615315,-0.784960,0.072285],[0.788237,0.611708,-0.067052],[0.008416,0.098236,0.995128]] 2025-10-24T19:28:35.666Z,1761334115.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615334,-0.784915,0.072614],[0.788226,0.611757,-0.066731],[0.007956,0.098298,0.995125]] 2025-10-24T19:28:36.068Z,1761334116.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614676,-0.785368,0.073285],[0.788745,0.611114,-0.066497],[0.007439,0.098677,0.995092]] 2025-10-24T19:28:36.474Z,1761334116.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614404,-0.785506,0.074080],[0.788962,0.610859,-0.066255],[0.006791,0.099154,0.995049]] 2025-10-24T19:28:36.876Z,1761334116.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612992,-0.786499,0.075231],[0.790063,0.609420,-0.066392],[0.006369,0.100135,0.994954]] 2025-10-24T19:28:36.982Z,1761334116.982 [DAT](FAULT): failed to initialize, no bytes available on serial interface 2025-10-24T19:28:36.983Z,1761334116.983 [DAT] Communications Fault, FailCount= 3 2025-10-24T19:28:36.983Z,1761334116.983 [DAT](ERROR): Communications Fault 2025-10-24T19:28:37.286Z,1761334117.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611476,-0.787564,0.076426],[0.791240,0.607859,-0.066683],[0.006061,0.101246,0.994843]] 2025-10-24T19:28:37.384Z,1761334117.384 [DAT](INFO): Powering down 2025-10-24T19:28:37.394Z,1761334117.394 [CBIT](ERROR): Communications Fault in component: DAT 2025-10-24T19:28:37.683Z,1761334117.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610107,-0.788620,0.076479],[0.792298,0.606536,-0.066165],[0.005792,0.100962,0.994873]] 2025-10-24T19:28:38.086Z,1761334118.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609217,-0.789253,0.077035],[0.792984,0.605647,-0.066090],[0.005506,0.101351,0.994835]] 2025-10-24T19:28:38.498Z,1761334118.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608123,-0.790046,0.077545],[0.793825,0.604554,-0.065996],[0.005260,0.101690,0.994802]] 2025-10-24T19:28:38.619Z,1761334118.619 [CBIT](INFO): Clearing failed state for component DAT 2025-10-24T19:28:38.620Z,1761334118.620 [DAT] No Fault, FailCount= 3 2025-10-24T19:28:38.896Z,1761334118.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606880,-0.791054,0.077014],[0.794778,0.603400,-0.065089],[0.005019,0.100711,0.994903]] 2025-10-24T19:28:39.313Z,1761334119.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606380,-0.791379,0.077607],[0.795161,0.602881,-0.065221],[0.004827,0.101259,0.994848]] 2025-10-24T19:28:39.703Z,1761334119.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604909,-0.792395,0.078711],[0.796279,0.601333,-0.065864],[0.004858,0.102518,0.994719]] 2025-10-24T19:28:40.113Z,1761334120.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604879,-0.792367,0.079224],[0.796306,0.601336,-0.065503],[0.004263,0.102708,0.994702]] 2025-10-24T19:28:40.432Z,1761334120.432 [DAT](INFO): Powering up 2025-10-24T19:28:40.432Z,1761334120.432 [DAT](DEBUG): Initializing DAT. 2025-10-24T19:28:40.511Z,1761334120.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604332,-0.792729,0.079774],[0.796725,0.600838,-0.064989],[0.003588,0.102833,0.994692]] 2025-10-24T19:28:40.919Z,1761334120.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603985,-0.792973,0.079983],[0.796989,0.600515,-0.064727],[0.003296,0.102840,0.994692]] 2025-10-24T19:28:41.342Z,1761334121.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603851,-0.793045,0.080272],[0.797092,0.600406,-0.064469],[0.002931,0.102913,0.994686]] 2025-10-24T19:28:41.723Z,1761334121.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603335,-0.793367,0.080963],[0.797484,0.599906,-0.064279],[0.002427,0.103348,0.994642]] 2025-10-24T19:28:42.127Z,1761334122.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603761,-0.793023,0.081168],[0.797164,0.600383,-0.063803],[0.001865,0.103226,0.994656]] 2025-10-24T19:28:42.534Z,1761334122.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603600,-0.793091,0.081698],[0.797286,0.600249,-0.063522],[0.001340,0.103479,0.994631]] 2025-10-24T19:28:42.950Z,1761334122.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604445,-0.792448,0.081689],[0.796647,0.601165,-0.062887],[0.000726,0.103088,0.994672]] 2025-10-24T19:28:43.376Z,1761334123.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604264,-0.792532,0.082202],[0.796784,0.601014,-0.062595],[0.000204,0.103321,0.994648]] 2025-10-24T19:28:43.744Z,1761334123.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604751,-0.792126,0.082540],[0.796414,0.601551,-0.062129],[-0.000438,0.103308,0.994649]] 2025-10-24T19:28:44.160Z,1761334124.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605200,-0.791846,0.081927],[0.796073,0.602112,-0.061074],[-0.000967,0.102182,0.994765]] 2025-10-24T19:28:44.551Z,1761334124.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605698,-0.791483,0.081759],[0.795693,0.602690,-0.060304],[-0.001546,0.101582,0.994826]] 2025-10-24T19:28:44.959Z,1761334124.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606430,-0.790971,0.081287],[0.795135,0.603486,-0.059702],[-0.001833,0.100839,0.994901]] 2025-10-24T19:28:45.413Z,1761334125.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607091,-0.790483,0.081097],[0.794627,0.604286,-0.058360],[-0.002873,0.099871,0.994996]] 2025-10-24T19:28:46.169Z,1761334126.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606830,-0.790654,0.081388],[0.794825,0.604056,-0.058048],[-0.003267,0.099914,0.994991]] 2025-10-24T19:28:46.578Z,1761334126.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607111,-0.790389,0.081867],[0.794607,0.604387,-0.057578],[-0.003970,0.100009,0.994979]] 2025-10-24T19:28:47.168Z,1761334127.168 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:28:47.499Z,1761334127.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606334,-0.790897,0.082708],[0.795191,0.603755,-0.056141],[-0.005533,0.099809,0.994991]] 2025-10-24T19:28:47.784Z,1761334127.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605965,-0.791142,0.083073],[0.795469,0.603407,-0.055937],[-0.005873,0.099978,0.994972]] 2025-10-24T19:28:48.182Z,1761334128.182 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:28:48.190Z,1761334128.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605851,-0.791190,0.083442],[0.795552,0.603339,-0.055489],[-0.006441,0.100000,0.994967]] 2025-10-24T19:28:48.591Z,1761334128.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605633,-0.791345,0.083557],[0.795715,0.603153,-0.055169],[-0.006740,0.099900,0.994975]] 2025-10-24T19:28:48.996Z,1761334128.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606090,-0.791002,0.083491],[0.795363,0.603681,-0.054477],[-0.007311,0.099423,0.995018]] 2025-10-24T19:28:49.418Z,1761334129.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606371,-0.790789,0.083473],[0.795145,0.604001,-0.054095],[-0.007640,0.099175,0.995041]] 2025-10-24T19:28:49.809Z,1761334129.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606721,-0.790506,0.083604],[0.794873,0.604403,-0.053617],[-0.008146,0.098985,0.995056]] 2025-10-24T19:28:50.207Z,1761334130.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605981,-0.791040,0.083915],[0.795438,0.603644,-0.053786],[-0.008108,0.099343,0.995020]] 2025-10-24T19:28:50.611Z,1761334130.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606389,-0.790696,0.084212],[0.795124,0.604066,-0.053688],[-0.008419,0.099515,0.995000]] 2025-10-24T19:28:51.016Z,1761334131.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606150,-0.790807,0.084895],[0.795303,0.603812,-0.053881],[-0.008651,0.100178,0.994932]] 2025-10-24T19:28:51.466Z,1761334131.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606334,-0.790631,0.085216],[0.795161,0.603998,-0.053903],[-0.008853,0.100443,0.994903]] 2025-10-24T19:28:51.823Z,1761334131.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607218,-0.789965,0.085099],[0.794484,0.604901,-0.053756],[-0.009011,0.100251,0.994921]] 2025-10-24T19:28:52.228Z,1761334132.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607427,-0.789775,0.085372],[0.794323,0.605105,-0.053840],[-0.009137,0.100516,0.994893]] 2025-10-24T19:28:52.800Z,1761334132.800 [DAT](INFO): DAT read: 2025-10-24T19:28:52.801Z,1761334132.801 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2025-10-24T19:28:53.035Z,1761334133.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608538,-0.789002,0.084602],[0.793470,0.606282,-0.053178],[-0.009335,0.099490,0.994995]] 2025-10-24T19:28:53.446Z,1761334133.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609490,-0.788297,0.084321],[0.792739,0.607245,-0.053085],[-0.009357,0.099199,0.995024]] 2025-10-24T19:28:53.844Z,1761334133.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609580,-0.788231,0.084285],[0.792671,0.607321,-0.053234],[-0.009227,0.099261,0.995019]] 2025-10-24T19:28:54.249Z,1761334134.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610720,-0.787459,0.083238],[0.791793,0.608515,-0.052661],[-0.009184,0.098069,0.995137]] 2025-10-24T19:28:54.651Z,1761334134.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611158,-0.787056,0.083840],[0.791455,0.608917,-0.053102],[-0.009258,0.098810,0.995063]] 2025-10-24T19:28:55.055Z,1761334135.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611084,-0.787102,0.083949],[0.791514,0.608811,-0.053435],[-0.009051,0.099100,0.995036]] 2025-10-24T19:28:55.463Z,1761334135.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610934,-0.787215,0.083975],[0.791631,0.608651,-0.053521],[-0.008979,0.099175,0.995029]] 2025-10-24T19:28:55.865Z,1761334135.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611166,-0.787020,0.084112],[0.791450,0.608882,-0.053561],[-0.009061,0.099305,0.995016]] 2025-10-24T19:28:56.267Z,1761334136.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611012,-0.787136,0.084151],[0.791568,0.608740,-0.053431],[-0.009169,0.099258,0.995019]] 2025-10-24T19:28:56.671Z,1761334136.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611594,-0.786698,0.084017],[0.791117,0.609348,-0.053188],[-0.009353,0.098997,0.995044]] 2025-10-24T19:28:57.076Z,1761334137.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611067,-0.787082,0.084257],[0.791524,0.608812,-0.053276],[-0.009364,0.099246,0.995019]] 2025-10-24T19:28:57.485Z,1761334137.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611015,-0.787175,0.083762],[0.791563,0.608802,-0.052800],[-0.009431,0.098564,0.995086]] 2025-10-24T19:28:57.884Z,1761334137.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610514,-0.787452,0.084805],[0.791947,0.608263,-0.053268],[-0.009638,0.099682,0.994973]] 2025-10-24T19:28:58.287Z,1761334138.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609594,-0.788121,0.085209],[0.792657,0.607306,-0.053614],[-0.009493,0.100224,0.994920]] 2025-10-24T19:28:58.353Z,1761334138.353 [DAT](INFO): DAT read: MF Frequency Band 2025-10-24T19:28:58.354Z,1761334138.354 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.17.2 2025-10-24T19:28:58.354Z,1761334138.354 [DAT](INFO): DAT read: Oct 24 2025 19:28:49 2025-10-24T19:28:58.694Z,1761334138.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609094,-0.788458,0.085667],[0.793039,0.606803,-0.053657],[-0.009676,0.100620,0.994878]] 2025-10-24T19:28:59.099Z,1761334139.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608514,-0.788851,0.086164],[0.793484,0.606201,-0.053893],[-0.009719,0.101164,0.994822]] 2025-10-24T19:28:59.361Z,1761334139.361 [DAT](INFO): DAT read: Features enabled [Bearing] 2025-10-24T19:28:59.362Z,1761334139.362 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:28:59.363Z,1761334139.363 [DAT](INFO): commRate: 600 2025-10-24T19:28:59.905Z,1761334139.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607740,-0.789449,0.086157],[0.794084,0.605353,-0.054569],[-0.009075,0.101580,0.994786]] 2025-10-24T19:29:00.311Z,1761334140.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607801,-0.789459,0.085636],[0.794045,0.605369,-0.054961],[-0.008452,0.101404,0.994809]] 2025-10-24T19:29:00.713Z,1761334140.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607244,-0.789893,0.085576],[0.794477,0.604743,-0.055611],[-0.007825,0.101758,0.994778]] 2025-10-24T19:29:01.117Z,1761334141.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607723,-0.789578,0.085080],[0.794113,0.605218,-0.055642],[-0.007558,0.101379,0.994819]] 2025-10-24T19:29:01.428Z,1761334141.428 [DAT](INFO): entering command mode 2025-10-24T19:29:01.518Z,1761334141.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607957,-0.789429,0.084792],[0.793937,0.605433,-0.055819],[-0.007271,0.101255,0.994834]] 2025-10-24T19:29:01.630Z,1761334141.630 [DAT](INFO): DAT read: 2025-10-24T19:29:01.633Z,1761334141.633 [DAT](INFO): DAT read: user:1> 2025-10-24T19:29:01.635Z,1761334141.635 [DAT](INFO): setting verbose to 3 2025-10-24T19:29:01.881Z,1761334141.881 [DAT](INFO): DAT read: user:1> 2025-10-24T19:29:01.882Z,1761334141.882 [DAT](INFO): DAT read: Verbose | 3 2025-10-24T19:29:01.882Z,1761334141.882 [DAT](INFO): set verbose to 3 2025-10-24T19:29:01.882Z,1761334141.882 [DAT](INFO): setting DatVerbose to 27440 2025-10-24T19:29:02.133Z,1761334142.133 [DAT](INFO): DAT read: user:2> 2025-10-24T19:29:02.134Z,1761334142.134 [DAT](INFO): DAT read: DatVerbose | 27440 2025-10-24T19:29:02.134Z,1761334142.134 [DAT](INFO): set DatVerbose to 27440 2025-10-24T19:29:02.134Z,1761334142.134 [DAT](INFO): setting transmit power to 8 2025-10-24T19:29:02.330Z,1761334142.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609204,-0.788620,0.083360],[0.792990,0.606622,-0.056355],[-0.006125,0.100436,0.994925]] 2025-10-24T19:29:02.385Z,1761334142.385 [DAT](INFO): DAT read: user:3> 2025-10-24T19:29:02.385Z,1761334142.385 [DAT](INFO): DAT read: TxPower | 8 (Max) 2025-10-24T19:29:02.386Z,1761334142.386 [DAT](INFO): set transmit power to 8 2025-10-24T19:29:02.386Z,1761334142.386 [DAT](INFO): setting local address to 10 2025-10-24T19:29:02.639Z,1761334142.639 [DAT](INFO): DAT read: user:4> 2025-10-24T19:29:02.642Z,1761334142.642 [DAT](INFO): DAT read: LocalAddr | 10 2025-10-24T19:29:02.643Z,1761334142.643 [DAT](INFO): set local address to 10 2025-10-24T19:29:02.646Z,1761334142.646 [DAT](INFO): Setting time to: 19:29:2 And date to:10/24/2025 2025-10-24T19:29:02.733Z,1761334142.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609693,-0.788283,0.082977],[0.792621,0.607019,-0.057273],[-0.005221,0.100688,0.994904]] 2025-10-24T19:29:02.889Z,1761334142.889 [DAT](INFO): DAT read: user:5> 2025-10-24T19:29:02.890Z,1761334142.890 [DAT](INFO): DAT read: Fri Oct 24, 2025 19:29:02 2025-10-24T19:29:02.891Z,1761334142.891 [DAT](INFO): Local DAT time set to Fri Oct 24, 2025 19:29:02 2025-10-24T19:29:02.891Z,1761334142.891 [DAT](INFO): setting remote address to 11 2025-10-24T19:29:03.137Z,1761334143.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610693,-0.787584,0.082260],[0.791854,0.607981,-0.057671],[-0.004591,0.100357,0.994941]] 2025-10-24T19:29:03.141Z,1761334143.141 [DAT](INFO): DAT read: user:6> 2025-10-24T19:29:03.142Z,1761334143.142 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:29:03.142Z,1761334143.142 [DAT](INFO): set remote address to 11 2025-10-24T19:29:03.142Z,1761334143.142 [DAT](INFO): entering online mode 2025-10-24T19:29:03.393Z,1761334143.393 [DAT](INFO): DAT read: user:7> 2025-10-24T19:29:03.393Z,1761334143.393 [DAT](INFO): DAT read: 2025-10-24T19:29:03.394Z,1761334143.394 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:29:03.395Z,1761334143.395 [DAT](INFO): commRate: 600 2025-10-24T19:29:03.395Z,1761334143.395 [DAT](INFO): online mode acknowledged 2025-10-24T19:29:03.395Z,1761334143.395 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-24T19:29:03.538Z,1761334143.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611114,-0.787293,0.081907],[0.791533,0.608344,-0.058255],[-0.003964,0.100433,0.994936]] 2025-10-24T19:29:03.953Z,1761334143.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613381,-0.785724,0.080016],[0.789783,0.610566,-0.058757],[-0.002689,0.099236,0.995060]] 2025-10-24T19:29:04.351Z,1761334144.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614170,-0.785138,0.079704],[0.789171,0.611301,-0.059340],[-0.002133,0.099345,0.995051]] 2025-10-24T19:29:04.751Z,1761334144.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614864,-0.784645,0.079210],[0.788632,0.611939,-0.059917],[-0.001458,0.099308,0.995056]] 2025-10-24T19:29:05.157Z,1761334145.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615784,-0.783994,0.078508],[0.787915,0.612799,-0.060564],[-0.000628,0.099152,0.995072]] 2025-10-24T19:29:05.567Z,1761334145.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616532,-0.783447,0.078094],[0.787330,0.613492,-0.061150],[-0.000002,0.099186,0.995069]] 2025-10-24T19:29:05.965Z,1761334145.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616627,-0.783373,0.078086],[0.787255,0.613498,-0.062048],[0.000701,0.099734,0.995014]] 2025-10-24T19:29:06.368Z,1761334146.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617156,-0.782986,0.077795],[0.786840,0.613952,-0.062815],[0.001421,0.099979,0.994989]] 2025-10-24T19:29:06.397Z,1761334146.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:06.418Z,1761334146.418 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:29:06.472Z,1761334146.472 [DAT](INFO): entering command mode 2025-10-24T19:29:06.670Z,1761334146.670 [DAT](INFO): DAT read: 2025-10-24T19:29:06.672Z,1761334146.672 [DAT](INFO): DAT read: user:8> 2025-10-24T19:29:06.675Z,1761334146.675 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:29:06.676Z,1761334146.676 [DAT](INFO): setting remote address to 0 2025-10-24T19:29:06.771Z,1761334146.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617565,-0.782681,0.077615],[0.786517,0.614289,-0.063555],[0.002065,0.100295,0.994956]] 2025-10-24T19:29:06.921Z,1761334146.921 [DAT](INFO): DAT read: user:8> 2025-10-24T19:29:06.922Z,1761334146.922 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:29:06.923Z,1761334146.923 [DAT](INFO): set remote address to 0 2025-10-24T19:29:06.923Z,1761334146.923 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:29:06.924Z,1761334146.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:07.174Z,1761334147.174 [DAT](INFO): DAT read: user:9> 2025-10-24T19:29:07.175Z,1761334147.175 [DAT](INFO): DAT read: Tx time:19:29:06.4197 2025-10-24T19:29:07.175Z,1761334147.175 [DAT](INFO): Ping request sent. 2025-10-24T19:29:07.175Z,1761334147.175 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:07.176Z,1761334147.176 [DAT](INFO): DAT read: TxSync time:19:29:06.4189 2025-10-24T19:29:07.176Z,1761334147.176 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:07.177Z,1761334147.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001782 2025-10-24T19:29:07.184Z,1761334147.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618250,-0.782204,0.076967],[0.785976,0.614911,-0.064231],[0.002914,0.100205,0.994963]] 2025-10-24T19:29:07.425Z,1761334147.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249608 2025-10-24T19:29:07.587Z,1761334147.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617712,-0.782692,0.076323],[0.786393,0.614269,-0.065262],[0.004197,0.100333,0.994945]] 2025-10-24T19:29:07.681Z,1761334147.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504997 2025-10-24T19:29:07.929Z,1761334147.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753916 2025-10-24T19:29:08.181Z,1761334148.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005464 2025-10-24T19:29:08.387Z,1761334148.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620270,-0.780722,0.075750],[0.784360,0.616526,-0.068375],[0.006680,0.101826,0.994780]] 2025-10-24T19:29:08.433Z,1761334148.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258064 2025-10-24T19:29:08.685Z,1761334148.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509729 2025-10-24T19:29:08.793Z,1761334148.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621344,-0.779948,0.074914],[0.783512,0.617701,-0.067485],[0.006360,0.100628,0.994904]] 2025-10-24T19:29:08.938Z,1761334148.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762533 2025-10-24T19:29:09.190Z,1761334149.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014425 2025-10-24T19:29:09.198Z,1761334149.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622120,-0.779373,0.074456],[0.782897,0.618531,-0.067014],[0.006176,0.099982,0.994970]] 2025-10-24T19:29:09.441Z,1761334149.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265585 2025-10-24T19:29:09.603Z,1761334149.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621789,-0.779624,0.074600],[0.783159,0.618169,-0.067301],[0.006354,0.100270,0.994940]] 2025-10-24T19:29:09.695Z,1761334149.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519766 2025-10-24T19:29:09.945Z,1761334149.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769590 2025-10-24T19:29:10.010Z,1761334150.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621613,-0.779781,0.074418],[0.783296,0.617969,-0.067543],[0.006681,0.100277,0.994937]] 2025-10-24T19:29:10.197Z,1761334150.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021677 2025-10-24T19:29:10.409Z,1761334150.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621167,-0.780101,0.074799],[0.783646,0.617444,-0.068270],[0.007073,0.101023,0.994859]] 2025-10-24T19:29:10.449Z,1761334150.449 [DAT](INFO): DAT read: Rx Time:19:29:09.1949 2025-10-24T19:29:10.450Z,1761334150.450 [DAT](INFO): Rx dataTimestamp_ set to:1761334150.449293 2025-10-24T19:29:10.450Z,1761334150.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274908 2025-10-24T19:29:10.701Z,1761334150.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525730 2025-10-24T19:29:10.834Z,1761334150.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621098,-0.780150,0.074858],[0.783698,0.617320,-0.068805],[0.007467,0.101400,0.994818]] 2025-10-24T19:29:10.959Z,1761334150.959 [DAT](INFO): DAT read: 19:29:09.1949 LVL= 23248, 30561, 18738, 32755, AGC= 63, IDX= 388,-0.40, 1.330,-0.130, 1.388, 1.040, PHS= 0.378,-1.124, 0.344, RAW= 148.9, 5.5, CAL= 150.6, -3.4, ROT= 359.4, 3.4 2025-10-24T19:29:10.960Z,1761334150.960 [DAT](INFO): got valid direction response: 19:29:09.1949 LVL= 23248, 30561, 18738, 32755, AGC= 63, IDX= 388,-0.40, 1.330,-0.130, 1.388, 1.040, PHS= 0.378,-1.124, 0.344, RAW= 148.9, 5.5, CAL= 150.6, -3.4, ROT= 359.4, 3.4 2025-10-24T19:29:10.961Z,1761334150.961 [DAT](INFO): DAT read: Bearing 359.4, 3.4 (Local) 2025-10-24T19:29:10.961Z,1761334150.961 [DAT](INFO): Local bearing/azimuth received: Bearing 359.4, 3.4 (Local) 2025-10-24T19:29:10.963Z,1761334150.963 [DAT](INFO): DAT read: Range 10 to 50 : 278.2 m (Round-trip 371.0 ms) speed 0.4 m/s 2025-10-24T19:29:10.963Z,1761334150.963 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:10.964Z,1761334150.964 [DAT](INFO): direction in FSK: [0.998185,-0.010453,-0.059306] 2025-10-24T19:29:10.965Z,1761334150.965 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:10.976Z,1761334150.976 [DAT](INFO): Failure count cleared after critical for DAT 2025-10-24T19:29:11.222Z,1761334151.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620120,-0.780810,0.076073],[0.784468,0.616193,-0.070117],[0.007872,0.103158,0.994634]] 2025-10-24T19:29:11.620Z,1761334151.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619836,-0.780962,0.076824],[0.784690,0.615822,-0.070891],[0.008053,0.104224,0.994521]] 2025-10-24T19:29:11.644Z,1761334151.644 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-24T19:29:11.644Z,1761334151.644 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:29:11.645Z,1761334151.645 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-24T19:29:11.646Z,1761334151.646 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 278.200012 m (mode 0.000000 count ). 2025-10-24T19:29:11.646Z,1761334151.646 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-24T19:29:11.646Z,1761334151.646 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-24T19:29:11.649Z,1761334151.649 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-10-24T19:29:11.649Z,1761334151.649 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-24T19:29:11.649Z,1761334151.649 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-10-24T19:29:11.650Z,1761334151.650 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 278.200012 m 2025-10-24T19:29:11.650Z,1761334151.650 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-10-24T19:29:11.650Z,1761334151.650 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-10-24T19:29:12.027Z,1761334152.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619441,-0.781248,0.077099],[0.785000,0.615376,-0.071329],[0.008280,0.104707,0.994469]] 2025-10-24T19:29:12.108Z,1761334152.108 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-24T19:29:12.108Z,1761334152.108 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-24T19:29:12.109Z,1761334152.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:12.111Z,1761334152.111 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-10-24T19:29:12.111Z,1761334152.111 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-24T19:29:12.114Z,1761334152.114 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-10-24T19:29:12.114Z,1761334152.114 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-24T19:29:12.213Z,1761334152.213 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:12.213Z,1761334152.213 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:12.213Z,1761334152.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:12.427Z,1761334152.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620393,-0.780553,0.076480],[0.784244,0.616336,-0.071350],[0.008555,0.104244,0.994515]] 2025-10-24T19:29:12.461Z,1761334152.461 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-24T19:29:12.461Z,1761334152.461 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-24T19:29:12.461Z,1761334152.461 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-24T19:29:12.461Z,1761334152.461 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-24T19:29:12.461Z,1761334152.461 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-24T19:29:12.463Z,1761334152.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-24T19:29:12.465Z,1761334152.465 [DAT](INFO): DAT read: user:10> 2025-10-24T19:29:12.466Z,1761334152.466 [DAT](INFO): DAT read: Tx time:19:29:11.7197 2025-10-24T19:29:12.466Z,1761334152.466 [DAT](INFO): Ping request sent. 2025-10-24T19:29:12.466Z,1761334152.466 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:12.466Z,1761334152.466 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:12.467Z,1761334152.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769 2025-10-24T19:29:12.467Z,1761334152.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-24T19:29:12.467Z,1761334152.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-24T19:29:12.467Z,1761334152.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-24T19:29:12.468Z,1761334152.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-24T19:29:12.468Z,1761334152.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-24T19:29:12.468Z,1761334152.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-24T19:29:12.468Z,1761334152.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-24T19:29:12.470Z,1761334152.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-24T19:29:12.471Z,1761334152.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-24T19:29:12.473Z,1761334152.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-24T19:29:12.473Z,1761334152.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-24T19:29:12.473Z,1761334152.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-24T19:29:12.474Z,1761334152.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-24T19:29:12.474Z,1761334152.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-24T19:29:12.475Z,1761334152.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-10-24T19:29:12.475Z,1761334152.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-24T19:29:12.475Z,1761334152.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-10-24T19:29:12.475Z,1761334152.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-10-24T19:29:12.475Z,1761334152.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-10-24T19:29:12.475Z,1761334152.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-24T19:29:12.476Z,1761334152.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-10-24T19:29:12.477Z,1761334152.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00. 2025-10-24T19:29:12.477Z,1761334152.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-10-24T19:29:12.478Z,1761334152.478 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-10-24T19:29:12.717Z,1761334152.717 [DAT](INFO): DAT read: TxSync time:19:29:11.7189 2025-10-24T19:29:12.718Z,1761334152.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252005 2025-10-24T19:29:12.842Z,1761334152.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620346,-0.780591,0.076474],[0.784278,0.616251,-0.071707],[0.008847,0.104460,0.994490]] 2025-10-24T19:29:12.898Z,1761334152.898 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-24T19:29:12.898Z,1761334152.898 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:29:12.898Z,1761334152.898 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-24T19:29:12.898Z,1761334152.898 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:29:12.912Z,1761334152.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 278.200012 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-24T19:29:12.945Z,1761334152.945 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-24T19:29:12.945Z,1761334152.945 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-24T19:29:12.969Z,1761334152.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503484 2025-10-24T19:29:13.221Z,1761334153.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755330 2025-10-24T19:29:13.245Z,1761334153.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619544,-0.781300,0.075733],[0.784892,0.615314,-0.073023],[0.010454,0.104683,0.994451]] 2025-10-24T19:29:13.473Z,1761334153.473 [DAT](FAULT): Buffer send receipt timeout failure. 2025-10-24T19:29:13.473Z,1761334153.473 [DAT](DEBUG): In sendingTransmitVerify, timeout so go online and set commsState_ = SENDING_FILL_BUFFER 2025-10-24T19:29:13.474Z,1761334153.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007668 2025-10-24T19:29:13.640Z,1761334153.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618218,-0.782130,0.077970],[0.785903,0.613472,-0.077518],[0.012797,0.109200,0.993937]] 2025-10-24T19:29:13.709Z,1761334153.709 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-24T19:29:13.726Z,1761334153.726 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-24T19:29:13.727Z,1761334153.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260814 2025-10-24T19:29:13.825Z,1761334153.825 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-24T19:29:13.977Z,1761334153.977 [DAT](INFO): setting remote address to 11 2025-10-24T19:29:13.977Z,1761334153.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511255 2025-10-24T19:29:14.043Z,1761334154.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618112,-0.781550,0.084357],[0.785970,0.612575,-0.083688],[0.013731,0.118031,0.992915]] 2025-10-24T19:29:14.228Z,1761334154.228 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-24T19:29:14.229Z,1761334154.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762866 2025-10-24T19:29:14.481Z,1761334154.481 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-24T19:29:14.481Z,1761334154.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015224 2025-10-24T19:29:14.501Z,1761334154.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:14.732Z,1761334154.732 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-24T19:29:14.733Z,1761334154.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266878 2025-10-24T19:29:14.869Z,1761334154.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619862,-0.778764,0.096423],[0.784605,0.613062,-0.092467],[0.012896,0.132971,0.991036]] 2025-10-24T19:29:14.984Z,1761334154.984 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-24T19:29:14.985Z,1761334154.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518965 2025-10-24T19:29:15.236Z,1761334155.236 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-24T19:29:15.237Z,1761334155.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770987 2025-10-24T19:29:15.489Z,1761334155.489 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-24T19:29:15.489Z,1761334155.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023200 2025-10-24T19:29:15.741Z,1761334155.741 [DAT](INFO): DAT read: Rx Time:19:29:14.5218 2025-10-24T19:29:15.741Z,1761334155.741 [DAT](INFO): Rx dataTimestamp_ set to:1761334155.741114 2025-10-24T19:29:15.742Z,1761334155.742 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-24T19:29:15.742Z,1761334155.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276089 2025-10-24T19:29:15.993Z,1761334155.993 [DAT](DEBUG): checking for remote address setting acknowledgment 2025-10-24T19:29:15.993Z,1761334155.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527028 2025-10-24T19:29:16.257Z,1761334156.257 [DAT](INFO): DAT read: 19:29:14.5218 LVL= 17888, 19441, 16434, 24819, AGC= 65, IDX= 200, 0.24, 0.781,-0.526, 0.947, 0.268, PHS= 0.600,-0.747, 0.675, RAW= 152.7, -7.7, CAL= 158.1, -15.5, ROT= 351.9, 15.5 2025-10-24T19:29:16.258Z,1761334156.258 [DAT](INFO): got valid direction response: 19:29:14.5218 LVL= 17888, 19441, 16434, 24819, AGC= 65, IDX= 200, 0.24, 0.781,-0.526, 0.947, 0.268, PHS= 0.600,-0.747, 0.675, RAW= 152.7, -7.7, CAL= 158.1, -15.5, ROT= 351.9, 15.5 2025-10-24T19:29:16.259Z,1761334156.259 [DAT](INFO): DAT read: Bearing 351.9, 15.5 (Local) 2025-10-24T19:29:16.259Z,1761334156.259 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 15.5 (Local) 2025-10-24T19:29:16.261Z,1761334156.261 [DAT](INFO): DAT read: Range 10 to 50 : 298.5 m (Round-trip 398.0 ms) speed 0.4 m/s 2025-10-24T19:29:16.262Z,1761334156.262 [DAT](INFO): DAT read: user:11> 2025-10-24T19:29:16.262Z,1761334156.262 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:29:16.263Z,1761334156.263 [DAT](INFO): set remote address to 11 2025-10-24T19:29:16.264Z,1761334156.264 [DAT](INFO): entering online mode 2025-10-24T19:29:16.497Z,1761334156.497 [DAT](INFO): DAT read: user:12> 2025-10-24T19:29:16.498Z,1761334156.498 [DAT](INFO): DAT read: 2025-10-24T19:29:16.499Z,1761334156.499 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:29:16.499Z,1761334156.499 [DAT](INFO): commRate: 600 2025-10-24T19:29:16.499Z,1761334156.499 [DAT](INFO): online mode acknowledged 2025-10-24T19:29:16.500Z,1761334156.500 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-24T19:29:16.501Z,1761334156.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034739 2025-10-24T19:29:16.509Z,1761334156.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:16.749Z,1761334156.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282937 2025-10-24T19:29:16.905Z,1761334156.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623796,-0.774517,0.104889],[0.781514,0.616248,-0.097340],[0.010753,0.142692,0.989709]] 2025-10-24T19:29:17.001Z,1761334157.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534768 2025-10-24T19:29:17.253Z,1761334157.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786788 2025-10-24T19:29:17.280Z,1761334157.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624109,-0.774507,0.103085],[0.781274,0.616923,-0.094961],[0.009952,0.139804,0.990129]] 2025-10-24T19:29:17.337Z,1761334157.337 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T19:29:17.506Z,1761334157.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039602 2025-10-24T19:29:17.685Z,1761334157.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625244,-0.774051,0.099574],[0.780377,0.618623,-0.091200],[0.008994,0.134727,0.990842]] 2025-10-24T19:29:17.762Z,1761334157.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294771 2025-10-24T19:29:18.009Z,1761334158.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542852 2025-10-24T19:29:18.106Z,1761334158.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625324,-0.774451,0.095898],[0.780317,0.619171,-0.087942],[0.008729,0.129823,0.991499]] 2025-10-24T19:29:18.261Z,1761334158.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794803 2025-10-24T19:29:18.300Z,1761334158.300 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:29:18.492Z,1761334158.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624917,-0.775203,0.092411],[0.780639,0.619114,-0.085443],[0.009022,0.125534,0.992048]] 2025-10-24T19:29:18.509Z,1761334158.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:18.513Z,1761334158.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046890 2025-10-24T19:29:18.766Z,1761334158.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299774 2025-10-24T19:29:19.017Z,1761334159.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550922 2025-10-24T19:29:19.269Z,1761334159.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802757 2025-10-24T19:29:19.300Z,1761334159.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622749,-0.777447,0.088085],[0.782354,0.617256,-0.083174],[0.010292,0.120710,0.992634]] 2025-10-24T19:29:19.305Z,1761334159.305 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:29:19.522Z,1761334159.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055964 2025-10-24T19:29:19.703Z,1761334159.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622009,-0.778218,0.086493],[0.782938,0.616646,-0.082194],[0.010629,0.118844,0.992856]] 2025-10-24T19:29:19.773Z,1761334159.773 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:29:19.0685 2025-10-24T19:29:19.774Z,1761334159.774 [DAT](DEBUG): In parseResponses, sent ack so set commsState_ = SENDING_VERIFIED 2025-10-24T19:29:19.774Z,1761334159.774 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-24T19:29:19.774Z,1761334159.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308232 2025-10-24T19:29:20.025Z,1761334160.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558929 2025-10-24T19:29:20.108Z,1761334160.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620658,-0.779275,0.086683],[0.783998,0.615179,-0.083075],[0.011413,0.119521,0.992766]] 2025-10-24T19:29:20.277Z,1761334160.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810816 2025-10-24T19:29:20.529Z,1761334160.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062974 2025-10-24T19:29:20.530Z,1761334160.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617653,-0.782592,0.077813],[0.786344,0.612911,-0.077477],[0.012940,0.109042,0.993953]] 2025-10-24T19:29:20.549Z,1761334160.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:20.781Z,1761334160.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314687 2025-10-24T19:29:21.033Z,1761334161.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567241 2025-10-24T19:29:21.285Z,1761334161.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818945 2025-10-24T19:29:21.326Z,1761334161.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610764,-0.787732,0.080281],[0.791665,0.605545,-0.081128],[0.015293,0.113106,0.993465]] 2025-10-24T19:29:21.537Z,1761334161.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070767 2025-10-24T19:29:21.725Z,1761334161.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609691,-0.788414,0.081727],[0.792486,0.604302,-0.082365],[0.015550,0.114985,0.993246]] 2025-10-24T19:29:21.791Z,1761334161.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325425 2025-10-24T19:29:22.045Z,1761334162.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578834 2025-10-24T19:29:22.133Z,1761334162.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609747,-0.788378,0.081662],[0.792436,0.604305,-0.082834],[0.015956,0.115220,0.993212]] 2025-10-24T19:29:22.297Z,1761334162.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831047 2025-10-24T19:29:22.548Z,1761334162.548 [DAT](INFO): Reached modem response timeout 2025-10-24T19:29:22.549Z,1761334162.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:29:22.580Z,1761334162.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609526,-0.788561,0.081550],[0.792594,0.604019,-0.083398],[0.016507,0.115470,0.993174]] 2025-10-24T19:29:22.600Z,1761334162.600 [DAT](INFO): entering command mode 2025-10-24T19:29:22.707Z,1761334162.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:22.801Z,1761334162.801 [DAT](INFO): DAT read: 2025-10-24T19:29:22.802Z,1761334162.802 [DAT](INFO): DAT read: user:13> 2025-10-24T19:29:22.802Z,1761334162.802 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:29:22.802Z,1761334162.802 [DAT](INFO): setting remote address to 0 2025-10-24T19:29:23.053Z,1761334163.053 [DAT](INFO): DAT read: user:13> 2025-10-24T19:29:23.054Z,1761334163.054 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:29:23.055Z,1761334163.055 [DAT](INFO): set remote address to 0 2025-10-24T19:29:23.055Z,1761334163.055 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:29:23.056Z,1761334163.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:23.306Z,1761334163.306 [DAT](INFO): DAT read: user:14> 2025-10-24T19:29:23.307Z,1761334163.307 [DAT](INFO): DAT read: Tx time:19:29:22.5697 2025-10-24T19:29:23.307Z,1761334163.307 [DAT](INFO): Ping request sent. 2025-10-24T19:29:23.307Z,1761334163.307 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:23.307Z,1761334163.307 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:23.308Z,1761334163.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001125 2025-10-24T19:29:23.390Z,1761334163.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610320,-0.788095,0.080099],[0.791968,0.604852,-0.083314],[0.017212,0.114284,0.993299]] 2025-10-24T19:29:23.557Z,1761334163.557 [DAT](INFO): DAT read: TxSync time:19:29:22.5689 2025-10-24T19:29:23.558Z,1761334163.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250697 2025-10-24T19:29:23.795Z,1761334163.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609400,-0.788921,0.078962],[0.792647,0.603877,-0.083932],[0.018533,0.113737,0.993338]] 2025-10-24T19:29:23.809Z,1761334163.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502199 2025-10-24T19:29:24.061Z,1761334164.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753757 2025-10-24T19:29:24.195Z,1761334164.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608209,-0.790289,0.074335],[0.793556,0.603159,-0.080423],[0.018722,0.107903,0.993985]] 2025-10-24T19:29:24.319Z,1761334164.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011554 2025-10-24T19:29:24.569Z,1761334164.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261592 2025-10-24T19:29:24.599Z,1761334164.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608677,-0.789975,0.073838],[0.793174,0.603539,-0.081340],[0.019693,0.108076,0.993948]] 2025-10-24T19:29:24.827Z,1761334164.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520160 2025-10-24T19:29:25.019Z,1761334165.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610272,-0.788746,0.073804],[0.791964,0.605211,-0.080695],[0.018981,0.107696,0.994003]] 2025-10-24T19:29:25.073Z,1761334165.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765804 2025-10-24T19:29:25.076Z,1761334165.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:25.325Z,1761334165.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017716 2025-10-24T19:29:25.408Z,1761334165.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612311,-0.787115,0.074329],[0.790406,0.607266,-0.080538],[0.018255,0.108065,0.993976]] 2025-10-24T19:29:25.577Z,1761334165.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269622 2025-10-24T19:29:25.812Z,1761334165.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614439,-0.785460,0.074282],[0.788768,0.609452,-0.080088],[0.017634,0.107800,0.994016]] 2025-10-24T19:29:25.829Z,1761334165.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521835 2025-10-24T19:29:26.081Z,1761334166.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773743 2025-10-24T19:29:26.216Z,1761334166.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616466,-0.783807,0.074945],[0.787187,0.611401,-0.080779],[0.017494,0.108793,0.993911]] 2025-10-24T19:29:26.335Z,1761334166.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027774 2025-10-24T19:29:26.585Z,1761334166.585 [DAT](INFO): DAT read: Rx Time:19:29:25.3656 2025-10-24T19:29:26.585Z,1761334166.585 [DAT](INFO): Rx dataTimestamp_ set to:1761334166.585078 2025-10-24T19:29:26.586Z,1761334166.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278810 2025-10-24T19:29:26.840Z,1761334166.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533030 2025-10-24T19:29:26.883Z,1761334166.883 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:29:27.095Z,1761334167.095 [DAT](INFO): DAT read: 19:29:25.3656 LVL= 26160, 29681, 21154, 32755, AGC= 58, IDX= 344,-0.29, 1.242,-0.117, 1.365, 0.588, PHS= 0.743,-0.658, 0.774, RAW= 151.1, -12.1, CAL= 158.1, -19.6, ROT= 351.9, 19.6 2025-10-24T19:29:27.116Z,1761334167.116 [DAT](INFO): got valid direction response: 19:29:25.3656 LVL= 26160, 29681, 21154, 32755, AGC= 58, IDX= 344,-0.29, 1.242,-0.117, 1.365, 0.588, PHS= 0.743,-0.658, 0.774, RAW= 151.1, -12.1, CAL= 158.1, -19.6, ROT= 351.9, 19.6 2025-10-24T19:29:27.117Z,1761334167.117 [DAT](INFO): DAT read: Bearing 351.9, 19.6 (Local) 2025-10-24T19:29:27.117Z,1761334167.117 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 19.6 (Local) 2025-10-24T19:29:27.119Z,1761334167.119 [DAT](INFO): DAT read: Range 10 to 50 : 293.7 m (Round-trip 391.7 ms) speed 0.8 m/s 2025-10-24T19:29:27.119Z,1761334167.119 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:27.124Z,1761334167.124 [DAT](INFO): direction in FSK: [0.932659,-0.132737,-0.335452] 2025-10-24T19:29:27.125Z,1761334167.125 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:27.134Z,1761334167.134 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:27.135Z,1761334167.135 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:27.135Z,1761334167.135 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:27.174Z,1761334167.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 293.700012 m, deltaT: 16.136514 s, deltaX: 15.500000 m, approachRate: 0.960554 m/s, rangeRepo size: 2 2025-10-24T19:29:27.341Z,1761334167.341 [DAT](INFO): DAT read: user:15> 2025-10-24T19:29:27.342Z,1761334167.342 [DAT](INFO): DAT read: Tx time:19:29:26.6697 2025-10-24T19:29:27.342Z,1761334167.342 [DAT](INFO): Ping request sent. 2025-10-24T19:29:27.342Z,1761334167.342 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:27.342Z,1761334167.342 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:27.343Z,1761334167.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771 2025-10-24T19:29:27.522Z,1761334167.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622030,-0.779647,0.072315],[0.782809,0.617223,-0.079025],[0.016978,0.105765,0.994246]] 2025-10-24T19:29:27.563Z,1761334167.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:27.593Z,1761334167.593 [DAT](INFO): DAT read: TxSync time:19:29:26.6689 2025-10-24T19:29:27.594Z,1761334167.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251813 2025-10-24T19:29:27.845Z,1761334167.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502704 2025-10-24T19:29:27.931Z,1761334167.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622814,-0.779101,0.071443],[0.782177,0.618036,-0.078929],[0.017339,0.105039,0.994317]] 2025-10-24T19:29:28.099Z,1761334168.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756489 2025-10-24T19:29:28.349Z,1761334168.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006554 2025-10-24T19:29:28.397Z,1761334168.397 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, + +669.57, -3.33, 26.25, 0.00 2025-10-24T19:29:28.601Z,1761334168.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258741 2025-10-24T19:29:28.730Z,1761334168.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621073,-0.780660,0.069558],[0.783523,0.616293,-0.079215],[0.018972,0.103698,0.994428]] 2025-10-24T19:29:28.853Z,1761334168.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510804 2025-10-24T19:29:29.106Z,1761334169.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763609 2025-10-24T19:29:29.357Z,1761334169.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015042 2025-10-24T19:29:29.538Z,1761334169.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623251,-0.778767,0.071273],[0.781823,0.618447,-0.079215],[0.017611,0.105094,0.994306]] 2025-10-24T19:29:29.566Z,1761334169.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:29.610Z,1761334169.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267498 2025-10-24T19:29:29.861Z,1761334169.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518687 2025-10-24T19:29:29.947Z,1761334169.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623391,-0.778608,0.071787],[0.781715,0.618551,-0.079474],[0.017475,0.105661,0.994249]] 2025-10-24T19:29:30.115Z,1761334170.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773032 2025-10-24T19:29:30.365Z,1761334170.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023193 2025-10-24T19:29:30.617Z,1761334170.617 [DAT](INFO): DAT read: Rx Time:19:29:29.4622 2025-10-24T19:29:30.617Z,1761334170.617 [DAT](INFO): Rx dataTimestamp_ set to:1761334170.617199 2025-10-24T19:29:30.618Z,1761334170.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275973 2025-10-24T19:29:30.869Z,1761334170.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527388 2025-10-24T19:29:31.153Z,1761334171.153 [DAT](INFO): DAT read: 19:29:29.4622 LVL= 22144, 29921, 20466, 32755, AGC= 69, IDX= 403, 0.24,-1.461,-2.807,-1.389,-2.132, PHS= 0.759,-0.629, 0.740, RAW= 149.3, -12.6, CAL= 156.3, -20.4, ROT= 353.7, 20.4 2025-10-24T19:29:31.155Z,1761334171.155 [DAT](INFO): got valid direction response: 19:29:29.4622 LVL= 22144, 29921, 20466, 32755, AGC= 69, IDX= 403, 0.24,-1.461,-2.807,-1.389,-2.132, PHS= 0.759,-0.629, 0.740, RAW= 149.3, -12.6, CAL= 156.3, -20.4, ROT= 353.7, 20.4 2025-10-24T19:29:31.155Z,1761334171.155 [DAT](INFO): DAT read: 353.7, 20.4 (Local) 2025-10-24T19:29:31.172Z,1761334171.172 [DAT](INFO): Local bearing/azimuth received: 353.7, 20.4 (Local) 2025-10-24T19:29:31.173Z,1761334171.173 [DAT](INFO): DAT read: Range 10 to 50 : 291.1 m (Round-trip 388.2 ms) speed 0.4 m/s 2025-10-24T19:29:31.174Z,1761334171.174 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:31.175Z,1761334171.175 [DAT](INFO): direction in FSK: [0.931622,-0.102852,-0.348572] 2025-10-24T19:29:31.175Z,1761334171.175 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:31.224Z,1761334171.224 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:31.225Z,1761334171.225 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:31.225Z,1761334171.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:31.245Z,1761334171.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623012,-0.778854,0.072404],[0.782016,0.618109,-0.079947],[0.017513,0.106429,0.994166]] 2025-10-24T19:29:31.361Z,1761334171.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 291.100006 m, deltaT: 4.035935 s, deltaX: -2.600006 m, approachRate: -0.644214 m/s, rangeRepo size: 3 2025-10-24T19:29:31.377Z,1761334171.377 [DAT](INFO): DAT read: user:16> 2025-10-24T19:29:31.378Z,1761334171.378 [DAT](INFO): DAT read: Tx time:19:29:30.7198 2025-10-24T19:29:31.378Z,1761334171.378 [DAT](INFO): Ping request sent. 2025-10-24T19:29:31.378Z,1761334171.378 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:31.378Z,1761334171.378 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:31.379Z,1761334171.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-24T19:29:31.629Z,1761334171.629 [DAT](INFO): DAT read: TxSync time:19:29:30.7190 2025-10-24T19:29:31.630Z,1761334171.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251617 2025-10-24T19:29:31.641Z,1761334171.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622659,-0.779099,0.072801],[0.782298,0.617722,-0.080183],[0.017499,0.106879,0.994118]] 2025-10-24T19:29:31.658Z,1761334171.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:31.882Z,1761334171.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503243 2025-10-24T19:29:32.101Z,1761334172.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620832,-0.780984,0.068056],[0.783732,0.616300,-0.077068],[0.018246,0.101184,0.994700]] 2025-10-24T19:29:32.133Z,1761334172.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755296 2025-10-24T19:29:32.385Z,1761334172.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006585 2025-10-24T19:29:32.469Z,1761334172.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618562,-0.782660,0.069452],[0.785519,0.613894,-0.078067],[0.018464,0.102846,0.994526]] 2025-10-24T19:29:32.637Z,1761334172.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258742 2025-10-24T19:29:32.868Z,1761334172.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616304,-0.784333,0.070642],[0.787272,0.611439,-0.079655],[0.019283,0.104706,0.994316]] 2025-10-24T19:29:32.890Z,1761334172.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511417 2025-10-24T19:29:33.141Z,1761334173.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763221 2025-10-24T19:29:33.302Z,1761334173.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616030,-0.784438,0.071857],[0.787500,0.611117,-0.079874],[0.018743,0.105793,0.994212]] 2025-10-24T19:29:33.393Z,1761334173.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015178 2025-10-24T19:29:33.645Z,1761334173.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266645 2025-10-24T19:29:33.700Z,1761334173.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615867,-0.784496,0.072626],[0.787639,0.610945,-0.079818],[0.018246,0.106360,0.994160]] 2025-10-24T19:29:33.727Z,1761334173.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:33.897Z,1761334173.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518596 2025-10-24T19:29:34.149Z,1761334174.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770732 2025-10-24T19:29:34.401Z,1761334174.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022633 2025-10-24T19:29:34.551Z,1761334174.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615568,-0.784682,0.073147],[0.787884,0.610662,-0.079566],[0.017766,0.106610,0.994142]] 2025-10-24T19:29:34.654Z,1761334174.654 [DAT](INFO): DAT read: Rx Time:19:29:33.5102 2025-10-24T19:29:34.655Z,1761334174.655 [DAT](INFO): Rx dataTimestamp_ set to:1761334174.654192 2025-10-24T19:29:34.655Z,1761334174.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277043 2025-10-24T19:29:34.905Z,1761334174.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527262 2025-10-24T19:29:34.960Z,1761334174.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615474,-0.784745,0.073257],[0.787962,0.610590,-0.079349],[0.017539,0.106561,0.994151]] 2025-10-24T19:29:35.158Z,1761334175.158 [DAT](INFO): DAT read: Range 10 to 50 : 289.6 m (Round-trip 386.2 ms) speed 0.5 m/s 2025-10-24T19:29:35.158Z,1761334175.158 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:29:35.159Z,1761334175.159 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:35.159Z,1761334175.159 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:35.159Z,1761334175.159 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:35.409Z,1761334175.409 [DAT](INFO): DAT read: user:17> 2025-10-24T19:29:35.410Z,1761334175.410 [DAT](INFO): DAT read: Tx time:19:29:34.6699 2025-10-24T19:29:35.410Z,1761334175.410 [DAT](INFO): Ping request sent. 2025-10-24T19:29:35.410Z,1761334175.410 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:35.410Z,1761334175.410 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:35.411Z,1761334175.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-24T19:29:35.413Z,1761334175.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 289.600006 m, deltaT: 4.031640 s, deltaX: -1.500000 m, approachRate: -0.372057 m/s, rangeRepo size: 4 2025-10-24T19:29:35.661Z,1761334175.661 [DAT](INFO): DAT read: TxSync time:19:29:34.6691 2025-10-24T19:29:35.662Z,1761334175.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251787 2025-10-24T19:29:35.762Z,1761334175.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615312,-0.784863,0.073355],[0.788105,0.610520,-0.078463],[0.016798,0.106090,0.994215]] 2025-10-24T19:29:35.783Z,1761334175.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:35.914Z,1761334175.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503353 2025-10-24T19:29:36.167Z,1761334176.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756638 2025-10-24T19:29:36.178Z,1761334176.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612468,-0.787739,0.065954],[0.790289,0.608265,-0.073873],[0.018075,0.097367,0.995084]] 2025-10-24T19:29:36.417Z,1761334176.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006855 2025-10-24T19:29:36.567Z,1761334176.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609512,-0.789807,0.068563],[0.792572,0.605106,-0.075336],[0.018013,0.100260,0.994798]] 2025-10-24T19:29:36.669Z,1761334176.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258675 2025-10-24T19:29:36.922Z,1761334176.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511467 2025-10-24T19:29:36.978Z,1761334176.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608292,-0.790532,0.070996],[0.793533,0.603807,-0.075644],[0.016931,0.102351,0.994604]] 2025-10-24T19:29:37.176Z,1761334177.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765103 2025-10-24T19:29:37.375Z,1761334177.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608376,-0.790308,0.072746],[0.793498,0.603911,-0.075184],[0.015486,0.103464,0.994513]] 2025-10-24T19:29:37.425Z,1761334177.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862 2025-10-24T19:29:37.677Z,1761334177.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266692 2025-10-24T19:29:37.818Z,1761334177.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:37.930Z,1761334177.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519758 2025-10-24T19:29:38.182Z,1761334178.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772382 2025-10-24T19:29:38.214Z,1761334178.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608956,-0.789700,0.074476],[0.793090,0.604587,-0.074041],[0.013443,0.104154,0.994470]] 2025-10-24T19:29:38.434Z,1761334178.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023470 2025-10-24T19:29:38.587Z,1761334178.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609350,-0.789417,0.074246],[0.792800,0.605101,-0.072943],[0.012656,0.103310,0.994569]] 2025-10-24T19:29:38.688Z,1761334178.688 [DAT](INFO): DAT read: Rx Time:19:29:37.4573 2025-10-24T19:29:38.689Z,1761334178.689 [DAT](INFO): Rx dataTimestamp_ set to:1761334178.688542 2025-10-24T19:29:38.689Z,1761334178.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279365 2025-10-24T19:29:38.938Z,1761334178.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527585 2025-10-24T19:29:38.992Z,1761334178.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609957,-0.788991,0.073792],[0.792344,0.605825,-0.071889],[0.012015,0.102318,0.994679]] 2025-10-24T19:29:39.209Z,1761334179.209 [DAT](INFO): DAT read: 19:29:37.4573 LVL= 21232, 30705, 18642, 30051, AGC= 66, IDX= 416, 0.04, 1.524,-0.004, 1.637, 0.741, PHS= 0.871,-0.698, 0.894, RAW= 150.7, -13.4, CAL= 157.6, -20.9, ROT= 352.4, 20.9 2025-10-24T19:29:39.213Z,1761334179.213 [DAT](INFO): got valid direction response: 19:29:37.4573 LVL= 21232, 30705, 18642, 30051, AGC= 66, IDX= 416, 0.04, 1.524,-0.004, 1.637, 0.741, PHS= 0.871,-0.698, 0.894, RAW= 150.7, -13.4, CAL= 157.6, -20.9, ROT= 352.4, 20.9 2025-10-24T19:29:39.213Z,1761334179.213 [DAT](INFO): DAT read: Bearing 352.4, 20.9 (Local) 2025-10-24T19:29:39.214Z,1761334179.214 [DAT](INFO): Local bearing/azimuth received: Bearing 352.4, 20.9 (Local) 2025-10-24T19:29:39.232Z,1761334179.232 [DAT](INFO): DAT read: Range 10 to 50 : 287.4 m (Round-trip 383.3 ms) speed 0.3 m/s 2025-10-24T19:29:39.233Z,1761334179.233 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:39.234Z,1761334179.234 [DAT](INFO): direction in FSK: [0.925998,-0.123554,-0.356738] 2025-10-24T19:29:39.234Z,1761334179.234 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:39.259Z,1761334179.259 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:39.276Z,1761334179.276 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:39.276Z,1761334179.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:39.441Z,1761334179.441 [DAT](INFO): DAT read: user:18> 2025-10-24T19:29:39.442Z,1761334179.442 [DAT](INFO): DAT read: Tx time:19:29:38.7699 2025-10-24T19:29:39.442Z,1761334179.442 [DAT](INFO): Ping request sent. 2025-10-24T19:29:39.442Z,1761334179.442 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:39.442Z,1761334179.442 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:39.443Z,1761334179.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-24T19:29:39.477Z,1761334179.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 287.399994 m, deltaT: 4.033917 s, deltaX: -2.200012 m, approachRate: -0.545379 m/s, rangeRepo size: 4 2025-10-24T19:29:39.693Z,1761334179.693 [DAT](INFO): DAT read: TxSync time:19:29:38.7691 2025-10-24T19:29:39.694Z,1761334179.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251762 2025-10-24T19:29:39.800Z,1761334179.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610504,-0.788556,0.073925],[0.791942,0.606537,-0.070284],[0.010585,0.101453,0.994784]] 2025-10-24T19:29:39.841Z,1761334179.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:39.945Z,1761334179.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503225 2025-10-24T19:29:40.200Z,1761334180.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757206 2025-10-24T19:29:40.237Z,1761334180.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608978,-0.789773,0.073517],[0.793104,0.604947,-0.070887],[0.011510,0.101475,0.994771]] 2025-10-24T19:29:40.449Z,1761334180.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006713 2025-10-24T19:29:40.610Z,1761334180.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608713,-0.789981,0.073469],[0.793310,0.604720,-0.070519],[0.011281,0.101209,0.994801]] 2025-10-24T19:29:40.702Z,1761334180.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259803 2025-10-24T19:29:40.953Z,1761334180.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510756 2025-10-24T19:29:41.207Z,1761334181.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764817 2025-10-24T19:29:41.457Z,1761334181.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840 2025-10-24T19:29:41.709Z,1761334181.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266984 2025-10-24T19:29:41.820Z,1761334181.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612190,-0.787146,0.074991],[0.790674,0.608490,-0.067640],[0.007611,0.100702,0.994887]] 2025-10-24T19:29:41.843Z,1761334181.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:41.961Z,1761334181.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519289 2025-10-24T19:29:42.217Z,1761334182.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774888 2025-10-24T19:29:42.465Z,1761334182.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022734 2025-10-24T19:29:42.635Z,1761334182.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615776,-0.784157,0.076928],[0.787914,0.612413,-0.064357],[0.003355,0.100242,0.994957]] 2025-10-24T19:29:42.718Z,1761334182.718 [DAT](INFO): DAT read: Rx Time:19:29:41.5552 2025-10-24T19:29:42.719Z,1761334182.719 [DAT](INFO): Rx dataTimestamp_ set to:1761334182.719001 2025-10-24T19:29:42.720Z,1761334182.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278309 2025-10-24T19:29:42.969Z,1761334182.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526715 2025-10-24T19:29:43.037Z,1761334183.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617170,-0.783048,0.077050],[0.786826,0.613910,-0.063394],[0.002339,0.099750,0.995010]] 2025-10-24T19:29:43.251Z,1761334183.251 [DAT](INFO): DAT read: 19:29:41.5552 LVL= 24016, 32753, 18578, 29875, AGC= 67, IDX= 427, 0.37,-1.419,-2.971,-1.240,-2.009, PHS= 0.678,-0.915, 0.766, RAW= 152.7, -6.5, CAL= 157.7, -14.5, ROT= 352.3, 14.5 2025-10-24T19:29:43.268Z,1761334183.268 [DAT](INFO): got valid direction response: 19:29:41.5552 LVL= 24016, 32753, 18578, 29875, AGC= 67, IDX= 427, 0.37,-1.419,-2.971,-1.240,-2.009, PHS= 0.678,-0.915, 0.766, RAW= 152.7, -6.5, CAL= 157.7, -14.5, ROT= 352.3, 14.5 2025-10-24T19:29:43.271Z,1761334183.271 [DAT](INFO): DAT read: Bearing 352.3, 14.5 (Local) 2025-10-24T19:29:43.276Z,1761334183.276 [DAT](INFO): Local bearing/azimuth received: Bearing 352.3, 14.5 (Local) 2025-10-24T19:29:43.278Z,1761334183.278 [DAT](INFO): DAT read: Range 10 to 50 : 285.9 m (Round-trip 381.2 ms) speed 0.5 m/s 2025-10-24T19:29:43.279Z,1761334183.279 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:43.286Z,1761334183.286 [DAT](INFO): direction in FSK: [0.959418,-0.129719,-0.250380] 2025-10-24T19:29:43.287Z,1761334183.287 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:43.295Z,1761334183.295 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:43.295Z,1761334183.295 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:43.295Z,1761334183.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:43.473Z,1761334183.473 [DAT](INFO): DAT read: user:19> 2025-10-24T19:29:43.474Z,1761334183.474 [DAT](INFO): DAT read: Tx time:19:29:42.8199 2025-10-24T19:29:43.474Z,1761334183.474 [DAT](INFO): Ping request sent. 2025-10-24T19:29:43.474Z,1761334183.474 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:43.474Z,1761334183.474 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:43.475Z,1761334183.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-24T19:29:43.497Z,1761334183.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618651,-0.781818,0.077665],[0.785664,0.615438,-0.062993],[0.001451,0.099989,0.994987]] 2025-10-24T19:29:43.575Z,1761334183.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 285.899994 m, deltaT: 4.032026 s, deltaX: -1.500000 m, approachRate: -0.372021 m/s, rangeRepo size: 4 2025-10-24T19:29:43.725Z,1761334183.725 [DAT](INFO): DAT read: TxSync time:19:29:42.8191 2025-10-24T19:29:43.726Z,1761334183.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252135 2025-10-24T19:29:43.977Z,1761334183.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502928 2025-10-24T19:29:44.029Z,1761334184.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:44.233Z,1761334184.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758349 2025-10-24T19:29:44.481Z,1761334184.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006871 2025-10-24T19:29:44.733Z,1761334184.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259388 2025-10-24T19:29:44.828Z,1761334184.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615074,-0.784792,0.076064],[0.788465,0.611895,-0.062507],[0.002512,0.098421,0.995142]] 2025-10-24T19:29:44.985Z,1761334184.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510812 2025-10-24T19:29:45.237Z,1761334185.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762865 2025-10-24T19:29:45.264Z,1761334185.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615792,-0.784078,0.077599],[0.787907,0.612576,-0.062870],[0.001760,0.099856,0.995000]] 2025-10-24T19:29:45.490Z,1761334185.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015945 2025-10-24T19:29:45.647Z,1761334185.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616322,-0.783528,0.078937],[0.787494,0.613122,-0.062723],[0.000747,0.100820,0.994904]] 2025-10-24T19:29:45.742Z,1761334185.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267552 2025-10-24T19:29:45.993Z,1761334185.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518750 2025-10-24T19:29:46.049Z,1761334186.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617363,-0.782681,0.079213],[0.786679,0.614187,-0.062535],[0.000294,0.100922,0.994894]] 2025-10-24T19:29:46.075Z,1761334186.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:46.245Z,1761334186.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770914 2025-10-24T19:29:46.452Z,1761334186.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617215,-0.782748,0.079691],[0.786794,0.614007,-0.062855],[0.000269,0.101495,0.994836]] 2025-10-24T19:29:46.497Z,1761334186.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022877 2025-10-24T19:29:46.749Z,1761334186.749 [DAT](INFO): DAT read: Rx Time:19:29:45.6013 2025-10-24T19:29:46.750Z,1761334186.750 [DAT](INFO): Rx dataTimestamp_ set to:1761334186.749236 2025-10-24T19:29:46.750Z,1761334186.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276093 2025-10-24T19:29:46.856Z,1761334186.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617415,-0.782551,0.080078],[0.786638,0.614186,-0.063062],[0.000166,0.101928,0.994792]] 2025-10-24T19:29:47.001Z,1761334187.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527491 2025-10-24T19:29:47.269Z,1761334187.269 [DAT](INFO): DAT read: 19:29:45.6013 LVL= 21568, 30705, 17314, 28771, AGC= 70, IDX= 403, 0.03, 1.654,-0.239, 1.695, 0.723, PHS= 1.019,-0.915, 0.969, RAW= 148.7, -11.2, CAL= 155.6, -19.3, ROT= 354.4, 19.3 2025-10-24T19:29:47.273Z,1761334187.273 [DAT](INFO): got valid direction response: 19:29:45.6013 LVL= 21568, 30705, 17314, 28771, AGC= 70, IDX= 403, 0.03, 1.654,-0.239, 1.695, 0.723, PHS= 1.019,-0.915, 0.969, RAW= 148.7, -11.2, CAL= 155.6, -19.3, ROT= 354.4, 19.3 2025-10-24T19:29:47.286Z,1761334187.286 [DAT](INFO): DAT read: Bearing 354.4, 19.3 (Local) 2025-10-24T19:29:47.287Z,1761334187.287 [DAT](INFO): Local bearing/azimuth received: Bearing 354.4, 19.3 (Local) 2025-10-24T19:29:47.309Z,1761334187.309 [DAT](INFO): DAT read: Range 10 to 50 : 282.9 m (Round-trip 377.3 ms) speed 0.4 m/s 2025-10-24T19:29:47.320Z,1761334187.320 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:47.345Z,1761334187.345 [DAT](INFO): direction in FSK: [0.939297,-0.092099,-0.330514] 2025-10-24T19:29:47.346Z,1761334187.346 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:47.381Z,1761334187.381 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:47.381Z,1761334187.381 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:47.381Z,1761334187.381 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:47.415Z,1761334187.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615831,-0.783884,0.079234],[0.787878,0.612610,-0.062905],[0.000771,0.101166,0.994869]] 2025-10-24T19:29:47.506Z,1761334187.506 [DAT](INFO): DAT read: user:20> 2025-10-24T19:29:47.507Z,1761334187.507 [DAT](INFO): DAT read: Tx time:19:29:46.8699 2025-10-24T19:29:47.507Z,1761334187.507 [DAT](INFO): Ping request sent. 2025-10-24T19:29:47.507Z,1761334187.507 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:47.507Z,1761334187.507 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:47.508Z,1761334187.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000843 2025-10-24T19:29:47.538Z,1761334187.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 282.899994 m, deltaT: 4.031747 s, deltaX: -3.000000 m, approachRate: -0.744094 m/s, rangeRepo size: 4 2025-10-24T19:29:47.761Z,1761334187.761 [DAT](INFO): DAT read: TxSync time:19:29:46.8691 2025-10-24T19:29:47.761Z,1761334187.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254262 2025-10-24T19:29:47.825Z,1761334187.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615659,-0.784048,0.078945],[0.788012,0.612422,-0.063065],[0.001099,0.101037,0.994882]] 2025-10-24T19:29:48.009Z,1761334188.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501735 2025-10-24T19:29:48.235Z,1761334188.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613940,-0.785595,0.076929],[0.789349,0.610698,-0.063059],[0.002558,0.099438,0.995040]] 2025-10-24T19:29:48.251Z,1761334188.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:48.261Z,1761334188.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754089 2025-10-24T19:29:48.513Z,1761334188.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005743 2025-10-24T19:29:48.619Z,1761334188.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612021,-0.787062,0.077227],[0.790833,0.608651,-0.064242],[0.003558,0.100391,0.994942]] 2025-10-24T19:29:48.765Z,1761334188.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258256 2025-10-24T19:29:49.017Z,1761334189.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509784 2025-10-24T19:29:49.026Z,1761334189.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609526,-0.788974,0.077449],[0.792755,0.606069,-0.064971],[0.004321,0.100999,0.994877]] 2025-10-24T19:29:49.269Z,1761334189.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761789 2025-10-24T19:29:49.425Z,1761334189.425 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:29:49.439Z,1761334189.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609592,-0.788886,0.077823],[0.792706,0.606180,-0.064514],[0.003719,0.101018,0.994878]] 2025-10-24T19:29:49.523Z,1761334189.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015222 2025-10-24T19:29:49.773Z,1761334189.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265662 2025-10-24T19:29:49.832Z,1761334189.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608571,-0.789625,0.078319],[0.793491,0.605139,-0.064641],[0.003648,0.101483,0.994831]] 2025-10-24T19:29:50.025Z,1761334190.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517993 2025-10-24T19:29:50.236Z,1761334190.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608170,-0.790008,0.077564],[0.793796,0.604751,-0.064528],[0.004071,0.100814,0.994897]] 2025-10-24T19:29:50.277Z,1761334190.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769789 2025-10-24T19:29:50.285Z,1761334190.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:50.428Z,1761334190.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:29:50.529Z,1761334190.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022019 2025-10-24T19:29:50.642Z,1761334190.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607406,-0.790612,0.077392],[0.794379,0.603968,-0.064685],[0.004399,0.100768,0.994900]] 2025-10-24T19:29:50.783Z,1761334190.783 [DAT](INFO): DAT read: Rx Time:19:29:49.6492 2025-10-24T19:29:50.784Z,1761334190.784 [DAT](INFO): Rx dataTimestamp_ set to:1761334190.783650 2025-10-24T19:29:50.784Z,1761334190.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277456 2025-10-24T19:29:51.038Z,1761334191.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530172 2025-10-24T19:29:51.052Z,1761334191.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606709,-0.791148,0.077385],[0.794910,0.603232,-0.065036],[0.004772,0.100972,0.994878]] 2025-10-24T19:29:51.292Z,1761334191.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784985 2025-10-24T19:29:51.450Z,1761334191.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606014,-0.791701,0.077172],[0.795437,0.602513,-0.065257],[0.005167,0.100932,0.994880]] 2025-10-24T19:29:51.549Z,1761334191.549 [DAT](INFO): DAT read: 19:29:49.6492 LVL= 22560, 25329, 19842, 30419, AGC= 67, IDX= 412,-0.01,-0.418,-1.838,-0.286,-1.053, PHS= 0.723,-0.738, 0.764, RAW= 151.4, -10.1, CAL= 157.7, -17.8, ROT= 352.3, 17.8 2025-10-24T19:29:51.550Z,1761334191.550 [DAT](INFO): got valid direction response: 19:29:49.6492 LVL= 22560, 25329, 19842, 30419, AGC= 67, IDX= 412,-0.01,-0.418,-1.838,-0.286,-1.053, PHS= 0.723,-0.738, 0.764, RAW= 151.4, -10.1, CAL= 157.7, -17.8, ROT= 352.3, 17.8 2025-10-24T19:29:51.552Z,1761334191.552 [DAT](INFO): DAT read: Bearing 352.3, 17.8 (Local) 2025-10-24T19:29:51.552Z,1761334191.552 [DAT](INFO): Local bearing/azimuth received: Bearing 352.3, 17.8 (Local) 2025-10-24T19:29:51.554Z,1761334191.554 [DAT](INFO): DAT read: Range 10 to 50 : 281.2 m (Round-trip 375.0 ms) speed 0.2 m/s 2025-10-24T19:29:51.556Z,1761334191.556 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:51.557Z,1761334191.557 [DAT](INFO): direction in FSK: [0.943544,-0.127572,-0.305695] 2025-10-24T19:29:51.558Z,1761334191.558 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:51.563Z,1761334191.563 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:51.563Z,1761334191.563 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:51.563Z,1761334191.563 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:51.794Z,1761334191.794 [DAT](INFO): DAT read: user:21> 2025-10-24T19:29:51.795Z,1761334191.795 [DAT](INFO): DAT read: Tx time:19:29:51.0700 2025-10-24T19:29:51.795Z,1761334191.795 [DAT](INFO): Ping request sent. 2025-10-24T19:29:51.796Z,1761334191.796 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:51.796Z,1761334191.796 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:51.798Z,1761334191.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001858 2025-10-24T19:29:51.858Z,1761334191.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605396,-0.792221,0.076698],[0.795904,0.601869,-0.065502],[0.005729,0.100699,0.994900]] 2025-10-24T19:29:51.896Z,1761334191.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 281.200012 m, deltaT: 4.286321 s, deltaX: -1.699982 m, approachRate: -0.396606 m/s, rangeRepo size: 4 2025-10-24T19:29:51.899Z,1761334191.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 280.020874 m, bearing: 46.935014 deg, lat: 36.779704 deg, lon: -121.859671 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-24T19:29:51.901Z,1761334191.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:51.922Z,1761334191.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 262.192535 m, bearing: 47.072665 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 51.653476 deg, new cmd heading: 47.072665 deg. 2025-10-24T19:29:51.923Z,1761334191.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821573 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:52.046Z,1761334192.046 [DAT](INFO): DAT read: TxSync time:19:29:51.0692 2025-10-24T19:29:52.046Z,1761334192.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250897 2025-10-24T19:29:52.297Z,1761334192.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501521 2025-10-24T19:29:52.320Z,1761334192.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:52.322Z,1761334192.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:52.325Z,1761334192.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 261.961151 m, bearing: 47.057258 deg, approach rate: -0.541895 m/s, LOS rate: -0.036115 deg/s, cmd heading: 47.072667 deg, new cmd heading: 47.057258 deg. 2025-10-24T19:29:52.326Z,1761334192.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821304 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:52.549Z,1761334192.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753310 2025-10-24T19:29:52.660Z,1761334192.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603928,-0.794374,0.065120],[0.797006,0.601139,-0.058426],[0.007266,0.087186,0.996166]] 2025-10-24T19:29:52.718Z,1761334192.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:52.722Z,1761334192.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 261.731415 m, bearing: 47.044426 deg, approach rate: -0.580094 m/s, LOS rate: -0.032429 deg/s, cmd heading: 47.057258 deg, new cmd heading: 47.044426 deg. 2025-10-24T19:29:52.723Z,1761334192.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821080 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:52.801Z,1761334192.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005526 2025-10-24T19:29:53.053Z,1761334193.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257390 2025-10-24T19:29:53.073Z,1761334193.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601982,-0.795696,0.066978],[0.798469,0.598980,-0.060590],[0.008093,0.089953,0.995913]] 2025-10-24T19:29:53.093Z,1761334193.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:53.095Z,1761334193.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 261.524078 m, bearing: 47.032700 deg, approach rate: -0.553606 m/s, LOS rate: -0.031335 deg/s, cmd heading: 47.044427 deg, new cmd heading: 47.032700 deg. 2025-10-24T19:29:53.096Z,1761334193.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820875 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:53.305Z,1761334193.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510056 2025-10-24T19:29:53.469Z,1761334193.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601881,-0.795655,0.068356],[0.798542,0.598750,-0.061872],[0.008301,0.091824,0.995741]] 2025-10-24T19:29:53.528Z,1761334193.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:53.531Z,1761334193.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 261.288055 m, bearing: 47.020976 deg, approach rate: -0.542281 m/s, LOS rate: -0.026961 deg/s, cmd heading: 47.032700 deg, new cmd heading: 47.020976 deg. 2025-10-24T19:29:53.532Z,1761334193.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820671 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:53.557Z,1761334193.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761375 2025-10-24T19:29:53.809Z,1761334193.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013462 2025-10-24T19:29:53.915Z,1761334193.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:53.919Z,1761334193.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 261.081207 m, bearing: 47.010684 deg, approach rate: -0.535259 m/s, LOS rate: -0.026654 deg/s, cmd heading: 47.020976 deg, new cmd heading: 47.010684 deg. 2025-10-24T19:29:53.967Z,1761334193.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820491 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:54.061Z,1761334194.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265563 2025-10-24T19:29:54.313Z,1761334194.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517648 2025-10-24T19:29:54.359Z,1761334194.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608504,-0.791058,0.062849],[0.793515,0.605812,-0.057668],[0.007544,0.084963,0.996356]] 2025-10-24T19:29:54.380Z,1761334194.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:54.382Z,1761334194.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:54.385Z,1761334194.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 260.827454 m, bearing: 46.998540 deg, approach rate: -0.542647 m/s, LOS rate: -0.025993 deg/s, cmd heading: 47.010683 deg, new cmd heading: 46.998540 deg. 2025-10-24T19:29:54.386Z,1761334194.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820279 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:54.567Z,1761334194.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771121 2025-10-24T19:29:54.757Z,1761334194.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613894,-0.787328,0.057000],[0.789347,0.611520,-0.054540],[0.008085,0.078475,0.996883]] 2025-10-24T19:29:54.810Z,1761334194.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:54.813Z,1761334194.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 260.596100 m, bearing: 46.989749 deg, approach rate: -0.540491 m/s, LOS rate: -0.020557 deg/s, cmd heading: 46.998542 deg, new cmd heading: 46.989749 deg. 2025-10-24T19:29:54.814Z,1761334194.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820126 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:54.817Z,1761334194.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021457 2025-10-24T19:29:55.069Z,1761334195.069 [DAT](INFO): DAT read: Rx Time:19:29:53.8462 2025-10-24T19:29:55.069Z,1761334195.069 [DAT](INFO): Rx dataTimestamp_ set to:1761334195.069150 2025-10-24T19:29:55.070Z,1761334195.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274559 2025-10-24T19:29:55.167Z,1761334195.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621002,-0.782195,0.050283],[0.783763,0.618989,-0.050671],[0.008510,0.070877,0.997449]] 2025-10-24T19:29:55.195Z,1761334195.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.02 m. 2025-10-24T19:29:55.197Z,1761334195.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 280.020874 m, nav range: 260.389557 m, bearing: 46.982321 deg, approach rate: -0.537160 m/s, LOS rate: -0.019333 deg/s, cmd heading: 46.989748 deg, new cmd heading: 46.982321 deg. 2025-10-24T19:29:55.198Z,1761334195.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819996 target range: 280.020874 and range: 281.20 m. 2025-10-24T19:29:55.322Z,1761334195.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526504 2025-10-24T19:29:55.560Z,1761334195.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628174,-0.776792,0.044621],[0.778019,0.626426,-0.047706],[0.009106,0.064683,0.997864]] 2025-10-24T19:29:55.578Z,1761334195.578 [DAT](INFO): DAT read: 19:29:53.8462 LVL= 23984, 28913, 20018, 32755, AGC= 70, IDX= 414, 0.02, 0.047,-1.403, 0.089,-0.719, PHS= 0.854,-0.637, 0.805, RAW= 148.3, -13.8, CAL= 155.1, -21.7, ROT= 354.9, 21.7 2025-10-24T19:29:55.579Z,1761334195.579 [DAT](INFO): got valid direction response: 19:29:53.8462 LVL= 23984, 28913, 20018, 32755, AGC= 70, IDX= 414, 0.02, 0.047,-1.403, 0.089,-0.719, PHS= 0.854,-0.637, 0.805, RAW= 148.3, -13.8, CAL= 155.1, -21.7, ROT= 354.9, 21.7 2025-10-24T19:29:55.580Z,1761334195.580 [DAT](INFO): DAT read: Bearing 354.9, 21.7 (Local) 2025-10-24T19:29:55.581Z,1761334195.581 [DAT](INFO): Local bearing/azimuth received: Bearing 354.9, 21.7 (Local) 2025-10-24T19:29:55.582Z,1761334195.582 [DAT](INFO): DAT read: Range 10 to 50 : 279.0 m (Round-trip 372.1 ms) speed 0.8 m/s 2025-10-24T19:29:55.583Z,1761334195.583 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:55.584Z,1761334195.584 [DAT](INFO): direction in FSK: [0.925454,-0.082595,-0.369747] 2025-10-24T19:29:55.584Z,1761334195.584 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:55.588Z,1761334195.588 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:55.589Z,1761334195.589 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:55.589Z,1761334195.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:55.695Z,1761334195.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 279.000000 m, deltaT: 4.031868 s, deltaX: -2.200012 m, approachRate: -0.545656 m/s, rangeRepo size: 4 2025-10-24T19:29:55.702Z,1761334195.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 277.829681 m, bearing: 47.478375 deg, lat: 36.779704 deg, lon: -121.859667 deg, deltaT: 4.031868 s, deltaX: -2.191193 m, approachRate: -0.543468 m/s, posRepo size: 2 2025-10-24T19:29:55.702Z,1761334195.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:55.710Z,1761334195.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 260.429932 m, bearing: 47.031872 deg, approach rate: 0.000000 m/s, LOS rate: -0.019333 deg/s, cmd heading: 46.982320 deg, new cmd heading: 46.953322 deg. 2025-10-24T19:29:55.711Z,1761334195.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819490 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:55.826Z,1761334195.826 [DAT](INFO): DAT read: user:22> 2025-10-24T19:29:55.827Z,1761334195.827 [DAT](INFO): DAT read: Tx time:19:29:55.1200 2025-10-24T19:29:55.827Z,1761334195.827 [DAT](INFO): Ping request sent. 2025-10-24T19:29:55.827Z,1761334195.827 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:55.827Z,1761334195.827 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:55.828Z,1761334195.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001043 2025-10-24T19:29:55.986Z,1761334195.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636293,-0.770487,0.038489],[0.771386,0.634820,-0.044354],[0.009740,0.057912,0.998274]] 2025-10-24T19:29:56.033Z,1761334196.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:56.040Z,1761334196.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 260.230255 m, bearing: 47.025944 deg, approach rate: -0.589818 m/s, LOS rate: -0.017525 deg/s, cmd heading: 46.953323 deg, new cmd heading: 46.935524 deg. 2025-10-24T19:29:56.041Z,1761334196.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819179 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:56.077Z,1761334196.077 [DAT](INFO): DAT read: TxSync time:19:29:55.1192 2025-10-24T19:29:56.078Z,1761334196.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250986 2025-10-24T19:29:56.329Z,1761334196.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501647 2025-10-24T19:29:56.386Z,1761334196.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643257,-0.764891,0.034105],[0.765575,0.641930,-0.042663],[0.010739,0.053553,0.998507]] 2025-10-24T19:29:56.415Z,1761334196.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:56.455Z,1761334196.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:56.483Z,1761334196.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 260.027405 m, bearing: 47.020326 deg, approach rate: -0.491064 m/s, LOS rate: -0.013611 deg/s, cmd heading: 46.935523 deg, new cmd heading: 46.918656 deg. 2025-10-24T19:29:56.491Z,1761334196.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818885 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:56.583Z,1761334196.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755552 2025-10-24T19:29:56.833Z,1761334196.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005879 2025-10-24T19:29:56.873Z,1761334196.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:56.875Z,1761334196.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 259.799652 m, bearing: 47.014177 deg, approach rate: -0.534160 m/s, LOS rate: -0.014434 deg/s, cmd heading: 46.918656 deg, new cmd heading: 46.900193 deg. 2025-10-24T19:29:56.876Z,1761334196.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818563 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:57.085Z,1761334197.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257673 2025-10-24T19:29:57.195Z,1761334197.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657048,-0.753384,0.026478],[0.753713,0.655856,-0.042061],[0.014322,0.047593,0.998764]] 2025-10-24T19:29:57.250Z,1761334197.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:57.257Z,1761334197.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 259.608551 m, bearing: 47.009781 deg, approach rate: -0.506866 m/s, LOS rate: -0.011667 deg/s, cmd heading: 46.900194 deg, new cmd heading: 46.886998 deg. 2025-10-24T19:29:57.258Z,1761334197.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818332 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:57.338Z,1761334197.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510146 2025-10-24T19:29:57.590Z,1761334197.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762549 2025-10-24T19:29:57.609Z,1761334197.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663862,-0.747403,0.026006],[0.747701,0.662618,-0.043362],[0.015177,0.048231,0.998721]] 2025-10-24T19:29:57.673Z,1761334197.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:57.675Z,1761334197.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 259.389862 m, bearing: 47.005076 deg, approach rate: -0.517761 m/s, LOS rate: -0.011150 deg/s, cmd heading: 46.886998 deg, new cmd heading: 46.872870 deg. 2025-10-24T19:29:57.676Z,1761334197.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818086 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:57.841Z,1761334197.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013661 2025-10-24T19:29:58.003Z,1761334198.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670768,-0.741196,0.026433],[0.741509,0.669465,-0.044500],[0.015287,0.049449,0.998660]] 2025-10-24T19:29:58.040Z,1761334198.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:58.043Z,1761334198.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 259.193176 m, bearing: 47.001246 deg, approach rate: -0.534125 m/s, LOS rate: -0.010409 deg/s, cmd heading: 46.872870 deg, new cmd heading: 46.861371 deg. 2025-10-24T19:29:58.044Z,1761334198.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817885 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:58.094Z,1761334198.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266745 2025-10-24T19:29:58.345Z,1761334198.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517771 2025-10-24T19:29:58.409Z,1761334198.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677033,-0.735448,0.027234],[0.735786,0.675629,-0.046299],[0.015651,0.051384,0.998556]] 2025-10-24T19:29:58.431Z,1761334198.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:29:58.435Z,1761334198.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:58.467Z,1761334198.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 258.993317 m, bearing: 46.997729 deg, approach rate: -0.508218 m/s, LOS rate: -0.008949 deg/s, cmd heading: 46.861371 deg, new cmd heading: 46.850813 deg. 2025-10-24T19:29:58.480Z,1761334198.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817701 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:58.599Z,1761334198.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771706 2025-10-24T19:29:58.825Z,1761334198.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686737,-0.726282,0.030100],[0.726705,0.684986,-0.051910],[0.017084,0.057522,0.998198]] 2025-10-24T19:29:58.853Z,1761334198.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025848 2025-10-24T19:29:58.864Z,1761334198.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:58.867Z,1761334198.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 258.767151 m, bearing: 46.993638 deg, approach rate: -0.524920 m/s, LOS rate: -0.009504 deg/s, cmd heading: 46.850812 deg, new cmd heading: 46.838527 deg. 2025-10-24T19:29:58.868Z,1761334198.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817487 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:59.105Z,1761334199.105 [DAT](INFO): DAT read: Rx Time:19:29:57.8935 2025-10-24T19:29:59.106Z,1761334199.106 [DAT](INFO): Rx dataTimestamp_ set to:1761334199.105472 2025-10-24T19:29:59.106Z,1761334199.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279268 2025-10-24T19:29:59.221Z,1761334199.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691110,-0.722040,0.032012],[0.722526,0.689117,-0.055436],[0.017967,0.061441,0.997949]] 2025-10-24T19:29:59.240Z,1761334199.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.83 m. 2025-10-24T19:29:59.243Z,1761334199.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.829681 m, nav range: 258.570496 m, bearing: 46.990349 deg, approach rate: -0.523635 m/s, LOS rate: -0.008763 deg/s, cmd heading: 46.838528 deg, new cmd heading: 46.828655 deg. 2025-10-24T19:29:59.244Z,1761334199.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817314 target range: 277.829681 and range: 279.00 m. 2025-10-24T19:29:59.358Z,1761334199.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530495 2025-10-24T19:29:59.615Z,1761334199.615 [DAT](INFO): DAT read: 19:29:57.8935 LVL= 19536, 26561, 19010, 31859, AGC= 66, IDX= 418, 0.33, 1.835, 0.474, 1.803, 1.066, PHS= 0.857,-0.546, 0.733, RAW= 145.4, -15.4, CAL= 151.8, -23.4, ROT= 358.2, 23.4 2025-10-24T19:29:59.616Z,1761334199.616 [DAT](INFO): got valid direction response: 19:29:57.8935 LVL= 19536, 26561, 19010, 31859, AGC= 66, IDX= 418, 0.33, 1.835, 0.474, 1.803, 1.066, PHS= 0.857,-0.546, 0.733, RAW= 145.4, -15.4, CAL= 151.8, -23.4, ROT= 358.2, 23.4 2025-10-24T19:29:59.617Z,1761334199.617 [DAT](INFO): DAT read: Bearing 358.2, 23.4 (Local) 2025-10-24T19:29:59.617Z,1761334199.617 [DAT](INFO): Local bearing/azimuth received: Bearing 358.2, 23.4 (Local) 2025-10-24T19:29:59.619Z,1761334199.619 [DAT](INFO): DAT read: Range 10 to 50 : 277.0 m (Round-trip 369.4 ms) speed 0.5 m/s 2025-10-24T19:29:59.619Z,1761334199.619 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:29:59.621Z,1761334199.621 [DAT](INFO): direction in FSK: [0.917302,-0.028827,-0.397148] 2025-10-24T19:29:59.621Z,1761334199.621 [DAT](INFO): publishing direction and range info 2025-10-24T19:29:59.633Z,1761334199.633 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:29:59.633Z,1761334199.633 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:29:59.633Z,1761334199.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:29:59.655Z,1761334199.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693987,-0.719144,0.034851],[0.719733,0.691640,-0.060148],[0.019151,0.066826,0.997581]] 2025-10-24T19:29:59.769Z,1761334199.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 277.000000 m, deltaT: 4.036359 s, deltaX: -2.000000 m, approachRate: -0.495496 m/s, rangeRepo size: 4 2025-10-24T19:29:59.776Z,1761334199.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 275.832520 m, bearing: 45.905917 deg, lat: 36.779715 deg, lon: -121.859667 deg, deltaT: 4.036359 s, deltaX: -1.997162 m, approachRate: -0.494793 m/s, posRepo size: 3 2025-10-24T19:29:59.777Z,1761334199.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:29:59.779Z,1761334199.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 259.178253 m, bearing: 46.776812 deg, approach rate: 0.000000 m/s, LOS rate: -0.008763 deg/s, cmd heading: 46.828655 deg, new cmd heading: 46.814878 deg. 2025-10-24T19:29:59.785Z,1761334199.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817074 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:29:59.861Z,1761334199.861 [DAT](INFO): DAT read: user:23> 2025-10-24T19:29:59.862Z,1761334199.862 [DAT](INFO): DAT read: Tx time:19:29:59.1700 2025-10-24T19:29:59.862Z,1761334199.862 [DAT](INFO): Ping request sent. 2025-10-24T19:29:59.862Z,1761334199.862 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:29:59.862Z,1761334199.862 [DAT](INFO): publishing transmit ping time 2025-10-24T19:29:59.863Z,1761334199.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000770 2025-10-24T19:30:00.102Z,1761334200.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:00.109Z,1761334200.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 258.993103 m, bearing: 46.772850 deg, approach rate: -0.548075 m/s, LOS rate: -0.011736 deg/s, cmd heading: 46.814878 deg, new cmd heading: 46.802984 deg. 2025-10-24T19:30:00.110Z,1761334200.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816866 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:00.113Z,1761334200.113 [DAT](INFO): DAT read: TxSync time:19:29:59.1692 2025-10-24T19:30:00.114Z,1761334200.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251562 2025-10-24T19:30:00.365Z,1761334200.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502492 2025-10-24T19:30:00.450Z,1761334200.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695663,-0.717328,0.038640],[0.717984,0.692527,-0.070033],[0.023477,0.076462,0.996796]] 2025-10-24T19:30:00.480Z,1761334200.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:00.486Z,1761334200.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:00.517Z,1761334200.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 258.785248 m, bearing: 46.768537 deg, approach rate: -0.544857 m/s, LOS rate: -0.011313 deg/s, cmd heading: 46.802983 deg, new cmd heading: 46.790036 deg. 2025-10-24T19:30:00.525Z,1761334200.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816640 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:00.618Z,1761334200.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756085 2025-10-24T19:30:00.855Z,1761334200.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696384,-0.716467,0.041525],[0.717237,0.692790,-0.074918],[0.024908,0.081955,0.996325]] 2025-10-24T19:30:00.869Z,1761334200.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006575 2025-10-24T19:30:00.924Z,1761334200.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:00.933Z,1761334200.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 258.558380 m, bearing: 46.763557 deg, approach rate: -0.520133 m/s, LOS rate: -0.011428 deg/s, cmd heading: 46.790037 deg, new cmd heading: 46.775083 deg. 2025-10-24T19:30:00.935Z,1761334200.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816379 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:01.121Z,1761334201.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259266 2025-10-24T19:30:01.268Z,1761334201.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695535,-0.717123,0.044347],[0.717988,0.691407,-0.080308],[0.026929,0.087698,0.995783]] 2025-10-24T19:30:01.287Z,1761334201.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:01.290Z,1761334201.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 258.345276 m, bearing: 46.758835 deg, approach rate: -0.580699 m/s, LOS rate: -0.012879 deg/s, cmd heading: 46.775082 deg, new cmd heading: 46.760903 deg. 2025-10-24T19:30:01.291Z,1761334201.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816132 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:01.373Z,1761334201.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510788 2025-10-24T19:30:01.626Z,1761334201.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763460 2025-10-24T19:30:01.717Z,1761334201.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696102,-0.716361,0.047632],[0.717432,0.691571,-0.083798],[0.027088,0.092505,0.995344]] 2025-10-24T19:30:01.815Z,1761334201.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:01.818Z,1761334201.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 258.055817 m, bearing: 46.750158 deg, approach rate: -0.547493 m/s, LOS rate: -0.016429 deg/s, cmd heading: 46.760903 deg, new cmd heading: 46.734844 deg. 2025-10-24T19:30:01.819Z,1761334201.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815677 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:01.877Z,1761334201.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014776 2025-10-24T19:30:02.132Z,1761334202.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269466 2025-10-24T19:30:02.198Z,1761334202.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695754,-0.716542,0.049937],[0.717742,0.690859,-0.086956],[0.027808,0.096342,0.994960]] 2025-10-24T19:30:02.233Z,1761334202.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:02.240Z,1761334202.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 257.816650 m, bearing: 46.742960 deg, approach rate: -0.572497 m/s, LOS rate: -0.017247 deg/s, cmd heading: 46.734845 deg, new cmd heading: 46.713230 deg. 2025-10-24T19:30:02.241Z,1761334202.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815300 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:02.381Z,1761334202.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518541 2025-10-24T19:30:02.634Z,1761334202.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771801 2025-10-24T19:30:02.646Z,1761334202.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694378,-0.717763,0.051533],[0.719010,0.689091,-0.090431],[0.029397,0.099846,0.994569]] 2025-10-24T19:30:02.696Z,1761334202.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:02.698Z,1761334202.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:02.701Z,1761334202.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 257.536469 m, bearing: 46.732879 deg, approach rate: -0.602359 m/s, LOS rate: -0.021695 deg/s, cmd heading: 46.713231 deg, new cmd heading: 46.682957 deg. 2025-10-24T19:30:02.702Z,1761334202.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814771 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:02.885Z,1761334202.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022606 2025-10-24T19:30:03.099Z,1761334203.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:03.102Z,1761334203.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 257.310944 m, bearing: 46.724748 deg, approach rate: -0.562778 m/s, LOS rate: -0.020310 deg/s, cmd heading: 46.682956 deg, new cmd heading: 46.658540 deg. 2025-10-24T19:30:03.103Z,1761334203.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814345 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:03.164Z,1761334203.164 [DAT](INFO): DAT read: Rx Time:19:30:01.9407 2025-10-24T19:30:03.165Z,1761334203.165 [DAT](INFO): Rx dataTimestamp_ set to:1761334203.164615 2025-10-24T19:30:03.166Z,1761334203.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.303562 2025-10-24T19:30:03.417Z,1761334203.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.554679 2025-10-24T19:30:03.444Z,1761334203.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691340,-0.720691,0.051512],[0.721745,0.685509,-0.095714],[0.033669,0.103350,0.994075]] 2025-10-24T19:30:03.483Z,1761334203.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 275.83 m. 2025-10-24T19:30:03.486Z,1761334203.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 275.832520 m, nav range: 257.084015 m, bearing: 46.716342 deg, approach rate: -0.595548 m/s, LOS rate: -0.022079 deg/s, cmd heading: 46.658539 deg, new cmd heading: 46.633300 deg. 2025-10-24T19:30:03.487Z,1761334203.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813905 target range: 275.832520 and range: 277.00 m. 2025-10-24T19:30:03.675Z,1761334203.675 [DAT](INFO): DAT read: 19:30:01.9407 LVL= 18912, 23569, 19042, 23283, AGC= 66, IDX= 405, 0.13, 3.104, 1.507,-3.117, 2.173, PHS= 1.019,-0.619, 0.990, RAW= 149.1, -16.8, CAL= 155.2, -24.2, ROT= 354.8, 24.2 2025-10-24T19:30:03.677Z,1761334203.677 [DAT](INFO): got valid direction response: 19:30:01.9407 LVL= 18912, 23569, 19042, 23283, AGC= 66, IDX= 405, 0.13, 3.104, 1.507,-3.117, 2.173, PHS= 1.019,-0.619, 0.990, RAW= 149.1, -16.8, CAL= 155.2, -24.2, ROT= 354.8, 24.2 2025-10-24T19:30:03.677Z,1761334203.677 [DAT](INFO): DAT read: Bearing 354.8, 24.2 (Local) 2025-10-24T19:30:03.678Z,1761334203.678 [DAT](INFO): Local bearing/azimuth received: Bearing 354.8, 24.2 (Local) 2025-10-24T19:30:03.679Z,1761334203.679 [DAT](INFO): DAT read: Range 10 to 50 : 274.9 m (Round-trip 366.6 ms) speed 0.5 m/s 2025-10-24T19:30:03.680Z,1761334203.680 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:03.681Z,1761334203.681 [DAT](INFO): direction in FSK: [0.908366,-0.082668,-0.409923] 2025-10-24T19:30:03.681Z,1761334203.681 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:03.685Z,1761334203.685 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:03.685Z,1761334203.685 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:03.685Z,1761334203.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:03.922Z,1761334203.922 [DAT](INFO): DAT read: user:24> 2025-10-24T19:30:03.923Z,1761334203.923 [DAT](INFO): DAT read: Tx time:19:30:03.2200 2025-10-24T19:30:03.923Z,1761334203.923 [DAT](INFO): Ping request sent. 2025-10-24T19:30:03.924Z,1761334203.924 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:03.927Z,1761334203.927 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:03.927Z,1761334203.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003980 2025-10-24T19:30:03.947Z,1761334203.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 274.899994 m, deltaT: 4.059739 s, deltaX: -2.100006 m, approachRate: -0.517276 m/s, rangeRepo size: 4 2025-10-24T19:30:03.969Z,1761334203.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 273.740814 m, bearing: 43.758335 deg, lat: 36.779715 deg, lon: -121.859667 deg, deltaT: 4.059739 s, deltaX: -2.091705 m, approachRate: -0.515231 m/s, posRepo size: 4 2025-10-24T19:30:03.976Z,1761334203.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:03.979Z,1761334203.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 256.819794 m, bearing: 46.706065 deg, approach rate: 0.000000 m/s, LOS rate: -0.022079 deg/s, cmd heading: 46.633301 deg, new cmd heading: 46.602425 deg. 2025-10-24T19:30:03.988Z,1761334203.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813366 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:04.175Z,1761334204.175 [DAT](INFO): DAT read: TxSync time:19:30:03.2192 2025-10-24T19:30:04.177Z,1761334204.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253775 2025-10-24T19:30:04.254Z,1761334204.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688022,-0.724007,0.049384],[0.724661,0.681832,-0.099863],[0.038630,0.104495,0.993775]] 2025-10-24T19:30:04.281Z,1761334204.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:04.283Z,1761334204.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 256.610962 m, bearing: 46.697714 deg, approach rate: -0.623542 m/s, LOS rate: -0.024957 deg/s, cmd heading: 46.602425 deg, new cmd heading: 46.577350 deg. 2025-10-24T19:30:04.285Z,1761334204.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812928 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:04.425Z,1761334204.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501569 2025-10-24T19:30:04.654Z,1761334204.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685204,-0.726758,0.048137],[0.727112,0.678691,-0.103379],[0.042462,0.105837,0.993477]] 2025-10-24T19:30:04.678Z,1761334204.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754931 2025-10-24T19:30:04.719Z,1761334204.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:04.747Z,1761334204.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:04.754Z,1761334204.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 256.348907 m, bearing: 46.687715 deg, approach rate: -0.562869 m/s, LOS rate: -0.021497 deg/s, cmd heading: 46.577351 deg, new cmd heading: 46.547326 deg. 2025-10-24T19:30:04.755Z,1761334204.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812404 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:04.929Z,1761334204.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006040 2025-10-24T19:30:05.061Z,1761334205.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683740,-0.728139,0.048089],[0.728310,0.676827,-0.107094],[0.045432,0.108248,0.993085]] 2025-10-24T19:30:05.079Z,1761334205.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:05.082Z,1761334205.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 256.138824 m, bearing: 46.679587 deg, approach rate: -0.631851 m/s, LOS rate: -0.024466 deg/s, cmd heading: 46.547326 deg, new cmd heading: 46.522922 deg. 2025-10-24T19:30:05.083Z,1761334205.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811978 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:05.181Z,1761334205.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257852 2025-10-24T19:30:05.433Z,1761334205.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509500 2025-10-24T19:30:05.464Z,1761334205.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681667,-0.730222,0.045893],[0.730023,0.674602,-0.109448],[0.048962,0.108110,0.992932]] 2025-10-24T19:30:05.483Z,1761334205.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:05.491Z,1761334205.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 255.900711 m, bearing: 46.670212 deg, approach rate: -0.588799 m/s, LOS rate: -0.023205 deg/s, cmd heading: 46.522922 deg, new cmd heading: 46.494769 deg. 2025-10-24T19:30:05.493Z,1761334205.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811487 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:05.687Z,1761334205.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763374 2025-10-24T19:30:05.873Z,1761334205.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681272,-0.730661,0.044751],[0.730276,0.674139,-0.110600],[0.050643,0.108029,0.992857]] 2025-10-24T19:30:05.938Z,1761334205.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014405 2025-10-24T19:30:05.965Z,1761334205.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:05.967Z,1761334205.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 255.654419 m, bearing: 46.660704 deg, approach rate: -0.512589 m/s, LOS rate: -0.019806 deg/s, cmd heading: 46.494768 deg, new cmd heading: 46.466219 deg. 2025-10-24T19:30:05.985Z,1761334205.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810988 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:06.190Z,1761334206.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266966 2025-10-24T19:30:06.273Z,1761334206.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679957,-0.731965,0.043420],[0.731338,0.672716,-0.112239],[0.052946,0.108072,0.992732]] 2025-10-24T19:30:06.297Z,1761334206.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:06.299Z,1761334206.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 255.444946 m, bearing: 46.652522 deg, approach rate: -0.629353 m/s, LOS rate: -0.024603 deg/s, cmd heading: 46.466217 deg, new cmd heading: 46.441651 deg. 2025-10-24T19:30:06.301Z,1761334206.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810560 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:06.449Z,1761334206.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525392 2025-10-24T19:30:06.679Z,1761334206.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679627,-0.732382,0.041523],[0.731501,0.672397,-0.113089],[0.054904,0.107232,0.992717]] 2025-10-24T19:30:06.704Z,1761334206.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779886 2025-10-24T19:30:06.801Z,1761334206.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:06.803Z,1761334206.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:06.810Z,1761334206.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 255.176437 m, bearing: 46.645284 deg, approach rate: -0.530790 m/s, LOS rate: -0.014324 deg/s, cmd heading: 46.441649 deg, new cmd heading: 46.419912 deg. 2025-10-24T19:30:06.811Z,1761334206.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810180 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:06.953Z,1761334206.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029549 2025-10-24T19:30:07.091Z,1761334207.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678735,-0.733313,0.039633],[0.732166,0.671509,-0.114056],[0.057025,0.106432,0.992683]] 2025-10-24T19:30:07.116Z,1761334207.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:07.119Z,1761334207.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 254.998337 m, bearing: 46.640432 deg, approach rate: -0.568541 m/s, LOS rate: -0.015499 deg/s, cmd heading: 46.419912 deg, new cmd heading: 46.405346 deg. 2025-10-24T19:30:07.136Z,1761334207.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809926 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:07.206Z,1761334207.206 [DAT](INFO): DAT read: Rx Time:19:30:05.9881 2025-10-24T19:30:07.206Z,1761334207.206 [DAT](INFO): Rx dataTimestamp_ set to:1761334207.206221 2025-10-24T19:30:07.207Z,1761334207.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283947 2025-10-24T19:30:07.457Z,1761334207.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533759 2025-10-24T19:30:07.506Z,1761334207.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679149,-0.733060,0.037144],[0.731622,0.672011,-0.114594],[0.059043,0.105002,0.992718]] 2025-10-24T19:30:07.526Z,1761334207.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.74 m. 2025-10-24T19:30:07.538Z,1761334207.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 273.740814 m, nav range: 254.775436 m, bearing: 46.634391 deg, approach rate: -0.543335 m/s, LOS rate: -0.014739 deg/s, cmd heading: 46.405347 deg, new cmd heading: 46.387207 deg. 2025-10-24T19:30:07.544Z,1761334207.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809609 target range: 273.740814 and range: 274.90 m. 2025-10-24T19:30:07.726Z,1761334207.726 [DAT](INFO): DAT read: 19:30:05.9881 LVL= 20384, 28241, 16242, 26771, AGC= 67, IDX= 414,-0.02,-1.287,-2.633,-1.365,-2.338, PHS= 1.140,-0.248, 0.970, RAW= 143.6, -26.7, CAL= 148.0, -32.6, ROT= 2.0, 32.6 2025-10-24T19:30:07.729Z,1761334207.729 [DAT](INFO): got valid direction response: 19:30:05.9881 LVL= 20384, 28241, 16242, 26771, AGC= 67, IDX= 414,-0.02,-1.287,-2.633,-1.365,-2.338, PHS= 1.140,-0.248, 0.970, RAW= 143.6, -26.7, CAL= 148.0, -32.6, ROT= 2.0, 32.6 2025-10-24T19:30:07.732Z,1761334207.732 [DAT](INFO): DAT read: Bearing 2.0, 32.6 (Local) 2025-10-24T19:30:07.733Z,1761334207.733 [DAT](INFO): Local bearing/azimuth received: Bearing 2.0, 32.6 (Local) 2025-10-24T19:30:07.737Z,1761334207.737 [DAT](INFO): DAT read: Range 10 to 50 : 273.0 m (Round-trip 364.0 ms) speed 0.4 m/s 2025-10-24T19:30:07.738Z,1761334207.738 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:07.741Z,1761334207.741 [DAT](INFO): direction in FSK: [0.841939,0.029401,-0.538771] 2025-10-24T19:30:07.741Z,1761334207.741 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:07.746Z,1761334207.746 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:07.746Z,1761334207.746 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:07.747Z,1761334207.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:07.896Z,1761334207.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680162,-0.732332,0.032701],[0.730335,0.673114,-0.116308],[0.063164,0.102991,0.992675]] 2025-10-24T19:30:07.965Z,1761334207.965 [DAT](INFO): DAT read: user:25> 2025-10-24T19:30:07.966Z,1761334207.966 [DAT](INFO): DAT read: Tx time:19:30:07.2701 2025-10-24T19:30:07.966Z,1761334207.966 [DAT](INFO): Ping request sent. 2025-10-24T19:30:07.966Z,1761334207.966 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:07.966Z,1761334207.966 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:07.967Z,1761334207.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-24T19:30:08.009Z,1761334208.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 273.000000 m, deltaT: 4.044569 s, deltaX: -1.899994 m, approachRate: -0.469764 m/s, rangeRepo size: 4 2025-10-24T19:30:08.011Z,1761334208.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 271.847565 m, bearing: 52.582384 deg, lat: 36.779715 deg, lon: -121.859667 deg, deltaT: 4.044569 s, deltaX: -1.893250 m, approachRate: -0.468097 m/s, posRepo size: 4 2025-10-24T19:30:08.011Z,1761334208.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:08.018Z,1761334208.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 254.547699 m, bearing: 46.630679 deg, approach rate: 0.000000 m/s, LOS rate: -0.014739 deg/s, cmd heading: 46.387206 deg, new cmd heading: 46.366284 deg. 2025-10-24T19:30:08.019Z,1761334208.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809244 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:08.217Z,1761334208.217 [DAT](INFO): DAT read: TxSync time:19:30:07.2693 2025-10-24T19:30:08.218Z,1761334208.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251540 2025-10-24T19:30:08.323Z,1761334208.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679536,-0.733012,0.030401],[0.730659,0.672458,-0.118058],[0.066095,0.102437,0.992541]] 2025-10-24T19:30:08.353Z,1761334208.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:08.356Z,1761334208.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 254.339417 m, bearing: 46.627248 deg, approach rate: -0.589518 m/s, LOS rate: -0.009719 deg/s, cmd heading: 46.366285 deg, new cmd heading: 46.355983 deg. 2025-10-24T19:30:08.357Z,1761334208.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809065 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:08.469Z,1761334208.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502736 2025-10-24T19:30:08.721Z,1761334208.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754458 2025-10-24T19:30:08.818Z,1761334208.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:08.827Z,1761334208.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:08.830Z,1761334208.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 254.114075 m, bearing: 46.624394 deg, approach rate: -0.482485 m/s, LOS rate: -0.006115 deg/s, cmd heading: 46.355982 deg, new cmd heading: 46.347413 deg. 2025-10-24T19:30:08.831Z,1761334208.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808915 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:08.973Z,1761334208.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006710 2025-10-24T19:30:09.123Z,1761334209.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682683,-0.730096,0.030067],[0.727235,0.674847,-0.125342],[0.071221,0.107435,0.991658]] 2025-10-24T19:30:09.143Z,1761334209.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:09.146Z,1761334209.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 253.929214 m, bearing: 46.622240 deg, approach rate: -0.571119 m/s, LOS rate: -0.006661 deg/s, cmd heading: 46.347413 deg, new cmd heading: 46.340945 deg. 2025-10-24T19:30:09.147Z,1761334209.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808802 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:09.225Z,1761334209.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258608 2025-10-24T19:30:09.477Z,1761334209.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510356 2025-10-24T19:30:09.526Z,1761334209.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685199,-0.727888,0.026102],[0.724741,0.677794,-0.123878],[0.072478,0.103799,0.991954]] 2025-10-24T19:30:09.558Z,1761334209.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:09.565Z,1761334209.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 253.720749 m, bearing: 46.619977 deg, approach rate: -0.502677 m/s, LOS rate: -0.005461 deg/s, cmd heading: 46.340945 deg, new cmd heading: 46.334150 deg. 2025-10-24T19:30:09.566Z,1761334209.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808683 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:09.729Z,1761334209.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762481 2025-10-24T19:30:09.934Z,1761334209.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688151,-0.725203,0.023003],[0.721854,0.681080,-0.122708],[0.073321,0.101047,0.992176]] 2025-10-24T19:30:09.981Z,1761334209.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014522 2025-10-24T19:30:09.983Z,1761334209.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:09.990Z,1761334209.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 253.494354 m, bearing: 46.618414 deg, approach rate: -0.532747 m/s, LOS rate: -0.003681 deg/s, cmd heading: 46.334149 deg, new cmd heading: 46.329456 deg. 2025-10-24T19:30:09.991Z,1761334209.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808602 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:10.234Z,1761334210.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267720 2025-10-24T19:30:10.332Z,1761334210.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690809,-0.722744,0.020613],[0.719223,0.683960,-0.122132],[0.074172,0.099195,0.992300]] 2025-10-24T19:30:10.351Z,1761334210.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:10.372Z,1761334210.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 253.303146 m, bearing: 46.617250 deg, approach rate: -0.519505 m/s, LOS rate: -0.003163 deg/s, cmd heading: 46.329457 deg, new cmd heading: 46.325964 deg. 2025-10-24T19:30:10.373Z,1761334210.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808541 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:10.485Z,1761334210.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518979 2025-10-24T19:30:10.737Z,1761334210.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770491 2025-10-24T19:30:10.825Z,1761334210.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:10.827Z,1761334210.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:10.830Z,1761334210.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 253.045792 m, bearing: 46.613980 deg, approach rate: -0.541058 m/s, LOS rate: -0.006883 deg/s, cmd heading: 46.325963 deg, new cmd heading: 46.316142 deg. 2025-10-24T19:30:10.831Z,1761334210.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808369 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:10.989Z,1761334210.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023092 2025-10-24T19:30:11.165Z,1761334211.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692775,-0.720966,0.016468],[0.717047,0.686217,-0.122269],[0.076851,0.096514,0.992360]] 2025-10-24T19:30:11.201Z,1761334211.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:11.203Z,1761334211.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 252.841507 m, bearing: 46.611502 deg, approach rate: -0.546482 m/s, LOS rate: -0.006634 deg/s, cmd heading: 46.316141 deg, new cmd heading: 46.308701 deg. 2025-10-24T19:30:11.205Z,1761334211.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808239 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:11.242Z,1761334211.242 [DAT](INFO): DAT read: Rx Time:19:30:10.0184 2025-10-24T19:30:11.242Z,1761334211.242 [DAT](INFO): Rx dataTimestamp_ set to:1761334211.242053 2025-10-24T19:30:11.243Z,1761334211.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276617 2025-10-24T19:30:11.493Z,1761334211.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526452 2025-10-24T19:30:11.545Z,1761334211.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692475,-0.721273,0.015608],[0.717257,0.685971,-0.122415],[0.077588,0.095965,0.992356]] 2025-10-24T19:30:11.573Z,1761334211.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.85 m. 2025-10-24T19:30:11.577Z,1761334211.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.847565 m, nav range: 252.639603 m, bearing: 46.609029 deg, approach rate: -0.541544 m/s, LOS rate: -0.006637 deg/s, cmd heading: 46.308700 deg, new cmd heading: 46.301276 deg. 2025-10-24T19:30:11.578Z,1761334211.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808110 target range: 271.847565 and range: 273.00 m. 2025-10-24T19:30:11.764Z,1761334211.764 [DAT](INFO): DAT read: 19:30:10.0184 LVL= 17648, 20721, 16946, 25507, AGC= 65, IDX= 240, 0.14, 1.635, 0.345, 1.648, 0.690, PHS= 1.033,-0.298, 0.955, RAW= 147.0, -24.8, CAL= 151.5, -31.2, ROT= 358.5, 31.2 2025-10-24T19:30:11.765Z,1761334211.765 [DAT](INFO): got valid direction response: 19:30:10.0184 LVL= 17648, 20721, 16946, 25507, AGC= 65, IDX= 240, 0.14, 1.635, 0.345, 1.648, 0.690, PHS= 1.033,-0.298, 0.955, RAW= 147.0, -24.8, CAL= 151.5, -31.2, ROT= 358.5, 31.2 2025-10-24T19:30:11.766Z,1761334211.766 [DAT](INFO): DAT read: Bearing 358.5, 31.2 (Local) 2025-10-24T19:30:11.766Z,1761334211.766 [DAT](INFO): Local bearing/azimuth received: Bearing 358.5, 31.2 (Local) 2025-10-24T19:30:11.772Z,1761334211.772 [DAT](INFO): DAT read: Range 10 to 50 : 258.1 m (Round-trip 344.2 ms) speed 0.8 m/s 2025-10-24T19:30:11.773Z,1761334211.773 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:11.775Z,1761334211.775 [DAT](INFO): direction in FSK: [0.855071,-0.022391,-0.518027] 2025-10-24T19:30:11.775Z,1761334211.775 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:11.814Z,1761334211.814 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:11.814Z,1761334211.814 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:11.814Z,1761334211.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:11.950Z,1761334211.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692087,-0.721662,0.014816],[0.717548,0.685623,-0.122666],[0.078365,0.095527,0.992337]] 2025-10-24T19:30:11.997Z,1761334211.997 [DAT](INFO): DAT read: user:26> 2025-10-24T19:30:11.998Z,1761334211.998 [DAT](INFO): DAT read: Tx time:19:30:11.3201 2025-10-24T19:30:11.998Z,1761334211.998 [DAT](INFO): Ping request sent. 2025-10-24T19:30:11.998Z,1761334211.998 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:11.998Z,1761334211.998 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:11.999Z,1761334211.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-24T19:30:12.047Z,1761334212.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 258.100006 m, deltaT: 4.031682 s, deltaX: -14.899994 m, approachRate: -3.695726 m/s, rangeRepo size: 4 2025-10-24T19:30:12.054Z,1761334212.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 257.009583 m, bearing: 47.788999 deg, lat: 36.779679 deg, lon: -121.859731 deg, deltaT: 4.031682 s, deltaX: -14.837982 m, approachRate: -3.680345 m/s, posRepo size: 4 2025-10-24T19:30:12.055Z,1761334212.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:12.063Z,1761334212.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 245.513321 m, bearing: 46.379251 deg, approach rate: 0.000000 m/s, LOS rate: -0.006637 deg/s, cmd heading: 46.301275 deg, new cmd heading: 46.291865 deg. 2025-10-24T19:30:12.082Z,1761334212.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807945 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:12.249Z,1761334212.249 [DAT](INFO): DAT read: TxSync time:19:30:11.3193 2025-10-24T19:30:12.250Z,1761334212.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251648 2025-10-24T19:30:12.359Z,1761334212.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690410,-0.723277,0.014284],[0.719009,0.683891,-0.123768],[0.079750,0.095721,0.992208]] 2025-10-24T19:30:12.394Z,1761334212.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:12.401Z,1761334212.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 245.288132 m, bearing: 46.373816 deg, approach rate: -0.647231 m/s, LOS rate: -0.015635 deg/s, cmd heading: 46.291863 deg, new cmd heading: 46.275544 deg. 2025-10-24T19:30:12.402Z,1761334212.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807661 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:12.502Z,1761334212.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503472 2025-10-24T19:30:12.753Z,1761334212.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754921 2025-10-24T19:30:12.761Z,1761334212.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687678,-0.725895,0.013274],[0.721414,0.681149,-0.124888],[0.081614,0.095458,0.992082]] 2025-10-24T19:30:12.853Z,1761334212.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:12.862Z,1761334212.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:12.865Z,1761334212.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 245.021362 m, bearing: 46.363452 deg, approach rate: -0.577328 m/s, LOS rate: -0.022454 deg/s, cmd heading: 46.275542 deg, new cmd heading: 46.244416 deg. 2025-10-24T19:30:12.866Z,1761334212.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807117 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:13.005Z,1761334213.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007416 2025-10-24T19:30:13.167Z,1761334213.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684465,-0.728933,0.012798],[0.724194,0.677784,-0.127086],[0.083964,0.096254,0.991809]] 2025-10-24T19:30:13.188Z,1761334213.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:13.194Z,1761334213.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 244.815567 m, bearing: 46.355231 deg, approach rate: -0.621845 m/s, LOS rate: -0.024862 deg/s, cmd heading: 46.244417 deg, new cmd heading: 46.219734 deg. 2025-10-24T19:30:13.196Z,1761334213.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806687 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:13.257Z,1761334213.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258952 2025-10-24T19:30:13.509Z,1761334213.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511101 2025-10-24T19:30:13.568Z,1761334213.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682264,-0.730991,0.013004],[0.726106,0.675414,-0.128785],[0.085358,0.097308,0.991587]] 2025-10-24T19:30:13.610Z,1761334213.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:13.617Z,1761334213.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 244.570160 m, bearing: 46.345241 deg, approach rate: -0.580069 m/s, LOS rate: -0.023637 deg/s, cmd heading: 46.219733 deg, new cmd heading: 46.189733 deg. 2025-10-24T19:30:13.618Z,1761334213.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806163 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:13.762Z,1761334213.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764199 2025-10-24T19:30:13.975Z,1761334213.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681478,-0.731720,0.013157],[0.726776,0.674543,-0.129571],[0.085935,0.097862,0.991483]] 2025-10-24T19:30:14.013Z,1761334214.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015159 2025-10-24T19:30:14.015Z,1761334214.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:14.018Z,1761334214.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 244.318008 m, bearing: 46.332018 deg, approach rate: -0.623238 m/s, LOS rate: -0.032719 deg/s, cmd heading: 46.189731 deg, new cmd heading: 46.150019 deg. 2025-10-24T19:30:14.019Z,1761334214.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805470 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:14.265Z,1761334214.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266842 2025-10-24T19:30:14.376Z,1761334214.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680545,-0.732592,0.012952],[0.727541,0.673546,-0.130460],[0.086850,0.098207,0.991369]] 2025-10-24T19:30:14.415Z,1761334214.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:14.418Z,1761334214.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 244.072052 m, bearing: 46.319017 deg, approach rate: -0.614550 m/s, LOS rate: -0.032516 deg/s, cmd heading: 46.150021 deg, new cmd heading: 46.110980 deg. 2025-10-24T19:30:14.419Z,1761334214.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804788 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:14.517Z,1761334214.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519066 2025-10-24T19:30:14.769Z,1761334214.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770768 2025-10-24T19:30:14.790Z,1761334214.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679868,-0.733228,0.012473],[0.728063,0.672848,-0.131148],[0.087769,0.098244,0.991284]] 2025-10-24T19:30:14.869Z,1761334214.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:14.873Z,1761334214.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:14.875Z,1761334214.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 243.808609 m, bearing: 46.303182 deg, approach rate: -0.576426 m/s, LOS rate: -0.034686 deg/s, cmd heading: 46.110979 deg, new cmd heading: 46.063422 deg. 2025-10-24T19:30:14.889Z,1761334214.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.803958 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:15.022Z,1761334215.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023627 2025-10-24T19:30:15.183Z,1761334215.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678546,-0.734456,0.012232],[0.729159,0.671450,-0.132218],[0.088895,0.098636,0.991145]] 2025-10-24T19:30:15.203Z,1761334215.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:15.206Z,1761334215.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 243.592712 m, bearing: 46.290083 deg, approach rate: -0.652254 m/s, LOS rate: -0.039607 deg/s, cmd heading: 46.063421 deg, new cmd heading: 46.024091 deg. 2025-10-24T19:30:15.207Z,1761334215.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.803272 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:15.274Z,1761334215.274 [DAT](INFO): DAT read: Rx Time:19:30:14.0651 2025-10-24T19:30:15.275Z,1761334215.275 [DAT](INFO): Rx dataTimestamp_ set to:1761334215.274212 2025-10-24T19:30:15.276Z,1761334215.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277219 2025-10-24T19:30:15.525Z,1761334215.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526842 2025-10-24T19:30:15.589Z,1761334215.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677906,-0.735058,0.011555],[0.729634,0.670816,-0.132817],[0.089877,0.098469,0.991073]] 2025-10-24T19:30:15.623Z,1761334215.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 257.01 m. 2025-10-24T19:30:15.626Z,1761334215.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 257.009583 m, nav range: 243.338348 m, bearing: 46.274567 deg, approach rate: -0.605903 m/s, LOS rate: -0.036998 deg/s, cmd heading: 46.024089 deg, new cmd heading: 45.977493 deg. 2025-10-24T19:30:15.627Z,1761334215.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802459 target range: 257.009583 and range: 258.10 m. 2025-10-24T19:30:15.787Z,1761334215.787 [DAT](INFO): DAT read: 19:30:14.0651 LVL= 23824, 24513, 20578, 28291, AGC= 65, IDX= 415,-0.07,-0.736,-2.134,-0.882,-1.239, PHS= 0.590,-0.849, 0.354, RAW= 141.2, -1.4, CAL= 145.8, -10.6, ROT= 4.2, 10.6 2025-10-24T19:30:15.789Z,1761334215.789 [DAT](INFO): got valid direction response: 19:30:14.0651 LVL= 23824, 24513, 20578, 28291, AGC= 65, IDX= 415,-0.07,-0.736,-2.134,-0.882,-1.239, PHS= 0.590,-0.849, 0.354, RAW= 141.2, -1.4, CAL= 145.8, -10.6, ROT= 4.2, 10.6 2025-10-24T19:30:15.791Z,1761334215.791 [DAT](INFO): DAT read: Bearing 4.2, 10.6 (Local) 2025-10-24T19:30:15.792Z,1761334215.792 [DAT](INFO): Local bearing/azimuth received: Bearing 4.2, 10.6 (Local) 2025-10-24T19:30:15.795Z,1761334215.795 [DAT](INFO): DAT read: Range 10 to 50 : 255.6 m (Round-trip 340.9 ms) speed 0.4 m/s 2025-10-24T19:30:15.796Z,1761334215.796 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:15.797Z,1761334215.797 [DAT](INFO): direction in FSK: [0.980296,0.071988,-0.183951] 2025-10-24T19:30:15.797Z,1761334215.797 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:15.801Z,1761334215.801 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:15.801Z,1761334215.801 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:15.801Z,1761334215.801 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:15.991Z,1761334215.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676733,-0.736143,0.011274],[0.730639,0.669632,-0.133266],[0.090553,0.098423,0.991016]] 2025-10-24T19:30:16.029Z,1761334216.029 [DAT](INFO): DAT read: user:27> 2025-10-24T19:30:16.030Z,1761334216.030 [DAT](INFO): DAT read: Tx time:19:30:15.3201 2025-10-24T19:30:16.030Z,1761334216.030 [DAT](INFO): Ping request sent. 2025-10-24T19:30:16.030Z,1761334216.030 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:16.030Z,1761334216.030 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:16.031Z,1761334216.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-24T19:30:16.091Z,1761334216.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 255.600006 m, deltaT: 4.031586 s, deltaX: -2.500000 m, approachRate: -0.620103 m/s, rangeRepo size: 4 2025-10-24T19:30:16.098Z,1761334216.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 254.518173 m, bearing: 52.365940 deg, lat: 36.779560 deg, lon: -121.859731 deg, deltaT: 4.031586 s, deltaX: -2.491409 m, approachRate: -0.617972 m/s, posRepo size: 4 2025-10-24T19:30:16.098Z,1761334216.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:16.106Z,1761334216.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 234.130859 m, bearing: 48.600187 deg, approach rate: 0.000000 m/s, LOS rate: -0.036998 deg/s, cmd heading: 45.977494 deg, new cmd heading: 45.925533 deg. 2025-10-24T19:30:16.107Z,1761334216.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801552 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:16.281Z,1761334216.281 [DAT](INFO): DAT read: TxSync time:19:30:15.3193 2025-10-24T19:30:16.282Z,1761334216.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251657 2025-10-24T19:30:16.397Z,1761334216.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676550,-0.736330,0.009963],[0.730747,0.669624,-0.132711],[0.091048,0.097067,0.991105]] 2025-10-24T19:30:16.433Z,1761334216.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:16.435Z,1761334216.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 233.895218 m, bearing: 48.587092 deg, approach rate: -0.689270 m/s, LOS rate: -0.038340 deg/s, cmd heading: 45.925533 deg, new cmd heading: 45.886211 deg. 2025-10-24T19:30:16.437Z,1761334216.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800865 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:16.533Z,1761334216.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986 2025-10-24T19:30:16.787Z,1761334216.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756889 2025-10-24T19:30:16.806Z,1761334216.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675855,-0.737033,0.001685],[0.731184,0.670200,-0.127286],[0.092685,0.087259,0.991865]] 2025-10-24T19:30:16.869Z,1761334216.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:16.874Z,1761334216.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:16.896Z,1761334216.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 233.628998 m, bearing: 48.572176 deg, approach rate: -0.604749 m/s, LOS rate: -0.033924 deg/s, cmd heading: 45.886211 deg, new cmd heading: 45.841410 deg. 2025-10-24T19:30:16.898Z,1761334216.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800084 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:17.037Z,1761334217.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007092 2025-10-24T19:30:17.210Z,1761334217.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674620,-0.738160,0.002685],[0.732193,0.668695,-0.129382],[0.093709,0.089250,0.991591]] 2025-10-24T19:30:17.229Z,1761334217.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:17.232Z,1761334217.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 233.415665 m, bearing: 48.560102 deg, approach rate: -0.598899 m/s, LOS rate: -0.033926 deg/s, cmd heading: 45.841409 deg, new cmd heading: 45.805154 deg. 2025-10-24T19:30:17.233Z,1761334217.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799451 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:17.290Z,1761334217.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259857 2025-10-24T19:30:17.541Z,1761334217.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510719 2025-10-24T19:30:17.613Z,1761334217.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672757,-0.739857,0.003189],[0.733796,0.666683,-0.130680],[0.094558,0.090256,0.991420]] 2025-10-24T19:30:17.638Z,1761334217.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:17.641Z,1761334217.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 233.173950 m, bearing: 48.546236 deg, approach rate: -0.592224 m/s, LOS rate: -0.034009 deg/s, cmd heading: 45.805154 deg, new cmd heading: 45.763513 deg. 2025-10-24T19:30:17.642Z,1761334217.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798724 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:17.794Z,1761334217.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763743 2025-10-24T19:30:18.045Z,1761334218.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900 2025-10-24T19:30:18.082Z,1761334218.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:18.090Z,1761334218.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 232.925232 m, bearing: 48.534852 deg, approach rate: -0.559046 m/s, LOS rate: -0.025614 deg/s, cmd heading: 45.763514 deg, new cmd heading: 45.729328 deg. 2025-10-24T19:30:18.091Z,1761334218.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798127 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:18.297Z,1761334218.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266822 2025-10-24T19:30:18.419Z,1761334218.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675208,-0.737617,0.003942],[0.731604,0.669002,-0.131118],[0.094078,0.091416,0.991359]] 2025-10-24T19:30:18.468Z,1761334218.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:18.472Z,1761334218.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 232.723679 m, bearing: 48.525773 deg, approach rate: -0.522823 m/s, LOS rate: -0.023573 deg/s, cmd heading: 45.729329 deg, new cmd heading: 45.702066 deg. 2025-10-24T19:30:18.473Z,1761334218.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797652 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:18.551Z,1761334218.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520729 2025-10-24T19:30:18.803Z,1761334218.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772972 2025-10-24T19:30:18.857Z,1761334218.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677202,-0.735792,0.002610],[0.729749,0.671178,-0.130329],[0.094144,0.090164,0.991467]] 2025-10-24T19:30:18.933Z,1761334218.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:18.942Z,1761334218.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:18.950Z,1761334218.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 232.478653 m, bearing: 48.517517 deg, approach rate: -0.523369 m/s, LOS rate: -0.017651 deg/s, cmd heading: 45.702066 deg, new cmd heading: 45.677274 deg. 2025-10-24T19:30:18.951Z,1761334218.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797219 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:19.054Z,1761334219.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023208 2025-10-24T19:30:19.229Z,1761334219.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679880,-0.733323,0.000755],[0.727237,0.674104,-0.129270],[0.094287,0.088437,0.991609]] 2025-10-24T19:30:19.260Z,1761334219.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:19.263Z,1761334219.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 232.284821 m, bearing: 48.511163 deg, approach rate: -0.598093 m/s, LOS rate: -0.019624 deg/s, cmd heading: 45.677276 deg, new cmd heading: 45.658197 deg. 2025-10-24T19:30:19.264Z,1761334219.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796886 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:19.306Z,1761334219.306 [DAT](INFO): DAT read: Rx Time:19:30:18.0627 2025-10-24T19:30:19.307Z,1761334219.307 [DAT](INFO): Rx dataTimestamp_ set to:1761334219.306722 2025-10-24T19:30:19.308Z,1761334219.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278063 2025-10-24T19:30:19.557Z,1761334219.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526853 2025-10-24T19:30:19.635Z,1761334219.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682110,-0.731249,-0.000501],[0.725104,0.676466,-0.128908],[0.094603,0.087566,0.991656]] 2025-10-24T19:30:19.656Z,1761334219.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.52 m. 2025-10-24T19:30:19.659Z,1761334219.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.518173 m, nav range: 232.071762 m, bearing: 48.504337 deg, approach rate: -0.538786 m/s, LOS rate: -0.017277 deg/s, cmd heading: 45.658196 deg, new cmd heading: 45.637700 deg. 2025-10-24T19:30:19.660Z,1761334219.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796528 target range: 254.518173 and range: 255.60 m. 2025-10-24T19:30:19.828Z,1761334219.828 [DAT](INFO): DAT read: 19:30:18.0627 LVL= 22448, 30705, 24562, 29139, AGC= 66, IDX= 422, 0.18,-0.409,-1.876,-0.410,-1.394, PHS= 1.073,-0.435, 0.981, RAW= 146.9, -21.3, CAL= 152.0, -28.4, ROT= 358.0, 28.4 2025-10-24T19:30:19.829Z,1761334219.829 [DAT](INFO): got valid direction response: 19:30:18.0627 LVL= 22448, 30705, 24562, 29139, AGC= 66, IDX= 422, 0.18,-0.409,-1.876,-0.410,-1.394, PHS= 1.073,-0.435, 0.981, RAW= 146.9, -21.3, CAL= 152.0, -28.4, ROT= 358.0, 28.4 2025-10-24T19:30:19.830Z,1761334219.830 [DAT](INFO): DAT read: Bearing 358.0, 28.4 (Local) 2025-10-24T19:30:19.831Z,1761334219.831 [DAT](INFO): Local bearing/azimuth received: Bearing 358.0, 28.4 (Local) 2025-10-24T19:30:19.832Z,1761334219.832 [DAT](INFO): DAT read: Range 10 to 50 : 253.8 m (Round-trip 338.5 ms) speed 0.3 m/s 2025-10-24T19:30:19.833Z,1761334219.833 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:19.834Z,1761334219.834 [DAT](INFO): direction in FSK: [0.879113,-0.030699,-0.475624] 2025-10-24T19:30:19.834Z,1761334219.834 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:19.838Z,1761334219.838 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:19.838Z,1761334219.838 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:19.838Z,1761334219.838 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:20.036Z,1761334220.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685309,-0.728251,-0.001120],[0.722059,0.679681,-0.129093],[0.094773,0.087660,0.991632]] 2025-10-24T19:30:20.069Z,1761334220.069 [DAT](INFO): DAT read: user:28> 2025-10-24T19:30:20.070Z,1761334220.070 [DAT](INFO): DAT read: Tx time:19:30:19.3701 2025-10-24T19:30:20.070Z,1761334220.070 [DAT](INFO): Ping request sent. 2025-10-24T19:30:20.071Z,1761334220.071 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:20.071Z,1761334220.071 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:20.073Z,1761334220.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002711 2025-10-24T19:30:20.095Z,1761334220.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 253.800003 m, deltaT: 4.040590 s, deltaX: -1.800003 m, approachRate: -0.445480 m/s, rangeRepo size: 4 2025-10-24T19:30:20.097Z,1761334220.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 252.719376 m, bearing: 47.199357 deg, lat: 36.779560 deg, lon: -121.859764 deg, deltaT: 4.040590 s, deltaX: -1.798798 m, approachRate: -0.445182 m/s, posRepo size: 4 2025-10-24T19:30:20.098Z,1761334220.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:20.105Z,1761334220.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 229.622223 m, bearing: 48.006356 deg, approach rate: 0.000000 m/s, LOS rate: -0.017277 deg/s, cmd heading: 45.637698 deg, new cmd heading: 45.614931 deg. 2025-10-24T19:30:20.106Z,1761334220.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796131 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:20.322Z,1761334220.322 [DAT](INFO): DAT read: TxSync time:19:30:19.3693 2025-10-24T19:30:20.323Z,1761334220.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252901 2025-10-24T19:30:20.444Z,1761334220.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687758,-0.725938,-0.001679],[0.719672,0.682122,-0.129543],[0.095185,0.087885,0.991572]] 2025-10-24T19:30:20.464Z,1761334220.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:20.467Z,1761334220.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 229.426178 m, bearing: 48.001124 deg, approach rate: -0.530894 m/s, LOS rate: -0.014182 deg/s, cmd heading: 45.614930 deg, new cmd heading: 45.599219 deg. 2025-10-24T19:30:20.467Z,1761334220.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795857 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:20.552Z,1761334220.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:30:20.573Z,1761334220.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502594 2025-10-24T19:30:20.835Z,1761334220.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.764277 2025-10-24T19:30:20.886Z,1761334220.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688958,-0.724801,0.000096],[0.718306,0.682766,-0.133668],[0.096818,0.092161,0.991026]] 2025-10-24T19:30:20.962Z,1761334220.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:20.980Z,1761334220.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:20.983Z,1761334220.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 229.167175 m, bearing: 47.997501 deg, approach rate: -0.518019 m/s, LOS rate: -0.007254 deg/s, cmd heading: 45.599221 deg, new cmd heading: 45.588341 deg. 2025-10-24T19:30:20.983Z,1761334220.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795667 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:21.087Z,1761334221.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016042 2025-10-24T19:30:21.339Z,1761334221.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268521 2025-10-24T19:30:21.411Z,1761334221.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694981,-0.719019,-0.003597],[0.712300,0.689152,-0.133030],[0.098130,0.089891,0.991105]] 2025-10-24T19:30:21.432Z,1761334221.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:21.435Z,1761334221.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 228.924911 m, bearing: 47.994627 deg, approach rate: -0.517712 m/s, LOS rate: -0.006147 deg/s, cmd heading: 45.588340 deg, new cmd heading: 45.579711 deg. 2025-10-24T19:30:21.435Z,1761334221.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795516 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:21.556Z,1761334221.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:30:21.590Z,1761334221.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519476 2025-10-24T19:30:21.846Z,1761334221.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775143 2025-10-24T19:30:21.877Z,1761334221.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698392,-0.715705,-0.003757],[0.709014,0.692560,-0.132894],[0.097714,0.090148,0.991123]] 2025-10-24T19:30:21.943Z,1761334221.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:21.946Z,1761334221.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 228.670029 m, bearing: 47.990494 deg, approach rate: -0.498668 m/s, LOS rate: -0.008096 deg/s, cmd heading: 45.579710 deg, new cmd heading: 45.567296 deg. 2025-10-24T19:30:21.953Z,1761334221.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795299 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:22.093Z,1761334222.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022983 2025-10-24T19:30:22.268Z,1761334222.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701606,-0.712551,-0.004545],[0.705772,0.695782,-0.133319],[0.098159,0.090329,0.991063]] 2025-10-24T19:30:22.307Z,1761334222.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:22.310Z,1761334222.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 228.478241 m, bearing: 47.987599 deg, approach rate: -0.526983 m/s, LOS rate: -0.007962 deg/s, cmd heading: 45.567296 deg, new cmd heading: 45.558604 deg. 2025-10-24T19:30:22.311Z,1761334222.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795148 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:22.351Z,1761334222.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280318 2025-10-24T19:30:22.601Z,1761334222.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530473 2025-10-24T19:30:22.671Z,1761334222.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703838,-0.710342,-0.004999],[0.703392,0.697900,-0.134815],[0.099253,0.091371,0.990858]] 2025-10-24T19:30:22.718Z,1761334222.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:22.722Z,1761334222.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 228.256912 m, bearing: 47.984435 deg, approach rate: -0.538053 m/s, LOS rate: -0.007698 deg/s, cmd heading: 45.558605 deg, new cmd heading: 45.549105 deg. 2025-10-24T19:30:22.723Z,1761334222.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794982 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:22.857Z,1761334222.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785933 2025-10-24T19:30:23.105Z,1761334223.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034816 2025-10-24T19:30:23.130Z,1761334223.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:23.133Z,1761334223.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:23.135Z,1761334223.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 228.033737 m, bearing: 47.981461 deg, approach rate: -0.538547 m/s, LOS rate: -0.007186 deg/s, cmd heading: 45.549104 deg, new cmd heading: 45.540171 deg. 2025-10-24T19:30:23.137Z,1761334223.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794826 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:23.359Z,1761334223.359 [DAT](INFO): DAT read: Rx Time:19:30:22.1098 2025-10-24T19:30:23.364Z,1761334223.364 [DAT](INFO): Rx dataTimestamp_ set to:1761334223.359274 2025-10-24T19:30:23.365Z,1761334223.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294596 2025-10-24T19:30:23.480Z,1761334223.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707160,-0.707023,-0.006580],[0.699687,0.701102,-0.137456],[0.101798,0.092599,0.990486]] 2025-10-24T19:30:23.514Z,1761334223.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.72 m. 2025-10-24T19:30:23.517Z,1761334223.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 252.719376 m, nav range: 227.835510 m, bearing: 47.979065 deg, approach rate: -0.519659 m/s, LOS rate: -0.006286 deg/s, cmd heading: 45.540170 deg, new cmd heading: 45.532977 deg. 2025-10-24T19:30:23.518Z,1761334223.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794700 target range: 252.719376 and range: 253.80 m. 2025-10-24T19:30:23.609Z,1761334223.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538511 2025-10-24T19:30:23.887Z,1761334223.887 [DAT](INFO): DAT read: 19:30:22.1098 LVL= 23600, 27377, 20242, 32755, AGC= 66, IDX= 408,-0.49,-3.092, 1.635, 2.921, 2.500, PHS= 0.779,-0.818, 0.418, RAW= 137.5, -5.3, CAL= 143.2, -15.3, ROT= 6.8, 15.3 2025-10-24T19:30:23.896Z,1761334223.896 [DAT](INFO): got valid direction response: 19:30:22.1098 LVL= 23600, 27377, 20242, 32755, AGC= 66, IDX= 408,-0.49,-3.092, 1.635, 2.921, 2.500, PHS= 0.779,-0.818, 0.418, RAW= 137.5, -5.3, CAL= 143.2, -15.3, ROT= 6.8, 15.3 2025-10-24T19:30:23.897Z,1761334223.897 [DAT](INFO): DAT read: Bearing 6.8, 15.3 (Local) 2025-10-24T19:30:23.898Z,1761334223.898 [DAT](INFO): Local bearing/azimuth received: Bearing 6.8, 15.3 (Local) 2025-10-24T19:30:23.899Z,1761334223.899 [DAT](INFO): DAT read: Range 10 to 50 : 251.6 m (Round-trip 335.5 ms) speed 0.4 m/s 2025-10-24T19:30:23.908Z,1761334223.908 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:23.909Z,1761334223.909 [DAT](INFO): direction in FSK: [0.957772,0.114207,-0.263873] 2025-10-24T19:30:23.910Z,1761334223.910 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:23.968Z,1761334223.968 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:23.968Z,1761334223.968 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:23.969Z,1761334223.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:23.997Z,1761334223.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708029,-0.706149,-0.006953],[0.698613,0.701843,-0.139125],[0.103123,0.093647,0.990250]] 2025-10-24T19:30:24.107Z,1761334224.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 251.600006 m, deltaT: 4.045297 s, deltaX: -2.199997 m, approachRate: -0.543841 m/s, rangeRepo size: 4 2025-10-24T19:30:24.113Z,1761334224.113 [DAT](INFO): DAT read: user:29> 2025-10-24T19:30:24.114Z,1761334224.114 [DAT](INFO): DAT read: Tx time:19:30:23.4702 2025-10-24T19:30:24.114Z,1761334224.114 [DAT](INFO): Ping request sent. 2025-10-24T19:30:24.114Z,1761334224.114 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:24.114Z,1761334224.114 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:24.115Z,1761334224.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-24T19:30:24.123Z,1761334224.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 250.525070 m, bearing: 52.674092 deg, lat: 36.779543 deg, lon: -121.859616 deg, deltaT: 4.045297 s, deltaX: -2.194305 m, approachRate: -0.542434 m/s, posRepo size: 4 2025-10-24T19:30:24.123Z,1761334224.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:24.130Z,1761334224.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 236.266342 m, bearing: 50.447473 deg, approach rate: 0.000000 m/s, LOS rate: -0.006286 deg/s, cmd heading: 45.532978 deg, new cmd heading: 45.521803 deg. 2025-10-24T19:30:24.131Z,1761334224.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794505 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:24.365Z,1761334224.365 [DAT](INFO): DAT read: TxSync time:19:30:23.4694 2025-10-24T19:30:24.366Z,1761334224.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251643 2025-10-24T19:30:24.455Z,1761334224.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:24.458Z,1761334224.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 236.062729 m, bearing: 50.446146 deg, approach rate: -0.585995 m/s, LOS rate: -0.003824 deg/s, cmd heading: 45.521804 deg, new cmd heading: 45.517818 deg. 2025-10-24T19:30:24.459Z,1761334224.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794436 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:24.617Z,1761334224.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502856 2025-10-24T19:30:24.884Z,1761334224.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757196 2025-10-24T19:30:24.901Z,1761334224.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:24.917Z,1761334224.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 235.841614 m, bearing: 50.444702 deg, approach rate: -0.502110 m/s, LOS rate: -0.003283 deg/s, cmd heading: 45.517818 deg, new cmd heading: 45.513482 deg. 2025-10-24T19:30:24.919Z,1761334224.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794360 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:25.122Z,1761334225.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007668 2025-10-24T19:30:25.300Z,1761334225.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:25.303Z,1761334225.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:25.306Z,1761334225.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 235.588577 m, bearing: 50.440423 deg, approach rate: -0.620186 m/s, LOS rate: -0.010498 deg/s, cmd heading: 45.513481 deg, new cmd heading: 45.500631 deg. 2025-10-24T19:30:25.307Z,1761334225.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794136 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:25.374Z,1761334225.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259280 2025-10-24T19:30:25.625Z,1761334225.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909 2025-10-24T19:30:25.640Z,1761334225.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705713,-0.708415,-0.010812],[0.699788,0.699342,-0.145665],[0.110752,0.095231,0.989275]] 2025-10-24T19:30:25.667Z,1761334225.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:25.671Z,1761334225.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 235.363907 m, bearing: 50.436474 deg, approach rate: -0.615709 m/s, LOS rate: -0.010834 deg/s, cmd heading: 45.500630 deg, new cmd heading: 45.488771 deg. 2025-10-24T19:30:25.673Z,1761334225.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793929 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:25.879Z,1761334225.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764664 2025-10-24T19:30:26.049Z,1761334226.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705837,-0.708295,-0.010578],[0.699392,0.699180,-0.148319],[0.112449,0.097291,0.988883]] 2025-10-24T19:30:26.102Z,1761334226.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:26.106Z,1761334226.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 235.102448 m, bearing: 50.432165 deg, approach rate: -0.601391 m/s, LOS rate: -0.009921 deg/s, cmd heading: 45.488770 deg, new cmd heading: 45.475830 deg. 2025-10-24T19:30:26.107Z,1761334226.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793703 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:26.129Z,1761334226.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014704 2025-10-24T19:30:26.381Z,1761334226.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267004 2025-10-24T19:30:26.431Z,1761334226.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706024,-0.708111,-0.010446],[0.699031,0.699182,-0.150000],[0.113521,0.098601,0.988631]] 2025-10-24T19:30:26.470Z,1761334226.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:26.473Z,1761334226.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 234.881699 m, bearing: 50.428545 deg, approach rate: -0.600803 m/s, LOS rate: -0.009864 deg/s, cmd heading: 45.475830 deg, new cmd heading: 45.464957 deg. 2025-10-24T19:30:26.474Z,1761334226.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793513 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:26.633Z,1761334226.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518917 2025-10-24T19:30:26.842Z,1761334226.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705726,-0.708397,-0.011172],[0.698949,0.698720,-0.152516],[0.115848,0.099826,0.988238]] 2025-10-24T19:30:26.868Z,1761334226.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:26.871Z,1761334226.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 234.646271 m, bearing: 50.424668 deg, approach rate: -0.590987 m/s, LOS rate: -0.009741 deg/s, cmd heading: 45.464956 deg, new cmd heading: 45.453314 deg. 2025-10-24T19:30:26.889Z,1761334226.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774237 2025-10-24T19:30:26.898Z,1761334226.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793310 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:27.137Z,1761334227.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023237 2025-10-24T19:30:27.247Z,1761334227.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704938,-0.709173,-0.011676],[0.699507,0.697863,-0.153870],[0.117269,0.100302,0.988022]] 2025-10-24T19:30:27.289Z,1761334227.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:27.292Z,1761334227.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 234.383789 m, bearing: 50.418555 deg, approach rate: -0.623277 m/s, LOS rate: -0.014531 deg/s, cmd heading: 45.453314 deg, new cmd heading: 45.434956 deg. 2025-10-24T19:30:27.293Z,1761334227.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792990 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:27.391Z,1761334227.391 [DAT](INFO): DAT read: Rx Time:19:30:26.2251 2025-10-24T19:30:27.391Z,1761334227.391 [DAT](INFO): Rx dataTimestamp_ set to:1761334227.390948 2025-10-24T19:30:27.395Z,1761334227.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280893 2025-10-24T19:30:27.645Z,1761334227.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530837 2025-10-24T19:30:27.648Z,1761334227.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704481,-0.709612,-0.012529],[0.699695,0.697376,-0.155218],[0.118882,0.100581,0.987801]] 2025-10-24T19:30:27.666Z,1761334227.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:27.668Z,1761334227.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.53 m. 2025-10-24T19:30:27.671Z,1761334227.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 250.525070 m, nav range: 234.151001 m, bearing: 50.413094 deg, approach rate: -0.614979 m/s, LOS rate: -0.014441 deg/s, cmd heading: 45.434955 deg, new cmd heading: 45.418555 deg. 2025-10-24T19:30:27.672Z,1761334227.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792703 target range: 250.525070 and range: 251.60 m. 2025-10-24T19:30:27.950Z,1761334227.950 [DAT](INFO): DAT read: 19:30:26.2251 LVL= 21104, 24817, 17170, 22707, AGC= 67, IDX= 85,-0.32,-1.759, 3.066,-1.729,-2.657, PHS= 0.986,-0.513, 0.925, RAW= 147.9, -18.6, CAL= 153.6, -25.9, ROT= 356.4, 25.9 2025-10-24T19:30:27.951Z,1761334227.951 [DAT](INFO): got valid direction response: 19:30:26.2251 LVL= 21104, 24817, 17170, 22707, AGC= 67, IDX= 85,-0.32,-1.759, 3.066,-1.729,-2.657, PHS= 0.986,-0.513, 0.925, RAW= 147.9, -18.6, CAL= 153.6, -25.9, ROT= 356.4, 25.9 2025-10-24T19:30:27.953Z,1761334227.953 [DAT](INFO): DAT read: Bearing 356.4, 25.9 (Local) 2025-10-24T19:30:27.953Z,1761334227.953 [DAT](INFO): Local bearing/azimuth received: Bearing 356.4, 25.9 (Local) 2025-10-24T19:30:27.955Z,1761334227.955 [DAT](INFO): DAT read: Range 10 to 50 : 263.1 m (Round-trip 350.8 ms) speed 0.4 m/s 2025-10-24T19:30:27.960Z,1761334227.960 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:27.961Z,1761334227.961 [DAT](INFO): direction in FSK: [0.897783,-0.056484,-0.436802] 2025-10-24T19:30:27.962Z,1761334227.962 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:27.966Z,1761334227.966 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:27.967Z,1761334227.967 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:27.967Z,1761334227.967 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:28.047Z,1761334228.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703642,-0.710433,-0.013175],[0.700270,0.696481,-0.156637],[0.120456,0.100990,0.987568]] 2025-10-24T19:30:28.074Z,1761334228.074 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102411315083,35.0, +12.1, 0.0,14 2025-10-24T19:30:28.120Z,1761334228.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 263.100006 m, deltaT: 4.036179 s, deltaX: 11.500000 m, approachRate: 2.849229 m/s, rangeRepo size: 4 2025-10-24T19:30:28.122Z,1761334228.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 261.969177 m, bearing: 44.149204 deg, lat: 36.779560 deg, lon: -121.859705 deg, deltaT: 4.036179 s, deltaX: 11.444107 m, approachRate: 2.835382 m/s, posRepo size: 4 2025-10-24T19:30:28.123Z,1761334228.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:28.130Z,1761334228.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 229.062408 m, bearing: 48.785722 deg, approach rate: 0.000000 m/s, LOS rate: -0.014441 deg/s, cmd heading: 45.418555 deg, new cmd heading: 45.399178 deg. 2025-10-24T19:30:28.131Z,1761334228.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792365 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:28.149Z,1761334228.149 [DAT](INFO): DAT read: user:30> 2025-10-24T19:30:28.149Z,1761334228.149 [DAT](INFO): DAT read: Tx time:19:30:27.4702 2025-10-24T19:30:28.150Z,1761334228.150 [DAT](INFO): Ping request sent. 2025-10-24T19:30:28.150Z,1761334228.150 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:28.150Z,1761334228.150 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:28.151Z,1761334228.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769 2025-10-24T19:30:28.401Z,1761334228.401 [DAT](INFO): DAT read: TxSync time:19:30:27.4694 2025-10-24T19:30:28.402Z,1761334228.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252083 2025-10-24T19:30:28.469Z,1761334228.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703235,-0.710818,-0.014115],[0.700368,0.696037,-0.158167],[0.122252,0.101343,0.987311]] 2025-10-24T19:30:28.501Z,1761334228.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:28.506Z,1761334228.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 228.820648 m, bearing: 48.778084 deg, approach rate: -0.625609 m/s, LOS rate: -0.019786 deg/s, cmd heading: 45.399178 deg, new cmd heading: 45.376239 deg. 2025-10-24T19:30:28.507Z,1761334228.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791965 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:28.653Z,1761334228.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503031 2025-10-24T19:30:28.908Z,1761334228.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757595 2025-10-24T19:30:28.924Z,1761334228.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:28.959Z,1761334228.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 228.565186 m, bearing: 48.769995 deg, approach rate: -0.607189 m/s, LOS rate: -0.019248 deg/s, cmd heading: 45.376239 deg, new cmd heading: 45.351944 deg. 2025-10-24T19:30:28.967Z,1761334228.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791541 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:29.157Z,1761334229.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006832 2025-10-24T19:30:29.273Z,1761334229.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701143,-0.712684,-0.021928],[0.701825,0.695235,-0.155212],[0.125862,0.093436,0.987638]] 2025-10-24T19:30:29.341Z,1761334229.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:29.343Z,1761334229.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 228.300232 m, bearing: 48.760763 deg, approach rate: -0.633242 m/s, LOS rate: -0.022091 deg/s, cmd heading: 45.351944 deg, new cmd heading: 45.324215 deg. 2025-10-24T19:30:29.349Z,1761334229.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791057 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:29.410Z,1761334229.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259621 2025-10-24T19:30:29.661Z,1761334229.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510734 2025-10-24T19:30:29.733Z,1761334229.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699422,-0.714405,-0.020865],[0.703249,0.693120,-0.158195],[0.127477,0.095971,0.987187]] 2025-10-24T19:30:29.752Z,1761334229.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:29.755Z,1761334229.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:29.758Z,1761334229.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 228.039001 m, bearing: 48.751491 deg, approach rate: -0.630287 m/s, LOS rate: -0.022395 deg/s, cmd heading: 45.324213 deg, new cmd heading: 45.296367 deg. 2025-10-24T19:30:29.759Z,1761334229.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790571 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:29.920Z,1761334229.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769463 2025-10-24T19:30:30.079Z,1761334230.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697944,-0.715875,-0.019933],[0.704397,0.691243,-0.161268],[0.129226,0.098515,0.986709]] 2025-10-24T19:30:30.151Z,1761334230.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:30.154Z,1761334230.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 227.793243 m, bearing: 48.741612 deg, approach rate: -0.621051 m/s, LOS rate: -0.024992 deg/s, cmd heading: 45.296367 deg, new cmd heading: 45.266697 deg. 2025-10-24T19:30:30.155Z,1761334230.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790053 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:30.165Z,1761334230.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014868 2025-10-24T19:30:30.417Z,1761334230.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965 2025-10-24T19:30:30.483Z,1761334230.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697443,-0.716351,-0.020349],[0.704569,0.690608,-0.163227],[0.130981,0.099504,0.986379]] 2025-10-24T19:30:30.519Z,1761334230.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:30.526Z,1761334230.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 227.575302 m, bearing: 48.732804 deg, approach rate: -0.591891 m/s, LOS rate: -0.023944 deg/s, cmd heading: 45.266696 deg, new cmd heading: 45.240247 deg. 2025-10-24T19:30:30.527Z,1761334230.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789591 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:30.669Z,1761334230.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519302 2025-10-24T19:30:30.889Z,1761334230.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697650,-0.716120,-0.021344],[0.704118,0.690849,-0.164150],[0.132297,0.099491,0.986204]] 2025-10-24T19:30:30.922Z,1761334230.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772316 2025-10-24T19:30:30.927Z,1761334230.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:30.931Z,1761334230.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 227.321228 m, bearing: 48.722542 deg, approach rate: -0.623622 m/s, LOS rate: -0.025216 deg/s, cmd heading: 45.240246 deg, new cmd heading: 45.209426 deg. 2025-10-24T19:30:30.962Z,1761334230.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789053 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:31.173Z,1761334231.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022965 2025-10-24T19:30:31.369Z,1761334231.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:31.373Z,1761334231.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 227.061172 m, bearing: 48.711606 deg, approach rate: -0.589267 m/s, LOS rate: -0.024811 deg/s, cmd heading: 45.209425 deg, new cmd heading: 45.176577 deg. 2025-10-24T19:30:31.374Z,1761334231.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788480 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:31.426Z,1761334231.426 [DAT](INFO): DAT read: Rx Time:19:30:30.2042 2025-10-24T19:30:31.426Z,1761334231.426 [DAT](INFO): Rx dataTimestamp_ set to:1761334231.426199 2025-10-24T19:30:31.427Z,1761334231.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277506 2025-10-24T19:30:31.677Z,1761334231.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526983 2025-10-24T19:30:31.701Z,1761334231.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699512,-0.714173,-0.025277],[0.701770,0.693182,-0.164371],[0.134911,0.097241,0.986075]] 2025-10-24T19:30:31.742Z,1761334231.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.97 m. 2025-10-24T19:30:31.749Z,1761334231.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 261.969177 m, nav range: 226.833496 m, bearing: 48.702179 deg, approach rate: -0.608026 m/s, LOS rate: -0.025200 deg/s, cmd heading: 45.176575 deg, new cmd heading: 45.148267 deg. 2025-10-24T19:30:31.750Z,1761334231.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787986 target range: 261.969177 and range: 263.10 m. 2025-10-24T19:30:31.955Z,1761334231.955 [DAT](INFO): DAT read: 19:30:30.2042 LVL= 21136, 24145, 22802, 29411, AGC= 69, IDX= 413,-0.01,-2.680, 2.410,-2.636, 2.781, PHS= 0.910,-0.324, 0.863, RAW= 148.1, -22.9, CAL= 152.8, -29.7, ROT= 357.2, 29.7 2025-10-24T19:30:31.966Z,1761334231.966 [DAT](INFO): got valid direction response: 19:30:30.2042 LVL= 21136, 24145, 22802, 29411, AGC= 69, IDX= 413,-0.01,-2.680, 2.410,-2.636, 2.781, PHS= 0.910,-0.324, 0.863, RAW= 148.1, -22.9, CAL= 152.8, -29.7, ROT= 357.2, 29.7 2025-10-24T19:30:31.994Z,1761334231.994 [DAT](INFO): DAT read: Bearing 357.2, 29.7 (Local) 2025-10-24T19:30:31.995Z,1761334231.995 [DAT](INFO): Local bearing/azimuth received: Bearing 357.2, 29.7 (Local) 2025-10-24T19:30:32.003Z,1761334232.003 [DAT](INFO): DAT read: Range 10 to 50 : 247.4 m (Round-trip 329.9 ms) speed 0.6 m/s 2025-10-24T19:30:32.018Z,1761334232.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:32.019Z,1761334232.019 [DAT](INFO): direction in FSK: [0.867594,-0.042432,-0.495459] 2025-10-24T19:30:32.019Z,1761334232.019 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:32.033Z,1761334232.033 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:32.034Z,1761334232.034 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:32.034Z,1761334232.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:32.114Z,1761334232.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700730,-0.712936,-0.026436],[0.700396,0.694509,-0.164632],[0.135732,0.096847,0.986001]] 2025-10-24T19:30:32.181Z,1761334232.181 [DAT](INFO): DAT read: user:31> 2025-10-24T19:30:32.182Z,1761334232.182 [DAT](INFO): DAT read: Tx time:19:30:31.5702 2025-10-24T19:30:32.182Z,1761334232.182 [DAT](INFO): Ping request sent. 2025-10-24T19:30:32.182Z,1761334232.182 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:32.182Z,1761334232.182 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:32.183Z,1761334232.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-24T19:30:32.203Z,1761334232.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 247.399994 m, deltaT: 4.030505 s, deltaX: -15.700012 m, approachRate: -3.895297 m/s, rangeRepo size: 4 2025-10-24T19:30:32.214Z,1761334232.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 246.335342 m, bearing: 45.369667 deg, lat: 36.779600 deg, lon: -121.859705 deg, deltaT: 4.030505 s, deltaX: -15.633835 m, approachRate: -3.878877 m/s, posRepo size: 4 2025-10-24T19:30:32.215Z,1761334232.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:32.222Z,1761334232.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 229.490524 m, bearing: 47.863814 deg, approach rate: 0.000000 m/s, LOS rate: -0.025200 deg/s, cmd heading: 45.148268 deg, new cmd heading: 45.113491 deg. 2025-10-24T19:30:32.223Z,1761334232.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787379 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:32.433Z,1761334232.433 [DAT](INFO): DAT read: TxSync time:19:30:31.5694 2025-10-24T19:30:32.434Z,1761334232.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251801 2025-10-24T19:30:32.504Z,1761334232.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701885,-0.711737,-0.028084],[0.699060,0.695876,-0.164531],[0.136645,0.095849,0.985972]] 2025-10-24T19:30:32.550Z,1761334232.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:32.556Z,1761334232.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:32.559Z,1761334232.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 229.288681 m, bearing: 47.855413 deg, approach rate: -0.576974 m/s, LOS rate: -0.024034 deg/s, cmd heading: 45.113492 deg, new cmd heading: 45.088268 deg. 2025-10-24T19:30:32.568Z,1761334232.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786939 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:32.685Z,1761334232.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503329 2025-10-24T19:30:32.911Z,1761334232.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703579,-0.710057,-0.028189],[0.697162,0.697397,-0.166139],[0.137627,0.097240,0.985699]] 2025-10-24T19:30:32.938Z,1761334232.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756434 2025-10-24T19:30:32.958Z,1761334232.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:32.977Z,1761334232.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 229.059586 m, bearing: 47.846010 deg, approach rate: -0.564781 m/s, LOS rate: -0.023205 deg/s, cmd heading: 45.088268 deg, new cmd heading: 45.060030 deg. 2025-10-24T19:30:32.985Z,1761334232.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786446 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:33.189Z,1761334233.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007005 2025-10-24T19:30:33.311Z,1761334233.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704533,-0.709062,-0.029387],[0.695944,0.698418,-0.166952],[0.138904,0.097171,0.985527]] 2025-10-24T19:30:33.359Z,1761334233.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:33.362Z,1761334233.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 228.823349 m, bearing: 47.838053 deg, approach rate: -0.588023 m/s, LOS rate: -0.019827 deg/s, cmd heading: 45.060028 deg, new cmd heading: 45.036132 deg. 2025-10-24T19:30:33.363Z,1761334233.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786029 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:33.442Z,1761334233.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260408 2025-10-24T19:30:33.693Z,1761334233.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510843 2025-10-24T19:30:33.732Z,1761334233.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706146,-0.707351,-0.031822],[0.693996,0.700329,-0.167062],[0.140457,0.095886,0.985433]] 2025-10-24T19:30:33.751Z,1761334233.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:33.755Z,1761334233.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 228.603928 m, bearing: 47.830790 deg, approach rate: -0.559671 m/s, LOS rate: -0.018542 deg/s, cmd heading: 45.036133 deg, new cmd heading: 45.014325 deg. 2025-10-24T19:30:33.757Z,1761334233.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785648 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:33.950Z,1761334233.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767636 2025-10-24T19:30:34.123Z,1761334234.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708241,-0.705198,-0.033032],[0.691864,0.702635,-0.166217],[0.140425,0.094868,0.985536]] 2025-10-24T19:30:34.194Z,1761334234.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:34.197Z,1761334234.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014917 2025-10-24T19:30:34.200Z,1761334234.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 228.371048 m, bearing: 47.825959 deg, approach rate: -0.526561 m/s, LOS rate: -0.010934 deg/s, cmd heading: 45.014324 deg, new cmd heading: 44.999817 deg. 2025-10-24T19:30:34.201Z,1761334234.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785395 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:34.449Z,1761334234.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267190 2025-10-24T19:30:34.523Z,1761334234.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709578,-0.703808,-0.033952],[0.690395,0.704074,-0.166236],[0.140903,0.094517,0.985501]] 2025-10-24T19:30:34.550Z,1761334234.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:34.552Z,1761334234.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 228.174866 m, bearing: 47.821983 deg, approach rate: -0.551023 m/s, LOS rate: -0.011179 deg/s, cmd heading: 44.999817 deg, new cmd heading: 44.987876 deg. 2025-10-24T19:30:34.554Z,1761334234.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785187 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:34.701Z,1761334234.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519106 2025-10-24T19:30:34.936Z,1761334234.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711015,-0.702303,-0.035030],[0.688810,0.705642,-0.166161],[0.141414,0.094014,0.985476]] 2025-10-24T19:30:34.953Z,1761334234.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770952 2025-10-24T19:30:34.956Z,1761334234.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:34.959Z,1761334234.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:34.962Z,1761334234.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 227.956802 m, bearing: 47.817674 deg, approach rate: -0.533287 m/s, LOS rate: -0.010546 deg/s, cmd heading: 44.987878 deg, new cmd heading: 44.974940 deg. 2025-10-24T19:30:34.963Z,1761334234.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784961 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:35.205Z,1761334235.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023442 2025-10-24T19:30:35.333Z,1761334235.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712350,-0.700901,-0.035989],[0.687320,0.707082,-0.166215],[0.141947,0.093667,0.985433]] 2025-10-24T19:30:35.427Z,1761334235.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:35.457Z,1761334235.457 [DAT](INFO): DAT read: Rx Time:19:30:34.3012 2025-10-24T19:30:35.457Z,1761334235.457 [DAT](INFO): Rx dataTimestamp_ set to:1761334235.457100 2025-10-24T19:30:35.458Z,1761334235.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275978 2025-10-24T19:30:35.459Z,1761334235.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 227.716141 m, bearing: 47.816137 deg, approach rate: -0.513298 m/s, LOS rate: -0.003283 deg/s, cmd heading: 44.974941 deg, new cmd heading: 44.970324 deg. 2025-10-24T19:30:35.460Z,1761334235.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784880 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:35.709Z,1761334235.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527001 2025-10-24T19:30:35.747Z,1761334235.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713708,-0.699466,-0.036982],[0.685798,0.708551,-0.166244],[0.142486,0.093287,0.985391]] 2025-10-24T19:30:35.796Z,1761334235.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.34 m. 2025-10-24T19:30:35.798Z,1761334235.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.335342 m, nav range: 227.532562 m, bearing: 47.815058 deg, approach rate: -0.504035 m/s, LOS rate: -0.002963 deg/s, cmd heading: 44.970324 deg, new cmd heading: 44.967086 deg. 2025-10-24T19:30:35.799Z,1761334235.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784824 target range: 246.335342 and range: 247.40 m. 2025-10-24T19:30:35.970Z,1761334235.970 [DAT](INFO): DAT read: 19:30:34.3012 LVL= 24688, 32417, 21490, 32755, AGC= 66, IDX= 416, 0.26,-1.977, 2.749,-2.329,-2.849, PHS= 0.961,-0.637, 0.517, RAW= 134.4, -11.8, CAL= 140.0, -22.3, ROT= 10.0, 22.3 2025-10-24T19:30:35.971Z,1761334235.971 [DAT](INFO): got valid direction response: 19:30:34.3012 LVL= 24688, 32417, 21490, 32755, AGC= 66, IDX= 416, 0.26,-1.977, 2.749,-2.329,-2.849, PHS= 0.961,-0.637, 0.517, RAW= 134.4, -11.8, CAL= 140.0, -22.3, ROT= 10.0, 22.3 2025-10-24T19:30:35.972Z,1761334235.972 [DAT](INFO): DAT read: Bearing 10.0, 22.3 (Local) 2025-10-24T19:30:35.973Z,1761334235.973 [DAT](INFO): Local bearing/azimuth received: Bearing 10.0, 22.3 (Local) 2025-10-24T19:30:35.979Z,1761334235.979 [DAT](INFO): DAT read: Range 10 to 50 : 245.1 m (Round-trip 326.9 ms) speed 0.4 m/s 2025-10-24T19:30:35.979Z,1761334235.979 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:35.981Z,1761334235.981 [DAT](INFO): direction in FSK: [0.911154,0.160661,-0.379456] 2025-10-24T19:30:35.981Z,1761334235.981 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:36.003Z,1761334236.003 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:36.003Z,1761334236.003 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:36.020Z,1761334236.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:36.213Z,1761334236.213 [DAT](INFO): DAT read: user:32> 2025-10-24T19:30:36.213Z,1761334236.213 [DAT](INFO): DAT read: Tx time:19:30:35.5202 2025-10-24T19:30:36.214Z,1761334236.214 [DAT](INFO): Ping request sent. 2025-10-24T19:30:36.214Z,1761334236.214 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:36.214Z,1761334236.214 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:36.215Z,1761334236.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-24T19:30:36.279Z,1761334236.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 245.100006 m, deltaT: 4.033509 s, deltaX: -2.299988 m, approachRate: -0.570220 m/s, rangeRepo size: 4 2025-10-24T19:30:36.285Z,1761334236.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 244.042648 m, bearing: 55.456259 deg, lat: 36.779600 deg, lon: -121.859705 deg, deltaT: 4.033509 s, deltaX: -2.292694 m, approachRate: -0.568412 m/s, posRepo size: 4 2025-10-24T19:30:36.286Z,1761334236.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:36.295Z,1761334236.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 227.284760 m, bearing: 47.817237 deg, approach rate: 0.000000 m/s, LOS rate: -0.002963 deg/s, cmd heading: 44.967087 deg, new cmd heading: 44.962761 deg. 2025-10-24T19:30:36.304Z,1761334236.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784748 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:36.465Z,1761334236.465 [DAT](INFO): DAT read: TxSync time:19:30:35.5194 2025-10-24T19:30:36.466Z,1761334236.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251819 2025-10-24T19:30:36.566Z,1761334236.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716871,-0.696227,-0.036938],[0.682302,0.711457,-0.168201],[0.143386,0.095376,0.985060]] 2025-10-24T19:30:36.585Z,1761334236.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:36.589Z,1761334236.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 227.119736 m, bearing: 47.818883 deg, approach rate: -0.538192 m/s, LOS rate: 0.005371 deg/s, cmd heading: 44.962760 deg, new cmd heading: 44.967700 deg. 2025-10-24T19:30:36.590Z,1761334236.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784834 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:36.717Z,1761334236.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502853 2025-10-24T19:30:36.964Z,1761334236.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717841,-0.694798,-0.044272],[0.681027,0.713975,-0.162611],[0.144591,0.086579,0.985696]] 2025-10-24T19:30:36.969Z,1761334236.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755445 2025-10-24T19:30:36.995Z,1761334236.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:37.001Z,1761334237.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:37.010Z,1761334237.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 226.916260 m, bearing: 47.821030 deg, approach rate: -0.488309 m/s, LOS rate: 0.005158 deg/s, cmd heading: 44.967701 deg, new cmd heading: 44.974149 deg. 2025-10-24T19:30:37.011Z,1761334237.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784947 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:37.222Z,1761334237.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008261 2025-10-24T19:30:37.372Z,1761334237.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717328,-0.695435,-0.042544],[0.681403,0.712973,-0.165406],[0.145362,0.089661,0.985308]] 2025-10-24T19:30:37.436Z,1761334237.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:37.444Z,1761334237.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 226.699585 m, bearing: 47.824400 deg, approach rate: -0.503699 m/s, LOS rate: 0.007841 deg/s, cmd heading: 44.974149 deg, new cmd heading: 44.984267 deg. 2025-10-24T19:30:37.445Z,1761334237.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785124 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:37.473Z,1761334237.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259167 2025-10-24T19:30:37.725Z,1761334237.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510911 2025-10-24T19:30:37.771Z,1761334237.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717138,-0.695700,-0.041417],[0.681263,0.712306,-0.168824],[0.146952,0.092855,0.984776]] 2025-10-24T19:30:37.826Z,1761334237.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:37.829Z,1761334237.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 226.487823 m, bearing: 47.827690 deg, approach rate: -0.536789 m/s, LOS rate: 0.008349 deg/s, cmd heading: 44.984268 deg, new cmd heading: 44.994149 deg. 2025-10-24T19:30:37.830Z,1761334237.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785296 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:37.977Z,1761334237.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762940 2025-10-24T19:30:38.230Z,1761334238.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015274 2025-10-24T19:30:38.272Z,1761334238.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717680,-0.695225,-0.039963],[0.680642,0.712440,-0.170749],[0.147181,0.095343,0.984504]] 2025-10-24T19:30:38.343Z,1761334238.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:38.346Z,1761334238.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 226.222855 m, bearing: 47.832138 deg, approach rate: -0.512577 m/s, LOS rate: 0.008614 deg/s, cmd heading: 44.994148 deg, new cmd heading: 45.007506 deg. 2025-10-24T19:30:38.347Z,1761334238.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785529 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:38.481Z,1761334238.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267307 2025-10-24T19:30:38.661Z,1761334238.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718793,-0.694155,-0.038542],[0.679365,0.713089,-0.173111],[0.147650,0.098247,0.984148]] 2025-10-24T19:30:38.686Z,1761334238.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:38.733Z,1761334238.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518938 2025-10-24T19:30:38.739Z,1761334238.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 226.049820 m, bearing: 47.835123 deg, approach rate: -0.505299 m/s, LOS rate: 0.008725 deg/s, cmd heading: 45.007504 deg, new cmd heading: 45.016467 deg. 2025-10-24T19:30:38.748Z,1761334238.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785686 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:38.761Z,1761334238.761 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-24T19:20:38.4Z 2025-10-24T19:30:38.761Z,1761334238.761 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T19:30:38.762Z,1761334238.762 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:30:38.762Z,1761334238.762 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T19:30:38.762Z,1761334238.762 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:30:38.762Z,1761334238.762 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-24T19:30:38.986Z,1761334238.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771742 2025-10-24T19:30:39.170Z,1761334239.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721060,-0.691838,-0.037851],[0.676312,0.714648,-0.178554],[0.150581,0.103149,0.983202]] 2025-10-24T19:30:39.222Z,1761334239.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:39.224Z,1761334239.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:39.227Z,1761334239.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 225.763947 m, bearing: 47.838720 deg, approach rate: -0.530879 m/s, LOS rate: 0.006689 deg/s, cmd heading: 45.016465 deg, new cmd heading: 45.027271 deg. 2025-10-24T19:30:39.228Z,1761334239.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785874 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:39.239Z,1761334239.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025115 2025-10-24T19:30:39.254Z,1761334239.254 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T19:30:39.255Z,1761334239.255 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T19:30:39.255Z,1761334239.255 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T19:30:39.255Z,1761334239.255 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:30:39.255Z,1761334239.255 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T19:30:39.490Z,1761334239.490 [DAT](INFO): DAT read: Rx Time:19:30:38.2486 2025-10-24T19:30:39.490Z,1761334239.490 [DAT](INFO): Rx dataTimestamp_ set to:1761334239.489702 2025-10-24T19:30:39.491Z,1761334239.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276964 2025-10-24T19:30:39.738Z,1761334239.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721539,-0.691311,-0.038354],[0.675307,0.714895,-0.181344],[0.152784,0.104946,0.982672]] 2025-10-24T19:30:39.741Z,1761334239.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527107 2025-10-24T19:30:39.779Z,1761334239.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 244.04 m. 2025-10-24T19:30:39.787Z,1761334239.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 244.042648 m, nav range: 225.483429 m, bearing: 47.842340 deg, approach rate: -0.505458 m/s, LOS rate: 0.006531 deg/s, cmd heading: 45.027271 deg, new cmd heading: 45.038144 deg. 2025-10-24T19:30:39.792Z,1761334239.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786064 target range: 244.042648 and range: 245.10 m. 2025-10-24T19:30:39.998Z,1761334239.998 [DAT](INFO): DAT read: 19:30:38.2486 LVL= 23024, 28113, 23330, 32755, AGC= 68, IDX= 419, 0.39, 2.667, 0.843, 2.303, 1.738, PHS= 1.018,-0.848, 0.562, RAW= 136.4, -8.7, CAL= 142.5, -19.7, ROT= 7.5, 19.7 2025-10-24T19:30:39.999Z,1761334239.999 [DAT](INFO): got valid direction response: 19:30:38.2486 LVL= 23024, 28113, 23330, 32755, AGC= 68, IDX= 419, 0.39, 2.667, 0.843, 2.303, 1.738, PHS= 1.018,-0.848, 0.562, RAW= 136.4, -8.7, CAL= 142.5, -19.7, ROT= 7.5, 19.7 2025-10-24T19:30:40.000Z,1761334240.000 [DAT](INFO): DAT read: Bearing 7.5, 19.7 (Local) 2025-10-24T19:30:40.001Z,1761334240.001 [DAT](INFO): Local bearing/azimuth received: Bearing 7.5, 19.7 (Local) 2025-10-24T19:30:40.002Z,1761334240.002 [DAT](INFO): DAT read: Range 10 to 50 : 243.1 m (Round-trip 324.2 ms) speed 0.4 m/s 2025-10-24T19:30:40.003Z,1761334240.003 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:40.005Z,1761334240.005 [DAT](INFO): direction in FSK: [0.933416,0.122887,-0.337095] 2025-10-24T19:30:40.005Z,1761334240.005 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:40.009Z,1761334240.009 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:40.009Z,1761334240.009 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:40.009Z,1761334240.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:40.245Z,1761334240.245 [DAT](INFO): DAT read: user:33> 2025-10-24T19:30:40.246Z,1761334240.246 [DAT](INFO): DAT read: Tx time:19:30:39.5203 2025-10-24T19:30:40.246Z,1761334240.246 [DAT](INFO): Ping request sent. 2025-10-24T19:30:40.247Z,1761334240.247 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:40.247Z,1761334240.247 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:40.249Z,1761334240.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002256 2025-10-24T19:30:40.298Z,1761334240.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 243.100006 m, deltaT: 4.029993 s, deltaX: -2.000000 m, approachRate: -0.496279 m/s, rangeRepo size: 4 2025-10-24T19:30:40.304Z,1761334240.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 242.044479 m, bearing: 52.339497 deg, lat: 36.779550 deg, lon: -121.859462 deg, deltaT: 4.029993 s, deltaX: -1.998169 m, approachRate: -0.495824 m/s, posRepo size: 4 2025-10-24T19:30:40.305Z,1761334240.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:40.312Z,1761334240.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 238.275894 m, bearing: 52.338626 deg, approach rate: 0.000000 m/s, LOS rate: 0.006531 deg/s, cmd heading: 45.038144 deg, new cmd heading: 45.048298 deg. 2025-10-24T19:30:40.313Z,1761334240.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786241 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:40.497Z,1761334240.497 [DAT](INFO): DAT read: TxSync time:19:30:39.5195 2025-10-24T19:30:40.498Z,1761334240.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251376 2025-10-24T19:30:40.626Z,1761334240.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722479,-0.690127,-0.041822],[0.673035,0.715854,-0.185948],[0.158266,0.106196,0.981669]] 2025-10-24T19:30:40.646Z,1761334240.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:40.654Z,1761334240.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 238.059860 m, bearing: 52.343644 deg, approach rate: -0.619489 m/s, LOS rate: 0.014400 deg/s, cmd heading: 45.048298 deg, new cmd heading: 45.063363 deg. 2025-10-24T19:30:40.655Z,1761334240.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786504 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:40.750Z,1761334240.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503127 2025-10-24T19:30:41.001Z,1761334241.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754371 2025-10-24T19:30:41.030Z,1761334241.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722118,-0.690251,-0.045809],[0.672504,0.715986,-0.187354],[0.162120,0.104485,0.981224]] 2025-10-24T19:30:41.056Z,1761334241.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:41.059Z,1761334241.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 237.839020 m, bearing: 52.348780 deg, approach rate: -0.538857 m/s, LOS rate: 0.012544 deg/s, cmd heading: 45.063362 deg, new cmd heading: 45.078784 deg. 2025-10-24T19:30:41.059Z,1761334241.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786773 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:41.253Z,1761334241.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006333 2025-10-24T19:30:41.434Z,1761334241.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720542,-0.691585,-0.050297],[0.673270,0.715125,-0.187892],[0.165912,0.101521,0.980901]] 2025-10-24T19:30:41.499Z,1761334241.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:41.501Z,1761334241.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:41.505Z,1761334241.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258691 2025-10-24T19:30:41.506Z,1761334241.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 237.588409 m, bearing: 52.352709 deg, approach rate: -0.562899 m/s, LOS rate: 0.008836 deg/s, cmd heading: 45.078784 deg, new cmd heading: 45.090586 deg. 2025-10-24T19:30:41.507Z,1761334241.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786979 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:41.757Z,1761334241.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510368 2025-10-24T19:30:41.840Z,1761334241.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718873,-0.693267,-0.051016],[0.674210,0.713220,-0.191724],[0.169301,0.103429,0.980122]] 2025-10-24T19:30:41.859Z,1761334241.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:41.863Z,1761334241.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 237.386490 m, bearing: 52.355795 deg, approach rate: -0.563189 m/s, LOS rate: 0.008613 deg/s, cmd heading: 45.090587 deg, new cmd heading: 45.099851 deg. 2025-10-24T19:30:41.864Z,1761334241.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787141 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:42.009Z,1761334242.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762305 2025-10-24T19:30:42.244Z,1761334242.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718139,-0.693828,-0.053663],[0.673609,0.712427,-0.196721],[0.174721,0.105125,0.978990]] 2025-10-24T19:30:42.261Z,1761334242.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014380 2025-10-24T19:30:42.317Z,1761334242.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:42.321Z,1761334242.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 237.124435 m, bearing: 52.357688 deg, approach rate: -0.572569 m/s, LOS rate: 0.004141 deg/s, cmd heading: 45.099852 deg, new cmd heading: 45.105538 deg. 2025-10-24T19:30:42.322Z,1761334242.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787240 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:42.514Z,1761334242.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267576 2025-10-24T19:30:42.643Z,1761334242.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718031,-0.693748,-0.056076],[0.672977,0.712567,-0.198371],[0.177578,0.104699,0.978521]] 2025-10-24T19:30:42.662Z,1761334242.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:42.681Z,1761334242.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 236.927597 m, bearing: 52.359126 deg, approach rate: -0.570482 m/s, LOS rate: 0.004170 deg/s, cmd heading: 45.105538 deg, new cmd heading: 45.109854 deg. 2025-10-24T19:30:42.682Z,1761334242.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787315 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:42.765Z,1761334242.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518610 2025-10-24T19:30:43.022Z,1761334243.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774417 2025-10-24T19:30:43.050Z,1761334243.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717493,-0.694162,-0.057823],[0.672781,0.712109,-0.200668],[0.180472,0.105076,0.977951]] 2025-10-24T19:30:43.069Z,1761334243.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:43.073Z,1761334243.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 236.695160 m, bearing: 52.360810 deg, approach rate: -0.570770 m/s, LOS rate: 0.004139 deg/s, cmd heading: 45.109855 deg, new cmd heading: 45.114911 deg. 2025-10-24T19:30:43.074Z,1761334243.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787404 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:43.269Z,1761334243.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022909 2025-10-24T19:30:43.449Z,1761334243.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717221,-0.694279,-0.059758],[0.672207,0.711915,-0.203261],[0.183662,0.105613,0.977299]] 2025-10-24T19:30:43.502Z,1761334243.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:43.505Z,1761334243.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:43.522Z,1761334243.522 [DAT](INFO): DAT read: Rx Time:19:30:42.2454 2025-10-24T19:30:43.522Z,1761334243.522 [DAT](INFO): Rx dataTimestamp_ set to:1761334243.522182 2025-10-24T19:30:43.523Z,1761334243.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276561 2025-10-24T19:30:43.524Z,1761334243.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 236.440399 m, bearing: 52.361197 deg, approach rate: -0.584762 m/s, LOS rate: 0.000891 deg/s, cmd heading: 45.114912 deg, new cmd heading: 45.116077 deg. 2025-10-24T19:30:43.525Z,1761334243.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787424 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:43.773Z,1761334243.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526615 2025-10-24T19:30:43.943Z,1761334243.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716665,-0.694671,-0.061831],[0.672074,0.711585,-0.204850],[0.186301,0.105254,0.976839]] 2025-10-24T19:30:43.967Z,1761334243.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.04 m. 2025-10-24T19:30:43.972Z,1761334243.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.044479 m, nav range: 236.170929 m, bearing: 52.361581 deg, approach rate: -0.583773 m/s, LOS rate: 0.000833 deg/s, cmd heading: 45.116077 deg, new cmd heading: 45.117231 deg. 2025-10-24T19:30:43.973Z,1761334243.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787444 target range: 242.044479 and range: 243.10 m. 2025-10-24T19:30:44.033Z,1761334244.033 [DAT](INFO): DAT read: 19:30:42.2454 LVL= 21536, 27825, 23234, 27731, AGC= 67, IDX= 403, 0.09, 2.695, 0.857, 2.335, 1.715, PHS= 1.068,-0.811, 0.617, RAW= 136.7, -10.3, CAL= 142.7, -20.9, ROT= 7.3, 20.9 2025-10-24T19:30:44.034Z,1761334244.034 [DAT](INFO): got valid direction response: 19:30:42.2454 LVL= 21536, 27825, 23234, 27731, AGC= 67, IDX= 403, 0.09, 2.695, 0.857, 2.335, 1.715, PHS= 1.068,-0.811, 0.617, RAW= 136.7, -10.3, CAL= 142.7, -20.9, ROT= 7.3, 20.9 2025-10-24T19:30:44.035Z,1761334244.035 [DAT](INFO): DAT read: Bearing 7.3, 20.9 (Local) 2025-10-24T19:30:44.035Z,1761334244.035 [DAT](INFO): Local bearing/azimuth received: Bearing 7.3, 20.9 (Local) 2025-10-24T19:30:44.037Z,1761334244.037 [DAT](INFO): DAT read: Range 10 to 50 : 240.6 m (Round-trip 320.9 ms) speed 0.2 m/s 2025-10-24T19:30:44.038Z,1761334244.038 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:44.039Z,1761334244.039 [DAT](INFO): direction in FSK: [0.926632,0.118704,-0.356738] 2025-10-24T19:30:44.039Z,1761334244.039 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:44.043Z,1761334244.043 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:44.043Z,1761334244.043 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:44.043Z,1761334244.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:44.277Z,1761334244.277 [DAT](INFO): DAT read: user:34> 2025-10-24T19:30:44.278Z,1761334244.278 [DAT](INFO): DAT read: Tx time:19:30:43.5703 2025-10-24T19:30:44.278Z,1761334244.278 [DAT](INFO): Ping request sent. 2025-10-24T19:30:44.278Z,1761334244.278 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:44.278Z,1761334244.278 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:44.279Z,1761334244.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-24T19:30:44.342Z,1761334244.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715868,-0.695383,-0.063054],[0.672189,0.710782,-0.207244],[0.188932,0.105975,0.976255]] 2025-10-24T19:30:44.419Z,1761334244.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 240.600006 m, deltaT: 4.032627 s, deltaX: -2.500000 m, approachRate: -0.619943 m/s, rangeRepo size: 4 2025-10-24T19:30:44.425Z,1761334244.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 239.550262 m, bearing: 52.321462 deg, lat: 36.779554 deg, lon: -121.859462 deg, deltaT: 4.032627 s, deltaX: -2.494217 m, approachRate: -0.618509 m/s, posRepo size: 4 2025-10-24T19:30:44.426Z,1761334244.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:44.441Z,1761334244.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 236.191971 m, bearing: 52.274336 deg, approach rate: 0.000000 m/s, LOS rate: 0.000833 deg/s, cmd heading: 45.117231 deg, new cmd heading: 45.118360 deg. 2025-10-24T19:30:44.442Z,1761334244.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787464 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:44.529Z,1761334244.529 [DAT](INFO): DAT read: TxSync time:19:30:43.5695 2025-10-24T19:30:44.530Z,1761334244.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252113 2025-10-24T19:30:44.782Z,1761334244.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504217 2025-10-24T19:30:44.866Z,1761334244.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715266,-0.695828,-0.064951],[0.672100,0.710376,-0.208920],[0.191512,0.105780,0.975774]] 2025-10-24T19:30:44.903Z,1761334244.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:44.911Z,1761334244.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 235.903580 m, bearing: 52.274611 deg, approach rate: -0.595899 m/s, LOS rate: 0.000569 deg/s, cmd heading: 45.118358 deg, new cmd heading: 45.119185 deg. 2025-10-24T19:30:44.917Z,1761334244.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787478 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:45.033Z,1761334245.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754763 2025-10-24T19:30:45.285Z,1761334245.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006851 2025-10-24T19:30:45.330Z,1761334245.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715176,-0.695853,-0.065673],[0.671342,0.710037,-0.212479],[0.194484,0.107870,0.974956]] 2025-10-24T19:30:45.383Z,1761334245.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:45.391Z,1761334245.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 235.611908 m, bearing: 52.275103 deg, approach rate: -0.606207 m/s, LOS rate: 0.001023 deg/s, cmd heading: 45.119185 deg, new cmd heading: 45.120661 deg. 2025-10-24T19:30:45.392Z,1761334245.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787504 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:45.538Z,1761334245.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259537 2025-10-24T19:30:45.732Z,1761334245.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714675,-0.696223,-0.067185],[0.671128,0.709618,-0.214544],[0.197047,0.108239,0.974401]] 2025-10-24T19:30:45.760Z,1761334245.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:45.762Z,1761334245.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:45.765Z,1761334245.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 235.391312 m, bearing: 52.275461 deg, approach rate: -0.582497 m/s, LOS rate: 0.000946 deg/s, cmd heading: 45.120660 deg, new cmd heading: 45.121735 deg. 2025-10-24T19:30:45.766Z,1761334245.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787523 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:45.791Z,1761334245.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512762 2025-10-24T19:30:46.041Z,1761334246.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763022 2025-10-24T19:30:46.145Z,1761334246.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713634,-0.697272,-0.067364],[0.671884,0.708505,-0.215854],[0.198236,0.108780,0.974099]] 2025-10-24T19:30:46.251Z,1761334246.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:46.259Z,1761334246.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 235.113617 m, bearing: 52.275823 deg, approach rate: -0.568383 m/s, LOS rate: 0.000742 deg/s, cmd heading: 45.121736 deg, new cmd heading: 45.122824 deg. 2025-10-24T19:30:46.265Z,1761334246.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787542 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:46.295Z,1761334246.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016735 2025-10-24T19:30:46.545Z,1761334246.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266774 2025-10-24T19:30:46.595Z,1761334246.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:46.601Z,1761334246.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 234.903107 m, bearing: 52.276098 deg, approach rate: -0.610677 m/s, LOS rate: 0.000799 deg/s, cmd heading: 45.122825 deg, new cmd heading: 45.123651 deg. 2025-10-24T19:30:46.602Z,1761334246.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787556 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:46.797Z,1761334246.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519050 2025-10-24T19:30:46.947Z,1761334246.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713039,-0.697826,-0.067932],[0.672159,0.707926,-0.216891],[0.199444,0.108990,0.973829]] 2025-10-24T19:30:46.973Z,1761334246.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:46.976Z,1761334246.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 234.685867 m, bearing: 52.276348 deg, approach rate: -0.574970 m/s, LOS rate: 0.000661 deg/s, cmd heading: 45.123652 deg, new cmd heading: 45.124401 deg. 2025-10-24T19:30:46.977Z,1761334246.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787569 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:47.050Z,1761334247.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771810 2025-10-24T19:30:47.301Z,1761334247.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022768 2025-10-24T19:30:47.479Z,1761334247.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:47.482Z,1761334247.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 234.427048 m, bearing: 52.278536 deg, approach rate: -0.511641 m/s, LOS rate: 0.004332 deg/s, cmd heading: 45.124399 deg, new cmd heading: 45.130973 deg. 2025-10-24T19:30:47.483Z,1761334247.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787684 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:47.555Z,1761334247.555 [DAT](INFO): DAT read: Rx Time:19:30:46.2935 2025-10-24T19:30:47.555Z,1761334247.555 [DAT](INFO): Rx dataTimestamp_ set to:1761334247.554965 2025-10-24T19:30:47.556Z,1761334247.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277930 2025-10-24T19:30:47.752Z,1761334247.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712226,-0.698671,-0.067770],[0.672508,0.706833,-0.219361],[0.201163,0.110659,0.973287]] 2025-10-24T19:30:47.784Z,1761334247.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:47.787Z,1761334247.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.55 m. 2025-10-24T19:30:47.790Z,1761334247.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 239.550262 m, nav range: 234.223145 m, bearing: 52.280218 deg, approach rate: -0.663503 m/s, LOS rate: 0.005476 deg/s, cmd heading: 45.130974 deg, new cmd heading: 45.136022 deg. 2025-10-24T19:30:47.791Z,1761334247.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787772 target range: 239.550262 and range: 240.60 m. 2025-10-24T19:30:47.805Z,1761334247.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527495 2025-10-24T19:30:48.062Z,1761334248.062 [DAT](INFO): DAT read: 19:30:46.2935 LVL= 18928, 22865, 16034, 25587, AGC= 66, IDX= 416,-0.32, 2.047, 0.361, 1.767, 1.198, PHS= 0.937,-0.790, 0.566, RAW= 138.2, -9.1, CAL= 144.6, -19.6, ROT= 5.4, 19.6 2025-10-24T19:30:48.063Z,1761334248.063 [DAT](INFO): got valid direction response: 19:30:46.2935 LVL= 18928, 22865, 16034, 25587, AGC= 66, IDX= 416,-0.32, 2.047, 0.361, 1.767, 1.198, PHS= 0.937,-0.790, 0.566, RAW= 138.2, -9.1, CAL= 144.6, -19.6, ROT= 5.4, 19.6 2025-10-24T19:30:48.064Z,1761334248.064 [DAT](INFO): DAT read: Bearing 5.4, 19.6 (Local) 2025-10-24T19:30:48.065Z,1761334248.065 [DAT](INFO): Local bearing/azimuth received: Bearing 5.4, 19.6 (Local) 2025-10-24T19:30:48.066Z,1761334248.066 [DAT](INFO): DAT read: Range 10 to 50 : 239.3 m (Round-trip 319.1 ms) speed 0.4 m/s 2025-10-24T19:30:48.067Z,1761334248.067 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:48.068Z,1761334248.068 [DAT](INFO): direction in FSK: [0.937877,0.088655,-0.335452] 2025-10-24T19:30:48.068Z,1761334248.068 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:48.072Z,1761334248.072 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:48.073Z,1761334248.073 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:48.073Z,1761334248.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:48.256Z,1761334248.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712260,-0.698522,-0.068943],[0.671854,0.706896,-0.221158],[0.203219,0.111202,0.972798]] 2025-10-24T19:30:48.309Z,1761334248.309 [DAT](INFO): DAT read: user:35> 2025-10-24T19:30:48.310Z,1761334248.310 [DAT](INFO): DAT read: Tx time:19:30:47.5703 2025-10-24T19:30:48.310Z,1761334248.310 [DAT](INFO): Ping request sent. 2025-10-24T19:30:48.310Z,1761334248.310 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:48.310Z,1761334248.310 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:48.311Z,1761334248.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-24T19:30:48.379Z,1761334248.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 239.300003 m, deltaT: 4.031348 s, deltaX: -1.300003 m, approachRate: -0.322474 m/s, rangeRepo size: 4 2025-10-24T19:30:48.392Z,1761334248.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 238.250763 m, bearing: 50.635185 deg, lat: 36.779554 deg, lon: -121.859462 deg, deltaT: 4.031348 s, deltaX: -1.299500 m, approachRate: -0.322349 m/s, posRepo size: 4 2025-10-24T19:30:48.394Z,1761334248.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:48.409Z,1761334248.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 233.917969 m, bearing: 52.284684 deg, approach rate: 0.000000 m/s, LOS rate: 0.005476 deg/s, cmd heading: 45.136021 deg, new cmd heading: 45.145743 deg. 2025-10-24T19:30:48.410Z,1761334248.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787942 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:48.561Z,1761334248.561 [DAT](INFO): DAT read: TxSync time:19:30:47.5695 2025-10-24T19:30:48.562Z,1761334248.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251556 2025-10-24T19:30:48.678Z,1761334248.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712350,-0.698381,-0.069439],[0.671492,0.706991,-0.221951],[0.204099,0.111479,0.972582]] 2025-10-24T19:30:48.697Z,1761334248.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:48.700Z,1761334248.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 233.724396 m, bearing: 52.287538 deg, approach rate: -0.606365 m/s, LOS rate: 0.008946 deg/s, cmd heading: 45.145744 deg, new cmd heading: 45.154311 deg. 2025-10-24T19:30:48.701Z,1761334248.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788091 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:48.813Z,1761334248.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502837 2025-10-24T19:30:49.065Z,1761334249.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754504 2025-10-24T19:30:49.078Z,1761334249.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713938,-0.696980,-0.067171],[0.669598,0.707632,-0.225601],[0.204771,0.116088,0.971901]] 2025-10-24T19:30:49.097Z,1761334249.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:49.120Z,1761334249.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 233.505463 m, bearing: 52.290892 deg, approach rate: -0.547657 m/s, LOS rate: 0.008397 deg/s, cmd heading: 45.154312 deg, new cmd heading: 45.164383 deg. 2025-10-24T19:30:49.122Z,1761334249.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788267 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:49.317Z,1761334249.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006516 2025-10-24T19:30:49.481Z,1761334249.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714247,-0.696409,-0.069758],[0.668738,0.708460,-0.225551],[0.206496,0.114449,0.971731]] 2025-10-24T19:30:49.534Z,1761334249.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:49.538Z,1761334249.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 233.274521 m, bearing: 52.295907 deg, approach rate: -0.528437 m/s, LOS rate: 0.011487 deg/s, cmd heading: 45.164383 deg, new cmd heading: 45.179444 deg. 2025-10-24T19:30:49.540Z,1761334249.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788530 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:49.569Z,1761334249.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258492 2025-10-24T19:30:49.822Z,1761334249.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511926 2025-10-24T19:30:49.885Z,1761334249.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716073,-0.694353,-0.071507],[0.666684,0.710675,-0.224664],[0.206815,0.113203,0.971809]] 2025-10-24T19:30:49.916Z,1761334249.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:49.919Z,1761334249.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:49.925Z,1761334249.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 233.073868 m, bearing: 52.300417 deg, approach rate: -0.520836 m/s, LOS rate: 0.011717 deg/s, cmd heading: 45.179444 deg, new cmd heading: 45.192986 deg. 2025-10-24T19:30:49.926Z,1761334249.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788766 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:50.073Z,1761334250.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762553 2025-10-24T19:30:50.290Z,1761334250.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716990,-0.693311,-0.072422],[0.665740,0.711848,-0.223746],[0.206680,0.112209,0.971953]] 2025-10-24T19:30:50.326Z,1761334250.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015572 2025-10-24T19:30:50.371Z,1761334250.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:50.383Z,1761334250.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 232.850830 m, bearing: 52.306122 deg, approach rate: -0.493679 m/s, LOS rate: 0.012639 deg/s, cmd heading: 45.192985 deg, new cmd heading: 45.210115 deg. 2025-10-24T19:30:50.385Z,1761334250.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789065 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:50.580Z,1761334250.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269643 2025-10-24T19:30:50.691Z,1761334250.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718282,-0.691858,-0.073506],[0.664309,0.713384,-0.223107],[0.206796,0.111423,0.972019]] 2025-10-24T19:30:50.716Z,1761334250.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:50.719Z,1761334250.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 232.665100 m, bearing: 52.310975 deg, approach rate: -0.537857 m/s, LOS rate: 0.014067 deg/s, cmd heading: 45.210115 deg, new cmd heading: 45.224688 deg. 2025-10-24T19:30:50.721Z,1761334250.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789320 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:50.829Z,1761334250.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518875 2025-10-24T19:30:51.081Z,1761334251.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770445 2025-10-24T19:30:51.097Z,1761334251.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718392,-0.691712,-0.073803],[0.664050,0.713507,-0.223484],[0.207245,0.111540,0.971910]] 2025-10-24T19:30:51.117Z,1761334251.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:51.119Z,1761334251.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 232.460709 m, bearing: 52.316338 deg, approach rate: -0.510651 m/s, LOS rate: 0.013410 deg/s, cmd heading: 45.224687 deg, new cmd heading: 45.240790 deg. 2025-10-24T19:30:51.121Z,1761334251.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789601 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:51.333Z,1761334251.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023178 2025-10-24T19:30:51.507Z,1761334251.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719123,-0.690910,-0.074192],[0.663193,0.714280,-0.223561],[0.207454,0.111564,0.971862]] 2025-10-24T19:30:51.578Z,1761334251.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:51.581Z,1761334251.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 232.231369 m, bearing: 52.324026 deg, approach rate: -0.496789 m/s, LOS rate: 0.016670 deg/s, cmd heading: 45.240789 deg, new cmd heading: 45.263877 deg. 2025-10-24T19:30:51.582Z,1761334251.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790004 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:51.585Z,1761334251.585 [DAT](INFO): DAT read: Rx Time:19:30:50.2909 2025-10-24T19:30:51.585Z,1761334251.585 [DAT](INFO): Rx dataTimestamp_ set to:1761334251.585182 2025-10-24T19:30:51.586Z,1761334251.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275771 2025-10-24T19:30:51.676Z,1761334251.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:30:51.840Z,1761334251.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529852 2025-10-24T19:30:51.971Z,1761334251.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719005,-0.691121,-0.073377],[0.663257,0.713870,-0.224677],[0.207661,0.112877,0.971667]] 2025-10-24T19:30:51.988Z,1761334251.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:51.990Z,1761334251.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.25 m. 2025-10-24T19:30:51.993Z,1761334251.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.250763 m, nav range: 232.026978 m, bearing: 52.330879 deg, approach rate: -0.496514 m/s, LOS rate: 0.016661 deg/s, cmd heading: 45.263875 deg, new cmd heading: 45.284451 deg. 2025-10-24T19:30:51.994Z,1761334251.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790363 target range: 238.250763 and range: 239.30 m. 2025-10-24T19:30:52.109Z,1761334252.109 [DAT](INFO): DAT read: 19:30:50.2910 LVL= 25904, 31553, 25074, 32083, AGC= 65, IDX= 421, 0.15, 3.080, 2.136,-3.105, 2.109, PHS= 1.059, 0.074, 1.066, RAW= 150.3, -38.2, CAL= 153.0, -41.7, ROT= 357.0, 41.7 2025-10-24T19:30:52.110Z,1761334252.110 [DAT](INFO): got valid direction response: 19:30:50.2910 LVL= 25904, 31553, 25074, 32083, AGC= 65, IDX= 421, 0.15, 3.080, 2.136,-3.105, 2.109, PHS= 1.059, 0.074, 1.066, RAW= 150.3, -38.2, CAL= 153.0, -41.7, ROT= 357.0, 41.7 2025-10-24T19:30:52.111Z,1761334252.111 [DAT](INFO): DAT read: Bearing 357.0, 41.7 (Local) 2025-10-24T19:30:52.111Z,1761334252.111 [DAT](INFO): Local bearing/azimuth received: Bearing 357.0, 41.7 (Local) 2025-10-24T19:30:52.113Z,1761334252.113 [DAT](INFO): DAT read: Range 10 to 50 : 237.3 m (Round-trip 316.5 ms) speed 0.4 m/s 2025-10-24T19:30:52.114Z,1761334252.114 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:52.115Z,1761334252.115 [DAT](INFO): direction in FSK: [0.745615,-0.039076,-0.665230] 2025-10-24T19:30:52.115Z,1761334252.115 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:52.119Z,1761334252.119 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:52.119Z,1761334252.119 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:52.119Z,1761334252.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:52.342Z,1761334252.342 [DAT](INFO): DAT read: user:36> 2025-10-24T19:30:52.344Z,1761334252.344 [DAT](INFO): DAT read: Tx time:19:30:51.6204 2025-10-24T19:30:52.345Z,1761334252.345 [DAT](INFO): Ping request sent. 2025-10-24T19:30:52.345Z,1761334252.345 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:52.346Z,1761334252.346 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:52.347Z,1761334252.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001686 2025-10-24T19:30:52.508Z,1761334252.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 237.300003 m, deltaT: 4.032479 s, deltaX: -2.000000 m, approachRate: -0.495973 m/s, rangeRepo size: 4 2025-10-24T19:30:52.510Z,1761334252.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 236.219864 m, bearing: 45.195114 deg, lat: 36.779554 deg, lon: -121.859462 deg, deltaT: 4.032479 s, deltaX: -2.030899 m, approachRate: -0.503635 m/s, posRepo size: 4 2025-10-24T19:30:52.511Z,1761334252.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:52.518Z,1761334252.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 231.817184 m, bearing: 52.337729 deg, approach rate: 0.000000 m/s, LOS rate: 0.016661 deg/s, cmd heading: 45.284451 deg, new cmd heading: 45.310082 deg. 2025-10-24T19:30:52.519Z,1761334252.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790810 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:52.593Z,1761334252.593 [DAT](INFO): DAT read: TxSync time:19:30:51.6196 2025-10-24T19:30:52.594Z,1761334252.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248807 2025-10-24T19:30:52.681Z,1761334252.681 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:30:52.781Z,1761334252.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719702,-0.690348,-0.073821],[0.662324,0.714568,-0.225211],[0.208224,0.113191,0.971509]] 2025-10-24T19:30:52.800Z,1761334252.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:52.803Z,1761334252.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 231.624847 m, bearing: 52.344076 deg, approach rate: -0.647573 m/s, LOS rate: 0.021387 deg/s, cmd heading: 45.310082 deg, new cmd heading: 45.329139 deg. 2025-10-24T19:30:52.805Z,1761334252.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791143 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:52.845Z,1761334252.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499794 2025-10-24T19:30:53.097Z,1761334253.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751683 2025-10-24T19:30:53.180Z,1761334253.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717266,-0.692261,-0.079404],[0.664474,0.713841,-0.221145],[0.209772,0.105858,0.972003]] 2025-10-24T19:30:53.199Z,1761334253.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:53.202Z,1761334253.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 231.426651 m, bearing: 52.350484 deg, approach rate: -0.495992 m/s, LOS rate: 0.016050 deg/s, cmd heading: 45.329138 deg, new cmd heading: 45.348379 deg. 2025-10-24T19:30:53.205Z,1761334253.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791479 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:53.349Z,1761334253.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003844 2025-10-24T19:30:53.601Z,1761334253.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255543 2025-10-24T19:30:53.645Z,1761334253.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:53.648Z,1761334253.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 231.205490 m, bearing: 52.358354 deg, approach rate: -0.496357 m/s, LOS rate: 0.017681 deg/s, cmd heading: 45.348378 deg, new cmd heading: 45.372012 deg. 2025-10-24T19:30:53.649Z,1761334253.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791891 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:53.853Z,1761334253.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507858 2025-10-24T19:30:54.106Z,1761334254.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760943 2025-10-24T19:30:54.117Z,1761334254.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710743,-0.699480,-0.074647],[0.670815,0.705889,-0.227437],[0.211780,0.111574,0.970928]] 2025-10-24T19:30:54.135Z,1761334254.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:54.139Z,1761334254.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:54.142Z,1761334254.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 230.959122 m, bearing: 52.366554 deg, approach rate: -0.498835 m/s, LOS rate: 0.016619 deg/s, cmd heading: 45.372011 deg, new cmd heading: 45.396635 deg. 2025-10-24T19:30:54.143Z,1761334254.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792321 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:54.357Z,1761334254.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011907 2025-10-24T19:30:54.528Z,1761334254.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709590,-0.700735,-0.073848],[0.671994,0.704531,-0.228165],[0.211911,0.112278,0.970818]] 2025-10-24T19:30:54.582Z,1761334254.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:54.585Z,1761334254.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 230.736069 m, bearing: 52.372923 deg, approach rate: -0.503094 m/s, LOS rate: 0.014380 deg/s, cmd heading: 45.396634 deg, new cmd heading: 45.415761 deg. 2025-10-24T19:30:54.586Z,1761334254.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792655 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:54.618Z,1761334254.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272995 2025-10-24T19:30:54.869Z,1761334254.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523680 2025-10-24T19:30:54.942Z,1761334254.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708180,-0.702389,-0.071636],[0.673810,0.702674,-0.228537],[0.210859,0.113577,0.970896]] 2025-10-24T19:30:54.962Z,1761334254.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:54.965Z,1761334254.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 230.546417 m, bearing: 52.378239 deg, approach rate: -0.498970 m/s, LOS rate: 0.013997 deg/s, cmd heading: 45.415762 deg, new cmd heading: 45.431721 deg. 2025-10-24T19:30:54.966Z,1761334254.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792933 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:55.122Z,1761334255.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776783 2025-10-24T19:30:55.373Z,1761334255.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027994 2025-10-24T19:30:55.410Z,1761334255.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706816,-0.703977,-0.069482],[0.675982,0.701106,-0.226933],[0.208470,0.113431,0.971429]] 2025-10-24T19:30:55.503Z,1761334255.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:55.510Z,1761334255.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 230.261551 m, bearing: 52.384295 deg, approach rate: -0.527614 m/s, LOS rate: 0.011231 deg/s, cmd heading: 45.431720 deg, new cmd heading: 45.449911 deg. 2025-10-24T19:30:55.513Z,1761334255.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793251 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:55.626Z,1761334255.626 [DAT](INFO): DAT read: Rx Time:19:30:54.3379 2025-10-24T19:30:55.626Z,1761334255.626 [DAT](INFO): Rx dataTimestamp_ set to:1761334255.625745 2025-10-24T19:30:55.627Z,1761334255.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281852 2025-10-24T19:30:55.826Z,1761334255.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705488,-0.705653,-0.065887],[0.678472,0.699322,-0.224999],[0.204847,0.114031,0.972129]] 2025-10-24T19:30:55.862Z,1761334255.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.22 m. 2025-10-24T19:30:55.869Z,1761334255.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.219864 m, nav range: 230.078674 m, bearing: 52.388067 deg, approach rate: -0.508157 m/s, LOS rate: 0.010492 deg/s, cmd heading: 45.449913 deg, new cmd heading: 45.461240 deg. 2025-10-24T19:30:55.871Z,1761334255.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793448 target range: 236.219864 and range: 237.30 m. 2025-10-24T19:30:55.877Z,1761334255.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532323 2025-10-24T19:30:56.135Z,1761334256.135 [DAT](INFO): DAT read: 19:30:54.3379 LVL= 19312, 23329, 16754, 25939, AGC= 70, IDX= 406,-0.41,-2.846, 1.653,-3.106, 2.534, PHS= 0.991,-0.834, 0.641, RAW= 139.6, -9.5, CAL= 146.2, -19.7, ROT= 3.8, 19.7 2025-10-24T19:30:56.137Z,1761334256.137 [DAT](INFO): got valid direction response: 19:30:54.3379 LVL= 19312, 23329, 16754, 25939, AGC= 70, IDX= 406,-0.41,-2.846, 1.653,-3.106, 2.534, PHS= 0.991,-0.834, 0.641, RAW= 139.6, -9.5, CAL= 146.2, -19.7, ROT= 3.8, 19.7 2025-10-24T19:30:56.138Z,1761334256.138 [DAT](INFO): DAT read: Bearing 3.8, 19.7 (Local) 2025-10-24T19:30:56.138Z,1761334256.138 [DAT](INFO): Local bearing/azimuth received: Bearing 3.8, 19.7 (Local) 2025-10-24T19:30:56.146Z,1761334256.146 [DAT](INFO): DAT read: Range 10 to 50 : 235.0 m (Round-trip 313.4 ms) speed 0.4 m/s 2025-10-24T19:30:56.147Z,1761334256.147 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:30:56.149Z,1761334256.149 [DAT](INFO): direction in FSK: [0.939401,0.062395,-0.337095] 2025-10-24T19:30:56.149Z,1761334256.149 [DAT](INFO): publishing direction and range info 2025-10-24T19:30:56.153Z,1761334256.153 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:30:56.153Z,1761334256.153 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:30:56.154Z,1761334256.154 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:30:56.243Z,1761334256.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704122,-0.707382,-0.061833],[0.681245,0.697526,-0.222179],[0.200295,0.114318,0.973043]] 2025-10-24T19:30:56.371Z,1761334256.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 235.000000 m, deltaT: 4.039981 s, deltaX: -2.300003 m, approachRate: -0.569310 m/s, rangeRepo size: 4 2025-10-24T19:30:56.381Z,1761334256.381 [DAT](INFO): DAT read: user:37> 2025-10-24T19:30:56.382Z,1761334256.382 [DAT](INFO): DAT read: Tx time:19:30:55.6704 2025-10-24T19:30:56.382Z,1761334256.382 [DAT](INFO): Ping request sent. 2025-10-24T19:30:56.382Z,1761334256.382 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:30:56.382Z,1761334256.382 [DAT](INFO): publishing transmit ping time 2025-10-24T19:30:56.383Z,1761334256.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-24T19:30:56.389Z,1761334256.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 233.910431 m, bearing: 49.920154 deg, lat: 36.779580 deg, lon: -121.859488 deg, deltaT: 4.039981 s, deltaX: -2.309433 m, approachRate: -0.571645 m/s, posRepo size: 4 2025-10-24T19:30:56.390Z,1761334256.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:56.396Z,1761334256.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 229.810593 m, bearing: 51.466403 deg, approach rate: 0.000000 m/s, LOS rate: 0.010492 deg/s, cmd heading: 45.461241 deg, new cmd heading: 45.477141 deg. 2025-10-24T19:30:56.397Z,1761334256.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793726 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:56.633Z,1761334256.633 [DAT](INFO): DAT read: TxSync time:19:30:55.6696 2025-10-24T19:30:56.634Z,1761334256.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251904 2025-10-24T19:30:56.709Z,1761334256.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701872,-0.710018,-0.057010],[0.684901,0.694692,-0.219804],[0.195669,0.115228,0.973877]] 2025-10-24T19:30:56.779Z,1761334256.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:56.786Z,1761334256.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:56.793Z,1761334256.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 229.546707 m, bearing: 51.468260 deg, approach rate: -0.630851 m/s, LOS rate: 0.004444 deg/s, cmd heading: 45.477141 deg, new cmd heading: 45.482718 deg. 2025-10-24T19:30:56.794Z,1761334256.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793823 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:56.885Z,1761334256.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502961 2025-10-24T19:30:57.100Z,1761334257.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700027,-0.711957,-0.055492],[0.688040,0.693234,-0.214540],[0.191212,0.112003,0.975138]] 2025-10-24T19:30:57.120Z,1761334257.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:57.123Z,1761334257.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 229.355179 m, bearing: 51.469434 deg, approach rate: -0.573594 m/s, LOS rate: 0.003518 deg/s, cmd heading: 45.482718 deg, new cmd heading: 45.486242 deg. 2025-10-24T19:30:57.124Z,1761334257.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793885 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:57.138Z,1761334257.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755694 2025-10-24T19:30:57.391Z,1761334257.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008725 2025-10-24T19:30:57.508Z,1761334257.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697234,-0.715145,-0.049313],[0.692215,0.689562,-0.212940],[0.186287,0.114334,0.975820]] 2025-10-24T19:30:57.572Z,1761334257.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:57.575Z,1761334257.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 229.098648 m, bearing: 51.469378 deg, approach rate: -0.566451 m/s, LOS rate: -0.000123 deg/s, cmd heading: 45.486242 deg, new cmd heading: 45.486076 deg. 2025-10-24T19:30:57.576Z,1761334257.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793882 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:57.641Z,1761334257.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258904 2025-10-24T19:30:57.893Z,1761334257.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510643 2025-10-24T19:30:57.907Z,1761334257.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694506,-0.718102,-0.044621],[0.696224,0.686400,-0.210066],[0.181476,0.114826,0.976669]] 2025-10-24T19:30:57.958Z,1761334257.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:57.965Z,1761334257.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 228.893311 m, bearing: 51.469092 deg, approach rate: -0.532889 m/s, LOS rate: -0.000743 deg/s, cmd heading: 45.486075 deg, new cmd heading: 45.485216 deg. 2025-10-24T19:30:57.966Z,1761334257.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793867 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:58.145Z,1761334258.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762950 2025-10-24T19:30:58.322Z,1761334258.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692448,-0.720459,-0.038146],[0.699931,0.683660,-0.206653],[0.174964,0.116396,0.977670]] 2025-10-24T19:30:58.397Z,1761334258.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014801 2025-10-24T19:30:58.422Z,1761334258.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:58.429Z,1761334258.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 228.623077 m, bearing: 51.468450 deg, approach rate: -0.582068 m/s, LOS rate: -0.001384 deg/s, cmd heading: 45.485214 deg, new cmd heading: 45.483287 deg. 2025-10-24T19:30:58.430Z,1761334258.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793833 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:58.649Z,1761334258.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266616 2025-10-24T19:30:58.710Z,1761334258.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691081,-0.722027,-0.032925],[0.702866,0.681964,-0.202250],[0.168484,0.116629,0.978780]] 2025-10-24T19:30:58.758Z,1761334258.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:58.761Z,1761334258.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 228.421021 m, bearing: 51.467073 deg, approach rate: -0.601662 m/s, LOS rate: -0.004105 deg/s, cmd heading: 45.483288 deg, new cmd heading: 45.479153 deg. 2025-10-24T19:30:58.762Z,1761334258.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793761 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:58.901Z,1761334258.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519067 2025-10-24T19:30:59.113Z,1761334259.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689074,-0.724133,-0.028435],[0.706290,0.679846,-0.197391],[0.162269,0.115933,0.979912]] 2025-10-24T19:30:59.135Z,1761334259.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:30:59.138Z,1761334259.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:59.141Z,1761334259.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 228.201248 m, bearing: 51.465365 deg, approach rate: -0.578227 m/s, LOS rate: -0.004497 deg/s, cmd heading: 45.479153 deg, new cmd heading: 45.474025 deg. 2025-10-24T19:30:59.142Z,1761334259.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793671 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:59.153Z,1761334259.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770828 2025-10-24T19:30:59.407Z,1761334259.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024976 2025-10-24T19:30:59.518Z,1761334259.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687343,-0.725922,-0.024433],[0.709348,0.678123,-0.192289],[0.156155,0.114837,0.981034]] 2025-10-24T19:30:59.578Z,1761334259.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:59.581Z,1761334259.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 227.948959 m, bearing: 51.463249 deg, approach rate: -0.573618 m/s, LOS rate: -0.004817 deg/s, cmd heading: 45.474023 deg, new cmd heading: 45.467667 deg. 2025-10-24T19:30:59.582Z,1761334259.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793561 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:30:59.658Z,1761334259.658 [DAT](INFO): DAT read: Rx Time:19:30:58.3850 2025-10-24T19:30:59.658Z,1761334259.658 [DAT](INFO): Rx dataTimestamp_ set to:1761334259.658012 2025-10-24T19:30:59.659Z,1761334259.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276753 2025-10-24T19:30:59.910Z,1761334259.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527464 2025-10-24T19:30:59.941Z,1761334259.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686049,-0.727233,-0.021663],[0.711868,0.677109,-0.186463],[0.150270,0.112501,0.982223]] 2025-10-24T19:30:59.960Z,1761334259.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 233.91 m. 2025-10-24T19:30:59.963Z,1761334259.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 233.910431 m, nav range: 227.721542 m, bearing: 51.461191 deg, approach rate: -0.595496 m/s, LOS rate: -0.005394 deg/s, cmd heading: 45.467668 deg, new cmd heading: 45.461488 deg. 2025-10-24T19:30:59.964Z,1761334259.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793453 target range: 233.910431 and range: 235.00 m. 2025-10-24T19:31:00.166Z,1761334260.166 [DAT](INFO): DAT read: 19:30:58.3850 LVL= 18912, 25441, 18162, 24563, AGC= 67, IDX= 407, 0.30,-0.693,-2.409,-0.943,-1.604, PHS= 0.999,-0.757, 0.658, RAW= 139.4, -11.2, CAL= 145.9, -21.0, ROT= 4.1, 21.0 2025-10-24T19:31:00.167Z,1761334260.167 [DAT](INFO): got valid direction response: 19:30:58.3850 LVL= 18912, 25441, 18162, 24563, AGC= 67, IDX= 407, 0.30,-0.693,-2.409,-0.943,-1.604, PHS= 0.999,-0.757, 0.658, RAW= 139.4, -11.2, CAL= 145.9, -21.0, ROT= 4.1, 21.0 2025-10-24T19:31:00.168Z,1761334260.168 [DAT](INFO): DAT read: Bearing 4.1, 21.0 (Local) 2025-10-24T19:31:00.169Z,1761334260.169 [DAT](INFO): Local bearing/azimuth received: Bearing 4.1, 21.0 (Local) 2025-10-24T19:31:00.171Z,1761334260.171 [DAT](INFO): DAT read: Range 10 to 50 : 232.8 m (Round-trip 310.5 ms) speed 0.4 m/s 2025-10-24T19:31:00.172Z,1761334260.172 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:00.173Z,1761334260.173 [DAT](INFO): direction in FSK: [0.931191,0.066749,-0.358368] 2025-10-24T19:31:00.173Z,1761334260.173 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:00.177Z,1761334260.177 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:00.177Z,1761334260.177 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:00.177Z,1761334260.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:00.415Z,1761334260.415 [DAT](INFO): DAT read: user:38> 2025-10-24T19:31:00.421Z,1761334260.421 [DAT](INFO): DAT read: Tx time:19:30:59.6704 2025-10-24T19:31:00.422Z,1761334260.422 [DAT](INFO): Ping request sent. 2025-10-24T19:31:00.423Z,1761334260.423 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:31:00.424Z,1761334260.424 [DAT](INFO): publishing transmit ping time 2025-10-24T19:31:00.426Z,1761334260.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003491 2025-10-24T19:31:00.445Z,1761334260.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 232.800003 m, deltaT: 4.031507 s, deltaX: -2.199997 m, approachRate: -0.545701 m/s, rangeRepo size: 4 2025-10-24T19:31:00.447Z,1761334260.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 231.717422 m, bearing: 52.339303 deg, lat: 36.779580 deg, lon: -121.859488 deg, deltaT: 4.031507 s, deltaX: -2.193008 m, approachRate: -0.543967 m/s, posRepo size: 4 2025-10-24T19:31:00.452Z,1761334260.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:00.454Z,1761334260.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 227.477051 m, bearing: 51.458974 deg, approach rate: 0.000000 m/s, LOS rate: -0.005394 deg/s, cmd heading: 45.461490 deg, new cmd heading: 45.453715 deg. 2025-10-24T19:31:00.455Z,1761334260.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793317 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:00.665Z,1761334260.665 [DAT](INFO): DAT read: TxSync time:19:30:59.6696 2025-10-24T19:31:00.666Z,1761334260.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243480 2025-10-24T19:31:00.816Z,1761334260.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:00.818Z,1761334260.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 227.226700 m, bearing: 51.457525 deg, approach rate: -0.666653 m/s, LOS rate: -0.003864 deg/s, cmd heading: 45.453714 deg, new cmd heading: 45.449360 deg. 2025-10-24T19:31:00.820Z,1761334260.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793241 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:00.918Z,1761334260.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495822 2025-10-24T19:31:01.161Z,1761334261.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683039,-0.730266,-0.012988],[0.718094,0.674689,-0.170692],[0.133413,0.107263,0.985239]] 2025-10-24T19:31:01.169Z,1761334261.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746669 2025-10-24T19:31:01.223Z,1761334261.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:01.230Z,1761334261.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:01.233Z,1761334261.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 227.017044 m, bearing: 51.455987 deg, approach rate: -0.506290 m/s, LOS rate: -0.003716 deg/s, cmd heading: 45.449359 deg, new cmd heading: 45.444743 deg. 2025-10-24T19:31:01.234Z,1761334261.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793160 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:01.424Z,1761334261.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001030 2025-10-24T19:31:01.563Z,1761334261.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682540,-0.730710,-0.014188],[0.719662,0.675351,-0.161205],[0.127376,0.099818,0.986819]] 2025-10-24T19:31:01.643Z,1761334261.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:01.650Z,1761334261.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 226.769684 m, bearing: 51.455187 deg, approach rate: -0.598319 m/s, LOS rate: -0.001939 deg/s, cmd heading: 45.444742 deg, new cmd heading: 45.442337 deg. 2025-10-24T19:31:01.651Z,1761334261.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793118 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:01.675Z,1761334261.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252132 2025-10-24T19:31:01.926Z,1761334261.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503483 2025-10-24T19:31:01.976Z,1761334261.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680838,-0.732411,-0.005781],[0.723118,0.673412,-0.153676],[0.116447,0.100448,0.988104]] 2025-10-24T19:31:02.012Z,1761334262.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:02.015Z,1761334262.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 226.555817 m, bearing: 51.454297 deg, approach rate: -0.580215 m/s, LOS rate: -0.002414 deg/s, cmd heading: 45.442338 deg, new cmd heading: 45.439668 deg. 2025-10-24T19:31:02.016Z,1761334262.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793072 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:02.177Z,1761334262.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754627 2025-10-24T19:31:02.381Z,1761334262.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681129,-0.732160,-0.002091],[0.723685,0.673673,-0.149814],[0.111097,0.100529,0.988712]] 2025-10-24T19:31:02.432Z,1761334262.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008997 2025-10-24T19:31:02.480Z,1761334262.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:02.483Z,1761334262.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 226.303787 m, bearing: 51.453238 deg, approach rate: -0.543084 m/s, LOS rate: -0.002286 deg/s, cmd heading: 45.439667 deg, new cmd heading: 45.436484 deg. 2025-10-24T19:31:02.483Z,1761334262.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793016 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:02.682Z,1761334262.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259828 2025-10-24T19:31:02.927Z,1761334262.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682644,-0.730750,0.000607],[0.723044,0.675324,-0.145410],[0.105848,0.099703,0.989371]] 2025-10-24T19:31:02.934Z,1761334262.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511445 2025-10-24T19:31:03.009Z,1761334263.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:03.016Z,1761334263.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 226.019867 m, bearing: 51.454575 deg, approach rate: -0.532041 m/s, LOS rate: 0.002509 deg/s, cmd heading: 45.436484 deg, new cmd heading: 45.440501 deg. 2025-10-24T19:31:03.017Z,1761334263.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793086 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:03.185Z,1761334263.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762572 2025-10-24T19:31:03.319Z,1761334263.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683845,-0.729621,0.003008],[0.722597,0.676679,-0.141278],[0.101044,0.098786,0.989965]] 2025-10-24T19:31:03.337Z,1761334263.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:03.339Z,1761334263.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:03.342Z,1761334263.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 225.833633 m, bearing: 51.455513 deg, approach rate: -0.564815 m/s, LOS rate: 0.002848 deg/s, cmd heading: 45.440501 deg, new cmd heading: 45.443317 deg. 2025-10-24T19:31:03.343Z,1761334263.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793136 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:03.441Z,1761334263.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018341 2025-10-24T19:31:03.689Z,1761334263.689 [DAT](INFO): DAT read: Rx Time:19:31:02.3832 2025-10-24T19:31:03.690Z,1761334263.690 [DAT](INFO): Rx dataTimestamp_ set to:1761334263.689493 2025-10-24T19:31:03.691Z,1761334263.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268477 2025-10-24T19:31:03.760Z,1761334263.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685955,-0.727623,0.005456],[0.721237,0.678904,-0.137502],[0.096346,0.098255,0.990487]] 2025-10-24T19:31:03.807Z,1761334263.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:03.810Z,1761334263.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 225.584732 m, bearing: 51.456843 deg, approach rate: -0.531852 m/s, LOS rate: 0.002846 deg/s, cmd heading: 45.443318 deg, new cmd heading: 45.447314 deg. 2025-10-24T19:31:03.811Z,1761334263.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793205 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:03.943Z,1761334263.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521167 2025-10-24T19:31:04.143Z,1761334264.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687678,-0.725982,0.006940],[0.720179,0.680909,-0.133061],[0.091875,0.096501,0.991084]] 2025-10-24T19:31:04.177Z,1761334264.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 231.72 m. 2025-10-24T19:31:04.180Z,1761334264.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 231.717422 m, nav range: 225.390137 m, bearing: 51.457987 deg, approach rate: -0.526192 m/s, LOS rate: 0.003095 deg/s, cmd heading: 45.447314 deg, new cmd heading: 45.450748 deg. 2025-10-24T19:31:04.181Z,1761334264.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793265 target range: 231.717422 and range: 232.80 m. 2025-10-24T19:31:04.198Z,1761334264.198 [DAT](INFO): DAT read: 19:31:02.3832 LVL= 15504, 17441, 14674, 21315, AGC= 67, IDX= 421, 0.04, 1.269, 0.198, 1.349, 0.514, PHS= 0.843,-0.269, 0.832, RAW= 149.5, -24.2, CAL= 153.9, -30.8, ROT= 356.1, 30.8 2025-10-24T19:31:04.199Z,1761334264.199 [DAT](INFO): got valid direction response: 19:31:02.3832 LVL= 15504, 17441, 14674, 21315, AGC= 67, IDX= 421, 0.04, 1.269, 0.198, 1.349, 0.514, PHS= 0.843,-0.269, 0.832, RAW= 149.5, -24.2, CAL= 153.9, -30.8, ROT= 356.1, 30.8 2025-10-24T19:31:04.201Z,1761334264.201 [DAT](INFO): DAT read: Bearing 356.1, 30.8 (Local) 2025-10-24T19:31:04.201Z,1761334264.201 [DAT](INFO): Local bearing/azimuth received: Bearing 356.1, 30.8 (Local) 2025-10-24T19:31:04.202Z,1761334264.202 [DAT](INFO): DAT read: Range 10 to 50 : 231.4 m (Round-trip 308.6 ms) speed 0.4 m/s 2025-10-24T19:31:04.212Z,1761334264.212 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:04.213Z,1761334264.213 [DAT](INFO): direction in FSK: [0.856971,-0.058422,-0.512043] 2025-10-24T19:31:04.213Z,1761334264.213 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:04.221Z,1761334264.221 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:04.221Z,1761334264.221 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:04.222Z,1761334264.222 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:04.448Z,1761334264.448 [DAT](INFO): DAT read: user:39> 2025-10-24T19:31:04.451Z,1761334264.451 [DAT](INFO): DAT read: Tx time:19:31:03.7204 2025-10-24T19:31:04.452Z,1761334264.452 [DAT](INFO): Ping request sent. 2025-10-24T19:31:04.453Z,1761334264.453 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:31:04.454Z,1761334264.454 [DAT](INFO): publishing transmit ping time 2025-10-24T19:31:04.457Z,1761334264.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003243 2025-10-24T19:31:04.558Z,1761334264.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689560,-0.724191,0.007361],[0.718824,0.683139,-0.128890],[0.088313,0.094168,0.991632]] 2025-10-24T19:31:04.635Z,1761334264.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 231.399994 m, deltaT: 4.032098 s, deltaX: -1.400009 m, approachRate: -0.347216 m/s, rangeRepo size: 4 2025-10-24T19:31:04.645Z,1761334264.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 230.320374 m, bearing: 45.568848 deg, lat: 36.779615 deg, lon: -121.859515 deg, deltaT: 4.032098 s, deltaX: -1.397049 m, approachRate: -0.346482 m/s, posRepo size: 4 2025-10-24T19:31:04.647Z,1761334264.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:04.661Z,1761334264.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 225.783463 m, bearing: 50.306856 deg, approach rate: 0.000000 m/s, LOS rate: 0.003095 deg/s, cmd heading: 45.450749 deg, new cmd heading: 45.454999 deg. 2025-10-24T19:31:04.661Z,1761334264.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793339 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:04.697Z,1761334264.697 [DAT](INFO): DAT read: TxSync time:19:31:03.7196 2025-10-24T19:31:04.698Z,1761334264.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245498 2025-10-24T19:31:04.949Z,1761334264.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496367 2025-10-24T19:31:04.961Z,1761334264.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691216,-0.722607,0.007680],[0.717591,0.685086,-0.125378],[0.085338,0.092174,0.992079]] 2025-10-24T19:31:04.983Z,1761334264.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:04.987Z,1761334264.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 225.582367 m, bearing: 50.306403 deg, approach rate: -0.576873 m/s, LOS rate: -0.001300 deg/s, cmd heading: 45.454998 deg, new cmd heading: 45.453638 deg. 2025-10-24T19:31:04.988Z,1761334264.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793316 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:05.203Z,1761334265.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749963 2025-10-24T19:31:05.437Z,1761334265.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:05.440Z,1761334265.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:05.456Z,1761334265.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002715 2025-10-24T19:31:05.473Z,1761334265.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 225.339203 m, bearing: 50.305855 deg, approach rate: -0.532844 m/s, LOS rate: -0.001203 deg/s, cmd heading: 45.453639 deg, new cmd heading: 45.451991 deg. 2025-10-24T19:31:05.501Z,1761334265.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793287 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:05.705Z,1761334265.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252743 2025-10-24T19:31:05.942Z,1761334265.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694246,-0.719729,0.003588],[0.715599,0.689711,-0.110529],[0.077076,0.079301,0.993866]] 2025-10-24T19:31:05.957Z,1761334265.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504507 2025-10-24T19:31:06.004Z,1761334266.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:06.007Z,1761334266.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 225.045746 m, bearing: 50.304294 deg, approach rate: -0.520585 m/s, LOS rate: -0.002773 deg/s, cmd heading: 45.451992 deg, new cmd heading: 45.447304 deg. 2025-10-24T19:31:06.016Z,1761334266.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793205 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:06.211Z,1761334266.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758475 2025-10-24T19:31:06.413Z,1761334266.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694187,-0.719753,0.007725],[0.715900,0.689276,-0.111296],[0.074781,0.082791,0.993757]] 2025-10-24T19:31:06.437Z,1761334266.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:06.440Z,1761334266.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 224.802322 m, bearing: 50.302994 deg, approach rate: -0.561336 m/s, LOS rate: -0.003002 deg/s, cmd heading: 45.447304 deg, new cmd heading: 45.443398 deg. 2025-10-24T19:31:06.443Z,1761334266.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793137 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:06.464Z,1761334266.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010664 2025-10-24T19:31:06.713Z,1761334266.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260809 2025-10-24T19:31:06.811Z,1761334266.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692948,-0.720886,0.012098],[0.717257,0.687560,-0.113148],[0.073249,0.087083,0.993504]] 2025-10-24T19:31:06.858Z,1761334266.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:06.860Z,1761334266.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 224.570892 m, bearing: 50.300588 deg, approach rate: -0.550200 m/s, LOS rate: -0.005724 deg/s, cmd heading: 45.443397 deg, new cmd heading: 45.436174 deg. 2025-10-24T19:31:06.861Z,1761334266.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793011 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:06.965Z,1761334266.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512652 2025-10-24T19:31:07.217Z,1761334267.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764458 2025-10-24T19:31:07.225Z,1761334267.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691864,-0.721859,0.015602],[0.718423,0.686092,-0.114659],[0.072064,0.090537,0.993282]] 2025-10-24T19:31:07.245Z,1761334267.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:07.247Z,1761334267.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 224.358887 m, bearing: 50.298306 deg, approach rate: -0.547810 m/s, LOS rate: -0.005904 deg/s, cmd heading: 45.436174 deg, new cmd heading: 45.429319 deg. 2025-10-24T19:31:07.249Z,1761334267.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792891 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:07.470Z,1761334267.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017082 2025-10-24T19:31:07.682Z,1761334267.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:07.684Z,1761334267.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:07.687Z,1761334267.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 224.110489 m, bearing: 50.292614 deg, approach rate: -0.564664 m/s, LOS rate: -0.012952 deg/s, cmd heading: 45.429320 deg, new cmd heading: 45.412226 deg. 2025-10-24T19:31:07.688Z,1761334267.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792593 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:07.722Z,1761334267.722 [DAT](INFO): DAT read: Rx Time:19:31:06.4302 2025-10-24T19:31:07.722Z,1761334267.722 [DAT](INFO): Rx dataTimestamp_ set to:1761334267.721867 2025-10-24T19:31:07.723Z,1761334267.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270283 2025-10-24T19:31:07.973Z,1761334267.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520441 2025-10-24T19:31:08.025Z,1761334268.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691044,-0.722569,0.018749],[0.719344,0.684959,-0.115648],[0.070721,0.093405,0.993113]] 2025-10-24T19:31:08.106Z,1761334268.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.32 m. 2025-10-24T19:31:08.113Z,1761334268.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 230.320374 m, nav range: 223.885773 m, bearing: 50.287392 deg, approach rate: -0.532990 m/s, LOS rate: -0.012398 deg/s, cmd heading: 45.412227 deg, new cmd heading: 45.396546 deg. 2025-10-24T19:31:08.114Z,1761334268.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.792319 target range: 230.320374 and range: 231.40 m. 2025-10-24T19:31:08.230Z,1761334268.230 [DAT](INFO): DAT read: 19:31:06.4302 LVL= 19680, 22481, 20850, 31971, AGC= 66, IDX= 406, 0.48, 0.064,-1.244, 0.077,-0.878, PHS= 1.029,-0.319, 0.951, RAW= 147.0, -24.1, CAL= 151.6, -30.7, ROT= 358.4, 30.7 2025-10-24T19:31:08.231Z,1761334268.231 [DAT](INFO): got valid direction response: 19:31:06.4302 LVL= 19680, 22481, 20850, 31971, AGC= 66, IDX= 406, 0.48, 0.064,-1.244, 0.077,-0.878, PHS= 1.029,-0.319, 0.951, RAW= 147.0, -24.1, CAL= 151.6, -30.7, ROT= 358.4, 30.7 2025-10-24T19:31:08.232Z,1761334268.232 [DAT](INFO): DAT read: Bearing 358.4, 30.7 (Local) 2025-10-24T19:31:08.233Z,1761334268.233 [DAT](INFO): Local bearing/azimuth received: Bearing 358.4, 30.7 (Local) 2025-10-24T19:31:08.234Z,1761334268.234 [DAT](INFO): DAT read: Range 10 to 50 : 229.2 m (Round-trip 305.7 ms) speed 0.5 m/s 2025-10-24T19:31:08.235Z,1761334268.235 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:08.235Z,1761334268.235 [DAT](INFO): direction in FSK: [0.859517,-0.024009,-0.510543] 2025-10-24T19:31:08.236Z,1761334268.236 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:08.241Z,1761334268.241 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:08.241Z,1761334268.241 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:08.241Z,1761334268.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:08.479Z,1761334268.479 [DAT](INFO): DAT read: user:40> 2025-10-24T19:31:08.482Z,1761334268.482 [DAT](INFO): DAT read: Tx time:19:31:07.7704 2025-10-24T19:31:08.483Z,1761334268.483 [DAT](INFO): Ping request sent. 2025-10-24T19:31:08.483Z,1761334268.483 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:31:08.485Z,1761334268.485 [DAT](INFO): publishing transmit ping time 2025-10-24T19:31:08.489Z,1761334268.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003691 2025-10-24T19:31:08.503Z,1761334268.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691299,-0.722297,0.019839],[0.719130,0.685074,-0.116299],[0.070411,0.094664,0.993016]] 2025-10-24T19:31:08.729Z,1761334268.729 [DAT](INFO): DAT read: TxSync time:19:31:07.7696 2025-10-24T19:31:08.730Z,1761334268.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246553 2025-10-24T19:31:08.754Z,1761334268.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 229.199997 m, deltaT: 4.031863 s, deltaX: -2.199997 m, approachRate: -0.545653 m/s, rangeRepo size: 4 2025-10-24T19:31:08.784Z,1761334268.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 228.131927 m, bearing: 47.704637 deg, lat: 36.779580 deg, lon: -121.859752 deg, deltaT: 4.031863 s, deltaX: -2.188446 m, approachRate: -0.542788 m/s, posRepo size: 4 2025-10-24T19:31:08.785Z,1761334268.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:08.796Z,1761334268.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 205.049103 m, bearing: 47.343935 deg, approach rate: 0.000000 m/s, LOS rate: -0.012398 deg/s, cmd heading: 45.396545 deg, new cmd heading: 45.372493 deg. 2025-10-24T19:31:08.797Z,1761334268.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791899 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:08.981Z,1761334268.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497644 2025-10-24T19:31:09.093Z,1761334269.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690647,-0.723026,0.015461],[0.719624,0.684962,-0.113882],[0.071750,0.089779,0.993374]] 2025-10-24T19:31:09.112Z,1761334269.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:09.115Z,1761334269.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 204.819931 m, bearing: 47.333903 deg, approach rate: -0.638521 m/s, LOS rate: -0.027984 deg/s, cmd heading: 45.372492 deg, new cmd heading: 45.342361 deg. 2025-10-24T19:31:09.116Z,1761334269.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791373 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:09.233Z,1761334269.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749620 2025-10-24T19:31:09.488Z,1761334269.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004768 2025-10-24T19:31:09.490Z,1761334269.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689600,-0.723987,0.017174],[0.720560,0.683578,-0.116251],[0.072424,0.092542,0.993071]] 2025-10-24T19:31:09.600Z,1761334269.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:09.602Z,1761334269.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 204.593613 m, bearing: 47.323883 deg, approach rate: -0.467578 m/s, LOS rate: -0.020724 deg/s, cmd heading: 45.342361 deg, new cmd heading: 45.312269 deg. 2025-10-24T19:31:09.603Z,1761334269.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790848 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:09.739Z,1761334269.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255047 2025-10-24T19:31:09.884Z,1761334269.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688156,-0.725322,0.018685],[0.721909,0.681882,-0.117829],[0.072724,0.094574,0.992858]] 2025-10-24T19:31:09.943Z,1761334269.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:09.945Z,1761334269.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:09.964Z,1761334269.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 204.348679 m, bearing: 47.313396 deg, approach rate: -0.700640 m/s, LOS rate: -0.030035 deg/s, cmd heading: 45.312267 deg, new cmd heading: 45.280768 deg. 2025-10-24T19:31:09.965Z,1761334269.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790298 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:09.989Z,1761334269.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505728 2025-10-24T19:31:10.241Z,1761334270.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757740 2025-10-24T19:31:10.288Z,1761334270.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688208,-0.725238,0.019969],[0.721896,0.681773,-0.118541],[0.072356,0.095997,0.992748]] 2025-10-24T19:31:10.308Z,1761334270.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:10.311Z,1761334270.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 204.143951 m, bearing: 47.304611 deg, approach rate: -0.564385 m/s, LOS rate: -0.024241 deg/s, cmd heading: 45.280766 deg, new cmd heading: 45.254386 deg. 2025-10-24T19:31:10.332Z,1761334270.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789838 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:10.493Z,1761334270.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009677 2025-10-24T19:31:10.746Z,1761334270.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262344 2025-10-24T19:31:10.782Z,1761334270.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689274,-0.724212,0.020431],[0.720916,0.682790,-0.118647],[0.071976,0.096509,0.992726]] 2025-10-24T19:31:10.835Z,1761334270.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:10.838Z,1761334270.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 203.854141 m, bearing: 47.295230 deg, approach rate: -0.550361 m/s, LOS rate: -0.017841 deg/s, cmd heading: 45.254385 deg, new cmd heading: 45.226201 deg. 2025-10-24T19:31:10.839Z,1761334270.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789346 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:10.997Z,1761334270.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513551 2025-10-24T19:31:11.186Z,1761334271.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690031,-0.723508,0.019825],[0.720190,0.683626,-0.118247],[0.072000,0.095871,0.992786]] 2025-10-24T19:31:11.228Z,1761334271.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:11.231Z,1761334271.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 203.639023 m, bearing: 47.288316 deg, approach rate: -0.546689 m/s, LOS rate: -0.017591 deg/s, cmd heading: 45.226200 deg, new cmd heading: 45.205435 deg. 2025-10-24T19:31:11.244Z,1761334271.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788984 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:11.249Z,1761334271.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765782 2025-10-24T19:31:11.501Z,1761334271.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017593 2025-10-24T19:31:11.687Z,1761334271.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:11.690Z,1761334271.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 203.390030 m, bearing: 47.281484 deg, approach rate: -0.542329 m/s, LOS rate: -0.014899 deg/s, cmd heading: 45.205436 deg, new cmd heading: 45.184915 deg. 2025-10-24T19:31:11.691Z,1761334271.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788626 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:11.753Z,1761334271.753 [DAT](INFO): DAT read: Rx Time:19:31:10.5004 2025-10-24T19:31:11.753Z,1761334271.753 [DAT](INFO): Rx dataTimestamp_ set to:1761334271.753219 2025-10-24T19:31:11.754Z,1761334271.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270894 2025-10-24T19:31:11.987Z,1761334271.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692893,-0.720809,0.018275],[0.717383,0.686606,-0.118045],[0.072540,0.094903,0.992840]] 2025-10-24T19:31:12.005Z,1761334272.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521678 2025-10-24T19:31:12.032Z,1761334272.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:12.034Z,1761334272.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 228.13 m. 2025-10-24T19:31:12.042Z,1761334272.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 228.131927 m, nav range: 203.202072 m, bearing: 47.276534 deg, approach rate: -0.541748 m/s, LOS rate: -0.014280 deg/s, cmd heading: 45.184915 deg, new cmd heading: 45.170052 deg. 2025-10-24T19:31:12.043Z,1761334272.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788366 target range: 228.131927 and range: 229.20 m. 2025-10-24T19:31:12.262Z,1761334272.262 [DAT](INFO): DAT read: 19:31:10.5005 LVL= 14880, 20913, 11554, 15683, AGC= 67, IDX= 133, 0.27, 2.587, 1.466, 2.504, 1.494, PHS= 1.181, 0.020, 1.007, RAW= 142.0, -35.7, CAL= 145.5, -39.3, ROT= 4.5, 39.3 2025-10-24T19:31:12.263Z,1761334272.263 [DAT](INFO): got valid direction response: 19:31:10.5005 LVL= 14880, 20913, 11554, 15683, AGC= 67, IDX= 133, 0.27, 2.587, 1.466, 2.504, 1.494, PHS= 1.181, 0.020, 1.007, RAW= 142.0, -35.7, CAL= 145.5, -39.3, ROT= 4.5, 39.3 2025-10-24T19:31:12.265Z,1761334272.265 [DAT](INFO): DAT read: Bearing 4.5, 39.3 (Local) 2025-10-24T19:31:12.265Z,1761334272.265 [DAT](INFO): Local bearing/azimuth received: Bearing 4.5, 39.3 (Local) 2025-10-24T19:31:12.266Z,1761334272.266 [DAT](INFO): DAT read: Range 10 to 50 : 244.4 m (Round-trip 325.9 ms) speed 0.5 m/s 2025-10-24T19:31:12.267Z,1761334272.267 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:12.268Z,1761334272.268 [DAT](INFO): direction in FSK: [0.771455,0.060715,-0.633381] 2025-10-24T19:31:12.268Z,1761334272.268 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:12.278Z,1761334272.278 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:12.278Z,1761334272.278 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:12.278Z,1761334272.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:12.416Z,1761334272.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694000,-0.719760,0.017587],[0.716184,0.687636,-0.119314],[0.073784,0.095399,0.992701]] 2025-10-24T19:31:12.509Z,1761334272.509 [DAT](INFO): DAT read: user:41> 2025-10-24T19:31:12.509Z,1761334272.509 [DAT](INFO): DAT read: Tx time:19:31:11.7705 2025-10-24T19:31:12.510Z,1761334272.510 [DAT](INFO): Ping request sent. 2025-10-24T19:31:12.510Z,1761334272.510 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:31:12.510Z,1761334272.510 [DAT](INFO): publishing transmit ping time 2025-10-24T19:31:12.511Z,1761334272.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-24T19:31:12.616Z,1761334272.616 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:31:12.685Z,1761334272.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 244.399994 m, deltaT: 4.032292 s, deltaX: 15.199997 m, approachRate: 3.769567 m/s, rangeRepo size: 4 2025-10-24T19:31:12.693Z,1761334272.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 243.261383 m, bearing: 54.343345 deg, lat: 36.779564 deg, lon: -121.859596 deg, deltaT: 4.032292 s, deltaX: 15.129456 m, approachRate: 3.752073 m/s, posRepo size: 4 2025-10-24T19:31:12.696Z,1761334272.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:12.699Z,1761334272.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 212.219925 m, bearing: 50.155683 deg, approach rate: 0.000000 m/s, LOS rate: -0.014280 deg/s, cmd heading: 45.170052 deg, new cmd heading: 45.143113 deg. 2025-10-24T19:31:12.699Z,1761334272.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787896 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:12.761Z,1761334272.761 [DAT](INFO): DAT read: TxSync time:19:31:11.7697 2025-10-24T19:31:12.762Z,1761334272.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252014 2025-10-24T19:31:13.001Z,1761334273.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695827,-0.718040,0.015562],[0.714207,0.689503,-0.120390],[0.075714,0.094885,0.992605]] 2025-10-24T19:31:13.013Z,1761334273.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502895 2025-10-24T19:31:13.066Z,1761334273.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:13.069Z,1761334273.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 211.925140 m, bearing: 50.157388 deg, approach rate: -0.730978 m/s, LOS rate: 0.004233 deg/s, cmd heading: 45.143114 deg, new cmd heading: 45.148236 deg. 2025-10-24T19:31:13.071Z,1761334273.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787985 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:13.265Z,1761334273.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755109 2025-10-24T19:31:13.403Z,1761334273.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696106,-0.717848,0.011435],[0.713561,0.690017,-0.121273],[0.079166,0.092579,0.992553]] 2025-10-24T19:31:13.438Z,1761334273.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:13.441Z,1761334273.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 211.732895 m, bearing: 50.158546 deg, approach rate: -0.517358 m/s, LOS rate: 0.003117 deg/s, cmd heading: 45.148237 deg, new cmd heading: 45.151712 deg. 2025-10-24T19:31:13.442Z,1761334273.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788046 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:13.519Z,1761334273.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008811 2025-10-24T19:31:13.769Z,1761334273.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259217 2025-10-24T19:31:13.825Z,1761334273.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698798,-0.715259,0.009268],[0.710523,0.692556,-0.124596],[0.082700,0.093653,0.992164]] 2025-10-24T19:31:13.879Z,1761334273.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:13.883Z,1761334273.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 211.513962 m, bearing: 50.161622 deg, approach rate: -0.496118 m/s, LOS rate: 0.006978 deg/s, cmd heading: 45.151713 deg, new cmd heading: 45.160952 deg. 2025-10-24T19:31:13.884Z,1761334273.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788207 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:14.021Z,1761334274.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511249 2025-10-24T19:31:14.215Z,1761334274.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701604,-0.712517,0.008448],[0.707669,0.695345,-0.125295],[0.083401,0.093886,0.992084]] 2025-10-24T19:31:14.243Z,1761334274.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:14.245Z,1761334274.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:14.248Z,1761334274.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 211.332245 m, bearing: 50.164378 deg, approach rate: -0.496111 m/s, LOS rate: 0.007531 deg/s, cmd heading: 45.160951 deg, new cmd heading: 45.169227 deg. 2025-10-24T19:31:14.249Z,1761334274.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788352 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:14.273Z,1761334274.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762954 2025-10-24T19:31:14.525Z,1761334274.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900 2025-10-24T19:31:14.715Z,1761334274.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:14.719Z,1761334274.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 211.109756 m, bearing: 50.170755 deg, approach rate: -0.473796 m/s, LOS rate: 0.013593 deg/s, cmd heading: 45.169226 deg, new cmd heading: 45.188376 deg. 2025-10-24T19:31:14.721Z,1761334274.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788686 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:14.778Z,1761334274.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267568 2025-10-24T19:31:15.019Z,1761334275.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705911,-0.708282,0.005158],[0.703048,0.699772,-0.126657],[0.086099,0.093035,0.991933]] 2025-10-24T19:31:15.029Z,1761334275.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518989 2025-10-24T19:31:15.061Z,1761334275.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:15.065Z,1761334275.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 210.940704 m, bearing: 50.175904 deg, approach rate: -0.488146 m/s, LOS rate: 0.014883 deg/s, cmd heading: 45.188374 deg, new cmd heading: 45.203837 deg. 2025-10-24T19:31:15.066Z,1761334275.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788956 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:15.281Z,1761334275.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770835 2025-10-24T19:31:15.424Z,1761334275.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708203,-0.705997,0.003982],[0.700524,0.701990,-0.128358],[0.087825,0.093693,0.991720]] 2025-10-24T19:31:15.443Z,1761334275.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:15.446Z,1761334275.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 210.757446 m, bearing: 50.181668 deg, approach rate: -0.480565 m/s, LOS rate: 0.015128 deg/s, cmd heading: 45.203838 deg, new cmd heading: 45.221145 deg. 2025-10-24T19:31:15.447Z,1761334275.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789258 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:15.533Z,1761334275.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023124 2025-10-24T19:31:15.785Z,1761334275.785 [DAT](INFO): DAT read: Rx Time:19:31:14.4977 2025-10-24T19:31:15.786Z,1761334275.786 [DAT](INFO): Rx dataTimestamp_ set to:1761334275.785682 2025-10-24T19:31:15.786Z,1761334275.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276613 2025-10-24T19:31:15.826Z,1761334275.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709388,-0.704814,0.002660],[0.699062,0.703107,-0.130200],[0.089897,0.094222,0.991484]] 2025-10-24T19:31:15.880Z,1761334275.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:15.883Z,1761334275.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 210.549011 m, bearing: 50.189347 deg, approach rate: -0.476553 m/s, LOS rate: 0.017572 deg/s, cmd heading: 45.221146 deg, new cmd heading: 45.244203 deg. 2025-10-24T19:31:15.884Z,1761334275.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789660 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:16.037Z,1761334276.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526703 2025-10-24T19:31:16.232Z,1761334276.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711199,-0.702990,0.000970],[0.696973,0.704930,-0.131536],[0.091785,0.094224,0.991311]] 2025-10-24T19:31:16.266Z,1761334276.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:16.269Z,1761334276.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.26 m. 2025-10-24T19:31:16.272Z,1761334276.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.261383 m, nav range: 210.364761 m, bearing: 50.196288 deg, approach rate: -0.474081 m/s, LOS rate: 0.017877 deg/s, cmd heading: 45.244204 deg, new cmd heading: 45.265048 deg. 2025-10-24T19:31:16.273Z,1761334276.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790024 target range: 243.261383 and range: 244.40 m. 2025-10-24T19:31:16.294Z,1761334276.294 [DAT](INFO): DAT read: 19:31:14.4977 LVL= 21952, 24945, 23602, 26547, AGC= 64, IDX= 408,-0.35, 2.147, 0.579, 2.241, 1.132, PHS= 1.103,-0.505, 1.106, RAW= 150.1, -20.5, CAL= 155.3, -27.5, ROT= 354.7, 27.5 2025-10-24T19:31:16.300Z,1761334276.300 [DAT](INFO): got valid direction response: 19:31:14.4977 LVL= 21952, 24945, 23602, 26547, AGC= 64, IDX= 408,-0.35, 2.147, 0.579, 2.241, 1.132, PHS= 1.103,-0.505, 1.106, RAW= 150.1, -20.5, CAL= 155.3, -27.5, ROT= 354.7, 27.5 2025-10-24T19:31:16.301Z,1761334276.301 [DAT](INFO): DAT read: Bearing 354.7, 27.5 (Local) 2025-10-24T19:31:16.301Z,1761334276.301 [DAT](INFO): Local bearing/azimuth received: Bearing 354.7, 27.5 (Local) 2025-10-24T19:31:16.303Z,1761334276.303 [DAT](INFO): DAT read: Range 10 to 50 : 242.3 m (Round-trip 323.1 ms) speed 0.3 m/s 2025-10-24T19:31:16.304Z,1761334276.304 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:16.305Z,1761334276.305 [DAT](INFO): direction in FSK: [0.883219,-0.081934,-0.461749] 2025-10-24T19:31:16.305Z,1761334276.305 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:16.321Z,1761334276.321 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:16.321Z,1761334276.321 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:16.321Z,1761334276.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:16.541Z,1761334276.541 [DAT](INFO): DAT read: user:42> 2025-10-24T19:31:16.542Z,1761334276.542 [DAT](INFO): DAT read: Tx time:19:31:15.8205 2025-10-24T19:31:16.542Z,1761334276.542 [DAT](INFO): Ping request sent. 2025-10-24T19:31:16.542Z,1761334276.542 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:31:16.542Z,1761334276.542 [DAT](INFO): publishing transmit ping time 2025-10-24T19:31:16.543Z,1761334276.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-24T19:31:16.676Z,1761334276.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711616,-0.702568,0.000268],[0.696245,0.705160,-0.134134],[0.094049,0.095639,0.990963]] 2025-10-24T19:31:16.741Z,1761334276.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 242.300003 m, deltaT: 4.032058 s, deltaX: -2.099991 m, approachRate: -0.520824 m/s, rangeRepo size: 4 2025-10-24T19:31:16.749Z,1761334276.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 241.172012 m, bearing: 42.067344 deg, lat: 36.779564 deg, lon: -121.859733 deg, deltaT: 4.032058 s, deltaX: -2.089371 m, approachRate: -0.518190 m/s, posRepo size: 4 2025-10-24T19:31:16.750Z,1761334276.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:16.758Z,1761334276.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 200.959824 m, bearing: 47.984696 deg, approach rate: 0.000000 m/s, LOS rate: 0.017877 deg/s, cmd heading: 45.265047 deg, new cmd heading: 45.290069 deg. 2025-10-24T19:31:16.764Z,1761334276.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790461 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:16.797Z,1761334276.797 [DAT](INFO): DAT read: TxSync time:19:31:15.8197 2025-10-24T19:31:16.798Z,1761334276.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256139 2025-10-24T19:31:17.039Z,1761334277.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712121,-0.702056,0.001222],[0.695273,0.704997,-0.139906],[0.097360,0.100480,0.990164]] 2025-10-24T19:31:17.049Z,1761334277.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507188 2025-10-24T19:31:17.078Z,1761334277.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:17.082Z,1761334277.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 200.787643 m, bearing: 47.989185 deg, approach rate: -0.502273 m/s, LOS rate: 0.013105 deg/s, cmd heading: 45.290069 deg, new cmd heading: 45.303546 deg. 2025-10-24T19:31:17.083Z,1761334277.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790696 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:17.301Z,1761334277.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758933 2025-10-24T19:31:17.443Z,1761334277.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713443,-0.700713,0.000060],[0.693521,0.706109,-0.142966],[0.100135,0.102040,0.989728]] 2025-10-24T19:31:17.494Z,1761334277.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:17.501Z,1761334277.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 200.600891 m, bearing: 47.994182 deg, approach rate: -0.449061 m/s, LOS rate: 0.012028 deg/s, cmd heading: 45.303545 deg, new cmd heading: 45.318551 deg. 2025-10-24T19:31:17.502Z,1761334277.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790958 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:17.554Z,1761334277.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011690 2025-10-24T19:31:17.805Z,1761334277.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262807 2025-10-24T19:31:17.850Z,1761334277.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715156,-0.698958,-0.003014],[0.691375,0.708018,-0.143917],[0.102726,0.100839,0.989585]] 2025-10-24T19:31:17.931Z,1761334277.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:17.939Z,1761334277.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 200.380341 m, bearing: 47.997620 deg, approach rate: -0.504860 m/s, LOS rate: 0.007878 deg/s, cmd heading: 45.318551 deg, new cmd heading: 45.328875 deg. 2025-10-24T19:31:17.944Z,1761334277.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791138 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:18.057Z,1761334278.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514901 2025-10-24T19:31:18.253Z,1761334278.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716035,-0.698054,-0.003879],[0.690277,0.708863,-0.145020],[0.103981,0.101162,0.989421]] 2025-10-24T19:31:18.273Z,1761334278.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:18.275Z,1761334278.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:18.298Z,1761334278.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 200.198914 m, bearing: 48.000527 deg, approach rate: -0.527574 m/s, LOS rate: 0.008463 deg/s, cmd heading: 45.328875 deg, new cmd heading: 45.337606 deg. 2025-10-24T19:31:18.299Z,1761334278.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791290 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:18.309Z,1761334278.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767177 2025-10-24T19:31:18.561Z,1761334278.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019207 2025-10-24T19:31:18.696Z,1761334278.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716291,-0.697789,-0.004335],[0.689742,0.708945,-0.147147],[0.105751,0.102410,0.989105]] 2025-10-24T19:31:18.765Z,1761334278.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:18.767Z,1761334278.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 199.949966 m, bearing: 48.001005 deg, approach rate: -0.507878 m/s, LOS rate: 0.000977 deg/s, cmd heading: 45.337604 deg, new cmd heading: 45.339041 deg. 2025-10-24T19:31:18.769Z,1761334278.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791316 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:18.813Z,1761334278.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270906 2025-10-24T19:31:19.061Z,1761334279.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715850,-0.698236,-0.005064],[0.689935,0.708419,-0.148769],[0.107463,0.103002,0.988859]] 2025-10-24T19:31:19.065Z,1761334279.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522889 2025-10-24T19:31:19.082Z,1761334279.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:19.086Z,1761334279.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 199.778336 m, bearing: 48.001315 deg, approach rate: -0.540672 m/s, LOS rate: 0.000976 deg/s, cmd heading: 45.339042 deg, new cmd heading: 45.339971 deg. 2025-10-24T19:31:19.108Z,1761334279.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791332 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:19.317Z,1761334279.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775143 2025-10-24T19:31:19.465Z,1761334279.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714306,-0.699817,-0.004804],[0.691203,0.706555,-0.151718],[0.109569,0.105053,0.988412]] 2025-10-24T19:31:19.484Z,1761334279.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:19.488Z,1761334279.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 199.569885 m, bearing: 48.001579 deg, approach rate: -0.518503 m/s, LOS rate: 0.000658 deg/s, cmd heading: 45.339971 deg, new cmd heading: 45.340764 deg. 2025-10-24T19:31:19.489Z,1761334279.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791346 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:19.570Z,1761334279.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027875 2025-10-24T19:31:19.821Z,1761334279.821 [DAT](INFO): DAT read: Rx Time:19:31:18.5224 2025-10-24T19:31:19.822Z,1761334279.822 [DAT](INFO): Rx dataTimestamp_ set to:1761334279.821636 2025-10-24T19:31:19.824Z,1761334279.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281450 2025-10-24T19:31:19.879Z,1761334279.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713064,-0.701079,-0.005309],[0.692162,0.705159,-0.153826],[0.111588,0.106013,0.988084]] 2025-10-24T19:31:19.945Z,1761334279.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:19.970Z,1761334279.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 199.318588 m, bearing: 47.997595 deg, approach rate: -0.546626 m/s, LOS rate: -0.008677 deg/s, cmd heading: 45.340763 deg, new cmd heading: 45.328796 deg. 2025-10-24T19:31:19.978Z,1761334279.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791137 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:20.073Z,1761334280.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531279 2025-10-24T19:31:20.272Z,1761334280.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710868,-0.703310,-0.004687],[0.694131,0.702634,-0.156484],[0.113350,0.107986,0.987669]] 2025-10-24T19:31:20.299Z,1761334280.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:20.302Z,1761334280.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 241.17 m. 2025-10-24T19:31:20.305Z,1761334280.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 241.172012 m, nav range: 199.113678 m, bearing: 47.994170 deg, approach rate: -0.573004 m/s, LOS rate: -0.009589 deg/s, cmd heading: 45.328796 deg, new cmd heading: 45.318509 deg. 2025-10-24T19:31:20.306Z,1761334280.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790957 target range: 241.172012 and range: 242.30 m. 2025-10-24T19:31:20.347Z,1761334280.347 [DAT](INFO): DAT read: 19:31:18.5224 LVL= 19392, 22001, 21682, 26515, AGC= 68, IDX= 182, 0.04,-0.462,-1.637,-0.391,-1.372, PHS= 0.998,-0.218, 0.979, RAW= 149.2, -27.3, CAL= 153.1, -33.3, ROT= 356.9, 33.3 2025-10-24T19:31:20.348Z,1761334280.348 [DAT](INFO): got valid direction response: 19:31:18.5224 LVL= 19392, 22001, 21682, 26515, AGC= 68, IDX= 182, 0.04,-0.462,-1.637,-0.391,-1.372, PHS= 0.998,-0.218, 0.979, RAW= 149.2, -27.3, CAL= 153.1, -33.3, ROT= 356.9, 33.3 2025-10-24T19:31:20.350Z,1761334280.350 [DAT](INFO): DAT read: Bearing 356.9, 33.3 (Local) 2025-10-24T19:31:20.350Z,1761334280.350 [DAT](INFO): Local bearing/azimuth received: Bearing 356.9, 33.3 (Local) 2025-10-24T19:31:20.372Z,1761334280.372 [DAT](INFO): DAT read: Range 10 to 50 : 223.3 m (Round-trip 297.8 ms) speed 0.2 m/s 2025-10-24T19:31:20.373Z,1761334280.373 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:20.374Z,1761334280.374 [DAT](INFO): direction in FSK: [0.834584,-0.045199,-0.549023] 2025-10-24T19:31:20.374Z,1761334280.374 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:20.383Z,1761334280.383 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:20.384Z,1761334280.384 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:20.388Z,1761334280.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:20.577Z,1761334280.577 [DAT](INFO): DAT read: user:43> 2025-10-24T19:31:20.577Z,1761334280.577 [DAT](INFO): DAT read: Tx time:19:31:19.9205 2025-10-24T19:31:20.578Z,1761334280.578 [DAT](INFO): Ping request sent. 2025-10-24T19:31:20.578Z,1761334280.578 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:31:20.578Z,1761334280.578 [DAT](INFO): publishing transmit ping time 2025-10-24T19:31:20.579Z,1761334280.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-24T19:31:20.721Z,1761334280.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709113,-0.705078,-0.004837],[0.695677,0.700742,-0.158098],[0.114861,0.108745,0.987411]] 2025-10-24T19:31:20.798Z,1761334280.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 223.300003 m, deltaT: 4.037624 s, deltaX: -19.000000 m, approachRate: -4.705738 m/s, rangeRepo size: 4 2025-10-24T19:31:20.804Z,1761334280.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 222.261673 m, bearing: 45.426199 deg, lat: 36.779619 deg, lon: -121.859752 deg, deltaT: 4.037624 s, deltaX: -18.910339 m, approachRate: -4.683532 m/s, posRepo size: 4 2025-10-24T19:31:20.805Z,1761334280.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:20.807Z,1761334280.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 201.761948 m, bearing: 46.371198 deg, approach rate: 0.000000 m/s, LOS rate: -0.009589 deg/s, cmd heading: 45.318510 deg, new cmd heading: 45.304249 deg. 2025-10-24T19:31:20.813Z,1761334280.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790708 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:20.829Z,1761334280.829 [DAT](INFO): DAT read: TxSync time:19:31:19.9197 2025-10-24T19:31:20.830Z,1761334280.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252118 2025-10-24T19:31:21.081Z,1761334281.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502992 2025-10-24T19:31:21.115Z,1761334281.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706041,-0.708153,-0.005083],[0.698451,0.697517,-0.160115],[0.116932,0.109498,0.987085]] 2025-10-24T19:31:21.150Z,1761334281.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:21.157Z,1761334281.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 201.547974 m, bearing: 46.362787 deg, approach rate: -0.607136 m/s, LOS rate: -0.023890 deg/s, cmd heading: 45.304249 deg, new cmd heading: 45.278989 deg. 2025-10-24T19:31:21.158Z,1761334281.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790267 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:21.333Z,1761334281.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754946 2025-10-24T19:31:21.513Z,1761334281.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704022,-0.710178,0.000194],[0.700127,0.694013,-0.167834],[0.119057,0.118294,0.985815]] 2025-10-24T19:31:21.532Z,1761334281.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:21.535Z,1761334281.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 201.320694 m, bearing: 46.353699 deg, approach rate: -0.594701 m/s, LOS rate: -0.023806 deg/s, cmd heading: 45.278991 deg, new cmd heading: 45.251697 deg. 2025-10-24T19:31:21.537Z,1761334281.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789791 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:21.588Z,1761334281.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009882 2025-10-24T19:31:21.841Z,1761334281.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263004 2025-10-24T19:31:21.930Z,1761334281.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702320,-0.711858,-0.002358],[0.701522,0.692677,-0.167528],[0.120889,0.116004,0.985865]] 2025-10-24T19:31:22.007Z,1761334282.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:22.014Z,1761334282.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 201.061981 m, bearing: 46.340589 deg, approach rate: -0.544843 m/s, LOS rate: -0.027645 deg/s, cmd heading: 45.251697 deg, new cmd heading: 45.212316 deg. 2025-10-24T19:31:22.015Z,1761334282.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789104 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:22.094Z,1761334282.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515568 2025-10-24T19:31:22.322Z,1761334282.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702049,-0.712112,-0.004952],[0.701593,0.692837,-0.166568],[0.122046,0.113465,0.986018]] 2025-10-24T19:31:22.340Z,1761334282.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:22.342Z,1761334282.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:22.345Z,1761334282.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767083 2025-10-24T19:31:22.361Z,1761334282.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 200.844574 m, bearing: 46.329520 deg, approach rate: -0.648905 m/s, LOS rate: -0.033075 deg/s, cmd heading: 45.212318 deg, new cmd heading: 45.179073 deg. 2025-10-24T19:31:22.362Z,1761334282.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.788524 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:22.597Z,1761334282.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019058 2025-10-24T19:31:22.757Z,1761334282.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699908,-0.714212,-0.005341],[0.703607,0.690762,-0.166689],[0.122740,0.112909,0.985995]] 2025-10-24T19:31:22.800Z,1761334282.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:31:22.816Z,1761334282.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:22.819Z,1761334282.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 200.558014 m, bearing: 46.314067 deg, approach rate: -0.603842 m/s, LOS rate: -0.032609 deg/s, cmd heading: 45.179072 deg, new cmd heading: 45.132648 deg. 2025-10-24T19:31:22.820Z,1761334282.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787713 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:22.850Z,1761334282.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271487 2025-10-24T19:31:23.102Z,1761334283.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524171 2025-10-24T19:31:23.149Z,1761334283.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698183,-0.715891,-0.006438],[0.705173,0.689226,-0.166428],[0.123581,0.111657,0.986033]] 2025-10-24T19:31:23.172Z,1761334283.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:23.174Z,1761334283.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 200.342865 m, bearing: 46.302283 deg, approach rate: -0.605603 m/s, LOS rate: -0.033205 deg/s, cmd heading: 45.132647 deg, new cmd heading: 45.097258 deg. 2025-10-24T19:31:23.175Z,1761334283.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787096 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:23.354Z,1761334283.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775429 2025-10-24T19:31:23.534Z,1761334283.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695859,-0.718146,-0.006873],[0.707321,0.686964,-0.166667],[0.124413,0.111115,0.985989]] 2025-10-24T19:31:23.554Z,1761334283.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:23.557Z,1761334283.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 200.111710 m, bearing: 46.289373 deg, approach rate: -0.606179 m/s, LOS rate: -0.033894 deg/s, cmd heading: 45.097256 deg, new cmd heading: 45.058482 deg. 2025-10-24T19:31:23.558Z,1761334283.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786419 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:23.605Z,1761334283.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027504 2025-10-24T19:31:23.805Z,1761334283.805 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:31:23.857Z,1761334283.857 [DAT](INFO): DAT read: Rx Time:19:31:22.6202 2025-10-24T19:31:23.858Z,1761334283.858 [DAT](INFO): Rx dataTimestamp_ set to:1761334283.857283 2025-10-24T19:31:23.858Z,1761334283.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280302 2025-10-24T19:31:23.945Z,1761334283.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693286,-0.720625,-0.007433],[0.709663,0.684463,-0.167000],[0.125432,0.110504,0.985929]] 2025-10-24T19:31:24.006Z,1761334284.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:24.013Z,1761334284.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 199.847382 m, bearing: 46.275663 deg, approach rate: -0.584403 m/s, LOS rate: -0.030353 deg/s, cmd heading: 45.058481 deg, new cmd heading: 45.017295 deg. 2025-10-24T19:31:24.015Z,1761334284.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785700 target range: 222.261673 and range: 223.30 m. 2025-10-24T19:31:24.110Z,1761334284.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531713 2025-10-24T19:31:24.340Z,1761334284.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691788,-0.722053,-0.008263],[0.711017,0.683122,-0.166733],[0.126034,0.109469,0.985968]] 2025-10-24T19:31:24.362Z,1761334284.362 [DAT](INFO): DAT read: Range 10 to 50 : 221.7 m (Round-trip 295.6 ms) speed 0.1 m/s 2025-10-24T19:31:24.362Z,1761334284.362 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:31:24.363Z,1761334284.363 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:24.363Z,1761334284.363 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:24.363Z,1761334284.363 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:24.376Z,1761334284.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:24.378Z,1761334284.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.699997 m, deltaT: 4.034126 s, deltaX: -1.600006 m, approachRate: -0.396618 m/s, rangeRepo size: 4 2025-10-24T19:31:24.379Z,1761334284.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:24.382Z,1761334284.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 199.624084 m, bearing: 46.263919 deg, approach rate: -0.599460 m/s, LOS rate: -0.031563 deg/s, cmd heading: 45.017295 deg, new cmd heading: 44.982024 deg. 2025-10-24T19:31:24.383Z,1761334284.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785084 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:24.613Z,1761334284.613 [DAT](INFO): DAT read: user:44> 2025-10-24T19:31:24.613Z,1761334284.613 [DAT](INFO): DAT read: Tx time:19:31:23.8705 2025-10-24T19:31:24.614Z,1761334284.614 [DAT](INFO): Ping request sent. 2025-10-24T19:31:24.614Z,1761334284.614 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:31:24.614Z,1761334284.614 [DAT](INFO): publishing transmit ping time 2025-10-24T19:31:24.615Z,1761334284.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-24T19:31:24.785Z,1761334284.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690055,-0.723698,-0.009236],[0.712536,0.681539,-0.166722],[0.126951,0.108467,0.985961]] 2025-10-24T19:31:24.853Z,1761334284.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:24.862Z,1761334284.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 199.368851 m, bearing: 46.253826 deg, approach rate: -0.536954 m/s, LOS rate: -0.021260 deg/s, cmd heading: 44.982024 deg, new cmd heading: 44.951708 deg. 2025-10-24T19:31:24.865Z,1761334284.865 [DAT](INFO): DAT read: TxSync time:19:31:23.8697 2025-10-24T19:31:24.866Z,1761334284.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252051 2025-10-24T19:31:24.868Z,1761334284.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784555 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:25.117Z,1761334285.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502911 2025-10-24T19:31:25.185Z,1761334285.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:25.188Z,1761334285.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 199.164688 m, bearing: 46.245734 deg, approach rate: -0.615595 m/s, LOS rate: -0.024424 deg/s, cmd heading: 44.951708 deg, new cmd heading: 44.927408 deg. 2025-10-24T19:31:25.189Z,1761334285.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784131 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:25.370Z,1761334285.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756189 2025-10-24T19:31:25.551Z,1761334285.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688434,-0.724938,-0.022883],[0.713930,0.682870,-0.154894],[0.127915,0.090297,0.987666]] 2025-10-24T19:31:25.578Z,1761334285.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:25.605Z,1761334285.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 198.942139 m, bearing: 46.236854 deg, approach rate: -0.566181 m/s, LOS rate: -0.022617 deg/s, cmd heading: 44.927407 deg, new cmd heading: 44.900736 deg. 2025-10-24T19:31:25.606Z,1761334285.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783666 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:25.621Z,1761334285.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007518 2025-10-24T19:31:25.873Z,1761334285.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258818 2025-10-24T19:31:26.017Z,1761334286.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:26.019Z,1761334286.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 198.710007 m, bearing: 46.232533 deg, approach rate: -0.529012 m/s, LOS rate: -0.009858 deg/s, cmd heading: 44.900735 deg, new cmd heading: 44.887757 deg. 2025-10-24T19:31:26.021Z,1761334286.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783439 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:26.125Z,1761334286.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511139 2025-10-24T19:31:26.361Z,1761334286.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686075,-0.727256,-0.020006],[0.716158,0.679938,-0.157487],[0.128136,0.093721,0.987318]] 2025-10-24T19:31:26.377Z,1761334286.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763083 2025-10-24T19:31:26.381Z,1761334286.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:26.383Z,1761334286.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:26.385Z,1761334286.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 198.517944 m, bearing: 46.228746 deg, approach rate: -0.524781 m/s, LOS rate: -0.010359 deg/s, cmd heading: 44.887757 deg, new cmd heading: 44.876383 deg. 2025-10-24T19:31:26.387Z,1761334286.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783241 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:26.629Z,1761334286.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015262 2025-10-24T19:31:26.826Z,1761334286.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685043,-0.728298,-0.017278],[0.717183,0.678373,-0.159559],[0.127927,0.096913,0.987037]] 2025-10-24T19:31:26.878Z,1761334286.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:26.883Z,1761334286.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269422 2025-10-24T19:31:26.885Z,1761334286.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 198.274765 m, bearing: 46.230541 deg, approach rate: -0.491171 m/s, LOS rate: 0.003632 deg/s, cmd heading: 44.876382 deg, new cmd heading: 44.881776 deg. 2025-10-24T19:31:26.886Z,1761334286.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783335 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:27.138Z,1761334287.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524447 2025-10-24T19:31:27.199Z,1761334287.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685930,-0.727482,-0.016416],[0.716417,0.679105,-0.159885],[0.127462,0.097909,0.986999]] 2025-10-24T19:31:27.217Z,1761334287.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:27.241Z,1761334287.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 198.107056 m, bearing: 46.231833 deg, approach rate: -0.493674 m/s, LOS rate: 0.003804 deg/s, cmd heading: 44.881774 deg, new cmd heading: 44.885651 deg. 2025-10-24T19:31:27.242Z,1761334287.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783402 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:27.389Z,1761334287.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775007 2025-10-24T19:31:27.641Z,1761334287.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027043 2025-10-24T19:31:27.659Z,1761334287.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690537,-0.723046,-0.019067],[0.711977,0.684139,-0.158247],[0.127464,0.095700,0.987216]] 2025-10-24T19:31:27.705Z,1761334287.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:27.712Z,1761334287.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 197.871750 m, bearing: 46.234110 deg, approach rate: -0.482315 m/s, LOS rate: 0.004673 deg/s, cmd heading: 44.885650 deg, new cmd heading: 44.892490 deg. 2025-10-24T19:31:27.713Z,1761334287.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783522 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:27.893Z,1761334287.893 [DAT](INFO): DAT read: Rx Time:19:31:26.5678 2025-10-24T19:31:27.893Z,1761334287.893 [DAT](INFO): Rx dataTimestamp_ set to:1761334287.893082 2025-10-24T19:31:27.894Z,1761334287.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280073 2025-10-24T19:31:28.026Z,1761334288.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693447,-0.720206,-0.020832],[0.708924,0.687178,-0.158785],[0.128673,0.095341,0.987093]] 2025-10-24T19:31:28.085Z,1761334288.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:28.088Z,1761334288.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 197.691956 m, bearing: 46.240877 deg, approach rate: -0.473794 m/s, LOS rate: 0.017849 deg/s, cmd heading: 44.892491 deg, new cmd heading: 44.912811 deg. 2025-10-24T19:31:28.089Z,1761334288.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783876 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:28.146Z,1761334288.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532053 2025-10-24T19:31:28.402Z,1761334288.402 [DAT](INFO): DAT read: 19:31:26.5678 LVL= 16816, 20689, 15378, 25587, AGC= 67, IDX= 182,-0.23, 1.119,-0.249, 0.888, 0.347, PHS= 0.860,-0.548, 0.538, RAW= 137.4, -13.2, CAL= 143.3, -22.9, ROT= 6.7, 22.9 2025-10-24T19:31:28.404Z,1761334288.404 [DAT](INFO): got valid direction response: 19:31:26.5678 LVL= 16816, 20689, 15378, 25587, AGC= 67, IDX= 182,-0.23, 1.119,-0.249, 0.888, 0.347, PHS= 0.860,-0.548, 0.538, RAW= 137.4, -13.2, CAL= 143.3, -22.9, ROT= 6.7, 22.9 2025-10-24T19:31:28.405Z,1761334288.405 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:31:28.405Z,1761334288.405 [DAT](INFO): Received a bad header 2025-10-24T19:31:28.421Z,1761334288.421 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:31:28.422Z,1761334288.422 [DAT](INFO): direction in FSK: [0.914894,0.107475,-0.389124] 2025-10-24T19:31:28.434Z,1761334288.434 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:28.434Z,1761334288.434 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:28.434Z,1761334288.434 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:28.468Z,1761334288.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697106,-0.716587,-0.023379],[0.705126,0.691129,-0.158552],[0.129774,0.094043,0.987074]] 2025-10-24T19:31:28.506Z,1761334288.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:28.512Z,1761334288.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:28.515Z,1761334288.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 197.498047 m, bearing: 46.248503 deg, approach rate: -0.458426 m/s, LOS rate: 0.018046 deg/s, cmd heading: 44.912810 deg, new cmd heading: 44.935711 deg. 2025-10-24T19:31:28.515Z,1761334288.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784276 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:28.649Z,1761334288.649 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:28.649Z,1761334288.649 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:28.649Z,1761334288.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:28.901Z,1761334288.901 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:28.901Z,1761334288.901 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:28.901Z,1761334288.901 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:28.929Z,1761334288.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:28.938Z,1761334288.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 197.311462 m, bearing: 46.257515 deg, approach rate: -0.442668 m/s, LOS rate: 0.021401 deg/s, cmd heading: 44.935712 deg, new cmd heading: 44.962773 deg. 2025-10-24T19:31:28.939Z,1761334288.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784748 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:29.154Z,1761334289.154 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:29.154Z,1761334289.154 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:29.154Z,1761334289.154 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:29.232Z,1761334289.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703730,-0.709877,-0.028960],[0.697980,0.698396,-0.158327],[0.132618,0.091206,0.986962]] 2025-10-24T19:31:29.257Z,1761334289.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:29.260Z,1761334289.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 197.150757 m, bearing: 46.265775 deg, approach rate: -0.489668 m/s, LOS rate: 0.025188 deg/s, cmd heading: 44.962773 deg, new cmd heading: 44.987573 deg. 2025-10-24T19:31:29.261Z,1761334289.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785181 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:29.405Z,1761334289.405 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:29.405Z,1761334289.405 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:29.405Z,1761334289.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:29.637Z,1761334289.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706549,-0.706976,-0.031192],[0.694792,0.701392,-0.159100],[0.134358,0.090740,0.986770]] 2025-10-24T19:31:29.655Z,1761334289.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:29.657Z,1761334289.657 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:29.657Z,1761334289.657 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:29.657Z,1761334289.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:29.677Z,1761334289.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 196.967926 m, bearing: 46.275426 deg, approach rate: -0.459444 m/s, LOS rate: 0.024276 deg/s, cmd heading: 44.987574 deg, new cmd heading: 45.016555 deg. 2025-10-24T19:31:29.678Z,1761334289.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785687 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:29.909Z,1761334289.909 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:29.910Z,1761334289.910 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:29.910Z,1761334289.910 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:30.041Z,1761334290.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709079,-0.704342,-0.033319],[0.691780,0.704028,-0.160575],[0.136557,0.090811,0.986461]] 2025-10-24T19:31:30.100Z,1761334290.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:30.121Z,1761334290.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 196.760086 m, bearing: 46.284763 deg, approach rate: -0.467915 m/s, LOS rate: 0.021042 deg/s, cmd heading: 45.016554 deg, new cmd heading: 45.044594 deg. 2025-10-24T19:31:30.122Z,1761334290.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786176 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:30.161Z,1761334290.161 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:30.161Z,1761334290.161 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:30.161Z,1761334290.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:30.412Z,1761334290.412 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:30.413Z,1761334290.413 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:30.413Z,1761334290.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:30.456Z,1761334290.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710810,-0.702542,-0.034402],[0.689517,0.705626,-0.163274],[0.138981,0.092336,0.985981]] 2025-10-24T19:31:30.488Z,1761334290.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:30.490Z,1761334290.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 196.583206 m, bearing: 46.292877 deg, approach rate: -0.460718 m/s, LOS rate: 0.021155 deg/s, cmd heading: 45.044592 deg, new cmd heading: 45.068958 deg. 2025-10-24T19:31:30.491Z,1761334290.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786602 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:30.665Z,1761334290.665 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:30.665Z,1761334290.665 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:30.665Z,1761334290.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:30.917Z,1761334290.917 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:30.918Z,1761334290.918 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:30.918Z,1761334290.918 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:30.961Z,1761334290.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:30.963Z,1761334290.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:30.966Z,1761334290.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 196.338623 m, bearing: 46.299447 deg, approach rate: -0.510095 m/s, LOS rate: 0.013718 deg/s, cmd heading: 45.068959 deg, new cmd heading: 45.088691 deg. 2025-10-24T19:31:30.967Z,1761334290.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786946 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:31.168Z,1761334291.168 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:31.169Z,1761334291.169 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:31.169Z,1761334291.169 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:31.290Z,1761334291.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713223,-0.700040,-0.035458],[0.686119,0.707598,-0.168953],[0.143364,0.096173,0.984986]] 2025-10-24T19:31:31.325Z,1761334291.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:31.327Z,1761334291.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 196.157806 m, bearing: 46.304552 deg, approach rate: -0.499741 m/s, LOS rate: 0.014122 deg/s, cmd heading: 45.088691 deg, new cmd heading: 45.104021 deg. 2025-10-24T19:31:31.329Z,1761334291.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787214 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:31.421Z,1761334291.421 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:31.421Z,1761334291.421 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:31.421Z,1761334291.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:31.673Z,1761334291.673 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:31.673Z,1761334291.673 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:31.673Z,1761334291.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:31.677Z,1761334291.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713603,-0.699595,-0.036578],[0.685285,0.707941,-0.170889],[0.145448,0.096880,0.984611]] 2025-10-24T19:31:31.724Z,1761334291.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:31.727Z,1761334291.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 195.971222 m, bearing: 46.309881 deg, approach rate: -0.469856 m/s, LOS rate: 0.013434 deg/s, cmd heading: 45.104022 deg, new cmd heading: 45.120026 deg. 2025-10-24T19:31:31.728Z,1761334291.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787493 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:31.925Z,1761334291.925 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:31.925Z,1761334291.925 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:31.926Z,1761334291.926 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:32.083Z,1761334292.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713521,-0.699612,-0.037826],[0.684821,0.707805,-0.173296],[0.148013,0.097747,0.984143]] 2025-10-24T19:31:32.162Z,1761334292.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:32.169Z,1761334292.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 195.733231 m, bearing: 46.310492 deg, approach rate: -0.541128 m/s, LOS rate: 0.001389 deg/s, cmd heading: 45.120025 deg, new cmd heading: 45.121858 deg. 2025-10-24T19:31:32.170Z,1761334292.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787525 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:32.177Z,1761334292.177 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:32.177Z,1761334292.177 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:32.177Z,1761334292.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:32.429Z,1761334292.429 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:32.429Z,1761334292.429 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:32.429Z,1761334292.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:32.483Z,1761334292.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712764,-0.700359,-0.038275],[0.685109,0.706861,-0.175990],[0.150311,0.099217,0.983648]] 2025-10-24T19:31:32.515Z,1761334292.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:32.522Z,1761334292.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 195.535156 m, bearing: 46.310966 deg, approach rate: -0.560560 m/s, LOS rate: 0.001342 deg/s, cmd heading: 45.121859 deg, new cmd heading: 45.123281 deg. 2025-10-24T19:31:32.523Z,1761334292.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787550 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:32.680Z,1761334292.680 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:32.681Z,1761334292.681 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:32.681Z,1761334292.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:32.915Z,1761334292.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711515,-0.701542,-0.039811],[0.685747,0.705623,-0.178459],[0.153288,0.099676,0.983142]] 2025-10-24T19:31:32.934Z,1761334292.934 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:32.934Z,1761334292.934 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:32.934Z,1761334292.934 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:32.986Z,1761334292.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:32.989Z,1761334292.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:32.991Z,1761334292.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 195.258102 m, bearing: 46.305721 deg, approach rate: -0.584981 m/s, LOS rate: -0.011090 deg/s, cmd heading: 45.123283 deg, new cmd heading: 45.107526 deg. 2025-10-24T19:31:32.992Z,1761334292.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787275 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:33.185Z,1761334293.185 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:33.185Z,1761334293.185 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:33.185Z,1761334293.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:33.293Z,1761334293.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710101,-0.702952,-0.040195],[0.686622,0.703986,-0.181533],[0.155906,0.101308,0.982563]] 2025-10-24T19:31:33.311Z,1761334293.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:33.334Z,1761334293.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 195.074326 m, bearing: 46.302151 deg, approach rate: -0.570594 m/s, LOS rate: -0.011095 deg/s, cmd heading: 45.107526 deg, new cmd heading: 45.096805 deg. 2025-10-24T19:31:33.335Z,1761334293.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787088 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:33.437Z,1761334293.437 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:33.437Z,1761334293.437 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:33.437Z,1761334293.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:33.689Z,1761334293.689 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:33.689Z,1761334293.689 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:33.689Z,1761334293.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:33.742Z,1761334293.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:33.761Z,1761334293.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 194.828262 m, bearing: 46.297359 deg, approach rate: -0.570527 m/s, LOS rate: -0.011123 deg/s, cmd heading: 45.096806 deg, new cmd heading: 45.082414 deg. 2025-10-24T19:31:33.762Z,1761334293.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786837 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:33.942Z,1761334293.942 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:33.943Z,1761334293.943 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:33.943Z,1761334293.943 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:34.100Z,1761334294.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706545,-0.706486,-0.040889],[0.689032,0.699962,-0.187853],[0.161336,0.104553,0.981346]] 2025-10-24T19:31:34.156Z,1761334294.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:34.159Z,1761334294.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 194.577652 m, bearing: 46.287913 deg, approach rate: -0.605750 m/s, LOS rate: -0.022862 deg/s, cmd heading: 45.082414 deg, new cmd heading: 45.054040 deg. 2025-10-24T19:31:34.159Z,1761334294.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786341 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:34.193Z,1761334294.193 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:34.193Z,1761334294.193 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:34.193Z,1761334294.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:34.445Z,1761334294.445 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:34.445Z,1761334294.445 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:34.445Z,1761334294.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:31:34.511Z,1761334294.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704680,-0.708316,-0.041401],[0.690326,0.697926,-0.190656],[0.163939,0.105771,0.980784]] 2025-10-24T19:31:34.542Z,1761334294.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:34.545Z,1761334294.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 194.344803 m, bearing: 46.278956 deg, approach rate: -0.602297 m/s, LOS rate: -0.023197 deg/s, cmd heading: 45.054038 deg, new cmd heading: 45.027134 deg. 2025-10-24T19:31:34.546Z,1761334294.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785872 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:34.696Z,1761334294.696 [DAT](INFO): Reached modem response timeout 2025-10-24T19:31:34.697Z,1761334294.697 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:34.697Z,1761334294.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:34.942Z,1761334294.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702693,-0.710192,-0.043014],[0.691719,0.696068,-0.192390],[0.166574,0.105438,0.980375]] 2025-10-24T19:31:34.949Z,1761334294.949 [DAT](INFO): DAT read: 2025-10-24T19:31:34.949Z,1761334294.949 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:34.995Z,1761334294.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:34.998Z,1761334294.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:35.000Z,1761334295.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 194.063843 m, bearing: 46.266353 deg, approach rate: -0.617389 m/s, LOS rate: -0.027735 deg/s, cmd heading: 45.027134 deg, new cmd heading: 44.989270 deg. 2025-10-24T19:31:35.001Z,1761334295.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785211 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:35.201Z,1761334295.201 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:35.316Z,1761334295.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700319,-0.712479,-0.043893],[0.693478,0.693644,-0.194798],[0.169235,0.105982,0.979861]] 2025-10-24T19:31:35.341Z,1761334295.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:35.344Z,1761334295.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 193.852676 m, bearing: 46.256662 deg, approach rate: -0.614082 m/s, LOS rate: -0.028212 deg/s, cmd heading: 44.989271 deg, new cmd heading: 44.960167 deg. 2025-10-24T19:31:35.345Z,1761334295.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784703 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:35.454Z,1761334295.454 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:31:35.454Z,1761334295.454 [DAT](INFO): response not received 2025-10-24T19:31:35.455Z,1761334295.455 [DAT](INFO): DAT read: user:46>Tx time:19:31:34.8206 2025-10-24T19:31:35.456Z,1761334295.456 [DAT](ERROR): No response from remote modem. 2025-10-24T19:31:35.456Z,1761334295.456 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:35.457Z,1761334295.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:35.705Z,1761334295.705 [DAT](INFO): DAT read: 2025-10-24T19:31:35.705Z,1761334295.705 [DAT](INFO): DAT read: TxSync time:19:31:34.8198 2025-10-24T19:31:35.706Z,1761334295.706 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:35.719Z,1761334295.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698841,-0.713825,-0.045553],[0.694404,0.692343,-0.196122],[0.171535,0.105426,0.979521]] 2025-10-24T19:31:35.774Z,1761334295.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:35.781Z,1761334295.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 193.590530 m, bearing: 46.244457 deg, approach rate: -0.605974 m/s, LOS rate: -0.028252 deg/s, cmd heading: 44.960168 deg, new cmd heading: 44.923502 deg. 2025-10-24T19:31:35.782Z,1761334295.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784063 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:35.960Z,1761334295.960 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:36.124Z,1761334296.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695954,-0.716580,-0.046484],[0.696555,0.689403,-0.198832],[0.174525,0.105999,0.978931]] 2025-10-24T19:31:36.182Z,1761334296.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:36.189Z,1761334296.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 193.341461 m, bearing: 46.232792 deg, approach rate: -0.610474 m/s, LOS rate: -0.028626 deg/s, cmd heading: 44.923503 deg, new cmd heading: 44.888465 deg. 2025-10-24T19:31:36.190Z,1761334296.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783451 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:36.210Z,1761334296.210 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:36.461Z,1761334296.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:36.523Z,1761334296.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693619,-0.718471,-0.051885],[0.698347,0.688357,-0.196155],[0.176647,0.099823,0.979199]] 2025-10-24T19:31:36.543Z,1761334296.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:36.546Z,1761334296.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 193.106369 m, bearing: 46.221542 deg, approach rate: -0.650859 m/s, LOS rate: -0.031185 deg/s, cmd heading: 44.888464 deg, new cmd heading: 44.854672 deg. 2025-10-24T19:31:36.547Z,1761334296.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782862 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:36.713Z,1761334296.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:36.965Z,1761334296.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:36.968Z,1761334296.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690741,-0.721222,-0.052111],[0.700585,0.685336,-0.198737],[0.179047,0.100767,0.978666]] 2025-10-24T19:31:37.029Z,1761334297.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:37.031Z,1761334297.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:37.039Z,1761334297.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 192.824387 m, bearing: 46.210621 deg, approach rate: -0.577480 m/s, LOS rate: -0.022398 deg/s, cmd heading: 44.854672 deg, new cmd heading: 44.821861 deg. 2025-10-24T19:31:37.043Z,1761334297.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782289 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:37.218Z,1761334297.218 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:37.335Z,1761334297.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689501,-0.722423,-0.051889],[0.701527,0.683938,-0.200219],[0.180131,0.101650,0.978376]] 2025-10-24T19:31:37.355Z,1761334297.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:37.358Z,1761334297.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 192.613251 m, bearing: 46.202318 deg, approach rate: -0.653178 m/s, LOS rate: -0.025714 deg/s, cmd heading: 44.821860 deg, new cmd heading: 44.796924 deg. 2025-10-24T19:31:37.358Z,1761334297.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781854 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:37.469Z,1761334297.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:37.721Z,1761334297.721 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:37.738Z,1761334297.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689031,-0.722829,-0.052488],[0.701609,0.683443,-0.201618],[0.181608,0.102095,0.978057]] 2025-10-24T19:31:37.789Z,1761334297.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:37.791Z,1761334297.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 192.369232 m, bearing: 46.192667 deg, approach rate: -0.562010 m/s, LOS rate: -0.022257 deg/s, cmd heading: 44.796923 deg, new cmd heading: 44.767931 deg. 2025-10-24T19:31:37.797Z,1761334297.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781348 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:37.975Z,1761334297.975 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:38.149Z,1761334298.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689026,-0.722786,-0.053149],[0.701333,0.683465,-0.202502],[0.182691,0.102254,0.977839]] 2025-10-24T19:31:38.208Z,1761334298.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:38.211Z,1761334298.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 192.118027 m, bearing: 46.184990 deg, approach rate: -0.601104 m/s, LOS rate: -0.018394 deg/s, cmd heading: 44.767932 deg, new cmd heading: 44.744871 deg. 2025-10-24T19:31:38.212Z,1761334298.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780945 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:38.225Z,1761334298.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:38.477Z,1761334298.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:38.640Z,1761334298.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689356,-0.722306,-0.055342],[0.700667,0.684204,-0.202313],[0.183997,0.100689,0.977756]] 2025-10-24T19:31:38.683Z,1761334298.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:38.691Z,1761334298.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 191.843170 m, bearing: 46.176633 deg, approach rate: -0.576991 m/s, LOS rate: -0.017567 deg/s, cmd heading: 44.744870 deg, new cmd heading: 44.719765 deg. 2025-10-24T19:31:38.691Z,1761334298.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780507 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:38.729Z,1761334298.729 [DAT](INFO): DAT read: Rx Time:19:31:37.4860 2025-10-24T19:31:38.729Z,1761334298.729 [DAT](INFO): Rx dataTimestamp_ set to:1761334298.729109 2025-10-24T19:31:38.730Z,1761334298.730 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:38.985Z,1761334298.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:39.154Z,1761334299.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690700,-0.720806,-0.058065],[0.698773,0.685939,-0.202987],[0.186143,0.099629,0.977458]] 2025-10-24T19:31:39.203Z,1761334299.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:39.206Z,1761334299.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 222.26 m. 2025-10-24T19:31:39.209Z,1761334299.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 222.261673 m, nav range: 191.540573 m, bearing: 46.173135 deg, approach rate: -0.578415 m/s, LOS rate: -0.006698 deg/s, cmd heading: 44.719765 deg, new cmd heading: 44.709253 deg. 2025-10-24T19:31:39.210Z,1761334299.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780324 target range: 222.261673 and range: 221.70 m. 2025-10-24T19:31:39.238Z,1761334299.238 [DAT](INFO): DAT read: 19:31:37.4860 LVL= 21920, 25457, 20082, 31555, AGC= 69, IDX= 111,-0.00,-1.052,-2.915,-1.247,-1.935, PHS= 0.971,-0.933, 0.685, RAW= 142.0, -8.2, CAL= 148.5, -17.6, ROT= 1.5, 17.6 2025-10-24T19:31:39.240Z,1761334299.240 [DAT](INFO): got valid direction response: 19:31:37.4860 LVL= 21920, 25457, 20082, 31555, AGC= 69, IDX= 111,-0.00,-1.052,-2.915,-1.247,-1.935, PHS= 0.971,-0.933, 0.685, RAW= 142.0, -8.2, CAL= 148.5, -17.6, ROT= 1.5, 17.6 2025-10-24T19:31:39.241Z,1761334299.241 [DAT](INFO): DAT read: Bearing 1.5, 17.6 (Local) 2025-10-24T19:31:39.241Z,1761334299.241 [DAT](INFO): Local bearing/azimuth received: Bearing 1.5, 17.6 (Local) 2025-10-24T19:31:39.242Z,1761334299.242 [DAT](INFO): DAT read: Range 10 to 50 : 195.9 m (Round-trip 261.2 ms) speed 0.4 m/s 2025-10-24T19:31:39.243Z,1761334299.243 [DAT](INFO): DAT read: user:47>Tx time:19:31:38.5707 2025-10-24T19:31:39.244Z,1761334299.244 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:39.245Z,1761334299.245 [DAT](INFO): direction in FSK: [0.952864,0.024952,-0.302370] 2025-10-24T19:31:39.245Z,1761334299.245 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:39.254Z,1761334299.254 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:39.255Z,1761334299.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:39.486Z,1761334299.486 [DAT](INFO): DAT read: 2025-10-24T19:31:39.487Z,1761334299.487 [DAT](INFO): DAT read: TxSync time:19:31:38.5699 2025-10-24T19:31:39.488Z,1761334299.488 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:39.572Z,1761334299.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690997,-0.720406,-0.059485],[0.698175,0.686459,-0.203285],[0.187282,0.098938,0.977311]] 2025-10-24T19:31:39.618Z,1761334299.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 195.899994 m, deltaT: 14.871954 s, deltaX: -25.800003 m, approachRate: -1.734809 m/s, rangeRepo size: 4 2025-10-24T19:31:39.622Z,1761334299.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 194.981567 m, bearing: 48.486001 deg, lat: 36.779582 deg, lon: -121.859733 deg, deltaT: 18.906080 s, deltaX: -27.280106 m, approachRate: -1.442928 m/s, posRepo size: 4 2025-10-24T19:31:39.623Z,1761334299.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:39.626Z,1761334299.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 189.747879 m, bearing: 47.421122 deg, approach rate: 0.000000 m/s, LOS rate: -0.006698 deg/s, cmd heading: 44.709254 deg, new cmd heading: 44.700993 deg. 2025-10-24T19:31:39.626Z,1761334299.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780180 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:39.738Z,1761334299.738 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:39.992Z,1761334299.992 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:40.093Z,1761334300.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:40.100Z,1761334300.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 189.493576 m, bearing: 47.425060 deg, approach rate: -0.534249 m/s, LOS rate: 0.008284 deg/s, cmd heading: 44.700993 deg, new cmd heading: 44.712822 deg. 2025-10-24T19:31:40.101Z,1761334300.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780386 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:40.241Z,1761334300.241 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:40.402Z,1761334300.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692311,-0.718172,-0.070247],[0.696393,0.690459,-0.195711],[0.189057,0.086574,0.978142]] 2025-10-24T19:31:40.422Z,1761334300.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:40.425Z,1761334300.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 189.304413 m, bearing: 47.428170 deg, approach rate: -0.575464 m/s, LOS rate: 0.009470 deg/s, cmd heading: 44.712823 deg, new cmd heading: 44.722161 deg. 2025-10-24T19:31:40.426Z,1761334300.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780549 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:40.497Z,1761334300.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:40.749Z,1761334300.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:40.803Z,1761334300.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691044,-0.719615,-0.067916],[0.697389,0.688489,-0.199078],[0.190019,0.090208,0.977627]] 2025-10-24T19:31:40.823Z,1761334300.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:40.826Z,1761334300.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 189.087814 m, bearing: 47.431615 deg, approach rate: -0.539949 m/s, LOS rate: 0.008599 deg/s, cmd heading: 44.722163 deg, new cmd heading: 44.732512 deg. 2025-10-24T19:31:40.827Z,1761334300.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780730 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:41.003Z,1761334301.003 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:41.209Z,1761334301.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690682,-0.720122,-0.066198],[0.697659,0.687624,-0.201110],[0.190344,0.092719,0.977329]] 2025-10-24T19:31:41.253Z,1761334301.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:41.302Z,1761334301.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:41.306Z,1761334301.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:41.325Z,1761334301.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 188.837128 m, bearing: 47.437664 deg, approach rate: -0.519426 m/s, LOS rate: 0.012549 deg/s, cmd heading: 44.732511 deg, new cmd heading: 44.750680 deg. 2025-10-24T19:31:41.326Z,1761334301.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781047 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:41.505Z,1761334301.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:41.609Z,1761334301.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691442,-0.719469,-0.065365],[0.696816,0.688070,-0.202504],[0.190670,0.094472,0.977098]] 2025-10-24T19:31:41.643Z,1761334301.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:41.646Z,1761334301.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 188.662964 m, bearing: 47.441933 deg, approach rate: -0.516509 m/s, LOS rate: 0.012673 deg/s, cmd heading: 44.750679 deg, new cmd heading: 44.763499 deg. 2025-10-24T19:31:41.647Z,1761334301.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781270 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:41.757Z,1761334301.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:42.011Z,1761334302.011 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:42.081Z,1761334302.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693217,-0.717688,-0.066140],[0.694926,0.689913,-0.202726],[0.191124,0.094571,0.976999]] 2025-10-24T19:31:42.177Z,1761334302.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:42.184Z,1761334302.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 188.380966 m, bearing: 47.449843 deg, approach rate: -0.528187 m/s, LOS rate: 0.014836 deg/s, cmd heading: 44.763499 deg, new cmd heading: 44.787262 deg. 2025-10-24T19:31:42.185Z,1761334302.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781685 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:42.269Z,1761334302.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:42.513Z,1761334302.513 [DAT](INFO): DAT read: Rx Time:19:31:41.2336 2025-10-24T19:31:42.514Z,1761334302.514 [DAT](INFO): Rx dataTimestamp_ set to:1761334302.513418 2025-10-24T19:31:42.514Z,1761334302.514 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:42.680Z,1761334302.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695876,-0.714957,-0.067774],[0.691918,0.692734,-0.203393],[0.192367,0.094642,0.976749]] 2025-10-24T19:31:42.716Z,1761334302.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:42.719Z,1761334302.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 188.105026 m, bearing: 47.457952 deg, approach rate: -0.527656 m/s, LOS rate: 0.015529 deg/s, cmd heading: 44.787261 deg, new cmd heading: 44.811625 deg. 2025-10-24T19:31:42.725Z,1761334302.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782110 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:42.765Z,1761334302.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:43.041Z,1761334303.041 [DAT](INFO): DAT read: 19:31:41.2336 LVL= 25472, 29553, 23426, 32755, AGC= 65, IDX= 423,-0.12, 1.529,-0.338, 1.238, 0.623, PHS= 0.995,-0.913, 0.613, RAW= 139.1, -8.0, CAL= 145.3, -18.1, ROT= 4.7, 18.1 2025-10-24T19:31:43.068Z,1761334303.068 [DAT](INFO): got valid direction response: 19:31:41.2336 LVL= 25472, 29553, 23426, 32755, AGC= 65, IDX= 423,-0.12, 1.529,-0.338, 1.238, 0.623, PHS= 0.995,-0.913, 0.613, RAW= 139.1, -8.0, CAL= 145.3, -18.1, ROT= 4.7, 18.1 2025-10-24T19:31:43.069Z,1761334303.069 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:31:43.070Z,1761334303.070 [DAT](INFO): Received a bad header 2025-10-24T19:31:43.084Z,1761334303.084 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:31:43.085Z,1761334303.085 [DAT](INFO): direction in FSK: [0.947320,0.077884,-0.310676] 2025-10-24T19:31:43.093Z,1761334303.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:43.181Z,1761334303.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:43.188Z,1761334303.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 187.858154 m, bearing: 47.465457 deg, approach rate: -0.512709 m/s, LOS rate: 0.015608 deg/s, cmd heading: 44.811625 deg, new cmd heading: 44.834171 deg. 2025-10-24T19:31:43.189Z,1761334303.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782504 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:43.269Z,1761334303.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:43.521Z,1761334303.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:43.604Z,1761334303.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698534,-0.712186,-0.069580],[0.688913,0.695615,-0.203761],[0.193516,0.094400,0.976545]] 2025-10-24T19:31:43.643Z,1761334303.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:43.645Z,1761334303.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:43.648Z,1761334303.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 187.624496 m, bearing: 47.472874 deg, approach rate: -0.503714 m/s, LOS rate: 0.016009 deg/s, cmd heading: 44.834171 deg, new cmd heading: 44.856450 deg. 2025-10-24T19:31:43.649Z,1761334303.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782893 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:43.773Z,1761334303.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:44.026Z,1761334304.026 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:44.108Z,1761334304.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:44.111Z,1761334304.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 187.372070 m, bearing: 47.480908 deg, approach rate: -0.545049 m/s, LOS rate: 0.017371 deg/s, cmd heading: 44.856451 deg, new cmd heading: 44.880586 deg. 2025-10-24T19:31:44.113Z,1761334304.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783314 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:44.278Z,1761334304.278 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:44.411Z,1761334304.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701310,-0.709307,-0.071056],[0.685910,0.698586,-0.203728],[0.194145,0.094138,0.976446]] 2025-10-24T19:31:44.439Z,1761334304.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:44.442Z,1761334304.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 187.199310 m, bearing: 47.486642 deg, approach rate: -0.523068 m/s, LOS rate: 0.017378 deg/s, cmd heading: 44.880586 deg, new cmd heading: 44.897804 deg. 2025-10-24T19:31:44.443Z,1761334304.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783615 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:44.530Z,1761334304.530 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:44.781Z,1761334304.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:44.819Z,1761334304.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703403,-0.707108,-0.072261],[0.683763,0.700919,-0.202932],[0.194144,0.093333,0.976523]] 2025-10-24T19:31:44.839Z,1761334304.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:44.842Z,1761334304.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 186.991333 m, bearing: 47.493757 deg, approach rate: -0.519595 m/s, LOS rate: 0.017794 deg/s, cmd heading: 44.897805 deg, new cmd heading: 44.919172 deg. 2025-10-24T19:31:44.843Z,1761334304.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783987 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:45.037Z,1761334305.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:45.222Z,1761334305.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704554,-0.705910,-0.072770],[0.682546,0.702141,-0.202801],[0.194254,0.093215,0.976512]] 2025-10-24T19:31:45.265Z,1761334305.265 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -11, +543, 2025-10-24T19:31:45.285Z,1761334305.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:45.317Z,1761334305.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:45.324Z,1761334305.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 186.748962 m, bearing: 47.502196 deg, approach rate: -0.507279 m/s, LOS rate: 0.017687 deg/s, cmd heading: 44.919173 deg, new cmd heading: 44.944524 deg. 2025-10-24T19:31:45.325Z,1761334305.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784430 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:45.537Z,1761334305.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:45.642Z,1761334305.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706326,-0.704098,-0.073145],[0.680806,0.703976,-0.202290],[0.193924,0.093085,0.976590]] 2025-10-24T19:31:45.725Z,1761334305.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:45.727Z,1761334305.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:45.734Z,1761334305.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 186.541931 m, bearing: 47.509586 deg, approach rate: -0.504661 m/s, LOS rate: 0.018033 deg/s, cmd heading: 44.944523 deg, new cmd heading: 44.966716 deg. 2025-10-24T19:31:45.735Z,1761334305.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784817 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:45.789Z,1761334305.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:46.041Z,1761334306.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:46.166Z,1761334306.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706884,-0.703688,-0.071681],[0.680339,0.704138,-0.203293],[0.193528,0.094938,0.976490]] 2025-10-24T19:31:46.280Z,1761334306.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:46.282Z,1761334306.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 186.258942 m, bearing: 47.511244 deg, approach rate: -0.516476 m/s, LOS rate: 0.003032 deg/s, cmd heading: 44.966714 deg, new cmd heading: 44.971698 deg. 2025-10-24T19:31:46.283Z,1761334306.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784904 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:46.293Z,1761334306.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:46.545Z,1761334306.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:46.687Z,1761334306.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708662,-0.702060,-0.070073],[0.678575,0.705399,-0.204814],[0.193221,0.097594,0.976290]] 2025-10-24T19:31:46.707Z,1761334306.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:46.710Z,1761334306.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 186.000412 m, bearing: 47.512965 deg, approach rate: -0.597933 m/s, LOS rate: 0.003985 deg/s, cmd heading: 44.971697 deg, new cmd heading: 44.976866 deg. 2025-10-24T19:31:46.711Z,1761334306.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784994 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:46.799Z,1761334306.799 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:47.052Z,1761334307.052 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:47.162Z,1761334307.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709528,-0.701233,-0.069585],[0.677716,0.706100,-0.205241],[0.193056,0.098466,0.976235]] 2025-10-24T19:31:47.258Z,1761334307.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:47.269Z,1761334307.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 185.722427 m, bearing: 47.512982 deg, approach rate: -0.504989 m/s, LOS rate: 0.000031 deg/s, cmd heading: 44.976867 deg, new cmd heading: 44.976918 deg. 2025-10-24T19:31:47.271Z,1761334307.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784995 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:47.301Z,1761334307.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:47.553Z,1761334307.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:47.666Z,1761334307.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710054,-0.700746,-0.069129],[0.677209,0.706486,-0.205585],[0.192902,0.099162,0.976195]] 2025-10-24T19:31:47.699Z,1761334307.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:47.702Z,1761334307.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 185.456772 m, bearing: 47.513059 deg, approach rate: -0.601957 m/s, LOS rate: 0.000175 deg/s, cmd heading: 44.976919 deg, new cmd heading: 44.977150 deg. 2025-10-24T19:31:47.704Z,1761334307.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784999 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:47.805Z,1761334307.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:48.057Z,1761334308.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:48.078Z,1761334308.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710923,-0.699947,-0.068278],[0.676373,0.707097,-0.206236],[0.192634,0.100436,0.976117]] 2025-10-24T19:31:48.158Z,1761334308.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:48.165Z,1761334308.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:48.173Z,1761334308.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 185.229385 m, bearing: 47.513211 deg, approach rate: -0.487712 m/s, LOS rate: 0.000327 deg/s, cmd heading: 44.977151 deg, new cmd heading: 44.977609 deg. 2025-10-24T19:31:48.174Z,1761334308.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.785007 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:48.309Z,1761334308.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:48.530Z,1761334308.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:48.533Z,1761334308.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 184.998642 m, bearing: 47.510921 deg, approach rate: -0.632129 m/s, LOS rate: -0.006281 deg/s, cmd heading: 44.977608 deg, new cmd heading: 44.970730 deg. 2025-10-24T19:31:48.534Z,1761334308.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784887 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:48.560Z,1761334308.560 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:48.813Z,1761334308.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:48.875Z,1761334308.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711905,-0.699015,-0.067595],[0.675345,0.707825,-0.207106],[0.192616,0.101789,0.975981]] 2025-10-24T19:31:48.895Z,1761334308.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:48.915Z,1761334308.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 184.797012 m, bearing: 47.509007 deg, approach rate: -0.553376 m/s, LOS rate: -0.005261 deg/s, cmd heading: 44.970730 deg, new cmd heading: 44.964980 deg. 2025-10-24T19:31:48.917Z,1761334308.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784787 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:49.066Z,1761334309.066 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:49.283Z,1761334309.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712057,-0.698913,-0.067050],[0.675138,0.707782,-0.207927],[0.192779,0.102788,0.975844]] 2025-10-24T19:31:49.317Z,1761334309.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:49.356Z,1761334309.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:49.365Z,1761334309.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 184.551544 m, bearing: 47.504900 deg, approach rate: -0.537270 m/s, LOS rate: -0.009000 deg/s, cmd heading: 44.964979 deg, new cmd heading: 44.952644 deg. 2025-10-24T19:31:49.366Z,1761334309.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784572 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:49.572Z,1761334309.572 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:49.683Z,1761334309.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712455,-0.698566,-0.066428],[0.674733,0.707981,-0.208562],[0.192724,0.103771,0.975751]] 2025-10-24T19:31:49.718Z,1761334309.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:49.722Z,1761334309.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 184.339722 m, bearing: 47.501387 deg, approach rate: -0.577905 m/s, LOS rate: -0.009595 deg/s, cmd heading: 44.952644 deg, new cmd heading: 44.942094 deg. 2025-10-24T19:31:49.723Z,1761334309.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784388 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:49.821Z,1761334309.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:50.073Z,1761334310.073 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:31:50.074Z,1761334310.074 [DAT](INFO): response not received 2025-10-24T19:31:50.075Z,1761334310.075 [DAT](ERROR): No response from remote modem. 2025-10-24T19:31:50.076Z,1761334310.076 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:31:50.077Z,1761334310.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:50.100Z,1761334310.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712305,-0.698776,-0.065830],[0.674919,0.707675,-0.209001],[0.192631,0.104443,0.975697]] 2025-10-24T19:31:50.197Z,1761334310.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:50.199Z,1761334310.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:50.221Z,1761334310.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 184.104141 m, bearing: 47.497454 deg, approach rate: -0.489663 m/s, LOS rate: -0.008186 deg/s, cmd heading: 44.942095 deg, new cmd heading: 44.930280 deg. 2025-10-24T19:31:50.222Z,1761334310.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784181 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:50.328Z,1761334310.328 [DAT](INFO): DAT read: Tx time:19:31:49.5208 2025-10-24T19:31:50.329Z,1761334310.329 [DAT](INFO): Ping request sent. 2025-10-24T19:31:50.329Z,1761334310.329 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:31:50.330Z,1761334310.330 [DAT](INFO): DAT read: 2025-10-24T19:31:50.331Z,1761334310.331 [DAT](INFO): DAT read: TxSync time:19:31:49.5200 2025-10-24T19:31:50.332Z,1761334310.332 [DAT](INFO): publishing transmit ping time 2025-10-24T19:31:50.333Z,1761334310.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003873 2025-10-24T19:31:50.558Z,1761334310.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:50.561Z,1761334310.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 183.851440 m, bearing: 47.491608 deg, approach rate: -0.704652 m/s, LOS rate: -0.016326 deg/s, cmd heading: 44.930279 deg, new cmd heading: 44.912715 deg. 2025-10-24T19:31:50.562Z,1761334310.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783875 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:50.577Z,1761334310.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248158 2025-10-24T19:31:50.829Z,1761334310.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500200 2025-10-24T19:31:50.900Z,1761334310.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711622,-0.699481,-0.065731],[0.675365,0.706853,-0.210333],[0.193586,0.105286,0.975418]] 2025-10-24T19:31:50.944Z,1761334310.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:50.947Z,1761334310.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 183.629044 m, bearing: 47.486392 deg, approach rate: -0.576120 m/s, LOS rate: -0.013528 deg/s, cmd heading: 44.912715 deg, new cmd heading: 44.897049 deg. 2025-10-24T19:31:50.948Z,1761334310.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783601 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:51.081Z,1761334311.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752020 2025-10-24T19:31:51.325Z,1761334311.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707269,-0.703773,-0.066883],[0.679342,0.702784,-0.211163],[0.195615,0.103913,0.975160]] 2025-10-24T19:31:51.333Z,1761334311.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004141 2025-10-24T19:31:51.401Z,1761334311.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:51.403Z,1761334311.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 183.364609 m, bearing: 47.477927 deg, approach rate: -0.580084 m/s, LOS rate: -0.018597 deg/s, cmd heading: 44.897050 deg, new cmd heading: 44.871617 deg. 2025-10-24T19:31:51.408Z,1761334311.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783157 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:51.585Z,1761334311.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255937 2025-10-24T19:31:51.716Z,1761334311.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705317,-0.705836,-0.065749],[0.681340,0.700589,-0.212017],[0.195712,0.104742,0.975052]] 2025-10-24T19:31:51.735Z,1761334311.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:51.738Z,1761334311.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 183.162643 m, bearing: 47.471264 deg, approach rate: -0.602909 m/s, LOS rate: -0.019910 deg/s, cmd heading: 44.871618 deg, new cmd heading: 44.851609 deg. 2025-10-24T19:31:51.739Z,1761334311.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782808 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:51.837Z,1761334311.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508696 2025-10-24T19:31:52.089Z,1761334312.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760083 2025-10-24T19:31:52.114Z,1761334312.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704747,-0.706537,-0.064320],[0.682152,0.699741,-0.212205],[0.194939,0.105675,0.975106]] 2025-10-24T19:31:52.201Z,1761334312.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:52.216Z,1761334312.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:52.219Z,1761334312.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 182.926712 m, bearing: 47.463393 deg, approach rate: -0.494993 m/s, LOS rate: -0.016534 deg/s, cmd heading: 44.851609 deg, new cmd heading: 44.827966 deg. 2025-10-24T19:31:52.224Z,1761334312.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782396 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:52.341Z,1761334312.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012096 2025-10-24T19:31:52.565Z,1761334312.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703493,-0.707921,-0.062811],[0.683535,0.698156,-0.212974],[0.194621,0.106892,0.975037]] 2025-10-24T19:31:52.593Z,1761334312.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264374 2025-10-24T19:31:52.612Z,1761334312.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:52.615Z,1761334312.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 182.640167 m, bearing: 47.452041 deg, approach rate: -0.715634 m/s, LOS rate: -0.028398 deg/s, cmd heading: 44.827966 deg, new cmd heading: 44.793854 deg. 2025-10-24T19:31:52.615Z,1761334312.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781800 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:52.846Z,1761334312.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517408 2025-10-24T19:31:52.966Z,1761334312.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:52.993Z,1761334312.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 182.427032 m, bearing: 47.443573 deg, approach rate: -0.601630 m/s, LOS rate: -0.023932 deg/s, cmd heading: 44.793852 deg, new cmd heading: 44.768418 deg. 2025-10-24T19:31:52.994Z,1761334312.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781356 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:53.097Z,1761334313.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767953 2025-10-24T19:31:53.322Z,1761334313.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701237,-0.710256,-0.061672],[0.686089,0.695819,-0.212409],[0.193778,0.106637,0.975233]] 2025-10-24T19:31:53.349Z,1761334313.349 [DAT](INFO): DAT read: Rx Time:19:31:52.1753 2025-10-24T19:31:53.349Z,1761334313.349 [DAT](INFO): Rx dataTimestamp_ set to:1761334313.349030 2025-10-24T19:31:53.350Z,1761334313.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021123 2025-10-24T19:31:53.419Z,1761334313.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:53.432Z,1761334313.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 182.152924 m, bearing: 47.433582 deg, approach rate: -0.605748 m/s, LOS rate: -0.022111 deg/s, cmd heading: 44.768417 deg, new cmd heading: 44.738400 deg. 2025-10-24T19:31:53.433Z,1761334313.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780832 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:53.601Z,1761334313.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272030 2025-10-24T19:31:53.741Z,1761334313.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700125,-0.711355,-0.061638],[0.687318,0.694813,-0.211729],[0.193441,0.105872,0.975383]] 2025-10-24T19:31:53.766Z,1761334313.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.98 m. 2025-10-24T19:31:53.769Z,1761334313.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 194.981567 m, nav range: 181.933670 m, bearing: 47.425450 deg, approach rate: -0.631036 m/s, LOS rate: -0.023432 deg/s, cmd heading: 44.738402 deg, new cmd heading: 44.713977 deg. 2025-10-24T19:31:53.771Z,1761334313.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780406 target range: 194.981567 and range: 195.90 m. 2025-10-24T19:31:53.861Z,1761334313.861 [DAT](INFO): DAT read: 19:31:52.1753 LVL= 18784, 22033, 18626, 32307, AGC= 68, IDX= 368, 0.40, 1.935, 0.250, 1.726, 1.062, PHS= 0.961,-0.765, 0.661, RAW= 140.7, -10.7, CAL= 147.4, -20.5, ROT= 2.6, 20.5 2025-10-24T19:31:53.862Z,1761334313.862 [DAT](INFO): got valid direction response: 19:31:52.1753 LVL= 18784, 22033, 18626, 32307, AGC= 68, IDX= 368, 0.40, 1.935, 0.250, 1.726, 1.062, PHS= 0.961,-0.765, 0.661, RAW= 140.7, -10.7, CAL= 147.4, -20.5, ROT= 2.6, 20.5 2025-10-24T19:31:53.863Z,1761334313.863 [DAT](INFO): DAT read: Bearing 2.6, 20.5 (Local) 2025-10-24T19:31:53.863Z,1761334313.863 [DAT](INFO): Local bearing/azimuth received: Bearing 2.6, 20.5 (Local) 2025-10-24T19:31:53.866Z,1761334313.866 [DAT](INFO): DAT read: Range 10 to 50 : 187.8 m (Round-trip 250.4 ms) speed 0.7 m/s 2025-10-24T19:31:53.867Z,1761334313.867 [DAT](INFO): DAT read: user:49>Tx time:19:31:53.2708 2025-10-24T19:31:53.869Z,1761334313.869 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:53.870Z,1761334313.870 [DAT](INFO): direction in FSK: [0.935708,0.042490,-0.350207] 2025-10-24T19:31:53.871Z,1761334313.871 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:53.891Z,1761334313.891 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:53.891Z,1761334313.891 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:53.899Z,1761334313.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:53.928Z,1761334313.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:31:54.105Z,1761334314.105 [DAT](INFO): DAT read: 2025-10-24T19:31:54.106Z,1761334314.106 [DAT](INFO): DAT read: TxSync time:19:31:53.2700 2025-10-24T19:31:54.107Z,1761334314.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778051 2025-10-24T19:31:54.138Z,1761334314.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698393,-0.713050,-0.061699],[0.689101,0.693210,-0.211186],[0.193356,0.104973,0.975497]] 2025-10-24T19:31:54.253Z,1761334314.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.800003 m, deltaT: 14.621245 s, deltaX: -8.099991 m, approachRate: -0.553988 m/s, rangeRepo size: 4 2025-10-24T19:31:54.260Z,1761334314.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.897659 m, bearing: 49.245518 deg, lat: 36.779582 deg, lon: -121.859673 deg, deltaT: 14.621245 s, deltaX: -8.083908 m, approachRate: -0.552888 m/s, posRepo size: 4 2025-10-24T19:31:54.261Z,1761334314.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.90 m. 2025-10-24T19:31:54.263Z,1761334314.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.897659 m, nav range: 185.631302 m, bearing: 48.526401 deg, approach rate: 0.000000 m/s, LOS rate: -0.023432 deg/s, cmd heading: 44.713977 deg, new cmd heading: 44.680134 deg. 2025-10-24T19:31:54.268Z,1761334314.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779815 target range: 186.897659 and range: 187.80 m. 2025-10-24T19:31:54.358Z,1761334314.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029293 2025-10-24T19:31:54.570Z,1761334314.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695752,-0.715981,-0.057457],[0.691497,0.689301,-0.216095],[0.194325,0.110617,0.974680]] 2025-10-24T19:31:54.609Z,1761334314.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280126 2025-10-24T19:31:54.618Z,1761334314.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:54.621Z,1761334314.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.90 m. 2025-10-24T19:31:54.623Z,1761334314.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.897659 m, nav range: 185.360962 m, bearing: 48.518261 deg, approach rate: -0.725536 m/s, LOS rate: -0.021879 deg/s, cmd heading: 44.680133 deg, new cmd heading: 44.655677 deg. 2025-10-24T19:31:54.624Z,1761334314.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779389 target range: 186.897659 and range: 187.80 m. 2025-10-24T19:31:54.863Z,1761334314.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534393 2025-10-24T19:31:54.929Z,1761334314.929 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:31:54.976Z,1761334314.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695949,-0.715613,-0.059604],[0.691291,0.690128,-0.214103],[0.194349,0.107802,0.974991]] 2025-10-24T19:31:54.995Z,1761334314.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.90 m. 2025-10-24T19:31:54.998Z,1761334314.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.897659 m, nav range: 185.132706 m, bearing: 48.511394 deg, approach rate: -0.608649 m/s, LOS rate: -0.018333 deg/s, cmd heading: 44.655678 deg, new cmd heading: 44.635052 deg. 2025-10-24T19:31:54.999Z,1761334314.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779029 target range: 186.897659 and range: 187.80 m. 2025-10-24T19:31:55.117Z,1761334315.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788240 2025-10-24T19:31:55.369Z,1761334315.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040736 2025-10-24T19:31:55.465Z,1761334315.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.90 m. 2025-10-24T19:31:55.467Z,1761334315.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.897659 m, nav range: 184.852524 m, bearing: 48.506175 deg, approach rate: -0.596316 m/s, LOS rate: -0.011125 deg/s, cmd heading: 44.635051 deg, new cmd heading: 44.619368 deg. 2025-10-24T19:31:55.469Z,1761334315.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778755 target range: 186.897659 and range: 187.80 m. 2025-10-24T19:31:55.621Z,1761334315.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292596 2025-10-24T19:31:55.873Z,1761334315.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544131 2025-10-24T19:31:55.942Z,1761334315.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694685,-0.716791,-0.060196],[0.692869,0.689281,-0.211716],[0.193248,0.105368,0.975476]] 2025-10-24T19:31:55.971Z,1761334315.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.90 m. 2025-10-24T19:31:55.973Z,1761334315.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.897659 m, nav range: 184.547699 m, bearing: 48.500298 deg, approach rate: -0.604232 m/s, LOS rate: -0.011668 deg/s, cmd heading: 44.619368 deg, new cmd heading: 44.601709 deg. 2025-10-24T19:31:55.974Z,1761334315.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778447 target range: 186.897659 and range: 187.80 m. 2025-10-24T19:31:56.125Z,1761334316.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795983 2025-10-24T19:31:56.345Z,1761334316.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694699,-0.716762,-0.060385],[0.693033,0.689446,-0.210640],[0.192611,0.104483,0.975697]] 2025-10-24T19:31:56.377Z,1761334316.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048337 2025-10-24T19:31:56.424Z,1761334316.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.90 m. 2025-10-24T19:31:56.433Z,1761334316.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.897659 m, nav range: 184.297165 m, bearing: 48.499434 deg, approach rate: -0.557003 m/s, LOS rate: -0.001923 deg/s, cmd heading: 44.601709 deg, new cmd heading: 44.599114 deg. 2025-10-24T19:31:56.434Z,1761334316.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778401 target range: 186.897659 and range: 187.80 m. 2025-10-24T19:31:56.632Z,1761334316.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302790 2025-10-24T19:31:56.748Z,1761334316.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694906,-0.716568,-0.060300],[0.692941,0.689680,-0.210176],[0.192193,0.104268,0.975802]] 2025-10-24T19:31:56.789Z,1761334316.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:56.791Z,1761334316.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.90 m. 2025-10-24T19:31:56.794Z,1761334316.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.897659 m, nav range: 184.082809 m, bearing: 48.498709 deg, approach rate: -0.576655 m/s, LOS rate: -0.001953 deg/s, cmd heading: 44.599114 deg, new cmd heading: 44.596936 deg. 2025-10-24T19:31:56.795Z,1761334316.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778363 target range: 186.897659 and range: 187.80 m. 2025-10-24T19:31:56.882Z,1761334316.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552544 2025-10-24T19:31:57.133Z,1761334317.133 [DAT](INFO): DAT read: Rx Time:19:31:55.9225 2025-10-24T19:31:57.133Z,1761334317.133 [DAT](INFO): Rx dataTimestamp_ set to:1761334317.133133 2025-10-24T19:31:57.134Z,1761334317.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805219 2025-10-24T19:31:57.166Z,1761334317.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695595,-0.715843,-0.060969],[0.692303,0.690556,-0.209402],[0.192001,0.103450,0.975927]] 2025-10-24T19:31:57.185Z,1761334317.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.90 m. 2025-10-24T19:31:57.189Z,1761334317.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.897659 m, nav range: 183.858749 m, bearing: 48.498022 deg, approach rate: -0.568373 m/s, LOS rate: -0.001746 deg/s, cmd heading: 44.596935 deg, new cmd heading: 44.594869 deg. 2025-10-24T19:31:57.190Z,1761334317.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778327 target range: 186.897659 and range: 187.80 m. 2025-10-24T19:31:57.385Z,1761334317.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056051 2025-10-24T19:31:57.591Z,1761334317.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696357,-0.715039,-0.061694],[0.691623,0.691536,-0.208414],[0.191687,0.102461,0.976093]] 2025-10-24T19:31:57.643Z,1761334317.643 [DAT](INFO): DAT read: 19:31:55.9225 LVL= 23728, 27809, 21906, 32755, AGC= 64, IDX= 420,-0.25,-0.593,-2.222,-0.776,-1.453, PHS= 0.947,-0.722, 0.674, RAW= 141.2, -11.6, CAL= 148.0, -21.0, ROT= 2.0, 21.0 2025-10-24T19:31:57.645Z,1761334317.645 [DAT](INFO): got valid direction response: 19:31:55.9225 LVL= 23728, 27809, 21906, 32755, AGC= 64, IDX= 420,-0.25,-0.593,-2.222,-0.776,-1.453, PHS= 0.947,-0.722, 0.674, RAW= 141.2, -11.6, CAL= 148.0, -21.0, ROT= 2.0, 21.0 2025-10-24T19:31:57.646Z,1761334317.646 [DAT](INFO): DAT read: Bearing 2.0, 21.0 (Local) 2025-10-24T19:31:57.646Z,1761334317.646 [DAT](INFO): Local bearing/azimuth received: Bearing 2.0, 21.0 (Local) 2025-10-24T19:31:57.647Z,1761334317.647 [DAT](INFO): DAT read: Range 10 to 50 : 185.7 m (Round-trip 247.6 ms) speed 0.4 m/s 2025-10-24T19:31:57.648Z,1761334317.648 [DAT](INFO): DAT read: user:50>Tx time:19:31:57.0208 2025-10-24T19:31:57.649Z,1761334317.649 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:31:57.650Z,1761334317.650 [DAT](INFO): direction in FSK: [0.933012,0.032581,-0.358368] 2025-10-24T19:31:57.650Z,1761334317.650 [DAT](INFO): publishing direction and range info 2025-10-24T19:31:57.683Z,1761334317.683 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:31:57.683Z,1761334317.683 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:31:57.683Z,1761334317.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:31:57.695Z,1761334317.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 185.699997 m, deltaT: 3.783520 s, deltaX: -2.100006 m, approachRate: -0.555040 m/s, rangeRepo size: 4 2025-10-24T19:31:57.709Z,1761334317.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 184.806168 m, bearing: 48.865533 deg, lat: 36.779582 deg, lon: -121.859676 deg, deltaT: 3.783520 s, deltaX: -2.091492 m, approachRate: -0.552790 m/s, posRepo size: 4 2025-10-24T19:31:57.710Z,1761334317.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:31:57.718Z,1761334317.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 183.387939 m, bearing: 48.438484 deg, approach rate: 0.000000 m/s, LOS rate: -0.001746 deg/s, cmd heading: 44.594869 deg, new cmd heading: 44.592203 deg. 2025-10-24T19:31:57.719Z,1761334317.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778281 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:31:57.889Z,1761334317.889 [DAT](INFO): DAT read: 2025-10-24T19:31:57.890Z,1761334317.890 [DAT](INFO): DAT read: TxSync time:19:31:57.0200 2025-10-24T19:31:57.891Z,1761334317.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561790 2025-10-24T19:31:58.141Z,1761334318.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812098 2025-10-24T19:31:58.164Z,1761334318.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697046,-0.714257,-0.062958],[0.690918,0.692549,-0.207386],[0.191728,0.101059,0.976231]] 2025-10-24T19:31:58.199Z,1761334318.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:31:58.206Z,1761334318.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 183.101089 m, bearing: 48.443615 deg, approach rate: -0.568028 m/s, LOS rate: 0.010178 deg/s, cmd heading: 44.592201 deg, new cmd heading: 44.607621 deg. 2025-10-24T19:31:58.207Z,1761334318.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778550 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:31:58.393Z,1761334318.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063953 2025-10-24T19:31:58.646Z,1761334318.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317135 2025-10-24T19:31:58.706Z,1761334318.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696051,-0.713589,-0.079402],[0.691641,0.696077,-0.192636],[0.192733,0.079167,0.978052]] 2025-10-24T19:31:58.802Z,1761334318.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:31:58.809Z,1761334318.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:31:58.812Z,1761334318.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 182.801605 m, bearing: 48.453689 deg, approach rate: -0.491924 m/s, LOS rate: 0.016574 deg/s, cmd heading: 44.607621 deg, new cmd heading: 44.637891 deg. 2025-10-24T19:31:58.813Z,1761334318.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779078 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:31:58.897Z,1761334318.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568264 2025-10-24T19:31:59.149Z,1761334319.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819892 2025-10-24T19:31:59.233Z,1761334319.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696283,-0.713857,-0.074828],[0.691442,0.695066,-0.196955],[0.192608,0.085397,0.977553]] 2025-10-24T19:31:59.299Z,1761334319.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:31:59.322Z,1761334319.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 182.555191 m, bearing: 48.461979 deg, approach rate: -0.503201 m/s, LOS rate: 0.016951 deg/s, cmd heading: 44.637892 deg, new cmd heading: 44.662795 deg. 2025-10-24T19:31:59.330Z,1761334319.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779513 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:31:59.402Z,1761334319.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073294 2025-10-24T19:31:59.632Z,1761334319.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695925,-0.714554,-0.071428],[0.692037,0.693888,-0.199005],[0.191763,0.089062,0.977392]] 2025-10-24T19:31:59.654Z,1761334319.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324972 2025-10-24T19:31:59.685Z,1761334319.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:31:59.689Z,1761334319.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 182.352127 m, bearing: 48.469498 deg, approach rate: -0.523436 m/s, LOS rate: 0.019404 deg/s, cmd heading: 44.662795 deg, new cmd heading: 44.685378 deg. 2025-10-24T19:31:59.690Z,1761334319.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779907 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:31:59.905Z,1761334319.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576385 2025-10-24T19:32:00.035Z,1761334320.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695713,-0.715125,-0.067666],[0.692591,0.692797,-0.200873],[0.190528,0.092886,0.977278]] 2025-10-24T19:32:00.067Z,1761334320.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:32:00.071Z,1761334320.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 182.168137 m, bearing: 48.476278 deg, approach rate: -0.482654 m/s, LOS rate: 0.017802 deg/s, cmd heading: 44.685379 deg, new cmd heading: 44.705738 deg. 2025-10-24T19:32:00.072Z,1761334320.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780262 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:32:00.158Z,1761334320.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829033 2025-10-24T19:32:00.408Z,1761334320.408 [DAT](INFO): Reached modem response timeout 2025-10-24T19:32:00.409Z,1761334320.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:32:00.409Z,1761334320.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:00.460Z,1761334320.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695403,-0.715674,-0.064997],[0.693032,0.691814,-0.202733],[0.190056,0.095936,0.977075]] 2025-10-24T19:32:00.529Z,1761334320.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:32:00.536Z,1761334320.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 181.947540 m, bearing: 48.482274 deg, approach rate: -0.476702 m/s, LOS rate: 0.012975 deg/s, cmd heading: 44.705736 deg, new cmd heading: 44.723749 deg. 2025-10-24T19:32:00.537Z,1761334320.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780577 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:32:00.661Z,1761334320.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:32:00.846Z,1761334320.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696876,-0.714340,-0.063894],[0.691763,0.693007,-0.202990],[0.189283,0.097259,0.977094]] 2025-10-24T19:32:00.877Z,1761334320.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:00.879Z,1761334320.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:32:00.881Z,1761334320.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 181.774750 m, bearing: 48.487089 deg, approach rate: -0.494590 m/s, LOS rate: 0.013795 deg/s, cmd heading: 44.723747 deg, new cmd heading: 44.738206 deg. 2025-10-24T19:32:00.882Z,1761334320.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780829 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:32:00.914Z,1761334320.914 [DAT](INFO): DAT read: Rx Time:19:31:59.6698 2025-10-24T19:32:00.915Z,1761334320.915 [DAT](INFO): Rx dataTimestamp_ set to:1761334320.914515 2025-10-24T19:32:00.915Z,1761334320.915 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:32:01.165Z,1761334321.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:32:01.411Z,1761334321.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.81 m. 2025-10-24T19:32:01.414Z,1761334321.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.806168 m, nav range: 181.508957 m, bearing: 48.490282 deg, approach rate: -0.499649 m/s, LOS rate: 0.006010 deg/s, cmd heading: 44.738207 deg, new cmd heading: 44.747799 deg. 2025-10-24T19:32:01.415Z,1761334321.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780996 target range: 184.806168 and range: 185.70 m. 2025-10-24T19:32:01.424Z,1761334321.424 [DAT](INFO): DAT read: 19:31:59.6698 LVL= 21648, 26481, 23010, 29299, AGC= 62, IDX= 406, 0.45, 1.332,-0.473, 1.085, 0.447, PHS= 0.972,-0.874, 0.634, RAW= 140.1, -8.7, CAL= 146.5, -18.6, ROT= 3.5, 18.6 2025-10-24T19:32:01.425Z,1761334321.425 [DAT](INFO): got valid direction response: 19:31:59.6698 LVL= 21648, 26481, 23010, 29299, AGC= 62, IDX= 406, 0.45, 1.332,-0.473, 1.085, 0.447, PHS= 0.972,-0.874, 0.634, RAW= 140.1, -8.7, CAL= 146.5, -18.6, ROT= 3.5, 18.6 2025-10-24T19:32:01.426Z,1761334321.426 [DAT](INFO): DAT read: Bearing 3.5, 18.6 (Local) 2025-10-24T19:32:01.426Z,1761334321.426 [DAT](INFO): Local bearing/azimuth received: Bearing 3.5, 18.6 (Local) 2025-10-24T19:32:01.429Z,1761334321.429 [DAT](INFO): DAT read: Range 10 to 50 : 183.6 m (Round-trip 244.8 ms) speed 0.4 m/s 2025-10-24T19:32:01.429Z,1761334321.429 [DAT](INFO): DAT read: user:51> 2025-10-24T19:32:01.430Z,1761334321.430 [DAT](INFO): DAT read: Tx time:19:32:00.7708 2025-10-24T19:32:01.430Z,1761334321.430 [DAT](INFO): Ping request sent. 2025-10-24T19:32:01.430Z,1761334321.430 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:01.431Z,1761334321.431 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:01.437Z,1761334321.437 [DAT](INFO): direction in FSK: [0.946001,0.057860,-0.318959] 2025-10-24T19:32:01.438Z,1761334321.438 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:01.438Z,1761334321.438 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:01.476Z,1761334321.476 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:01.477Z,1761334321.477 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:01.670Z,1761334321.670 [DAT](INFO): DAT read: TxSync time:19:32:00.7701 2025-10-24T19:32:01.878Z,1761334321.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699836,-0.711442,-0.063875],[0.688832,0.695843,-0.203258],[0.189054,0.098248,0.977039]] 2025-10-24T19:32:01.905Z,1761334321.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.600006 m, deltaT: 3.779348 s, deltaX: -2.099991 m, approachRate: -0.555649 m/s, rangeRepo size: 4 2025-10-24T19:32:01.924Z,1761334321.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 182.714401 m, bearing: 49.721899 deg, lat: 36.779566 deg, lon: -121.859673 deg, deltaT: 3.779348 s, deltaX: -2.091766 m, approachRate: -0.553473 m/s, posRepo size: 4 2025-10-24T19:32:01.925Z,1761334321.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.71 m. 2025-10-24T19:32:01.934Z,1761334321.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.714401 m, nav range: 180.302704 m, bearing: 48.989679 deg, approach rate: 0.000000 m/s, LOS rate: 0.006010 deg/s, cmd heading: 44.747800 deg, new cmd heading: 44.756662 deg. 2025-10-24T19:32:01.935Z,1761334321.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781151 target range: 182.714401 and range: 183.60 m. 2025-10-24T19:32:02.285Z,1761334322.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700664,-0.710694,-0.063116],[0.687590,0.696200,-0.206218],[0.190500,0.101091,0.976468]] 2025-10-24T19:32:02.377Z,1761334322.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.71 m. 2025-10-24T19:32:02.379Z,1761334322.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.714401 m, nav range: 180.078461 m, bearing: 48.993446 deg, approach rate: -0.472307 m/s, LOS rate: 0.007945 deg/s, cmd heading: 44.756662 deg, new cmd heading: 44.767979 deg. 2025-10-24T19:32:02.385Z,1761334322.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781349 target range: 182.714401 and range: 183.60 m. 2025-10-24T19:32:02.799Z,1761334322.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704211,-0.706681,-0.068475],[0.683458,0.700854,-0.204178],[0.192280,0.096985,0.976536]] 2025-10-24T19:32:02.853Z,1761334322.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.71 m. 2025-10-24T19:32:02.856Z,1761334322.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.714401 m, nav range: 179.807816 m, bearing: 48.989461 deg, approach rate: -0.569214 m/s, LOS rate: -0.008394 deg/s, cmd heading: 44.767980 deg, new cmd heading: 44.756007 deg. 2025-10-24T19:32:02.857Z,1761334322.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781140 target range: 182.714401 and range: 183.60 m. 2025-10-24T19:32:03.249Z,1761334323.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705243,-0.705624,-0.068750],[0.682519,0.701975,-0.203466],[0.191831,0.096570,0.976665]] 2025-10-24T19:32:03.276Z,1761334323.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:03.278Z,1761334323.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.71 m. 2025-10-24T19:32:03.281Z,1761334323.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.714401 m, nav range: 179.580627 m, bearing: 48.986208 deg, approach rate: -0.533453 m/s, LOS rate: -0.007648 deg/s, cmd heading: 44.756006 deg, new cmd heading: 44.746235 deg. 2025-10-24T19:32:03.282Z,1761334323.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780969 target range: 182.714401 and range: 183.60 m. 2025-10-24T19:32:03.433Z,1761334323.433 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:03.433Z,1761334323.433 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:03.433Z,1761334323.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:03.657Z,1761334323.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706367,-0.704418,-0.069569],[0.681429,0.703313,-0.202497],[0.191571,0.095631,0.976809]] 2025-10-24T19:32:03.685Z,1761334323.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254301 2025-10-24T19:32:03.725Z,1761334323.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.71 m. 2025-10-24T19:32:03.745Z,1761334323.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.714401 m, nav range: 179.324860 m, bearing: 48.975522 deg, approach rate: -0.572833 m/s, LOS rate: -0.023968 deg/s, cmd heading: 44.746236 deg, new cmd heading: 44.714131 deg. 2025-10-24T19:32:03.746Z,1761334323.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780409 target range: 182.714401 and range: 183.60 m. 2025-10-24T19:32:03.941Z,1761334323.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510086 2025-10-24T19:32:04.061Z,1761334324.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706411,-0.704395,-0.069361],[0.681345,0.703276,-0.202909],[0.191708,0.096079,0.976738]] 2025-10-24T19:32:04.081Z,1761334324.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.71 m. 2025-10-24T19:32:04.084Z,1761334324.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.714401 m, nav range: 179.113678 m, bearing: 48.966684 deg, approach rate: -0.592759 m/s, LOS rate: -0.024836 deg/s, cmd heading: 44.714131 deg, new cmd heading: 44.687586 deg. 2025-10-24T19:32:04.085Z,1761334324.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779945 target range: 182.714401 and range: 183.60 m. 2025-10-24T19:32:04.189Z,1761334324.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758756 2025-10-24T19:32:04.441Z,1761334324.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010213 2025-10-24T19:32:04.461Z,1761334324.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706680,-0.704067,-0.069949],[0.681265,0.703798,-0.201363],[0.191003,0.094646,0.977016]] 2025-10-24T19:32:04.538Z,1761334324.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.71 m. 2025-10-24T19:32:04.549Z,1761334324.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.714401 m, nav range: 178.835754 m, bearing: 48.949988 deg, approach rate: -0.608225 m/s, LOS rate: -0.036596 deg/s, cmd heading: 44.687585 deg, new cmd heading: 44.637419 deg. 2025-10-24T19:32:04.550Z,1761334324.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779070 target range: 182.714401 and range: 183.60 m. 2025-10-24T19:32:04.693Z,1761334324.693 [DAT](INFO): DAT read: Rx Time:19:32:03.4436 2025-10-24T19:32:04.693Z,1761334324.693 [DAT](INFO): Rx dataTimestamp_ set to:1761334324.692987 2025-10-24T19:32:04.694Z,1761334324.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263347 2025-10-24T19:32:04.870Z,1761334324.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705831,-0.705003,-0.069088],[0.682218,0.702783,-0.201678],[0.190738,0.095218,0.977012]] 2025-10-24T19:32:04.890Z,1761334324.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.71 m. 2025-10-24T19:32:04.892Z,1761334324.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.714401 m, nav range: 178.617630 m, bearing: 48.936760 deg, approach rate: -0.620504 m/s, LOS rate: -0.037677 deg/s, cmd heading: 44.637417 deg, new cmd heading: 44.597684 deg. 2025-10-24T19:32:04.893Z,1761334324.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778376 target range: 182.714401 and range: 183.60 m. 2025-10-24T19:32:04.945Z,1761334324.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514459 2025-10-24T19:32:05.202Z,1761334325.202 [DAT](INFO): DAT read: 19:32:03.4436 LVL= 15536, 20929, 14578, 22211, AGC= 68, IDX= 171,-0.00, 1.059,-0.649, 0.890, 0.216, PHS= 0.930,-0.818, 0.671, RAW= 142.1, -9.6, CAL= 149.0, -19.1, ROT= 1.0, 19.1 2025-10-24T19:32:05.205Z,1761334325.205 [DAT](INFO): got valid direction response: 19:32:03.4436 LVL= 15536, 20929, 14578, 22211, AGC= 68, IDX= 171,-0.00, 1.059,-0.649, 0.890, 0.216, PHS= 0.930,-0.818, 0.671, RAW= 142.1, -9.6, CAL= 149.0, -19.1, ROT= 1.0, 19.1 2025-10-24T19:32:05.206Z,1761334325.206 [DAT](INFO): DAT read: Bearing 1.0, 19.1 (Local) 2025-10-24T19:32:05.206Z,1761334325.206 [DAT](INFO): Local bearing/azimuth received: Bearing 1.0, 19.1 (Local) 2025-10-24T19:32:05.207Z,1761334325.207 [DAT](INFO): DAT read: Range 10 to 50 : 201.4 m (Round-trip 268.6 ms) speed 0.4 m/s 2025-10-24T19:32:05.209Z,1761334325.209 [DAT](INFO): DAT read: user:52> 2025-10-24T19:32:05.210Z,1761334325.210 [DAT](INFO): DAT read: Tx time:19:32:04.5708 2025-10-24T19:32:05.210Z,1761334325.210 [DAT](INFO): Ping request sent. 2025-10-24T19:32:05.210Z,1761334325.210 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:05.210Z,1761334325.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:05.211Z,1761334325.211 [DAT](INFO): direction in FSK: [0.944805,0.016492,-0.327218] 2025-10-24T19:32:05.211Z,1761334325.211 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:05.212Z,1761334325.212 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:05.215Z,1761334325.215 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:05.215Z,1761334325.215 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:05.301Z,1761334325.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704950,-0.706070,-0.067162],[0.683240,0.701451,-0.202854],[0.190341,0.097114,0.976903]] 2025-10-24T19:32:05.439Z,1761334325.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 201.399994 m, deltaT: 3.779803 s, deltaX: 17.799988 m, approachRate: 4.709237 m/s, rangeRepo size: 4 2025-10-24T19:32:05.445Z,1761334325.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 200.426727 m, bearing: 46.927128 deg, lat: 36.779566 deg, lon: -121.859665 deg, deltaT: 3.779803 s, deltaX: 17.712326 m, approachRate: 4.686045 m/s, posRepo size: 4 2025-10-24T19:32:05.446Z,1761334325.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:05.449Z,1761334325.449 [DAT](INFO): DAT read: TxSync time:19:32:04.5701 2025-10-24T19:32:05.457Z,1761334325.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 178.888153 m, bearing: 49.076616 deg, approach rate: 0.000000 m/s, LOS rate: -0.037677 deg/s, cmd heading: 44.597683 deg, new cmd heading: 44.535658 deg. 2025-10-24T19:32:05.458Z,1761334325.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.777294 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:05.861Z,1761334325.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702792,-0.708343,-0.065828],[0.685491,0.699038,-0.203586],[0.190225,0.097954,0.976842]] 2025-10-24T19:32:05.921Z,1761334325.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:05.925Z,1761334325.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:05.949Z,1761334325.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 178.539642 m, bearing: 49.051661 deg, approach rate: -0.716586 m/s, LOS rate: -0.051411 deg/s, cmd heading: 44.535658 deg, new cmd heading: 44.460646 deg. 2025-10-24T19:32:05.950Z,1761334325.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775985 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:05.954Z,1761334325.954 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:05.954Z,1761334325.954 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:05.955Z,1761334325.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:06.205Z,1761334326.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995221 2025-10-24T19:32:06.442Z,1761334326.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698219,-0.712725,-0.067191],[0.690299,0.695161,-0.200596],[0.189678,0.093678,0.977367]] 2025-10-24T19:32:06.457Z,1761334326.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246953 2025-10-24T19:32:06.517Z,1761334326.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:06.529Z,1761334326.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 178.147919 m, bearing: 49.023379 deg, approach rate: -0.660945 m/s, LOS rate: -0.047824 deg/s, cmd heading: 44.460645 deg, new cmd heading: 44.375613 deg. 2025-10-24T19:32:06.530Z,1761334326.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774501 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:06.710Z,1761334326.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500240 2025-10-24T19:32:06.913Z,1761334326.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695630,-0.715522,-0.064240],[0.693084,0.691958,-0.202062],[0.189031,0.096037,0.977264]] 2025-10-24T19:32:06.961Z,1761334326.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751162 2025-10-24T19:32:06.970Z,1761334326.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:06.978Z,1761334326.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 177.860397 m, bearing: 49.002173 deg, approach rate: -0.636060 m/s, LOS rate: -0.046987 deg/s, cmd heading: 44.375613 deg, new cmd heading: 44.311893 deg. 2025-10-24T19:32:06.979Z,1761334326.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773388 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:07.213Z,1761334327.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002774 2025-10-24T19:32:07.313Z,1761334327.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692877,-0.718465,-0.061071],[0.696103,0.688584,-0.203206],[0.188049,0.098285,0.977229]] 2025-10-24T19:32:07.332Z,1761334327.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:07.335Z,1761334327.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 177.603317 m, bearing: 48.982801 deg, approach rate: -0.709288 m/s, LOS rate: -0.053525 deg/s, cmd heading: 44.311894 deg, new cmd heading: 44.253694 deg. 2025-10-24T19:32:07.335Z,1761334327.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772373 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:07.465Z,1761334327.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255038 2025-10-24T19:32:07.719Z,1761334327.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508222 2025-10-24T19:32:07.722Z,1761334327.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690438,-0.721054,-0.058098],[0.698775,0.685562,-0.204250],[0.187105,0.100425,0.977193]] 2025-10-24T19:32:07.774Z,1761334327.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:07.777Z,1761334327.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 177.319016 m, bearing: 48.961935 deg, approach rate: -0.643199 m/s, LOS rate: -0.047284 deg/s, cmd heading: 44.253694 deg, new cmd heading: 44.190994 deg. 2025-10-24T19:32:07.778Z,1761334327.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771278 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:07.970Z,1761334327.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760063 2025-10-24T19:32:08.123Z,1761334328.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689077,-0.722487,-0.056438],[0.700455,0.683983,-0.203790],[0.185838,0.100895,0.977387]] 2025-10-24T19:32:08.141Z,1761334328.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:08.143Z,1761334328.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:08.146Z,1761334328.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 177.081635 m, bearing: 48.944286 deg, approach rate: -0.642779 m/s, LOS rate: -0.047852 deg/s, cmd heading: 44.190993 deg, new cmd heading: 44.137976 deg. 2025-10-24T19:32:08.147Z,1761334328.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770353 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:08.223Z,1761334328.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012967 2025-10-24T19:32:08.473Z,1761334328.473 [DAT](INFO): DAT read: Rx Time:19:32:07.2138 2025-10-24T19:32:08.474Z,1761334328.474 [DAT](INFO): Rx dataTimestamp_ set to:1761334328.473248 2025-10-24T19:32:08.474Z,1761334328.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264097 2025-10-24T19:32:08.523Z,1761334328.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687883,-0.723721,-0.055178],[0.701912,0.682649,-0.203245],[0.184760,0.101079,0.977572]] 2025-10-24T19:32:08.582Z,1761334328.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:08.584Z,1761334328.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 176.812881 m, bearing: 48.928337 deg, approach rate: -0.613053 m/s, LOS rate: -0.036437 deg/s, cmd heading: 44.137977 deg, new cmd heading: 44.090057 deg. 2025-10-24T19:32:08.585Z,1761334328.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769517 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:08.725Z,1761334328.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514786 2025-10-24T19:32:08.983Z,1761334328.983 [DAT](INFO): DAT read: 19:32:07.2138 LVL= 20368, 28545, 17602, 21139, AGC= 69, IDX= 138,-0.08, 2.025, 0.402, 1.822, 1.187, PHS= 0.926,-0.737, 0.633, RAW= 140.5, -10.7, CAL= 147.2, -20.5, ROT= 2.8, 20.5 2025-10-24T19:32:08.985Z,1761334328.985 [DAT](INFO): got valid direction response: 19:32:07.2138 LVL= 20368, 28545, 17602, 21139, AGC= 69, IDX= 138,-0.08, 2.025, 0.402, 1.822, 1.187, PHS= 0.926,-0.737, 0.633, RAW= 140.5, -10.7, CAL= 147.2, -20.5, ROT= 2.8, 20.5 2025-10-24T19:32:08.986Z,1761334328.986 [DAT](INFO): DAT read: Bearing 2.8, 20.5 (Local) 2025-10-24T19:32:08.987Z,1761334328.987 [DAT](INFO): Local bearing/azimuth received: Bearing 2.8, 20.5 (Local) 2025-10-24T19:32:08.000Z,1761334329.000 [DAT](INFO): DAT read: Range 10 to 50 : 179.1 m (Round-trip 238.8 ms) speed 0.5 m/s 2025-10-24T19:32:09.001Z,1761334329.001 [DAT](INFO): DAT read: user:53> 2025-10-24T19:32:09.001Z,1761334329.001 [DAT](INFO): DAT read: Tx time:19:32:08.3208 2025-10-24T19:32:09.002Z,1761334329.002 [DAT](INFO): Ping request sent. 2025-10-24T19:32:09.002Z,1761334329.002 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:09.002Z,1761334329.002 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:09.025Z,1761334329.025 [DAT](INFO): direction in FSK: [0.935554,0.045756,-0.350207] 2025-10-24T19:32:09.025Z,1761334329.025 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:09.025Z,1761334329.025 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:09.053Z,1761334329.053 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:09.054Z,1761334329.054 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:09.106Z,1761334329.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 179.100006 m, deltaT: 3.780136 s, deltaX: -22.299988 m, approachRate: -5.899255 m/s, rangeRepo size: 4 2025-10-24T19:32:09.107Z,1761334329.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:09.118Z,1761334329.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 176.512436 m, bearing: 48.910449 deg, approach rate: -0.573548 m/s, LOS rate: -0.034206 deg/s, cmd heading: 44.090056 deg, new cmd heading: 44.036301 deg. 2025-10-24T19:32:09.119Z,1761334329.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768578 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:09.230Z,1761334329.230 [DAT](INFO): DAT read: TxSync time:19:32:08.3201 2025-10-24T19:32:09.548Z,1761334329.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:09.551Z,1761334329.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 176.237503 m, bearing: 48.901882 deg, approach rate: -0.621653 m/s, LOS rate: -0.019402 deg/s, cmd heading: 44.036303 deg, new cmd heading: 44.010560 deg. 2025-10-24T19:32:09.551Z,1761334329.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768129 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:09.934Z,1761334329.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688666,-0.722495,-0.061154],[0.701829,0.685396,-0.194086],[0.182141,0.090741,0.979077]] 2025-10-24T19:32:09.964Z,1761334329.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:09.967Z,1761334329.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 175.995880 m, bearing: 48.894466 deg, approach rate: -0.580271 m/s, LOS rate: -0.017833 deg/s, cmd heading: 44.010560 deg, new cmd heading: 43.988282 deg. 2025-10-24T19:32:09.970Z,1761334329.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767740 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:10.331Z,1761334330.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688823,-0.722408,-0.060420],[0.701641,0.685331,-0.194992],[0.182271,0.091921,0.978942]] 2025-10-24T19:32:10.348Z,1761334330.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:10.350Z,1761334330.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:10.354Z,1761334330.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 175.772369 m, bearing: 48.887597 deg, approach rate: -0.578646 m/s, LOS rate: -0.017806 deg/s, cmd heading: 43.988283 deg, new cmd heading: 43.967649 deg. 2025-10-24T19:32:10.355Z,1761334330.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767380 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:10.490Z,1761334330.490 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:10.490Z,1761334330.490 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:10.491Z,1761334330.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:10.739Z,1761334330.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691583,-0.719775,-0.060318],[0.699322,0.688140,-0.193421],[0.180727,0.091586,0.979260]] 2025-10-24T19:32:10.741Z,1761334330.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739427 2025-10-24T19:32:10.812Z,1761334330.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:10.814Z,1761334330.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 175.532898 m, bearing: 48.887133 deg, approach rate: -0.523517 m/s, LOS rate: -0.001017 deg/s, cmd heading: 43.967649 deg, new cmd heading: 43.966254 deg. 2025-10-24T19:32:10.815Z,1761334330.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767356 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:10.996Z,1761334330.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994603 2025-10-24T19:32:11.140Z,1761334331.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694212,-0.717222,-0.060515],[0.696887,0.690792,-0.192757],[0.180053,0.091642,0.979379]] 2025-10-24T19:32:11.172Z,1761334331.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:11.175Z,1761334331.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 175.334290 m, bearing: 48.886983 deg, approach rate: -0.544586 m/s, LOS rate: -0.000412 deg/s, cmd heading: 43.966256 deg, new cmd heading: 43.965805 deg. 2025-10-24T19:32:11.176Z,1761334331.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767348 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:11.250Z,1761334331.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248260 2025-10-24T19:32:11.505Z,1761334331.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502297 2025-10-24T19:32:11.550Z,1761334331.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697656,-0.713793,-0.061441],[0.693493,0.694357,-0.192188],[0.179844,0.091472,0.979433]] 2025-10-24T19:32:11.620Z,1761334331.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:11.629Z,1761334331.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 175.126282 m, bearing: 48.893771 deg, approach rate: -0.469267 m/s, LOS rate: 0.015333 deg/s, cmd heading: 43.965805 deg, new cmd heading: 43.986194 deg. 2025-10-24T19:32:11.630Z,1761334331.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767704 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:11.753Z,1761334331.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751137 2025-10-24T19:32:11.949Z,1761334331.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701199,-0.710181,-0.062955],[0.689970,0.698178,-0.191021],[0.179613,0.090507,0.979565]] 2025-10-24T19:32:11.971Z,1761334331.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:11.989Z,1761334331.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 174.938446 m, bearing: 48.900239 deg, approach rate: -0.530840 m/s, LOS rate: 0.018297 deg/s, cmd heading: 43.986193 deg, new cmd heading: 44.005616 deg. 2025-10-24T19:32:11.990Z,1761334331.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768043 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:12.005Z,1761334332.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003289 2025-10-24T19:32:12.257Z,1761334332.257 [DAT](INFO): DAT read: Rx Time:19:32:10.9613 2025-10-24T19:32:12.257Z,1761334332.257 [DAT](INFO): Rx dataTimestamp_ set to:1761334332.257065 2025-10-24T19:32:12.258Z,1761334332.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256158 2025-10-24T19:32:12.351Z,1761334332.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705015,-0.706242,-0.064623],[0.685970,0.702220,-0.190608],[0.179995,0.090052,0.979537]] 2025-10-24T19:32:12.371Z,1761334332.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:12.373Z,1761334332.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.43 m. 2025-10-24T19:32:12.376Z,1761334332.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.426727 m, nav range: 174.739502 m, bearing: 48.907479 deg, approach rate: -0.492742 m/s, LOS rate: 0.017953 deg/s, cmd heading: 44.005618 deg, new cmd heading: 44.027363 deg. 2025-10-24T19:32:12.377Z,1761334332.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768422 target range: 200.426727 and range: 201.40 m. 2025-10-24T19:32:12.512Z,1761334332.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509795 2025-10-24T19:32:12.771Z,1761334332.771 [DAT](INFO): DAT read: 19:32:10.9613 LVL= 24848, 32753, 25426, 32755, AGC= 68, IDX= 416,-0.10, 1.022,-0.677, 0.760, 0.122, PHS= 0.988,-0.752, 0.636, RAW= 139.0, -10.9, CAL= 145.3, -21.0, ROT= 4.7, 21.0 2025-10-24T19:32:12.772Z,1761334332.772 [DAT](INFO): got valid direction response: 19:32:10.9613 LVL= 24848, 32753, 25426, 32755, AGC= 68, IDX= 416,-0.10, 1.022,-0.677, 0.760, 0.122, PHS= 0.988,-0.752, 0.636, RAW= 139.0, -10.9, CAL= 145.3, -21.0, ROT= 4.7, 21.0 2025-10-24T19:32:12.773Z,1761334332.773 [DAT](INFO): DAT read: Bearing 4.7, 21.0 (Local) 2025-10-24T19:32:12.773Z,1761334332.773 [DAT](INFO): Local bearing/azimuth received: Bearing 4.7, 21.0 (Local) 2025-10-24T19:32:12.775Z,1761334332.775 [DAT](INFO): DAT read: Range 10 to 50 : 177.2 m (Round-trip 236.3 ms) speed 0.8 m/s 2025-10-24T19:32:12.836Z,1761334332.836 [DAT](INFO): DAT read: user:54> 2025-10-24T19:32:12.837Z,1761334332.837 [DAT](INFO): DAT read: Tx time:19:32:12.0708 2025-10-24T19:32:12.838Z,1761334332.838 [DAT](INFO): Ping request sent. 2025-10-24T19:32:12.838Z,1761334332.838 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:12.838Z,1761334332.838 [DAT](INFO): DAT read: TxSync time:19:32:12.0701 2025-10-24T19:32:12.839Z,1761334332.839 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:12.864Z,1761334332.864 [DAT](INFO): direction in FSK: [0.930441,0.076496,-0.358368] 2025-10-24T19:32:12.864Z,1761334332.864 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:12.864Z,1761334332.864 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:12.867Z,1761334332.867 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:12.876Z,1761334332.876 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:12.975Z,1761334332.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 177.199997 m, deltaT: 7.564505 s, deltaX: -24.199997 m, approachRate: -3.199152 m/s, rangeRepo size: 4 2025-10-24T19:32:12.981Z,1761334332.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.337677 m, bearing: 50.572624 deg, lat: 36.779556 deg, lon: -121.859639 deg, deltaT: 7.564505 s, deltaX: -24.089050 m, approachRate: -3.184485 m/s, posRepo size: 4 2025-10-24T19:32:12.982Z,1761334332.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:12.990Z,1761334332.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 175.423203 m, bearing: 49.691134 deg, approach rate: 0.000000 m/s, LOS rate: 0.017953 deg/s, cmd heading: 44.027362 deg, new cmd heading: 44.059734 deg. 2025-10-24T19:32:12.991Z,1761334332.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768987 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:13.382Z,1761334333.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712371,-0.698513,-0.067877],[0.678056,0.709986,-0.190158],[0.181019,0.089438,0.979404]] 2025-10-24T19:32:13.417Z,1761334333.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:13.421Z,1761334333.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 175.205017 m, bearing: 49.706193 deg, approach rate: -0.492421 m/s, LOS rate: 0.034028 deg/s, cmd heading: 44.059734 deg, new cmd heading: 44.104966 deg. 2025-10-24T19:32:13.422Z,1761334333.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769777 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:13.788Z,1761334333.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713007,-0.696897,-0.077170],[0.676692,0.712768,-0.184527],[0.183601,0.079349,0.979793]] 2025-10-24T19:32:13.897Z,1761334333.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:13.905Z,1761334333.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 174.978760 m, bearing: 49.723828 deg, approach rate: -0.471398 m/s, LOS rate: 0.036790 deg/s, cmd heading: 44.104966 deg, new cmd heading: 44.157941 deg. 2025-10-24T19:32:13.906Z,1761334333.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770701 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:14.312Z,1761334334.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715080,-0.694933,-0.075693],[0.673480,0.713894,-0.191782],[0.187313,0.086162,0.978514]] 2025-10-24T19:32:14.331Z,1761334334.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:14.333Z,1761334334.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 174.770737 m, bearing: 49.740330 deg, approach rate: -0.480195 m/s, LOS rate: 0.038138 deg/s, cmd heading: 44.157941 deg, new cmd heading: 44.207507 deg. 2025-10-24T19:32:14.334Z,1761334334.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771567 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:14.713Z,1761334334.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717818,-0.692120,-0.075552],[0.670213,0.716301,-0.194237],[0.188553,0.088791,0.978041]] 2025-10-24T19:32:14.766Z,1761334334.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:14.768Z,1761334334.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:14.771Z,1761334334.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 174.559708 m, bearing: 49.754732 deg, approach rate: -0.482893 m/s, LOS rate: 0.032994 deg/s, cmd heading: 44.207508 deg, new cmd heading: 44.250764 deg. 2025-10-24T19:32:14.774Z,1761334334.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772322 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:14.778Z,1761334334.778 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:14.778Z,1761334334.778 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:14.778Z,1761334334.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:15.029Z,1761334335.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191488 2025-10-24T19:32:15.183Z,1761334335.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:15.190Z,1761334335.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 174.369919 m, bearing: 49.767715 deg, approach rate: -0.456837 m/s, LOS rate: 0.031287 deg/s, cmd heading: 44.250764 deg, new cmd heading: 44.289757 deg. 2025-10-24T19:32:15.191Z,1761334335.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773002 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:15.281Z,1761334335.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443569 2025-10-24T19:32:15.536Z,1761334335.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697415 2025-10-24T19:32:15.581Z,1761334335.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722820,-0.686585,-0.078311],[0.663526,0.721230,-0.198900],[0.193042,0.091807,0.976886]] 2025-10-24T19:32:15.622Z,1761334335.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:15.625Z,1761334335.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 174.131226 m, bearing: 49.778028 deg, approach rate: -0.543460 m/s, LOS rate: 0.023512 deg/s, cmd heading: 44.289757 deg, new cmd heading: 44.320738 deg. 2025-10-24T19:32:15.626Z,1761334335.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773543 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:15.785Z,1761334335.785 [DAT](INFO): DAT read: Rx Time:19:32:14.7085 2025-10-24T19:32:15.785Z,1761334335.785 [DAT](INFO): Rx dataTimestamp_ set to:1761334335.784943 2025-10-24T19:32:15.786Z,1761334335.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948036 2025-10-24T19:32:15.945Z,1761334335.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724765,-0.684313,-0.080194],[0.660498,0.723194,-0.201825],[0.196107,0.093308,0.976133]] 2025-10-24T19:32:15.964Z,1761334335.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:15.967Z,1761334335.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 173.953888 m, bearing: 49.785927 deg, approach rate: -0.519223 m/s, LOS rate: 0.023151 deg/s, cmd heading: 44.320739 deg, new cmd heading: 44.344461 deg. 2025-10-24T19:32:15.967Z,1761334335.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773957 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:16.038Z,1761334336.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199933 2025-10-24T19:32:16.289Z,1761334336.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.451129 2025-10-24T19:32:16.382Z,1761334336.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726198,-0.682623,-0.081617],[0.658061,0.724561,-0.204859],[0.198978,0.095060,0.975383]] 2025-10-24T19:32:16.401Z,1761334336.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.34 m. 2025-10-24T19:32:16.405Z,1761334336.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.337677 m, nav range: 173.728149 m, bearing: 49.796224 deg, approach rate: -0.516317 m/s, LOS rate: 0.023581 deg/s, cmd heading: 44.344460 deg, new cmd heading: 44.375389 deg. 2025-10-24T19:32:16.406Z,1761334336.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774497 target range: 176.337677 and range: 177.20 m. 2025-10-24T19:32:16.579Z,1761334336.579 [DAT](INFO): DAT read: 19:32:14.7085 LVL= 20016, 23777, 17794, 24563, AGC= 65, IDX= 420, 0.26,-2.343, 2.105,-2.563, 3.123, PHS= 0.905,-0.972, 0.594, RAW= 141.1, -6.1, CAL= 147.0, -15.6, ROT= 3.0, 15.6 2025-10-24T19:32:16.581Z,1761334336.581 [DAT](INFO): got valid direction response: 19:32:14.7085 LVL= 20016, 23777, 17794, 24563, AGC= 65, IDX= 420, 0.26,-2.343, 2.105,-2.563, 3.123, PHS= 0.905,-0.972, 0.594, RAW= 141.1, -6.1, CAL= 147.0, -15.6, ROT= 3.0, 15.6 2025-10-24T19:32:16.582Z,1761334336.582 [DAT](INFO): DAT read: Bearing 3.0, 15.6 (Local) 2025-10-24T19:32:16.582Z,1761334336.582 [DAT](INFO): Local bearing/azimuth received: Bearing 3.0, 15.6 (Local) 2025-10-24T19:32:16.593Z,1761334336.593 [DAT](INFO): DAT read: Range 10 to 50 : 175.1 m (Round-trip 233.5 ms) speed 0.5 m/s 2025-10-24T19:32:16.594Z,1761334336.594 [DAT](INFO): DAT read: user:55> 2025-10-24T19:32:16.595Z,1761334336.595 [DAT](INFO): DAT read: Tx time:19:32:15.8224 2025-10-24T19:32:16.595Z,1761334336.595 [DAT](INFO): Ping request sent. 2025-10-24T19:32:16.596Z,1761334336.596 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:16.597Z,1761334336.597 [DAT](INFO): DAT read: TxSync time:19:32:15.8216 2025-10-24T19:32:16.598Z,1761334336.598 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:16.599Z,1761334336.599 [DAT](INFO): direction in FSK: [0.961843,0.050408,-0.268920] 2025-10-24T19:32:16.605Z,1761334336.605 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:16.605Z,1761334336.605 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:16.614Z,1761334336.614 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:16.615Z,1761334336.615 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:16.901Z,1761334336.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 175.100006 m, deltaT: 3.781998 s, deltaX: -2.099991 m, approachRate: -0.555260 m/s, rangeRepo size: 4 2025-10-24T19:32:16.905Z,1761334336.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 174.247772 m, bearing: 46.564948 deg, lat: 36.779556 deg, lon: -121.859639 deg, deltaT: 3.781998 s, deltaX: -2.089905 m, approachRate: -0.552593 m/s, posRepo size: 4 2025-10-24T19:32:16.906Z,1761334336.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:16.911Z,1761334336.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 173.457611 m, bearing: 49.801303 deg, approach rate: 0.000000 m/s, LOS rate: 0.023581 deg/s, cmd heading: 44.375391 deg, new cmd heading: 44.410659 deg. 2025-10-24T19:32:16.913Z,1761334336.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775112 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:17.361Z,1761334337.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:17.363Z,1761334337.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:17.366Z,1761334337.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 173.204910 m, bearing: 49.806062 deg, approach rate: -0.544645 m/s, LOS rate: 0.010272 deg/s, cmd heading: 44.410658 deg, new cmd heading: 44.424957 deg. 2025-10-24T19:32:17.367Z,1761334337.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775362 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:17.555Z,1761334337.555 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:17.557Z,1761334337.557 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:17.558Z,1761334337.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:17.731Z,1761334337.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725909,-0.682116,-0.088176],[0.654738,0.724586,-0.215158],[0.210654,0.098453,0.972590]] 2025-10-24T19:32:17.805Z,1761334337.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.209590 2025-10-24T19:32:17.810Z,1761334337.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:17.816Z,1761334337.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 172.943985 m, bearing: 49.803841 deg, approach rate: -0.585047 m/s, LOS rate: -0.004988 deg/s, cmd heading: 44.424957 deg, new cmd heading: 44.418284 deg. 2025-10-24T19:32:17.817Z,1761334337.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775245 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:18.057Z,1761334338.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.461477 2025-10-24T19:32:18.221Z,1761334338.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724213,-0.683503,-0.091319],[0.654323,0.722936,-0.221866],[0.217664,0.100927,0.970791]] 2025-10-24T19:32:18.240Z,1761334338.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:18.243Z,1761334338.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 172.687073 m, bearing: 49.801564 deg, approach rate: -0.597138 m/s, LOS rate: -0.005301 deg/s, cmd heading: 44.418284 deg, new cmd heading: 44.411442 deg. 2025-10-24T19:32:18.244Z,1761334338.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775126 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:18.310Z,1761334338.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713938 2025-10-24T19:32:18.563Z,1761334338.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967613 2025-10-24T19:32:18.626Z,1761334338.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723572,-0.684101,-0.091923],[0.654057,0.722082,-0.225406],[0.220576,0.102974,0.969919]] 2025-10-24T19:32:18.671Z,1761334338.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:18.674Z,1761334338.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 172.426514 m, bearing: 49.793947 deg, approach rate: -0.604160 m/s, LOS rate: -0.017687 deg/s, cmd heading: 44.411440 deg, new cmd heading: 44.388557 deg. 2025-10-24T19:32:18.675Z,1761334338.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774726 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:18.813Z,1761334338.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217473 2025-10-24T19:32:19.052Z,1761334339.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:19.055Z,1761334339.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 172.195709 m, bearing: 49.787181 deg, approach rate: -0.606501 m/s, LOS rate: -0.017804 deg/s, cmd heading: 44.388556 deg, new cmd heading: 44.368230 deg. 2025-10-24T19:32:19.056Z,1761334339.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774372 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:19.065Z,1761334339.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469668 2025-10-24T19:32:19.317Z,1761334339.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721456 2025-10-24T19:32:19.423Z,1761334339.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720986,-0.686595,-0.093632],[0.654857,0.719286,-0.231925],[0.226587,0.105899,0.968217]] 2025-10-24T19:32:19.453Z,1761334339.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:19.455Z,1761334339.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:19.462Z,1761334339.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 171.955429 m, bearing: 49.779911 deg, approach rate: -0.594903 m/s, LOS rate: -0.018025 deg/s, cmd heading: 44.368229 deg, new cmd heading: 44.346389 deg. 2025-10-24T19:32:19.463Z,1761334339.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773991 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:19.573Z,1761334339.573 [DAT](INFO): DAT read: Rx Time:19:32:18.4569 2025-10-24T19:32:19.574Z,1761334339.574 [DAT](INFO): Rx dataTimestamp_ set to:1761334339.573272 2025-10-24T19:32:19.577Z,1761334339.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980277 2025-10-24T19:32:19.823Z,1761334339.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227125 2025-10-24T19:32:19.837Z,1761334339.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719043,-0.688610,-0.093773],[0.655916,0.717028,-0.235891],[0.229674,0.108108,0.967245]] 2025-10-24T19:32:19.910Z,1761334339.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:19.922Z,1761334339.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 171.665558 m, bearing: 49.767080 deg, approach rate: -0.638813 m/s, LOS rate: -0.028324 deg/s, cmd heading: 44.346390 deg, new cmd heading: 44.307833 deg. 2025-10-24T19:32:19.923Z,1761334339.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773318 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:20.078Z,1761334340.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481809 2025-10-24T19:32:20.235Z,1761334340.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716789,-0.690941,-0.093880],[0.657342,0.714488,-0.239602],[0.232627,0.110032,0.966322]] 2025-10-24T19:32:20.254Z,1761334340.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.25 m. 2025-10-24T19:32:20.257Z,1761334340.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.247772 m, nav range: 171.440765 m, bearing: 49.756890 deg, approach rate: -0.652083 m/s, LOS rate: -0.029598 deg/s, cmd heading: 44.307833 deg, new cmd heading: 44.277223 deg. 2025-10-24T19:32:20.258Z,1761334340.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772783 target range: 174.247772 and range: 175.10 m. 2025-10-24T19:32:20.331Z,1761334340.331 [DAT](INFO): DAT read: 19:32:18.4569 LVL= 28656, 32753, 26194, 32755, AGC= 65, IDX= 401, 0.23,-0.125,-1.842,-0.292,-0.971, PHS= 0.935,-0.824, 0.677, RAW= 142.2, -9.6, CAL= 149.1, -19.0, ROT= 0.9, 19.0 2025-10-24T19:32:20.332Z,1761334340.332 [DAT](INFO): got valid direction response: 19:32:18.4569 LVL= 28656, 32753, 26194, 32755, AGC= 65, IDX= 401, 0.23,-0.125,-1.842,-0.292,-0.971, PHS= 0.935,-0.824, 0.677, RAW= 142.2, -9.6, CAL= 149.1, -19.0, ROT= 0.9, 19.0 2025-10-24T19:32:20.333Z,1761334340.333 [DAT](INFO): DAT read: Bearing 0.9, 19.0 (Local) 2025-10-24T19:32:20.334Z,1761334340.334 [DAT](INFO): Local bearing/azimuth received: Bearing 0.9, 19.0 (Local) 2025-10-24T19:32:20.335Z,1761334340.335 [DAT](INFO): DAT read: Range 10 to 50 : 172.6 m (Round-trip 230.2 ms) speed 0.5 m/s 2025-10-24T19:32:20.337Z,1761334340.337 [DAT](INFO): DAT read: user:56> 2025-10-24T19:32:20.338Z,1761334340.338 [DAT](INFO): DAT read: Tx time:19:32:19.5709 2025-10-24T19:32:20.338Z,1761334340.338 [DAT](INFO): Ping request sent. 2025-10-24T19:32:20.338Z,1761334340.338 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:20.339Z,1761334340.339 [DAT](INFO): DAT read: TxSync time:19:32:19.5702 2025-10-24T19:32:20.339Z,1761334340.339 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:20.340Z,1761334340.340 [DAT](INFO): direction in FSK: [0.945402,0.014852,-0.325568] 2025-10-24T19:32:20.341Z,1761334340.341 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:20.341Z,1761334340.341 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:20.369Z,1761334340.369 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:20.369Z,1761334340.369 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:20.657Z,1761334340.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714544,-0.693172,-0.094549],[0.658782,0.712173,-0.242519],[0.235442,0.111003,0.965528]] 2025-10-24T19:32:20.708Z,1761334340.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.600006 m, deltaT: 3.781701 s, deltaX: -2.500000 m, approachRate: -0.661078 m/s, rangeRepo size: 4 2025-10-24T19:32:20.710Z,1761334340.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.759186 m, bearing: 45.664240 deg, lat: 36.779624 deg, lon: -121.859639 deg, deltaT: 3.781701 s, deltaX: -2.488586 m, approachRate: -0.658060 m/s, posRepo size: 4 2025-10-24T19:32:20.711Z,1761334340.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.76 m. 2025-10-24T19:32:20.714Z,1761334340.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.759186 m, nav range: 176.146378 m, bearing: 47.857073 deg, approach rate: 0.000000 m/s, LOS rate: -0.029598 deg/s, cmd heading: 44.277224 deg, new cmd heading: 44.236952 deg. 2025-10-24T19:32:20.715Z,1761334340.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772080 target range: 171.759186 and range: 172.60 m. 2025-10-24T19:32:21.041Z,1761334341.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712281,-0.694761,-0.099820],[0.660277,0.711479,-0.240484],[0.238099,0.105383,0.965507]] 2025-10-24T19:32:21.062Z,1761334341.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.76 m. 2025-10-24T19:32:21.065Z,1761334341.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.759186 m, nav range: 175.916611 m, bearing: 47.841035 deg, approach rate: -0.648482 m/s, LOS rate: -0.045325 deg/s, cmd heading: 44.236953 deg, new cmd heading: 44.188775 deg. 2025-10-24T19:32:21.066Z,1761334341.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771240 target range: 171.759186 and range: 172.60 m. 2025-10-24T19:32:21.444Z,1761334341.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709208,-0.697924,-0.099627],[0.662532,0.708105,-0.244210],[0.240987,0.107190,0.964591]] 2025-10-24T19:32:21.462Z,1761334341.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:21.481Z,1761334341.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.76 m. 2025-10-24T19:32:21.483Z,1761334341.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.759186 m, nav range: 175.659180 m, bearing: 47.822660 deg, approach rate: -0.640094 m/s, LOS rate: -0.045755 deg/s, cmd heading: 44.188776 deg, new cmd heading: 44.133572 deg. 2025-10-24T19:32:21.489Z,1761334341.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770276 target range: 171.759186 and range: 172.60 m. 2025-10-24T19:32:21.585Z,1761334341.585 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:21.585Z,1761334341.585 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:21.586Z,1761334341.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:21.837Z,1761334341.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498520 2025-10-24T19:32:21.848Z,1761334341.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706159,-0.701069,-0.099210],[0.664972,0.704780,-0.247179],[0.243211,0.108575,0.963878]] 2025-10-24T19:32:21.939Z,1761334341.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.76 m. 2025-10-24T19:32:21.946Z,1761334341.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.759186 m, nav range: 175.367020 m, bearing: 47.802063 deg, approach rate: -0.614598 m/s, LOS rate: -0.043400 deg/s, cmd heading: 44.133571 deg, new cmd heading: 44.071678 deg. 2025-10-24T19:32:21.947Z,1761334341.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769196 target range: 171.759186 and range: 172.60 m. 2025-10-24T19:32:22.089Z,1761334342.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750834 2025-10-24T19:32:22.258Z,1761334342.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704214,-0.703021,-0.099218],[0.666364,0.702689,-0.249375],[0.245035,0.109498,0.963311]] 2025-10-24T19:32:22.324Z,1761334342.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.76 m. 2025-10-24T19:32:22.327Z,1761334342.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.759186 m, nav range: 175.113327 m, bearing: 47.783899 deg, approach rate: -0.659552 m/s, LOS rate: -0.047293 deg/s, cmd heading: 44.071680 deg, new cmd heading: 44.017106 deg. 2025-10-24T19:32:22.328Z,1761334342.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768243 target range: 171.759186 and range: 172.60 m. 2025-10-24T19:32:22.341Z,1761334342.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002871 2025-10-24T19:32:22.597Z,1761334342.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256946 2025-10-24T19:32:22.671Z,1761334342.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702161,-0.704981,-0.099861],[0.667722,0.700666,-0.251427],[0.247221,0.109863,0.962711]] 2025-10-24T19:32:22.747Z,1761334342.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.76 m. 2025-10-24T19:32:22.755Z,1761334342.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.759186 m, nav range: 174.852585 m, bearing: 47.769053 deg, approach rate: -0.616212 m/s, LOS rate: -0.035137 deg/s, cmd heading: 44.017106 deg, new cmd heading: 43.972504 deg. 2025-10-24T19:32:22.760Z,1761334342.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767465 target range: 171.759186 and range: 172.60 m. 2025-10-24T19:32:22.762Z,1761334342.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 62.760113 m. 2025-10-24T19:32:22.809Z,1761334342.809 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:32:22.845Z,1761334342.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506612 2025-10-24T19:32:23.063Z,1761334343.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701412,-0.705402,-0.102121],[0.667826,0.700481,-0.251663],[0.249057,0.108321,0.962412]] 2025-10-24T19:32:23.082Z,1761334343.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.76 m. 2025-10-24T19:32:23.085Z,1761334343.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.759186 m, nav range: 174.636703 m, bearing: 47.756675 deg, approach rate: -0.644289 m/s, LOS rate: -0.036988 deg/s, cmd heading: 43.972505 deg, new cmd heading: 43.935324 deg. 2025-10-24T19:32:23.087Z,1761334343.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766816 target range: 171.759186 and range: 172.60 m. 2025-10-24T19:32:23.097Z,1761334343.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758772 2025-10-24T19:32:23.349Z,1761334343.349 [DAT](INFO): DAT read: Rx Time:19:32:22.2023 2025-10-24T19:32:23.349Z,1761334343.349 [DAT](INFO): Rx dataTimestamp_ set to:1761334343.349225 2025-10-24T19:32:23.350Z,1761334343.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011771 2025-10-24T19:32:23.465Z,1761334343.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701096,-0.705384,-0.104391],[0.667510,0.700722,-0.251833],[0.250789,0.106877,0.962124]] 2025-10-24T19:32:23.484Z,1761334343.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:23.487Z,1761334343.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.76 m. 2025-10-24T19:32:23.491Z,1761334343.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.759186 m, nav range: 174.383667 m, bearing: 47.742117 deg, approach rate: -0.624923 m/s, LOS rate: -0.036005 deg/s, cmd heading: 43.935325 deg, new cmd heading: 43.891589 deg. 2025-10-24T19:32:23.492Z,1761334343.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766053 target range: 171.759186 and range: 172.60 m. 2025-10-24T19:32:23.601Z,1761334343.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263116 2025-10-24T19:32:23.879Z,1761334343.879 [DAT](INFO): DAT read: 19:32:22.2023 LVL= 24176, 32673, 21746, 32755, AGC= 65, IDX= 403, 0.21, 1.318,-0.365, 1.182, 0.561, PHS= 0.846,-0.879, 0.619, RAW= 143.0, -7.3, CAL= 149.2, -16.5, ROT= 0.8, 16.5 2025-10-24T19:32:23.880Z,1761334343.880 [DAT](INFO): got valid direction response: 19:32:22.2023 LVL= 24176, 32673, 21746, 32755, AGC= 65, IDX= 403, 0.21, 1.318,-0.365, 1.182, 0.561, PHS= 0.846,-0.879, 0.619, RAW= 143.0, -7.3, CAL= 149.2, -16.5, ROT= 0.8, 16.5 2025-10-24T19:32:23.881Z,1761334343.881 [DAT](INFO): DAT read: Bearing 0.8, 16.5 (Local) 2025-10-24T19:32:23.881Z,1761334343.881 [DAT](INFO): Local bearing/azimuth received: Bearing 0.8, 16.5 (Local) 2025-10-24T19:32:23.883Z,1761334343.883 [DAT](INFO): DAT read: Range 10 to 50 : 170.4 m (Round-trip 227.2 ms) speed 0.4 m/s 2025-10-24T19:32:23.883Z,1761334343.883 [DAT](INFO): DAT read: user:57> 2025-10-24T19:32:23.885Z,1761334343.885 [DAT](INFO): DAT read: Tx time:19:32:23.3209 2025-10-24T19:32:23.885Z,1761334343.885 [DAT](INFO): Ping request sent. 2025-10-24T19:32:23.885Z,1761334343.885 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:23.886Z,1761334343.886 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:23.896Z,1761334343.896 [DAT](INFO): direction in FSK: [0.958726,0.013387,-0.284015] 2025-10-24T19:32:23.897Z,1761334343.897 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:23.897Z,1761334343.897 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:23.902Z,1761334343.902 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:23.902Z,1761334343.902 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:23.969Z,1761334343.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700827,-0.705412,-0.105998],[0.667222,0.700806,-0.252359],[0.252301,0.106136,0.961810]] 2025-10-24T19:32:24.105Z,1761334344.105 [DAT](INFO): DAT read: TxSync time:19:32:23.3202 2025-10-24T19:32:24.130Z,1761334344.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 170.399994 m, deltaT: 3.529573 s, deltaX: -2.200012 m, approachRate: -0.623308 m/s, rangeRepo size: 4 2025-10-24T19:32:24.138Z,1761334344.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 169.564606 m, bearing: 46.142136 deg, lat: 36.779624 deg, lon: -121.859709 deg, deltaT: 3.529573 s, deltaX: -2.194580 m, approachRate: -0.621769 m/s, posRepo size: 4 2025-10-24T19:32:24.138Z,1761334344.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:24.145Z,1761334344.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 169.445786 m, bearing: 46.311277 deg, approach rate: 0.000000 m/s, LOS rate: -0.036005 deg/s, cmd heading: 43.891588 deg, new cmd heading: 43.822193 deg. 2025-10-24T19:32:24.146Z,1761334344.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764842 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:24.476Z,1761334344.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:24.478Z,1761334344.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 169.230377 m, bearing: 46.302182 deg, approach rate: -0.622648 m/s, LOS rate: -0.026323 deg/s, cmd heading: 43.822193 deg, new cmd heading: 43.794873 deg. 2025-10-24T19:32:24.479Z,1761334344.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764365 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:24.822Z,1761334344.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700046,-0.705391,-0.111175],[0.666603,0.701347,-0.252492],[0.256078,0.102646,0.961191]] 2025-10-24T19:32:24.888Z,1761334344.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:24.891Z,1761334344.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 168.996933 m, bearing: 46.299583 deg, approach rate: -0.594784 m/s, LOS rate: -0.006630 deg/s, cmd heading: 43.794872 deg, new cmd heading: 43.787066 deg. 2025-10-24T19:32:24.896Z,1761334344.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764228 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:25.053Z,1761334345.053 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:32:25.223Z,1761334345.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700141,-0.705045,-0.112757],[0.666031,0.701813,-0.252707],[0.257304,0.101831,0.960950]] 2025-10-24T19:32:25.242Z,1761334345.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:25.248Z,1761334345.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 168.780930 m, bearing: 46.297213 deg, approach rate: -0.577305 m/s, LOS rate: -0.006344 deg/s, cmd heading: 43.787066 deg, new cmd heading: 43.779945 deg. 2025-10-24T19:32:25.249Z,1761334345.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764104 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:25.705Z,1761334345.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702019,-0.702802,-0.115059],[0.663665,0.704221,-0.252235],[0.258298,0.100713,0.960801]] 2025-10-24T19:32:25.766Z,1761334345.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:25.768Z,1761334345.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:25.772Z,1761334345.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 168.496277 m, bearing: 46.305510 deg, approach rate: -0.541282 m/s, LOS rate: 0.015804 deg/s, cmd heading: 43.779945 deg, new cmd heading: 43.804878 deg. 2025-10-24T19:32:25.773Z,1761334345.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764539 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:25.869Z,1761334345.869 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:25.869Z,1761334345.869 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:25.869Z,1761334345.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:26.056Z,1761334346.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:32:26.063Z,1761334346.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704308,-0.700235,-0.116714],[0.661330,0.706962,-0.250696],[0.258058,0.099381,0.961004]] 2025-10-24T19:32:26.082Z,1761334346.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:26.085Z,1761334346.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 168.326111 m, bearing: 46.310691 deg, approach rate: -0.541880 m/s, LOS rate: 0.016516 deg/s, cmd heading: 43.804879 deg, new cmd heading: 43.820438 deg. 2025-10-24T19:32:26.087Z,1761334346.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764811 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:26.121Z,1761334346.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235598 2025-10-24T19:32:26.374Z,1761334346.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488685 2025-10-24T19:32:26.464Z,1761334346.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705833,-0.698462,-0.118113],[0.659663,0.708856,-0.249735],[0.258155,0.098357,0.961084]] 2025-10-24T19:32:26.499Z,1761334346.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:26.501Z,1761334346.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 168.109436 m, bearing: 46.317488 deg, approach rate: -0.520299 m/s, LOS rate: 0.016342 deg/s, cmd heading: 43.820438 deg, new cmd heading: 43.840855 deg. 2025-10-24T19:32:26.503Z,1761334346.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765167 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:26.625Z,1761334346.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739440 2025-10-24T19:32:26.867Z,1761334346.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707617,-0.696301,-0.120178],[0.657573,0.711176,-0.248649],[0.258602,0.096923,0.961109]] 2025-10-24T19:32:26.877Z,1761334346.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991401 2025-10-24T19:32:26.978Z,1761334346.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:26.985Z,1761334346.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 167.864914 m, bearing: 46.332152 deg, approach rate: -0.510081 m/s, LOS rate: 0.030635 deg/s, cmd heading: 43.840853 deg, new cmd heading: 43.884911 deg. 2025-10-24T19:32:26.986Z,1761334346.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765936 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:27.129Z,1761334347.129 [DAT](INFO): DAT read: Rx Time:19:32:25.9500 2025-10-24T19:32:27.129Z,1761334347.129 [DAT](INFO): Rx dataTimestamp_ set to:1761334347.129010 2025-10-24T19:32:27.130Z,1761334347.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244440 2025-10-24T19:32:27.284Z,1761334347.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709150,-0.694627,-0.120827],[0.655848,0.712797,-0.248566],[0.258786,0.097026,0.961049]] 2025-10-24T19:32:27.306Z,1761334347.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.56 m. 2025-10-24T19:32:27.309Z,1761334347.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 169.564606 m, nav range: 167.690872 m, bearing: 46.342762 deg, approach rate: -0.529990 m/s, LOS rate: 0.032341 deg/s, cmd heading: 43.884911 deg, new cmd heading: 43.916773 deg. 2025-10-24T19:32:27.310Z,1761334347.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766492 target range: 169.564606 and range: 170.40 m. 2025-10-24T19:32:27.383Z,1761334347.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497143 2025-10-24T19:32:27.640Z,1761334347.640 [DAT](INFO): DAT read: 19:32:25.9500 LVL= 26288, 32753, 24930, 32755, AGC= 70, IDX= 411, 0.00, 1.125,-0.626, 1.026, 0.392, PHS= 0.821,-0.970, 0.631, RAW= 144.4, -5.7, CAL= 150.0, -14.7, ROT= 360.0, 14.7 2025-10-24T19:32:27.641Z,1761334347.641 [DAT](INFO): got valid direction response: 19:32:25.9500 LVL= 26288, 32753, 24930, 32755, AGC= 70, IDX= 411, 0.00, 1.125,-0.626, 1.026, 0.392, PHS= 0.821,-0.970, 0.631, RAW= 144.4, -5.7, CAL= 150.0, -14.7, ROT= 360.0, 14.7 2025-10-24T19:32:27.642Z,1761334347.642 [DAT](INFO): DAT read: Bearing 360.0, 14.7 (Local) 2025-10-24T19:32:27.643Z,1761334347.643 [DAT](INFO): Local bearing/azimuth received: Bearing 360.0, 14.7 (Local) 2025-10-24T19:32:27.644Z,1761334347.644 [DAT](INFO): DAT read: Range 10 to 50 : 168.6 m (Round-trip 224.9 ms) speed 0.5 m/s 2025-10-24T19:32:27.645Z,1761334347.645 [DAT](INFO): DAT read: user:58> 2025-10-24T19:32:27.646Z,1761334347.646 [DAT](INFO): DAT read: Tx time:19:32:27.0709 2025-10-24T19:32:27.646Z,1761334347.646 [DAT](INFO): Ping request sent. 2025-10-24T19:32:27.646Z,1761334347.646 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:27.646Z,1761334347.646 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:27.647Z,1761334347.647 [DAT](INFO): direction in FSK: [0.967268,0.000000,-0.253758] 2025-10-24T19:32:27.647Z,1761334347.647 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:27.651Z,1761334347.651 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:27.656Z,1761334347.656 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:27.656Z,1761334347.656 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:27.777Z,1761334347.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711074,-0.692431,-0.122120],[0.653595,0.714974,-0.248246],[0.259206,0.096704,0.960969]] 2025-10-24T19:32:27.885Z,1761334347.885 [DAT](INFO): DAT read: TxSync time:19:32:27.0702 2025-10-24T19:32:27.899Z,1761334347.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 168.600006 m, deltaT: 3.778340 s, deltaX: -1.799988 m, approachRate: -0.476396 m/s, rangeRepo size: 4 2025-10-24T19:32:27.907Z,1761334347.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 167.765854 m, bearing: 44.044142 deg, lat: 36.779627 deg, lon: -121.859713 deg, deltaT: 3.778340 s, deltaX: -1.798752 m, approachRate: -0.476069 m/s, posRepo size: 4 2025-10-24T19:32:27.912Z,1761334347.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:27.919Z,1761334347.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 167.457794 m, bearing: 46.194599 deg, approach rate: 0.000000 m/s, LOS rate: 0.032341 deg/s, cmd heading: 43.916774 deg, new cmd heading: 43.974246 deg. 2025-10-24T19:32:27.921Z,1761334347.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767495 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:28.205Z,1761334348.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711861,-0.691478,-0.122931],[0.652492,0.715901,-0.248476],[0.259822,0.096669,0.960806]] 2025-10-24T19:32:28.222Z,1761334348.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:28.225Z,1761334348.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:28.227Z,1761334348.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 167.288849 m, bearing: 46.209061 deg, approach rate: -0.519213 m/s, LOS rate: 0.044488 deg/s, cmd heading: 43.974247 deg, new cmd heading: 44.017675 deg. 2025-10-24T19:32:28.228Z,1761334348.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768253 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:28.393Z,1761334348.393 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:28.393Z,1761334348.393 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:28.393Z,1761334348.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:28.603Z,1761334348.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711668,-0.691340,-0.124810],[0.652110,0.716179,-0.248678],[0.261308,0.095586,0.960511]] 2025-10-24T19:32:28.631Z,1761334348.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:28.635Z,1761334348.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 167.091232 m, bearing: 46.226039 deg, approach rate: -0.485385 m/s, LOS rate: 0.041752 deg/s, cmd heading: 44.017673 deg, new cmd heading: 44.068669 deg. 2025-10-24T19:32:28.636Z,1761334348.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769143 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:28.645Z,1761334348.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998957 2025-10-24T19:32:28.897Z,1761334348.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250603 2025-10-24T19:32:29.009Z,1761334349.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711821,-0.691092,-0.125313],[0.651403,0.716304,-0.250165],[0.262649,0.096444,0.960059]] 2025-10-24T19:32:29.086Z,1761334349.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:29.094Z,1761334349.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 166.890625 m, bearing: 46.243000 deg, approach rate: -0.441353 m/s, LOS rate: 0.037362 deg/s, cmd heading: 44.068667 deg, new cmd heading: 44.119613 deg. 2025-10-24T19:32:29.095Z,1761334349.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770033 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:29.149Z,1761334349.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502881 2025-10-24T19:32:29.401Z,1761334349.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754675 2025-10-24T19:32:29.513Z,1761334349.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713273,-0.689704,-0.124699],[0.649885,0.717446,-0.250840],[0.262470,0.097878,0.959963]] 2025-10-24T19:32:29.548Z,1761334349.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:29.551Z,1761334349.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 166.667908 m, bearing: 46.262046 deg, approach rate: -0.481776 m/s, LOS rate: 0.041254 deg/s, cmd heading: 44.119614 deg, new cmd heading: 44.176826 deg. 2025-10-24T19:32:29.552Z,1761334349.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771031 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:29.655Z,1761334349.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009061 2025-10-24T19:32:29.905Z,1761334349.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259323 2025-10-24T19:32:29.945Z,1761334349.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714978,-0.688039,-0.124128],[0.648240,0.718894,-0.250950],[0.261898,0.098959,0.960009]] 2025-10-24T19:32:29.999Z,1761334349.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:30.002Z,1761334350.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 166.450851 m, bearing: 46.274644 deg, approach rate: -0.481070 m/s, LOS rate: 0.027959 deg/s, cmd heading: 44.176827 deg, new cmd heading: 44.214672 deg. 2025-10-24T19:32:30.004Z,1761334350.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771692 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:30.157Z,1761334350.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510619 2025-10-24T19:32:30.409Z,1761334350.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762774 2025-10-24T19:32:30.425Z,1761334350.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716033,-0.687152,-0.122955],[0.647032,0.719418,-0.252559],[0.262003,0.101285,0.959737]] 2025-10-24T19:32:30.442Z,1761334350.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:30.444Z,1761334350.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:30.447Z,1761334350.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 166.236420 m, bearing: 46.287241 deg, approach rate: -0.482267 m/s, LOS rate: 0.028366 deg/s, cmd heading: 44.214673 deg, new cmd heading: 44.252511 deg. 2025-10-24T19:32:30.464Z,1761334350.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772352 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:30.661Z,1761334350.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014717 2025-10-24T19:32:30.914Z,1761334350.914 [DAT](INFO): DAT read: Rx Time:19:32:29.6972 2025-10-24T19:32:30.914Z,1761334350.914 [DAT](INFO): Rx dataTimestamp_ set to:1761334350.913781 2025-10-24T19:32:30.915Z,1761334350.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268876 2025-10-24T19:32:30.960Z,1761334350.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:30.962Z,1761334350.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 166.003433 m, bearing: 46.293880 deg, approach rate: -0.458848 m/s, LOS rate: 0.013094 deg/s, cmd heading: 44.252512 deg, new cmd heading: 44.272458 deg. 2025-10-24T19:32:30.963Z,1761334350.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772700 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:31.165Z,1761334351.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518880 2025-10-24T19:32:31.299Z,1761334351.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715185,-0.688425,-0.120756],[0.647985,0.717835,-0.254615],[0.261966,0.103849,0.959473]] 2025-10-24T19:32:31.392Z,1761334351.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.77 m. 2025-10-24T19:32:31.394Z,1761334351.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.765854 m, nav range: 165.786469 m, bearing: 46.299982 deg, approach rate: -0.497599 m/s, LOS rate: 0.014012 deg/s, cmd heading: 44.272460 deg, new cmd heading: 44.290789 deg. 2025-10-24T19:32:31.395Z,1761334351.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773020 target range: 167.765854 and range: 168.60 m. 2025-10-24T19:32:31.424Z,1761334351.424 [DAT](INFO): DAT read: 19:32:29.6972 LVL= 31808, 32753, 29346, 32755, AGC= 66, IDX= 414, 0.40,-2.045, 2.600,-2.138,-2.732, PHS= 0.776,-0.904, 0.592, RAW= 144.3, -5.9, CAL= 149.9, -14.9, ROT= 0.1, 14.9 2025-10-24T19:32:31.425Z,1761334351.425 [DAT](INFO): got valid direction response: 19:32:29.6972 LVL= 31808, 32753, 29346, 32755, AGC= 66, IDX= 414, 0.40,-2.045, 2.600,-2.138,-2.732, PHS= 0.776,-0.904, 0.592, RAW= 144.3, -5.9, CAL= 149.9, -14.9, ROT= 0.1, 14.9 2025-10-24T19:32:31.426Z,1761334351.426 [DAT](INFO): DAT read: Bearing 0.1, 14.9 (Local) 2025-10-24T19:32:31.426Z,1761334351.426 [DAT](INFO): Local bearing/azimuth received: Bearing 0.1, 14.9 (Local) 2025-10-24T19:32:31.428Z,1761334351.428 [DAT](INFO): DAT read: Range 10 to 50 : 166.5 m (Round-trip 222.1 ms) speed 0.3 m/s 2025-10-24T19:32:31.429Z,1761334351.429 [DAT](INFO): DAT read: user:59> 2025-10-24T19:32:31.430Z,1761334351.430 [DAT](INFO): DAT read: Tx time:19:32:30.8209 2025-10-24T19:32:31.430Z,1761334351.430 [DAT](INFO): Ping request sent. 2025-10-24T19:32:31.430Z,1761334351.430 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:31.430Z,1761334351.430 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:31.431Z,1761334351.431 [DAT](INFO): direction in FSK: [0.966375,0.001687,-0.257133] 2025-10-24T19:32:31.431Z,1761334351.431 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:31.432Z,1761334351.432 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:31.435Z,1761334351.435 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:31.436Z,1761334351.436 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:31.669Z,1761334351.669 [DAT](INFO): DAT read: TxSync time:19:32:30.8202 2025-10-24T19:32:31.814Z,1761334351.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 166.500000 m, deltaT: 3.784242 s, deltaX: -2.100006 m, approachRate: -0.554934 m/s, rangeRepo size: 4 2025-10-24T19:32:31.822Z,1761334351.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 165.666946 m, bearing: 43.859461 deg, lat: 36.779636 deg, lon: -121.859732 deg, deltaT: 3.784242 s, deltaX: -2.098907 m, approachRate: -0.554644 m/s, posRepo size: 4 2025-10-24T19:32:31.822Z,1761334351.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:31.826Z,1761334351.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 165.055023 m, bearing: 45.653945 deg, approach rate: 0.000000 m/s, LOS rate: 0.014012 deg/s, cmd heading: 44.290789 deg, new cmd heading: 44.308703 deg. 2025-10-24T19:32:31.827Z,1761334351.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773333 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:32.239Z,1761334352.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:32.257Z,1761334352.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 164.804947 m, bearing: 45.649853 deg, approach rate: -0.588652 m/s, LOS rate: -0.009648 deg/s, cmd heading: 44.308704 deg, new cmd heading: 44.296408 deg. 2025-10-24T19:32:32.258Z,1761334352.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773118 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:32.546Z,1761334352.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708697,-0.695914,-0.115982],[0.654451,0.709865,-0.260357],[0.263518,0.108609,0.958521]] 2025-10-24T19:32:32.563Z,1761334352.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:32.566Z,1761334352.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:32.569Z,1761334352.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 164.631683 m, bearing: 45.646448 deg, approach rate: -0.529468 m/s, LOS rate: -0.010416 deg/s, cmd heading: 44.296410 deg, new cmd heading: 44.286184 deg. 2025-10-24T19:32:32.571Z,1761334352.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772940 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:32.678Z,1761334352.678 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:32.678Z,1761334352.678 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:32.678Z,1761334352.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:32.933Z,1761334352.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503182 2025-10-24T19:32:33.002Z,1761334353.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:33.028Z,1761334353.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 164.391785 m, bearing: 45.635641 deg, approach rate: -0.549412 m/s, LOS rate: -0.024786 deg/s, cmd heading: 44.286185 deg, new cmd heading: 44.253717 deg. 2025-10-24T19:32:33.030Z,1761334353.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772373 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:33.185Z,1761334353.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754707 2025-10-24T19:32:33.398Z,1761334353.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:33.402Z,1761334353.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 164.184204 m, bearing: 45.626265 deg, approach rate: -0.524205 m/s, LOS rate: -0.023708 deg/s, cmd heading: 44.253718 deg, new cmd heading: 44.225553 deg. 2025-10-24T19:32:33.403Z,1761334353.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771882 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:33.437Z,1761334353.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007161 2025-10-24T19:32:33.689Z,1761334353.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258747 2025-10-24T19:32:33.758Z,1761334353.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700466,-0.704957,-0.111278],[0.663107,0.700517,-0.263754],[0.263887,0.110961,0.958150]] 2025-10-24T19:32:33.797Z,1761334353.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:33.829Z,1761334353.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 163.967773 m, bearing: 45.615520 deg, approach rate: -0.545174 m/s, LOS rate: -0.027101 deg/s, cmd heading: 44.225553 deg, new cmd heading: 44.193276 deg. 2025-10-24T19:32:33.837Z,1761334353.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771318 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:33.942Z,1761334353.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511808 2025-10-24T19:32:34.193Z,1761334354.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762788 2025-10-24T19:32:34.222Z,1761334354.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:34.225Z,1761334354.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 163.716736 m, bearing: 45.598181 deg, approach rate: -0.588631 m/s, LOS rate: -0.040719 deg/s, cmd heading: 44.193277 deg, new cmd heading: 44.141181 deg. 2025-10-24T19:32:34.226Z,1761334354.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770409 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:34.445Z,1761334354.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014705 2025-10-24T19:32:34.561Z,1761334354.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694120,-0.711645,-0.108442],[0.669942,0.693735,-0.264404],[0.263392,0.110878,0.958296]] 2025-10-24T19:32:34.583Z,1761334354.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:34.586Z,1761334354.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:34.589Z,1761334354.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 163.507629 m, bearing: 45.582961 deg, approach rate: -0.575260 m/s, LOS rate: -0.041923 deg/s, cmd heading: 44.141180 deg, new cmd heading: 44.095463 deg. 2025-10-24T19:32:34.590Z,1761334354.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769611 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:34.697Z,1761334354.697 [DAT](INFO): DAT read: Rx Time:19:32:33.4444 2025-10-24T19:32:34.697Z,1761334354.697 [DAT](INFO): Rx dataTimestamp_ set to:1761334354.697069 2025-10-24T19:32:34.698Z,1761334354.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267839 2025-10-24T19:32:34.949Z,1761334354.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518659 2025-10-24T19:32:35.026Z,1761334355.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.67 m. 2025-10-24T19:32:35.029Z,1761334355.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.666946 m, nav range: 163.246887 m, bearing: 45.560797 deg, approach rate: -0.591965 m/s, LOS rate: -0.050399 deg/s, cmd heading: 44.095462 deg, new cmd heading: 44.028865 deg. 2025-10-24T19:32:35.030Z,1761334355.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768449 target range: 165.666946 and range: 166.50 m. 2025-10-24T19:32:35.209Z,1761334355.209 [DAT](INFO): DAT read: 19:32:33.4444 LVL= 27824, 32721, 28834, 32755, AGC= 68, IDX= 416, 0.44,-2.012, 2.571,-2.076,-2.736, PHS= 0.812,-0.929, 0.657, RAW= 145.4, -6.5, CAL= 151.1, -15.4, ROT= 358.9, 15.4 2025-10-24T19:32:35.211Z,1761334355.211 [DAT](INFO): got valid direction response: 19:32:33.4444 LVL= 27824, 32721, 28834, 32755, AGC= 68, IDX= 416, 0.44,-2.012, 2.571,-2.076,-2.736, PHS= 0.812,-0.929, 0.657, RAW= 145.4, -6.5, CAL= 151.1, -15.4, ROT= 358.9, 15.4 2025-10-24T19:32:35.212Z,1761334355.212 [DAT](INFO): DAT read: Bearing 358.9, 15.4 (Local) 2025-10-24T19:32:35.213Z,1761334355.213 [DAT](INFO): Local bearing/azimuth received: Bearing 358.9, 15.4 (Local) 2025-10-24T19:32:35.215Z,1761334355.215 [DAT](INFO): DAT read: Range 10 to 50 : 164.4 m (Round-trip 219.2 ms) speed 0.7 m/s 2025-10-24T19:32:35.226Z,1761334355.226 [DAT](INFO): DAT read: user:60> 2025-10-24T19:32:35.227Z,1761334355.227 [DAT](INFO): DAT read: Tx time:19:32:34.5710 2025-10-24T19:32:35.227Z,1761334355.227 [DAT](INFO): Ping request sent. 2025-10-24T19:32:35.227Z,1761334355.227 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:35.227Z,1761334355.227 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:35.233Z,1761334355.233 [DAT](INFO): direction in FSK: [0.963918,-0.018508,-0.265556] 2025-10-24T19:32:35.233Z,1761334355.233 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:35.233Z,1761334355.233 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:35.245Z,1761334355.245 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:35.245Z,1761334355.245 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:35.438Z,1761334355.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 164.399994 m, deltaT: 3.785675 s, deltaX: -2.100006 m, approachRate: -0.554724 m/s, rangeRepo size: 4 2025-10-24T19:32:35.445Z,1761334355.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 163.550018 m, bearing: 44.679955 deg, lat: 36.779655 deg, lon: -121.859747 deg, deltaT: 3.785675 s, deltaX: -2.116928 m, approachRate: -0.559194 m/s, posRepo size: 4 2025-10-24T19:32:35.445Z,1761334355.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:35.454Z,1761334355.454 [DAT](INFO): DAT read: TxSync time:19:32:34.5703 2025-10-24T19:32:35.455Z,1761334355.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 163.548889 m, bearing: 44.679373 deg, approach rate: 0.000000 m/s, LOS rate: -0.050399 deg/s, cmd heading: 44.028864 deg, new cmd heading: 43.966617 deg. 2025-10-24T19:32:35.460Z,1761334355.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767362 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:35.777Z,1761334355.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685879,-0.719940,-0.106094],[0.678761,0.685472,-0.263460],[0.262400,0.108689,0.958818]] 2025-10-24T19:32:35.887Z,1761334355.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:35.918Z,1761334355.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 163.293243 m, bearing: 44.654942 deg, approach rate: -0.570032 m/s, LOS rate: -0.054562 deg/s, cmd heading: 43.966618 deg, new cmd heading: 43.893209 deg. 2025-10-24T19:32:35.925Z,1761334355.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766081 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:36.206Z,1761334356.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683501,-0.722029,-0.107243],[0.681106,0.683684,-0.262051],[0.262529,0.106068,0.959077]] 2025-10-24T19:32:36.312Z,1761334356.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:36.315Z,1761334356.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 163.050262 m, bearing: 44.632900 deg, approach rate: -0.570050 m/s, LOS rate: -0.051790 deg/s, cmd heading: 43.893210 deg, new cmd heading: 43.826985 deg. 2025-10-24T19:32:36.320Z,1761334356.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764925 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:36.611Z,1761334356.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681429,-0.724047,-0.106821],[0.683302,0.681673,-0.261573],[0.262208,0.105253,0.959254]] 2025-10-24T19:32:36.629Z,1761334356.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:36.631Z,1761334356.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:36.634Z,1761334356.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 162.833771 m, bearing: 44.612950 deg, approach rate: -0.679550 m/s, LOS rate: -0.062705 deg/s, cmd heading: 43.826985 deg, new cmd heading: 43.767054 deg. 2025-10-24T19:32:36.635Z,1761334356.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763879 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:36.714Z,1761334356.714 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:36.714Z,1761334356.714 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:36.714Z,1761334356.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:36.965Z,1761334356.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737520 2025-10-24T19:32:37.007Z,1761334357.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678963,-0.726506,-0.105824],[0.685965,0.679126,-0.261225],[0.261650,0.104770,0.959459]] 2025-10-24T19:32:37.059Z,1761334357.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:37.078Z,1761334357.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 162.583878 m, bearing: 44.592398 deg, approach rate: -0.583366 m/s, LOS rate: -0.048050 deg/s, cmd heading: 43.767053 deg, new cmd heading: 43.705304 deg. 2025-10-24T19:32:37.079Z,1761334357.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762801 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:37.217Z,1761334357.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989479 2025-10-24T19:32:37.470Z,1761334357.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242527 2025-10-24T19:32:37.511Z,1761334357.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677532,-0.727992,-0.104773],[0.688553,0.677898,-0.257584],[0.258544,0.102380,0.960559]] 2025-10-24T19:32:37.561Z,1761334357.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:37.569Z,1761334357.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 162.308228 m, bearing: 44.569374 deg, approach rate: -0.555063 m/s, LOS rate: -0.046441 deg/s, cmd heading: 43.705305 deg, new cmd heading: 43.636116 deg. 2025-10-24T19:32:37.573Z,1761334357.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761594 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:37.721Z,1761334357.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493828 2025-10-24T19:32:37.954Z,1761334357.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677587,-0.727960,-0.104641],[0.689176,0.678170,-0.255192],[0.256734,0.100799,0.961211]] 2025-10-24T19:32:37.973Z,1761334357.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745657 2025-10-24T19:32:38.029Z,1761334358.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:38.031Z,1761334358.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 162.029465 m, bearing: 44.552504 deg, approach rate: -0.616759 m/s, LOS rate: -0.037390 deg/s, cmd heading: 43.636115 deg, new cmd heading: 43.585416 deg. 2025-10-24T19:32:38.037Z,1761334358.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760709 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:38.225Z,1761334358.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997565 2025-10-24T19:32:38.355Z,1761334358.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679025,-0.726498,-0.105483],[0.688686,0.680156,-0.251196],[0.254238,0.097923,0.962172]] 2025-10-24T19:32:38.374Z,1761334358.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:38.377Z,1761334358.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 161.815475 m, bearing: 44.539636 deg, approach rate: -0.584878 m/s, LOS rate: -0.035217 deg/s, cmd heading: 43.585418 deg, new cmd heading: 43.546764 deg. 2025-10-24T19:32:38.377Z,1761334358.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760034 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:38.478Z,1761334358.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250172 2025-10-24T19:32:38.729Z,1761334358.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501470 2025-10-24T19:32:38.772Z,1761334358.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680311,-0.725243,-0.105828],[0.688277,0.681800,-0.247838],[0.251897,0.095767,0.963004]] 2025-10-24T19:32:38.790Z,1761334358.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:38.801Z,1761334358.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:38.808Z,1761334358.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 161.571213 m, bearing: 44.525031 deg, approach rate: -0.584228 m/s, LOS rate: -0.034986 deg/s, cmd heading: 43.546762 deg, new cmd heading: 43.502880 deg. 2025-10-24T19:32:38.809Z,1761334358.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759268 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:38.981Z,1761334358.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753545 2025-10-24T19:32:39.168Z,1761334359.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682508,-0.723095,-0.106378],[0.686988,0.684369,-0.244309],[0.249460,0.093663,0.963845]] 2025-10-24T19:32:39.212Z,1761334359.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:39.215Z,1761334359.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 161.336441 m, bearing: 44.514768 deg, approach rate: -0.558865 m/s, LOS rate: -0.024465 deg/s, cmd heading: 43.502878 deg, new cmd heading: 43.472046 deg. 2025-10-24T19:32:39.234Z,1761334359.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006858 2025-10-24T19:32:39.236Z,1761334359.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758730 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:39.486Z,1761334359.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.258245 2025-10-24T19:32:39.565Z,1761334359.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684654,-0.720996,-0.106838],[0.685813,0.686885,-0.240521],[0.246800,0.091403,0.964746]] 2025-10-24T19:32:39.585Z,1761334359.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:39.589Z,1761334359.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 161.124481 m, bearing: 44.505675 deg, approach rate: -0.568505 m/s, LOS rate: -0.024420 deg/s, cmd heading: 43.472047 deg, new cmd heading: 43.444733 deg. 2025-10-24T19:32:39.590Z,1761334359.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758254 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:39.738Z,1761334359.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.511017 2025-10-24T19:32:39.971Z,1761334359.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686978,-0.718818,-0.106594],[0.684396,0.689313,-0.237593],[0.244262,0.090269,0.965499]] 2025-10-24T19:32:39.989Z,1761334359.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.761637 2025-10-24T19:32:40.054Z,1761334360.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:40.057Z,1761334360.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 160.874359 m, bearing: 44.499267 deg, approach rate: -0.540164 m/s, LOS rate: -0.013860 deg/s, cmd heading: 43.444733 deg, new cmd heading: 43.425479 deg. 2025-10-24T19:32:40.058Z,1761334360.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757918 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:40.241Z,1761334360.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.013618 2025-10-24T19:32:40.373Z,1761334360.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689476,-0.716455,-0.106370],[0.682888,0.691950,-0.234241],[0.241426,0.088865,0.966342]] 2025-10-24T19:32:40.397Z,1761334360.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:40.400Z,1761334360.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 160.676529 m, bearing: 44.494400 deg, approach rate: -0.566315 m/s, LOS rate: -0.013950 deg/s, cmd heading: 43.425479 deg, new cmd heading: 43.410860 deg. 2025-10-24T19:32:40.401Z,1761334360.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757662 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:40.494Z,1761334360.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.266997 2025-10-24T19:32:40.745Z,1761334360.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.517455 2025-10-24T19:32:40.777Z,1761334360.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692197,-0.713903,-0.105856],[0.681084,0.694685,-0.231379],[0.238719,0.088063,0.967088]] 2025-10-24T19:32:40.816Z,1761334360.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:40.818Z,1761334360.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:40.826Z,1761334360.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 160.455399 m, bearing: 44.489213 deg, approach rate: -0.525046 m/s, LOS rate: -0.012333 deg/s, cmd heading: 43.410859 deg, new cmd heading: 43.395276 deg. 2025-10-24T19:32:40.827Z,1761334360.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757390 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:40.997Z,1761334360.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.769565 2025-10-24T19:32:41.183Z,1761334361.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695444,-0.710896,-0.104808],[0.678810,0.697779,-0.228738],[0.235742,0.087929,0.967830]] 2025-10-24T19:32:41.249Z,1761334361.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.021694 2025-10-24T19:32:41.256Z,1761334361.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:41.259Z,1761334361.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 160.220108 m, bearing: 44.486697 deg, approach rate: -0.542674 m/s, LOS rate: -0.005812 deg/s, cmd heading: 43.395276 deg, new cmd heading: 43.387716 deg. 2025-10-24T19:32:41.267Z,1761334361.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757259 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:41.501Z,1761334361.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.273522 2025-10-24T19:32:41.588Z,1761334361.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698355,-0.708276,-0.103176],[0.676789,0.700354,-0.226848],[0.232931,0.088592,0.968450]] 2025-10-24T19:32:41.608Z,1761334361.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:41.611Z,1761334361.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 160.015274 m, bearing: 44.484762 deg, approach rate: -0.575309 m/s, LOS rate: -0.005443 deg/s, cmd heading: 43.387718 deg, new cmd heading: 43.381904 deg. 2025-10-24T19:32:41.632Z,1761334361.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757157 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:41.754Z,1761334361.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.526529 2025-10-24T19:32:41.996Z,1761334361.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701788,-0.704947,-0.102687],[0.674217,0.703799,-0.223827],[0.230057,0.087846,0.969204]] 2025-10-24T19:32:42.005Z,1761334362.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.778008 2025-10-24T19:32:42.039Z,1761334362.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:42.067Z,1761334362.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 159.786453 m, bearing: 44.485754 deg, approach rate: -0.531092 m/s, LOS rate: 0.002306 deg/s, cmd heading: 43.381906 deg, new cmd heading: 43.384886 deg. 2025-10-24T19:32:42.074Z,1761334362.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757209 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:42.258Z,1761334362.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.030870 2025-10-24T19:32:42.392Z,1761334362.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704280,-0.702640,-0.101425],[0.672439,0.706060,-0.222048],[0.227632,0.088182,0.969746]] 2025-10-24T19:32:42.411Z,1761334362.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:42.414Z,1761334362.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 159.588074 m, bearing: 44.486835 deg, approach rate: -0.533106 m/s, LOS rate: 0.002910 deg/s, cmd heading: 43.384887 deg, new cmd heading: 43.388135 deg. 2025-10-24T19:32:42.415Z,1761334362.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757266 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:42.510Z,1761334362.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.282770 2025-10-24T19:32:42.761Z,1761334362.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.533448 2025-10-24T19:32:42.798Z,1761334362.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707582,-0.699412,-0.100751],[0.669852,0.709299,-0.219529],[0.225004,0.087847,0.970390]] 2025-10-24T19:32:42.830Z,1761334362.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:42.833Z,1761334362.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:42.835Z,1761334362.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 159.363419 m, bearing: 44.488409 deg, approach rate: -0.532616 m/s, LOS rate: 0.003736 deg/s, cmd heading: 43.388135 deg, new cmd heading: 43.392862 deg. 2025-10-24T19:32:42.837Z,1761334362.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757348 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:43.016Z,1761334363.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.788107 2025-10-24T19:32:43.212Z,1761334363.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710375,-0.696683,-0.100003],[0.667715,0.712019,-0.217223],[0.222539,0.087537,0.970986]] 2025-10-24T19:32:43.265Z,1761334363.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.037641 2025-10-24T19:32:43.267Z,1761334363.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:43.270Z,1761334363.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 159.134888 m, bearing: 44.490083 deg, approach rate: -0.526244 m/s, LOS rate: 0.003860 deg/s, cmd heading: 43.392861 deg, new cmd heading: 43.397891 deg. 2025-10-24T19:32:43.271Z,1761334363.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757436 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:43.517Z,1761334363.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.289579 2025-10-24T19:32:43.611Z,1761334363.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713417,-0.693682,-0.099202],[0.665196,0.714924,-0.215401],[0.220342,0.087682,0.971474]] 2025-10-24T19:32:43.630Z,1761334363.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:43.632Z,1761334363.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 158.942932 m, bearing: 44.491771 deg, approach rate: -0.529192 m/s, LOS rate: 0.004658 deg/s, cmd heading: 43.397892 deg, new cmd heading: 43.402961 deg. 2025-10-24T19:32:43.633Z,1761334363.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757525 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:43.770Z,1761334363.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.541959 2025-10-24T19:32:44.012Z,1761334364.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715822,-0.691274,-0.098686],[0.663209,0.717271,-0.213719],[0.218523,0.087535,0.971898]] 2025-10-24T19:32:44.022Z,1761334364.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.794276 2025-10-24T19:32:44.075Z,1761334364.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:44.078Z,1761334364.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 158.700500 m, bearing: 44.493609 deg, approach rate: -0.543997 m/s, LOS rate: 0.004131 deg/s, cmd heading: 43.402960 deg, new cmd heading: 43.408483 deg. 2025-10-24T19:32:44.079Z,1761334364.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757621 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:44.273Z,1761334364.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.045568 2025-10-24T19:32:44.418Z,1761334364.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718318,-0.688862,-0.097407],[0.661099,0.719469,-0.212866],[0.216717,0.088509,0.972214]] 2025-10-24T19:32:44.439Z,1761334364.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:44.442Z,1761334364.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 158.502411 m, bearing: 44.495351 deg, approach rate: -0.544871 m/s, LOS rate: 0.004799 deg/s, cmd heading: 43.408482 deg, new cmd heading: 43.413715 deg. 2025-10-24T19:32:44.443Z,1761334364.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757712 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:44.525Z,1761334364.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.297781 2025-10-24T19:32:44.777Z,1761334364.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.549477 2025-10-24T19:32:44.821Z,1761334364.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719798,-0.687578,-0.095538],[0.660040,0.720513,-0.212623],[0.215031,0.089986,0.972453]] 2025-10-24T19:32:44.838Z,1761334364.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:44.841Z,1761334364.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:44.843Z,1761334364.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 158.283432 m, bearing: 44.497424 deg, approach rate: -0.544730 m/s, LOS rate: 0.005163 deg/s, cmd heading: 43.413714 deg, new cmd heading: 43.419940 deg. 2025-10-24T19:32:44.845Z,1761334364.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757821 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:45.029Z,1761334365.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.801845 2025-10-24T19:32:45.226Z,1761334365.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721357,-0.686216,-0.093550],[0.658828,0.721574,-0.212781],[0.213517,0.091857,0.972611]] 2025-10-24T19:32:45.280Z,1761334365.280 [DAT](INFO): Reached modem response timeout 2025-10-24T19:32:45.281Z,1761334365.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:32:45.281Z,1761334365.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:45.299Z,1761334365.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:45.307Z,1761334365.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 158.050262 m, bearing: 44.498950 deg, approach rate: -0.509469 m/s, LOS rate: 0.003340 deg/s, cmd heading: 43.419939 deg, new cmd heading: 43.424526 deg. 2025-10-24T19:32:45.313Z,1761334365.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757901 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:45.533Z,1761334365.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:32:45.629Z,1761334365.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722425,-0.685414,-0.091157],[0.658190,0.722069,-0.213081],[0.211870,0.093936,0.972773]] 2025-10-24T19:32:45.647Z,1761334365.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:45.650Z,1761334365.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 157.841690 m, bearing: 44.500409 deg, approach rate: -0.598000 m/s, LOS rate: 0.004188 deg/s, cmd heading: 43.424526 deg, new cmd heading: 43.428908 deg. 2025-10-24T19:32:45.651Z,1761334365.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757977 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:45.785Z,1761334365.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:32:46.038Z,1761334366.038 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:32:46.038Z,1761334366.038 [DAT](INFO): response not received 2025-10-24T19:32:46.038Z,1761334366.038 [DAT](INFO): DAT read: user:61> 2025-10-24T19:32:46.039Z,1761334366.039 [DAT](ERROR): No response from remote modem. 2025-10-24T19:32:46.039Z,1761334366.039 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:32:46.039Z,1761334366.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:46.046Z,1761334366.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723310,-0.684646,-0.089897],[0.657656,0.722706,-0.212568],[0.210503,0.094631,0.973002]] 2025-10-24T19:32:46.127Z,1761334366.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:46.130Z,1761334366.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 157.570587 m, bearing: 44.501428 deg, approach rate: -0.564871 m/s, LOS rate: 0.002127 deg/s, cmd heading: 43.428907 deg, new cmd heading: 43.431970 deg. 2025-10-24T19:32:46.131Z,1761334366.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758031 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:46.291Z,1761334366.291 [DAT](INFO): DAT read: Tx time:19:32:45.5211 2025-10-24T19:32:46.292Z,1761334366.292 [DAT](INFO): Ping request sent. 2025-10-24T19:32:46.292Z,1761334366.292 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:46.293Z,1761334366.293 [DAT](INFO): DAT read: TxSync time:19:32:45.5204 2025-10-24T19:32:46.293Z,1761334366.293 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:46.294Z,1761334366.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001593 2025-10-24T19:32:46.438Z,1761334366.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724106,-0.684031,-0.088156],[0.657274,0.723139,-0.212277],[0.208954,0.095769,0.973225]] 2025-10-24T19:32:46.465Z,1761334366.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:46.468Z,1761334366.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 157.378296 m, bearing: 44.502212 deg, approach rate: -0.569064 m/s, LOS rate: 0.002323 deg/s, cmd heading: 43.431971 deg, new cmd heading: 43.434326 deg. 2025-10-24T19:32:46.470Z,1761334366.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758072 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:46.542Z,1761334366.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249958 2025-10-24T19:32:46.793Z,1761334366.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500831 2025-10-24T19:32:46.843Z,1761334366.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723584,-0.684746,-0.086881],[0.657999,0.722322,-0.212811],[0.208478,0.096819,0.973223]] 2025-10-24T19:32:46.861Z,1761334366.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:46.863Z,1761334366.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:46.866Z,1761334366.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 157.153336 m, bearing: 44.503057 deg, approach rate: -0.565884 m/s, LOS rate: 0.002129 deg/s, cmd heading: 43.434327 deg, new cmd heading: 43.436867 deg. 2025-10-24T19:32:46.867Z,1761334366.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758116 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:47.045Z,1761334367.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752797 2025-10-24T19:32:47.298Z,1761334367.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005955 2025-10-24T19:32:47.330Z,1761334367.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:47.333Z,1761334367.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 156.878357 m, bearing: 44.502406 deg, approach rate: -0.588949 m/s, LOS rate: -0.001398 deg/s, cmd heading: 43.436868 deg, new cmd heading: 43.434909 deg. 2025-10-24T19:32:47.334Z,1761334367.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758082 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:47.549Z,1761334367.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256682 2025-10-24T19:32:47.708Z,1761334367.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:47.717Z,1761334367.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 156.670349 m, bearing: 44.501911 deg, approach rate: -0.557087 m/s, LOS rate: -0.001326 deg/s, cmd heading: 43.434908 deg, new cmd heading: 43.433422 deg. 2025-10-24T19:32:47.718Z,1761334367.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758056 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:47.802Z,1761334367.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509810 2025-10-24T19:32:48.053Z,1761334368.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761138 2025-10-24T19:32:48.064Z,1761334368.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723916,-0.685017,-0.081841],[0.658191,0.721324,-0.215583],[0.206712,0.102197,0.973050]] 2025-10-24T19:32:48.115Z,1761334368.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:48.118Z,1761334368.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 156.410172 m, bearing: 44.499006 deg, approach rate: -0.631471 m/s, LOS rate: -0.007062 deg/s, cmd heading: 43.433422 deg, new cmd heading: 43.424694 deg. 2025-10-24T19:32:48.120Z,1761334368.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757904 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:48.306Z,1761334368.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014207 2025-10-24T19:32:48.457Z,1761334368.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724378,-0.684628,-0.081001],[0.658138,0.721718,-0.214421],[0.205258,0.102012,0.973377]] 2025-10-24T19:32:48.491Z,1761334368.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:48.494Z,1761334368.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 156.194000 m, bearing: 44.496615 deg, approach rate: -0.574598 m/s, LOS rate: -0.006364 deg/s, cmd heading: 43.424693 deg, new cmd heading: 43.417511 deg. 2025-10-24T19:32:48.495Z,1761334368.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757779 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:48.557Z,1761334368.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265004 2025-10-24T19:32:48.810Z,1761334368.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517877 2025-10-24T19:32:48.861Z,1761334368.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724441,-0.684701,-0.079810],[0.658471,0.721606,-0.213776],[0.203964,0.102316,0.973617]] 2025-10-24T19:32:48.899Z,1761334368.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:48.903Z,1761334368.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:48.907Z,1761334368.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 155.938187 m, bearing: 44.493761 deg, approach rate: -0.622995 m/s, LOS rate: -0.006964 deg/s, cmd heading: 43.417511 deg, new cmd heading: 43.408933 deg. 2025-10-24T19:32:48.909Z,1761334368.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757629 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:49.061Z,1761334369.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768605 2025-10-24T19:32:49.267Z,1761334369.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724412,-0.684814,-0.079097],[0.658788,0.721501,-0.213156],[0.203041,0.102305,0.973811]] 2025-10-24T19:32:49.313Z,1761334369.313 [DAT](INFO): DAT read: Rx Time:19:32:48.1334 2025-10-24T19:32:49.313Z,1761334369.313 [DAT](INFO): Rx dataTimestamp_ set to:1761334369.313104 2025-10-24T19:32:49.314Z,1761334369.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021877 2025-10-24T19:32:49.317Z,1761334369.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:49.320Z,1761334369.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 155.685120 m, bearing: 44.489794 deg, approach rate: -0.610268 m/s, LOS rate: -0.009580 deg/s, cmd heading: 43.408933 deg, new cmd heading: 43.397015 deg. 2025-10-24T19:32:49.323Z,1761334369.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757421 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:49.565Z,1761334369.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272815 2025-10-24T19:32:49.674Z,1761334369.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723539,-0.685893,-0.077733],[0.659913,0.720340,-0.213599],[0.202500,0.103250,0.973824]] 2025-10-24T19:32:49.692Z,1761334369.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 163.55 m. 2025-10-24T19:32:49.695Z,1761334369.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 163.550018 m, nav range: 155.453918 m, bearing: 44.486039 deg, approach rate: -0.615291 m/s, LOS rate: -0.010010 deg/s, cmd heading: 43.397014 deg, new cmd heading: 43.385730 deg. 2025-10-24T19:32:49.696Z,1761334369.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.757224 target range: 163.550018 and range: 164.40 m. 2025-10-24T19:32:49.823Z,1761334369.823 [DAT](INFO): DAT read: 19:32:48.1334 LVL= 21232, 31073, 21666, 32755, AGC= 71, IDX= 304, 0.11,-1.373, 3.067,-1.556,-2.195, PHS= 0.909,-0.974, 0.635, RAW= 142.3, -6.5, CAL= 148.3, -15.8, ROT= 1.7, 15.8 2025-10-24T19:32:49.824Z,1761334369.824 [DAT](INFO): got valid direction response: 19:32:48.1334 LVL= 21232, 31073, 21666, 32755, AGC= 71, IDX= 304, 0.11,-1.373, 3.067,-1.556,-2.195, PHS= 0.909,-0.974, 0.635, RAW= 142.3, -6.5, CAL= 148.3, -15.8, ROT= 1.7, 15.8 2025-10-24T19:32:49.825Z,1761334369.825 [DAT](INFO): DAT read: Bearing 1.7, 15.8 (Local) 2025-10-24T19:32:49.826Z,1761334369.826 [DAT](INFO): Local bearing/azimuth received: Bearing 1.7, 15.8 (Local) 2025-10-24T19:32:49.827Z,1761334369.827 [DAT](INFO): DAT read: Range 10 to 50 : 156.1 m (Round-trip 208.2 ms) speed 0.5 m/s 2025-10-24T19:32:49.828Z,1761334369.828 [DAT](INFO): DAT read: user:62> 2025-10-24T19:32:49.829Z,1761334369.829 [DAT](INFO): DAT read: Tx time:19:32:49.2211 2025-10-24T19:32:49.829Z,1761334369.829 [DAT](INFO): Ping request sent. 2025-10-24T19:32:49.829Z,1761334369.829 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:49.829Z,1761334369.829 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:49.830Z,1761334369.830 [DAT](INFO): direction in FSK: [0.961794,0.028545,-0.272280] 2025-10-24T19:32:49.831Z,1761334369.831 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:49.831Z,1761334369.831 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:49.834Z,1761334369.834 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:49.835Z,1761334369.835 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:50.073Z,1761334370.073 [DAT](INFO): DAT read: TxSync time:19:32:49.2204 2025-10-24T19:32:50.105Z,1761334370.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723121,-0.686429,-0.076885],[0.660559,0.719780,-0.213490],[0.201885,0.103592,0.973915]] 2025-10-24T19:32:50.201Z,1761334370.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 156.100006 m, deltaT: 14.614179 s, deltaX: -8.299988 m, approachRate: -0.567941 m/s, rangeRepo size: 4 2025-10-24T19:32:50.212Z,1761334370.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 155.252167 m, bearing: 45.697038 deg, lat: 36.779655 deg, lon: -121.859747 deg, deltaT: 14.614179 s, deltaX: -8.297852 m, approachRate: -0.567795 m/s, posRepo size: 4 2025-10-24T19:32:50.213Z,1761334370.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:50.220Z,1761334370.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 155.154099 m, bearing: 44.478950 deg, approach rate: 0.000000 m/s, LOS rate: -0.010010 deg/s, cmd heading: 43.385730 deg, new cmd heading: 43.370505 deg. 2025-10-24T19:32:50.221Z,1761334370.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756958 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:50.479Z,1761334370.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722229,-0.687421,-0.076405],[0.661652,0.718854,-0.213227],[0.201501,0.103445,0.974011]] 2025-10-24T19:32:50.499Z,1761334370.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:50.501Z,1761334370.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 154.956757 m, bearing: 44.474164 deg, approach rate: -0.659246 m/s, LOS rate: -0.016007 deg/s, cmd heading: 43.370506 deg, new cmd heading: 43.356131 deg. 2025-10-24T19:32:50.503Z,1761334370.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756707 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:50.875Z,1761334370.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722280,-0.687677,-0.073566],[0.661733,0.718089,-0.215540],[0.201049,0.106999,0.973720]] 2025-10-24T19:32:50.895Z,1761334370.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:50.899Z,1761334370.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 154.712921 m, bearing: 44.468240 deg, approach rate: -0.615193 m/s, LOS rate: -0.014970 deg/s, cmd heading: 43.356132 deg, new cmd heading: 43.338331 deg. 2025-10-24T19:32:50.921Z,1761334370.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756397 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:51.319Z,1761334371.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721183,-0.688818,-0.073656],[0.662833,0.717038,-0.215659],[0.201364,0.106708,0.973687]] 2025-10-24T19:32:51.385Z,1761334371.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:51.387Z,1761334371.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:51.394Z,1761334371.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 154.412186 m, bearing: 44.460644 deg, approach rate: -0.611291 m/s, LOS rate: -0.015470 deg/s, cmd heading: 43.338332 deg, new cmd heading: 43.315500 deg. 2025-10-24T19:32:51.395Z,1761334371.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755998 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:51.581Z,1761334371.581 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:51.581Z,1761334371.581 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:51.581Z,1761334371.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:51.721Z,1761334371.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:51.724Z,1761334371.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 154.198242 m, bearing: 44.455222 deg, approach rate: -0.640726 m/s, LOS rate: -0.016261 deg/s, cmd heading: 43.315499 deg, new cmd heading: 43.299210 deg. 2025-10-24T19:32:51.725Z,1761334371.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755714 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:51.833Z,1761334371.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003631 2025-10-24T19:32:52.090Z,1761334372.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258220 2025-10-24T19:32:52.201Z,1761334372.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:52.207Z,1761334372.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 153.909409 m, bearing: 44.446862 deg, approach rate: -0.603420 m/s, LOS rate: -0.017498 deg/s, cmd heading: 43.299209 deg, new cmd heading: 43.274082 deg. 2025-10-24T19:32:52.209Z,1761334372.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755275 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:52.337Z,1761334372.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507581 2025-10-24T19:32:52.513Z,1761334372.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719656,-0.690557,-0.072292],[0.665398,0.715663,-0.212302],[0.198343,0.104681,0.974526]] 2025-10-24T19:32:52.532Z,1761334372.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:52.535Z,1761334372.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 153.704651 m, bearing: 44.440692 deg, approach rate: -0.615320 m/s, LOS rate: -0.018566 deg/s, cmd heading: 43.274081 deg, new cmd heading: 43.255546 deg. 2025-10-24T19:32:52.537Z,1761334372.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754952 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:52.590Z,1761334372.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760544 2025-10-24T19:32:52.841Z,1761334372.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011577 2025-10-24T19:32:52.925Z,1761334372.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718692,-0.691616,-0.071755],[0.666656,0.714707,-0.211575],[0.197612,0.104221,0.974724]] 2025-10-24T19:32:52.956Z,1761334372.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:52.959Z,1761334372.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 153.447372 m, bearing: 44.432762 deg, approach rate: -0.607380 m/s, LOS rate: -0.018753 deg/s, cmd heading: 43.255547 deg, new cmd heading: 43.231717 deg. 2025-10-24T19:32:52.960Z,1761334372.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754536 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:53.096Z,1761334373.096 [DAT](INFO): DAT read: Rx Time:19:32:51.8307 2025-10-24T19:32:53.098Z,1761334373.098 [DAT](INFO): Rx dataTimestamp_ set to:1761334373.096952 2025-10-24T19:32:53.100Z,1761334373.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269988 2025-10-24T19:32:53.320Z,1761334373.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717381,-0.693092,-0.070622],[0.668194,0.713194,-0.211830],[0.197185,0.104773,0.974752]] 2025-10-24T19:32:53.346Z,1761334373.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516004 2025-10-24T19:32:53.411Z,1761334373.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:53.414Z,1761334373.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.25 m. 2025-10-24T19:32:53.416Z,1761334373.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 155.252167 m, nav range: 153.172394 m, bearing: 44.424636 deg, approach rate: -0.600714 m/s, LOS rate: -0.017783 deg/s, cmd heading: 43.231717 deg, new cmd heading: 43.207297 deg. 2025-10-24T19:32:53.417Z,1761334373.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754110 target range: 155.252167 and range: 156.10 m. 2025-10-24T19:32:53.604Z,1761334373.604 [DAT](INFO): DAT read: 19:32:51.8307 LVL= 21728, 23393, 21234, 32755, AGC= 68, IDX= 420,-0.32,-1.359,-3.066,-1.543,-2.161, PHS= 0.891,-0.858, 0.616, RAW= 141.6, -8.0, CAL= 148.0, -17.5, ROT= 2.0, 17.5 2025-10-24T19:32:53.605Z,1761334373.605 [DAT](INFO): got valid direction response: 19:32:51.8307 LVL= 21728, 23393, 21234, 32755, AGC= 68, IDX= 420,-0.32,-1.359,-3.066,-1.543,-2.161, PHS= 0.891,-0.858, 0.616, RAW= 141.6, -8.0, CAL= 148.0, -17.5, ROT= 2.0, 17.5 2025-10-24T19:32:53.606Z,1761334373.606 [DAT](INFO): DAT read: Bearing 2.0, 17.5 (Local) 2025-10-24T19:32:53.606Z,1761334373.606 [DAT](INFO): Local bearing/azimuth received: Bearing 2.0, 17.5 (Local) 2025-10-24T19:32:53.608Z,1761334373.608 [DAT](INFO): DAT read: Range 10 to 50 : 154.0 m (Round-trip 205.4 ms) speed 0.4 m/s 2025-10-24T19:32:53.609Z,1761334373.609 [DAT](INFO): DAT read: user:63> 2025-10-24T19:32:53.610Z,1761334373.610 [DAT](INFO): DAT read: Tx time:19:32:52.9211 2025-10-24T19:32:53.610Z,1761334373.610 [DAT](INFO): Ping request sent. 2025-10-24T19:32:53.610Z,1761334373.610 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:32:53.610Z,1761334373.610 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:32:53.611Z,1761334373.611 [DAT](INFO): direction in FSK: [0.953136,0.033284,-0.300706] 2025-10-24T19:32:53.611Z,1761334373.611 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:53.612Z,1761334373.612 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:53.615Z,1761334373.615 [DAT](INFO): publishing transmit ping time 2025-10-24T19:32:53.615Z,1761334373.615 [DAT](INFO): publishing direction and range info 2025-10-24T19:32:53.740Z,1761334373.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716942,-0.693555,-0.070542],[0.668838,0.712848,-0.210957],[0.196596,0.104063,0.974947]] 2025-10-24T19:32:53.786Z,1761334373.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.000000 m, deltaT: 3.779843 s, deltaX: -2.100006 m, approachRate: -0.555580 m/s, rangeRepo size: 4 2025-10-24T19:32:53.793Z,1761334373.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.164337 m, bearing: 46.759122 deg, lat: 36.779655 deg, lon: -121.859747 deg, deltaT: 3.779843 s, deltaX: -2.087830 m, approachRate: -0.552359 m/s, posRepo size: 4 2025-10-24T19:32:53.793Z,1761334373.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:53.800Z,1761334373.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 152.958145 m, bearing: 44.418223 deg, approach rate: 0.000000 m/s, LOS rate: -0.017783 deg/s, cmd heading: 43.207295 deg, new cmd heading: 43.187486 deg. 2025-10-24T19:32:53.801Z,1761334373.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753764 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:53.850Z,1761334373.850 [DAT](INFO): DAT read: TxSync time:19:32:52.9204 2025-10-24T19:32:54.178Z,1761334374.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714941,-0.695777,-0.068946],[0.670823,0.710397,-0.212914],[0.197119,0.105970,0.974636]] 2025-10-24T19:32:54.233Z,1761334374.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:54.236Z,1761334374.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 152.678299 m, bearing: 44.410562 deg, approach rate: -0.624909 m/s, LOS rate: -0.017139 deg/s, cmd heading: 43.187488 deg, new cmd heading: 43.164462 deg. 2025-10-24T19:32:54.237Z,1761334374.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753362 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:54.537Z,1761334374.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714573,-0.696072,-0.069782],[0.671229,0.710314,-0.211909],[0.197071,0.104584,0.974795]] 2025-10-24T19:32:54.564Z,1761334374.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:54.567Z,1761334374.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 152.479782 m, bearing: 44.405068 deg, approach rate: -0.599464 m/s, LOS rate: -0.016609 deg/s, cmd heading: 43.164463 deg, new cmd heading: 43.147962 deg. 2025-10-24T19:32:54.569Z,1761334374.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753074 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:54.943Z,1761334374.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713800,-0.696822,-0.070203],[0.671985,0.709680,-0.211635],[0.197294,0.103889,0.974824]] 2025-10-24T19:32:54.963Z,1761334374.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:54.989Z,1761334374.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 152.241623 m, bearing: 44.398360 deg, approach rate: -0.597290 m/s, LOS rate: -0.016850 deg/s, cmd heading: 43.147961 deg, new cmd heading: 43.127805 deg. 2025-10-24T19:32:54.990Z,1761334374.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752722 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:55.340Z,1761334375.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714031,-0.696563,-0.070431],[0.672126,0.710168,-0.209544],[0.195978,0.102282,0.975259]] 2025-10-24T19:32:55.389Z,1761334375.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:55.393Z,1761334375.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 151.993881 m, bearing: 44.392775 deg, approach rate: -0.580482 m/s, LOS rate: -0.013107 deg/s, cmd heading: 43.127805 deg, new cmd heading: 43.111024 deg. 2025-10-24T19:32:55.394Z,1761334375.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752429 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:55.813Z,1761334375.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714288,-0.696238,-0.071029],[0.672134,0.710737,-0.207578],[0.195006,0.100529,0.975636]] 2025-10-24T19:32:55.840Z,1761334375.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:55.842Z,1761334375.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:55.845Z,1761334375.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 151.731049 m, bearing: 44.386852 deg, approach rate: -0.580103 m/s, LOS rate: -0.013096 deg/s, cmd heading: 43.111024 deg, new cmd heading: 43.093224 deg. 2025-10-24T19:32:55.846Z,1761334375.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752119 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:55.865Z,1761334375.865 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:55.865Z,1761334375.865 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:55.865Z,1761334375.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:32:56.120Z,1761334376.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509899 2025-10-24T19:32:56.176Z,1761334376.176 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:32:56.217Z,1761334376.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713682,-0.696911,-0.070523],[0.673009,0.710133,-0.206810],[0.194209,0.100134,0.975836]] 2025-10-24T19:32:56.266Z,1761334376.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:56.269Z,1761334376.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 151.488449 m, bearing: 44.381131 deg, approach rate: -0.573561 m/s, LOS rate: -0.013548 deg/s, cmd heading: 43.093224 deg, new cmd heading: 43.076033 deg. 2025-10-24T19:32:56.271Z,1761334376.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751819 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:56.371Z,1761334376.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760208 2025-10-24T19:32:56.622Z,1761334376.622 [DAT](INFO): DAT read: Rx Time:19:32:55.5280 2025-10-24T19:32:56.622Z,1761334376.622 [DAT](INFO): Rx dataTimestamp_ set to:1761334376.622079 2025-10-24T19:32:56.623Z,1761334376.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012837 2025-10-24T19:32:56.726Z,1761334376.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713661,-0.696992,-0.069932],[0.673390,0.710123,-0.205600],[0.192961,0.099637,0.976134]] 2025-10-24T19:32:56.766Z,1761334376.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:56.770Z,1761334376.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 151.211182 m, bearing: 44.374542 deg, approach rate: -0.553842 m/s, LOS rate: -0.013187 deg/s, cmd heading: 43.076033 deg, new cmd heading: 43.056228 deg. 2025-10-24T19:32:56.771Z,1761334376.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751473 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:56.873Z,1761334376.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262968 2025-10-24T19:32:57.130Z,1761334377.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519165 2025-10-24T19:32:57.182Z,1761334377.182 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:32:57.211Z,1761334377.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712852,-0.697938,-0.068742],[0.674684,0.709235,-0.204421],[0.191427,0.099343,0.976466]] 2025-10-24T19:32:57.261Z,1761334377.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:57.280Z,1761334377.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 150.917694 m, bearing: 44.367147 deg, approach rate: -0.592759 m/s, LOS rate: -0.014964 deg/s, cmd heading: 43.056228 deg, new cmd heading: 43.034001 deg. 2025-10-24T19:32:57.281Z,1761334377.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751085 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:57.385Z,1761334377.385 [DAT](INFO): DAT read: 19:32:55.5280 LVL= 22512, 30289, 21378, 32755, AGC= 67, IDX= 407,-0.16,-2.080, 2.556,-2.252,-2.846, PHS= 0.854,-0.834, 0.592, RAW= 141.7, -7.8, CAL= 148.0, -17.3, ROT= 2.0, 17.3 2025-10-24T19:32:57.387Z,1761334377.387 [DAT](INFO): got valid direction response: 19:32:55.5280 LVL= 22512, 30289, 21378, 32755, AGC= 67, IDX= 407,-0.16,-2.080, 2.556,-2.252,-2.846, PHS= 0.854,-0.834, 0.592, RAW= 141.7, -7.8, CAL= 148.0, -17.3, ROT= 2.0, 17.3 2025-10-24T19:32:57.387Z,1761334377.387 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:32:57.388Z,1761334377.388 [DAT](INFO): Received a bad header 2025-10-24T19:32:57.413Z,1761334377.413 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:32:57.414Z,1761334377.414 [DAT](INFO): direction in FSK: [0.954179,0.033321,-0.297375] 2025-10-24T19:32:57.417Z,1761334377.417 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:57.417Z,1761334377.417 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:57.417Z,1761334377.417 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:57.614Z,1761334377.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712486,-0.698470,-0.067102],[0.675623,0.708699,-0.203175],[0.189467,0.099424,0.976840]] 2025-10-24T19:32:57.629Z,1761334377.629 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:57.629Z,1761334377.629 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:57.629Z,1761334377.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:57.640Z,1761334377.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:57.643Z,1761334377.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 150.699615 m, bearing: 44.361557 deg, approach rate: -0.575908 m/s, LOS rate: -0.014782 deg/s, cmd heading: 43.034000 deg, new cmd heading: 43.017207 deg. 2025-10-24T19:32:57.644Z,1761334377.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750792 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:57.882Z,1761334377.882 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:57.882Z,1761334377.882 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:57.882Z,1761334377.882 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:58.063Z,1761334378.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:32:58.065Z,1761334378.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:58.068Z,1761334378.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 150.454056 m, bearing: 44.355244 deg, approach rate: -0.577260 m/s, LOS rate: -0.014867 deg/s, cmd heading: 43.017208 deg, new cmd heading: 42.998235 deg. 2025-10-24T19:32:58.070Z,1761334378.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750461 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:58.134Z,1761334378.134 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:58.135Z,1761334378.135 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:58.135Z,1761334378.135 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:58.385Z,1761334378.385 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:58.385Z,1761334378.385 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:58.385Z,1761334378.385 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:58.450Z,1761334378.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711679,-0.699657,-0.063195],[0.678091,0.707670,-0.198483],[0.183591,0.098404,0.978065]] 2025-10-24T19:32:58.524Z,1761334378.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:58.533Z,1761334378.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 150.203461 m, bearing: 44.350432 deg, approach rate: -0.547391 m/s, LOS rate: -0.010527 deg/s, cmd heading: 42.998233 deg, new cmd heading: 42.983776 deg. 2025-10-24T19:32:58.534Z,1761334378.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750208 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:58.637Z,1761334378.637 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:58.637Z,1761334378.637 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:58.638Z,1761334378.638 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:58.844Z,1761334378.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711183,-0.700298,-0.061662],[0.679139,0.707051,-0.197101],[0.181627,0.098298,0.978442]] 2025-10-24T19:32:58.864Z,1761334378.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:58.867Z,1761334378.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 150.000641 m, bearing: 44.346442 deg, approach rate: -0.595751 m/s, LOS rate: -0.011739 deg/s, cmd heading: 42.983777 deg, new cmd heading: 42.971788 deg. 2025-10-24T19:32:58.867Z,1761334378.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749999 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:58.902Z,1761334378.902 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:58.902Z,1761334378.902 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:58.902Z,1761334378.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:59.157Z,1761334379.157 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:59.158Z,1761334379.158 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:59.158Z,1761334379.158 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:59.315Z,1761334379.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:59.318Z,1761334379.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 149.742767 m, bearing: 44.339664 deg, approach rate: -0.571660 m/s, LOS rate: -0.015051 deg/s, cmd heading: 42.971787 deg, new cmd heading: 42.951419 deg. 2025-10-24T19:32:59.320Z,1761334379.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749644 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:59.405Z,1761334379.405 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:59.405Z,1761334379.405 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:59.405Z,1761334379.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:59.649Z,1761334379.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710355,-0.701467,-0.057790],[0.680859,0.705650,-0.196186],[0.178397,0.100015,0.978862]] 2025-10-24T19:32:59.657Z,1761334379.657 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:59.657Z,1761334379.657 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:59.657Z,1761334379.657 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:32:59.697Z,1761334379.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:32:59.700Z,1761334379.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 149.540283 m, bearing: 44.334184 deg, approach rate: -0.529359 m/s, LOS rate: -0.014346 deg/s, cmd heading: 42.951419 deg, new cmd heading: 42.934957 deg. 2025-10-24T19:32:59.701Z,1761334379.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749356 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:32:59.909Z,1761334379.909 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:32:59.909Z,1761334379.909 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:32:59.909Z,1761334379.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:00.054Z,1761334380.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710313,-0.701658,-0.055955],[0.681277,0.705308,-0.195968],[0.176968,0.101078,0.979013]] 2025-10-24T19:33:00.092Z,1761334380.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:00.102Z,1761334380.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:00.111Z,1761334380.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 149.310135 m, bearing: 44.327907 deg, approach rate: -0.569794 m/s, LOS rate: -0.015563 deg/s, cmd heading: 42.934955 deg, new cmd heading: 42.916097 deg. 2025-10-24T19:33:00.118Z,1761334380.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749027 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:00.163Z,1761334380.163 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:00.165Z,1761334380.165 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:00.165Z,1761334380.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:00.413Z,1761334380.413 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:00.413Z,1761334380.413 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:00.413Z,1761334380.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:00.479Z,1761334380.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709940,-0.702182,-0.054085],[0.682032,0.704643,-0.195732],[0.175550,0.102070,0.979165]] 2025-10-24T19:33:00.534Z,1761334380.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:00.537Z,1761334380.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 149.043777 m, bearing: 44.322098 deg, approach rate: -0.615647 m/s, LOS rate: -0.013452 deg/s, cmd heading: 42.916097 deg, new cmd heading: 42.898637 deg. 2025-10-24T19:33:00.537Z,1761334380.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748722 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:00.665Z,1761334380.665 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:00.665Z,1761334380.665 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:00.665Z,1761334380.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:00.865Z,1761334380.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709947,-0.702241,-0.053222],[0.682368,0.704610,-0.194676],[0.174210,0.101893,0.979423]] 2025-10-24T19:33:00.885Z,1761334380.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:00.889Z,1761334380.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 148.841888 m, bearing: 44.317663 deg, approach rate: -0.576809 m/s, LOS rate: -0.012688 deg/s, cmd heading: 42.898635 deg, new cmd heading: 42.885313 deg. 2025-10-24T19:33:00.890Z,1761334380.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748490 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:00.917Z,1761334380.917 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:00.918Z,1761334380.918 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:00.918Z,1761334380.918 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:01.172Z,1761334381.172 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:01.173Z,1761334381.173 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:01.173Z,1761334381.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:01.265Z,1761334381.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710095,-0.702141,-0.052568],[0.682574,0.704781,-0.193331],[0.172794,0.101402,0.979724]] 2025-10-24T19:33:01.362Z,1761334381.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:01.369Z,1761334381.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 148.569885 m, bearing: 44.312027 deg, approach rate: -0.569168 m/s, LOS rate: -0.011814 deg/s, cmd heading: 42.885313 deg, new cmd heading: 42.868376 deg. 2025-10-24T19:33:01.370Z,1761334381.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748194 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:01.423Z,1761334381.423 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:01.423Z,1761334381.423 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:01.423Z,1761334381.423 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:01.667Z,1761334381.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710261,-0.701958,-0.052759],[0.682674,0.705151,-0.191617],[0.171711,0.100081,0.980051]] 2025-10-24T19:33:01.673Z,1761334381.673 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:01.673Z,1761334381.673 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:01.673Z,1761334381.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:01.715Z,1761334381.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:01.720Z,1761334381.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 148.375046 m, bearing: 44.307983 deg, approach rate: -0.550961 m/s, LOS rate: -0.011452 deg/s, cmd heading: 42.868374 deg, new cmd heading: 42.856225 deg. 2025-10-24T19:33:01.721Z,1761334381.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747982 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:01.925Z,1761334381.925 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:01.925Z,1761334381.925 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:01.925Z,1761334381.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:02.111Z,1761334382.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:02.113Z,1761334382.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:02.115Z,1761334382.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 148.133652 m, bearing: 44.302957 deg, approach rate: -0.606943 m/s, LOS rate: -0.012657 deg/s, cmd heading: 42.856227 deg, new cmd heading: 42.841125 deg. 2025-10-24T19:33:02.117Z,1761334382.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747719 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:02.178Z,1761334382.178 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:02.178Z,1761334382.178 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:02.178Z,1761334382.178 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:02.429Z,1761334382.429 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:02.429Z,1761334382.429 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:02.429Z,1761334382.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:02.505Z,1761334382.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710639,-0.701646,-0.051812],[0.682862,0.705593,-0.189310],[0.169386,0.099151,0.980550]] 2025-10-24T19:33:02.611Z,1761334382.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:02.617Z,1761334382.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 147.834549 m, bearing: 44.295677 deg, approach rate: -0.600119 m/s, LOS rate: -0.014637 deg/s, cmd heading: 42.841125 deg, new cmd heading: 42.819239 deg. 2025-10-24T19:33:02.618Z,1761334382.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747337 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:02.681Z,1761334382.681 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:02.681Z,1761334382.681 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:02.681Z,1761334382.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:02.887Z,1761334382.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711307,-0.701005,-0.051334],[0.682492,0.706291,-0.188034],[0.168069,0.098715,0.980820]] 2025-10-24T19:33:02.933Z,1761334382.933 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:02.934Z,1761334382.934 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:02.934Z,1761334382.934 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:02.938Z,1761334382.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:02.945Z,1761334382.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 147.652405 m, bearing: 44.291282 deg, approach rate: -0.557282 m/s, LOS rate: -0.013462 deg/s, cmd heading: 42.819238 deg, new cmd heading: 42.806038 deg. 2025-10-24T19:33:02.946Z,1761334382.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747106 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:03.185Z,1761334383.185 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:03.185Z,1761334383.185 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:03.185Z,1761334383.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:03.354Z,1761334383.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711409,-0.700922,-0.051044],[0.682617,0.706448,-0.186990],[0.167125,0.098183,0.981035]] 2025-10-24T19:33:03.404Z,1761334383.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:03.407Z,1761334383.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 147.361801 m, bearing: 44.285226 deg, approach rate: -0.624213 m/s, LOS rate: -0.013034 deg/s, cmd heading: 42.806039 deg, new cmd heading: 42.787834 deg. 2025-10-24T19:33:03.408Z,1761334383.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746789 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:03.437Z,1761334383.437 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:03.437Z,1761334383.437 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:03.437Z,1761334383.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:03.688Z,1761334383.688 [DAT](INFO): Reached modem response timeout 2025-10-24T19:33:03.689Z,1761334383.689 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:33:03.689Z,1761334383.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:03.757Z,1761334383.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712174,-0.700108,-0.051544],[0.682075,0.707460,-0.185132],[0.166078,0.096689,0.981361]] 2025-10-24T19:33:03.792Z,1761334383.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:03.794Z,1761334383.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 147.137497 m, bearing: 44.280619 deg, approach rate: -0.578281 m/s, LOS rate: -0.011896 deg/s, cmd heading: 42.787833 deg, new cmd heading: 42.773990 deg. 2025-10-24T19:33:03.795Z,1761334383.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746547 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:03.941Z,1761334383.941 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:33:04.193Z,1761334384.193 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:33:04.250Z,1761334384.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712314,-0.699979,-0.051353],[0.682178,0.707689,-0.183874],[0.165050,0.095945,0.981607]] 2025-10-24T19:33:04.310Z,1761334384.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:04.317Z,1761334384.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:04.325Z,1761334384.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 146.818527 m, bearing: 44.274046 deg, approach rate: -0.607484 m/s, LOS rate: -0.012544 deg/s, cmd heading: 42.773988 deg, new cmd heading: 42.754229 deg. 2025-10-24T19:33:04.326Z,1761334384.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746202 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:04.445Z,1761334384.445 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:33:04.445Z,1761334384.445 [DAT](INFO): response not received 2025-10-24T19:33:04.446Z,1761334384.446 [DAT](INFO): DAT read: user:65> 2025-10-24T19:33:04.446Z,1761334384.446 [DAT](INFO): DAT read: Tx time:19:33:03.8712 2025-10-24T19:33:04.447Z,1761334384.447 [DAT](INFO): Ping request sent. 2025-10-24T19:33:04.447Z,1761334384.447 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:04.447Z,1761334384.447 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:04.447Z,1761334384.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-24T19:33:04.698Z,1761334384.698 [DAT](INFO): DAT read: TxSync time:19:33:03.8705 2025-10-24T19:33:04.699Z,1761334384.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252153 2025-10-24T19:33:04.740Z,1761334384.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713446,-0.698952,-0.049603],[0.681966,0.708884,-0.180017],[0.160986,0.094605,0.982412]] 2025-10-24T19:33:04.813Z,1761334384.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:04.820Z,1761334384.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 146.518600 m, bearing: 44.267373 deg, approach rate: -0.603991 m/s, LOS rate: -0.013466 deg/s, cmd heading: 42.754228 deg, new cmd heading: 42.734168 deg. 2025-10-24T19:33:04.821Z,1761334384.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745852 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:04.949Z,1761334384.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502112 2025-10-24T19:33:05.138Z,1761334385.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714573,-0.698036,-0.046163],[0.681237,0.709343,-0.180964],[0.159065,0.097864,0.982406]] 2025-10-24T19:33:05.157Z,1761334385.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:05.159Z,1761334385.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 146.302826 m, bearing: 44.262668 deg, approach rate: -0.628013 m/s, LOS rate: -0.013714 deg/s, cmd heading: 42.734168 deg, new cmd heading: 42.720032 deg. 2025-10-24T19:33:05.161Z,1761334385.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745605 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:05.205Z,1761334385.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757820 2025-10-24T19:33:05.454Z,1761334385.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811 2025-10-24T19:33:05.635Z,1761334385.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:05.649Z,1761334385.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 146.027039 m, bearing: 44.257136 deg, approach rate: -0.576535 m/s, LOS rate: -0.011587 deg/s, cmd heading: 42.720033 deg, new cmd heading: 42.703405 deg. 2025-10-24T19:33:05.650Z,1761334385.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745315 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:05.708Z,1761334385.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260587 2025-10-24T19:33:05.947Z,1761334385.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717048,-0.695545,-0.045382],[0.679563,0.712083,-0.176443],[0.155040,0.095678,0.983264]] 2025-10-24T19:33:05.957Z,1761334385.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510176 2025-10-24T19:33:05.989Z,1761334385.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:05.992Z,1761334385.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 145.796570 m, bearing: 44.252768 deg, approach rate: -0.651273 m/s, LOS rate: -0.012363 deg/s, cmd heading: 42.703405 deg, new cmd heading: 42.690280 deg. 2025-10-24T19:33:05.993Z,1761334385.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745086 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:06.212Z,1761334386.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764941 2025-10-24T19:33:06.389Z,1761334386.389 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, 72 +11.01, 20.00,760.37 2025-10-24T19:33:06.403Z,1761334386.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:06.410Z,1761334386.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:06.413Z,1761334386.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 145.541168 m, bearing: 44.247911 deg, approach rate: -0.607089 m/s, LOS rate: -0.011565 deg/s, cmd heading: 42.690281 deg, new cmd heading: 42.675685 deg. 2025-10-24T19:33:06.414Z,1761334386.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744831 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:06.461Z,1761334386.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014250 2025-10-24T19:33:06.715Z,1761334386.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268306 2025-10-24T19:33:06.838Z,1761334386.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719705,-0.692984,-0.042411],[0.678189,0.714786,-0.170707],[0.148612,0.094096,0.984409]] 2025-10-24T19:33:06.858Z,1761334386.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:06.881Z,1761334386.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 145.264801 m, bearing: 44.242955 deg, approach rate: -0.618285 m/s, LOS rate: -0.011109 deg/s, cmd heading: 42.675684 deg, new cmd heading: 42.660788 deg. 2025-10-24T19:33:06.883Z,1761334386.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744571 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:06.965Z,1761334386.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518243 2025-10-24T19:33:07.217Z,1761334387.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770159 2025-10-24T19:33:07.333Z,1761334387.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720856,-0.691921,-0.040153],[0.677650,0.715777,-0.168682],[0.145455,0.094386,0.984852]] 2025-10-24T19:33:07.381Z,1761334387.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:07.385Z,1761334387.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 144.933563 m, bearing: 44.234602 deg, approach rate: -0.631346 m/s, LOS rate: -0.015959 deg/s, cmd heading: 42.660788 deg, new cmd heading: 42.635670 deg. 2025-10-24T19:33:07.386Z,1761334387.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744133 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:07.470Z,1761334387.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022830 2025-10-24T19:33:07.721Z,1761334387.721 [DAT](INFO): DAT read: Rx Time:19:33:06.4695 2025-10-24T19:33:07.722Z,1761334387.722 [DAT](INFO): Rx dataTimestamp_ set to:1761334387.721347 2025-10-24T19:33:07.722Z,1761334387.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275449 2025-10-24T19:33:07.805Z,1761334387.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721351,-0.691549,-0.037594],[0.677776,0.716061,-0.166963],[0.142382,0.094959,0.985246]] 2025-10-24T19:33:07.845Z,1761334387.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:07.848Z,1761334387.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 144.655029 m, bearing: 44.227580 deg, approach rate: -0.606248 m/s, LOS rate: -0.015314 deg/s, cmd heading: 42.635670 deg, new cmd heading: 42.614563 deg. 2025-10-24T19:33:07.849Z,1761334387.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743764 target range: 153.164337 and range: 154.00 m. 2025-10-24T19:33:07.973Z,1761334387.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526079 2025-10-24T19:33:08.199Z,1761334388.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721948,-0.691001,-0.036181],[0.677770,0.716719,-0.164141],[0.139354,0.093979,0.985773]] 2025-10-24T19:33:08.231Z,1761334388.231 [DAT](INFO): DAT read: 19:33:06.4695 LVL= 26848, 25233, 24754, 32755, AGC= 69, IDX= 367,-0.09,-2.012, 2.687,-2.248,-2.773, PHS= 0.849,-0.776, 0.522, RAW= 139.0, -8.0, CAL= 145.2, -18.1, ROT= 4.8, 18.1 2025-10-24T19:33:08.232Z,1761334388.232 [DAT](INFO): got valid direction response: 19:33:06.4695 LVL= 26848, 25233, 24754, 32755, AGC= 69, IDX= 367,-0.09,-2.012, 2.687,-2.248,-2.773, PHS= 0.849,-0.776, 0.522, RAW= 139.0, -8.0, CAL= 145.2, -18.1, ROT= 4.8, 18.1 2025-10-24T19:33:08.233Z,1761334388.233 [DAT](INFO): DAT read: Bearing 4.8, 18.1 (Local) 2025-10-24T19:33:08.233Z,1761334388.233 [DAT](INFO): Local bearing/azimuth received: Bearing 4.8, 18.1 (Local) 2025-10-24T19:33:08.235Z,1761334388.235 [DAT](INFO): DAT read: Range 10 to 50 : 145.5 m (Round-trip 194.0 ms) speed 0.4 m/s 2025-10-24T19:33:08.236Z,1761334388.236 [DAT](INFO): DAT read: user:66> 2025-10-24T19:33:08.237Z,1761334388.237 [DAT](INFO): DAT read: Tx time:19:33:07.5713 2025-10-24T19:33:08.237Z,1761334388.237 [DAT](INFO): Ping request sent. 2025-10-24T19:33:08.237Z,1761334388.237 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:08.238Z,1761334388.238 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:08.239Z,1761334388.239 [DAT](INFO): direction in FSK: [0.947182,0.079537,-0.310676] 2025-10-24T19:33:08.239Z,1761334388.239 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:08.239Z,1761334388.239 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:08.244Z,1761334388.244 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:08.244Z,1761334388.244 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:08.250Z,1761334388.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 145.500000 m, deltaT: 14.628160 s, deltaX: -8.500000 m, approachRate: -0.581071 m/s, rangeRepo size: 4 2025-10-24T19:33:08.251Z,1761334388.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:08.273Z,1761334388.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 144.402252 m, bearing: 44.221229 deg, approach rate: -0.618087 m/s, LOS rate: -0.015556 deg/s, cmd heading: 42.614561 deg, new cmd heading: 42.595475 deg. 2025-10-24T19:33:08.274Z,1761334388.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743431 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:08.477Z,1761334388.477 [DAT](INFO): DAT read: TxSync time:19:33:07.5706 2025-10-24T19:33:08.629Z,1761334388.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722742,-0.690257,-0.034476],[0.677594,0.717538,-0.161264],[0.136052,0.093191,0.986309]] 2025-10-24T19:33:08.702Z,1761334388.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:08.705Z,1761334388.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 144.106903 m, bearing: 44.213603 deg, approach rate: -0.653478 m/s, LOS rate: -0.016907 deg/s, cmd heading: 42.595474 deg, new cmd heading: 42.572550 deg. 2025-10-24T19:33:08.706Z,1761334388.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743031 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:09.025Z,1761334389.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722802,-0.690335,-0.031552],[0.678004,0.717243,-0.160849],[0.133670,0.094869,0.986475]] 2025-10-24T19:33:09.042Z,1761334389.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:09.067Z,1761334389.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:09.074Z,1761334389.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 143.886673 m, bearing: 44.207874 deg, approach rate: -0.643532 m/s, LOS rate: -0.016766 deg/s, cmd heading: 42.572549 deg, new cmd heading: 42.555336 deg. 2025-10-24T19:33:09.075Z,1761334389.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742731 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:09.245Z,1761334389.245 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:09.245Z,1761334389.245 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:09.245Z,1761334389.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:09.427Z,1761334389.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723947,-0.689228,-0.029434],[0.677232,0.718177,-0.159935],[0.131370,0.095851,0.986689]] 2025-10-24T19:33:09.493Z,1761334389.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:09.495Z,1761334389.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 143.621582 m, bearing: 44.201478 deg, approach rate: -0.590874 m/s, LOS rate: -0.014283 deg/s, cmd heading: 42.555337 deg, new cmd heading: 42.536113 deg. 2025-10-24T19:33:09.497Z,1761334389.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259568 2025-10-24T19:33:09.501Z,1761334389.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742395 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:09.749Z,1761334389.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511370 2025-10-24T19:33:09.833Z,1761334389.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724283,-0.688968,-0.027143],[0.677295,0.718284,-0.159184],[0.129169,0.096911,0.986876]] 2025-10-24T19:33:09.862Z,1761334389.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:09.865Z,1761334389.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 143.377563 m, bearing: 44.195588 deg, approach rate: -0.660620 m/s, LOS rate: -0.015972 deg/s, cmd heading: 42.536113 deg, new cmd heading: 42.518414 deg. 2025-10-24T19:33:09.866Z,1761334389.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742086 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:10.001Z,1761334390.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763882 2025-10-24T19:33:10.235Z,1761334390.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725916,-0.687366,-0.023950],[0.676184,0.719610,-0.157912],[0.125778,0.098437,0.987163]] 2025-10-24T19:33:10.255Z,1761334390.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017312 2025-10-24T19:33:10.307Z,1761334390.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:10.310Z,1761334390.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 143.110382 m, bearing: 44.189326 deg, approach rate: -0.605011 m/s, LOS rate: -0.014207 deg/s, cmd heading: 42.518413 deg, new cmd heading: 42.499590 deg. 2025-10-24T19:33:10.313Z,1761334390.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741758 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:10.505Z,1761334390.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267637 2025-10-24T19:33:10.649Z,1761334390.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727231,-0.686058,-0.021436],[0.675404,0.720806,-0.155782],[0.122327,0.098812,0.987559]] 2025-10-24T19:33:10.716Z,1761334390.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:10.719Z,1761334390.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 142.843887 m, bearing: 44.183096 deg, approach rate: -0.646459 m/s, LOS rate: -0.015141 deg/s, cmd heading: 42.499592 deg, new cmd heading: 42.480866 deg. 2025-10-24T19:33:10.720Z,1761334390.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741431 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:10.757Z,1761334390.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519433 2025-10-24T19:33:11.009Z,1761334391.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771238 2025-10-24T19:33:11.055Z,1761334391.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729073,-0.684233,-0.016692],[0.674488,0.722405,-0.152307],[0.116272,0.099784,0.988192]] 2025-10-24T19:33:11.100Z,1761334391.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:11.103Z,1761334391.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:11.113Z,1761334391.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 142.611603 m, bearing: 44.177831 deg, approach rate: -0.600380 m/s, LOS rate: -0.013629 deg/s, cmd heading: 42.480867 deg, new cmd heading: 42.465048 deg. 2025-10-24T19:33:11.114Z,1761334391.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741155 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:11.261Z,1761334391.261 [DAT](INFO): DAT read: Rx Time:19:33:10.1665 2025-10-24T19:33:11.261Z,1761334391.261 [DAT](INFO): Rx dataTimestamp_ set to:1761334391.261021 2025-10-24T19:33:11.262Z,1761334391.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024358 2025-10-24T19:33:11.455Z,1761334391.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730557,-0.682688,-0.014950],[0.673329,0.723840,-0.150612],[0.113642,0.099964,0.988480]] 2025-10-24T19:33:11.513Z,1761334391.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275428 2025-10-24T19:33:11.540Z,1761334391.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:11.543Z,1761334391.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 142.351685 m, bearing: 44.170663 deg, approach rate: -0.628911 m/s, LOS rate: -0.017377 deg/s, cmd heading: 42.465048 deg, new cmd heading: 42.443503 deg. 2025-10-24T19:33:11.548Z,1761334391.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740779 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:11.766Z,1761334391.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528554 2025-10-24T19:33:11.858Z,1761334391.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731246,-0.681989,-0.013019],[0.673010,0.724464,-0.149029],[0.111067,0.100215,0.988747]] 2025-10-24T19:33:11.878Z,1761334391.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m. 2025-10-24T19:33:11.881Z,1761334391.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.164337 m, nav range: 142.128616 m, bearing: 44.164556 deg, approach rate: -0.616761 m/s, LOS rate: -0.016912 deg/s, cmd heading: 42.443502 deg, new cmd heading: 42.425153 deg. 2025-10-24T19:33:11.882Z,1761334391.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740459 target range: 153.164337 and range: 145.50 m. 2025-10-24T19:33:12.028Z,1761334392.028 [DAT](INFO): DAT read: 19:33:10.1665 LVL= 24912, 31633, 23506, 32755, AGC= 66, IDX= 416, 0.12, 3.104, 1.325, 2.831, 2.213, PHS= 0.980,-0.840, 0.616, RAW= 139.1, -9.1, CAL= 145.5, -19.3, ROT= 4.5, 19.3 2025-10-24T19:33:12.029Z,1761334392.029 [DAT](INFO): got valid direction response: 19:33:10.1665 LVL= 24912, 31633, 23506, 32755, AGC= 66, IDX= 416, 0.12, 3.104, 1.325, 2.831, 2.213, PHS= 0.980,-0.840, 0.616, RAW= 139.1, -9.1, CAL= 145.5, -19.3, ROT= 4.5, 19.3 2025-10-24T19:33:12.030Z,1761334392.030 [DAT](INFO): DAT read: Bearing 4.5, 19.3 (Local) 2025-10-24T19:33:12.030Z,1761334392.030 [DAT](INFO): Local bearing/azimuth received: Bearing 4.5, 19.3 (Local) 2025-10-24T19:33:12.065Z,1761334392.065 [DAT](INFO): DAT read: Range 10 to 50 : 143.2 m (Round-trip 191.0 ms) speed 0.5 m/s 2025-10-24T19:33:12.066Z,1761334392.066 [DAT](INFO): DAT read: user:67> 2025-10-24T19:33:12.067Z,1761334392.067 [DAT](INFO): DAT read: Tx time:19:33:11.2713 2025-10-24T19:33:12.067Z,1761334392.067 [DAT](INFO): Ping request sent. 2025-10-24T19:33:12.067Z,1761334392.067 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:12.068Z,1761334392.068 [DAT](INFO): DAT read: TxSync time:19:33:11.2706 2025-10-24T19:33:12.070Z,1761334392.070 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:12.071Z,1761334392.071 [DAT](INFO): direction in FSK: [0.940892,0.074050,-0.330514] 2025-10-24T19:33:12.071Z,1761334392.071 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:12.084Z,1761334392.084 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:12.117Z,1761334392.117 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:12.117Z,1761334392.117 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:12.262Z,1761334392.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732650,-0.680496,-0.012230],[0.671851,0.725982,-0.146853],[0.108811,0.099375,0.989083]] 2025-10-24T19:33:12.290Z,1761334392.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 143.199997 m, deltaT: 3.792257 s, deltaX: -2.300003 m, approachRate: -0.606500 m/s, rangeRepo size: 4 2025-10-24T19:33:12.309Z,1761334392.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 142.385437 m, bearing: 48.797926 deg, lat: 36.779611 deg, lon: -121.859703 deg, deltaT: 18.420417 s, deltaX: -10.778900 m, approachRate: -0.585160 m/s, posRepo size: 4 2025-10-24T19:33:12.309Z,1761334392.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:12.316Z,1761334392.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 141.260437 m, bearing: 46.680829 deg, approach rate: 0.000000 m/s, LOS rate: -0.016912 deg/s, cmd heading: 42.425153 deg, new cmd heading: 42.404258 deg. 2025-10-24T19:33:12.317Z,1761334392.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740094 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:12.662Z,1761334392.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732076,-0.681053,-0.015208],[0.672709,0.726265,-0.141429],[0.107366,0.093307,0.989832]] 2025-10-24T19:33:12.734Z,1761334392.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:12.741Z,1761334392.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 140.995956 m, bearing: 46.677247 deg, approach rate: -0.595098 m/s, LOS rate: -0.008074 deg/s, cmd heading: 42.404256 deg, new cmd heading: 42.393490 deg. 2025-10-24T19:33:12.742Z,1761334392.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739906 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:13.071Z,1761334393.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731605,-0.681613,-0.012588],[0.673484,0.725497,-0.141680],[0.105704,0.095176,0.989832]] 2025-10-24T19:33:13.098Z,1761334393.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:13.101Z,1761334393.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 140.772415 m, bearing: 46.674128 deg, approach rate: -0.613833 m/s, LOS rate: -0.008579 deg/s, cmd heading: 42.393492 deg, new cmd heading: 42.384119 deg. 2025-10-24T19:33:13.103Z,1761334393.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739742 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:13.471Z,1761334393.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731941,-0.681313,-0.008669],[0.673559,0.725414,-0.141752],[0.102866,0.097915,0.989864]] 2025-10-24T19:33:13.517Z,1761334393.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:13.519Z,1761334393.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:13.522Z,1761334393.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 140.522491 m, bearing: 46.667922 deg, approach rate: -0.594444 m/s, LOS rate: -0.014786 deg/s, cmd heading: 42.384117 deg, new cmd heading: 42.365467 deg. 2025-10-24T19:33:13.523Z,1761334393.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739417 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:13.529Z,1761334393.529 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:13.529Z,1761334393.529 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:13.529Z,1761334393.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:13.781Z,1761334393.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.713656 2025-10-24T19:33:13.875Z,1761334393.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732825,-0.680393,-0.005774],[0.673017,0.726077,-0.140928],[0.100079,0.099389,0.990003]] 2025-10-24T19:33:13.897Z,1761334393.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:13.902Z,1761334393.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 140.296051 m, bearing: 46.662377 deg, approach rate: -0.597896 m/s, LOS rate: -0.014665 deg/s, cmd heading: 42.365468 deg, new cmd heading: 42.348805 deg. 2025-10-24T19:33:13.904Z,1761334393.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739126 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:14.033Z,1761334394.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965571 2025-10-24T19:33:14.281Z,1761334394.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734661,-0.678425,-0.003650],[0.671385,0.727791,-0.139867],[0.097546,0.100304,0.990164]] 2025-10-24T19:33:14.286Z,1761334394.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217882 2025-10-24T19:33:14.301Z,1761334394.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:14.305Z,1761334394.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 140.055374 m, bearing: 46.656709 deg, approach rate: -0.596011 m/s, LOS rate: -0.014059 deg/s, cmd heading: 42.348805 deg, new cmd heading: 42.331774 deg. 2025-10-24T19:33:14.306Z,1761334394.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738829 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:14.538Z,1761334394.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470979 2025-10-24T19:33:14.686Z,1761334394.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735914,-0.677073,-0.001355],[0.670342,0.728876,-0.139217],[0.095248,0.101543,0.990261]] 2025-10-24T19:33:14.734Z,1761334394.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:14.739Z,1761334394.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 139.804489 m, bearing: 46.655273 deg, approach rate: -0.580131 m/s, LOS rate: -0.003327 deg/s, cmd heading: 42.331774 deg, new cmd heading: 42.327458 deg. 2025-10-24T19:33:14.742Z,1761334394.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738753 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:14.790Z,1761334394.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722908 2025-10-24T19:33:15.041Z,1761334395.041 [DAT](INFO): DAT read: Rx Time:19:33:13.8633 2025-10-24T19:33:15.041Z,1761334395.041 [DAT](INFO): Rx dataTimestamp_ set to:1761334395.041070 2025-10-24T19:33:15.042Z,1761334395.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974668 2025-10-24T19:33:15.115Z,1761334395.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737687,-0.675143,0.000104],[0.668707,0.730634,-0.137862],[0.093001,0.101768,0.990451]] 2025-10-24T19:33:15.146Z,1761334395.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:15.149Z,1761334395.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 139.565338 m, bearing: 46.654137 deg, approach rate: -0.580544 m/s, LOS rate: -0.002761 deg/s, cmd heading: 42.327458 deg, new cmd heading: 42.324045 deg. 2025-10-24T19:33:15.150Z,1761334395.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738694 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:15.293Z,1761334395.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225872 2025-10-24T19:33:15.529Z,1761334395.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738442,-0.674315,0.001415],[0.668127,0.731378,-0.136723],[0.091159,0.101907,0.990608]] 2025-10-24T19:33:15.551Z,1761334395.551 [DAT](INFO): DAT read: 19:33:13.8633 LVL= 20416, 30433, 18402, 32291, AGC= 70, IDX= 415, 0.46,-2.591, 2.038,-2.945, 2.839, PHS= 0.941,-0.755, 0.496, RAW= 135.3, -9.0, CAL= 141.2, -20.2, ROT= 8.8, 20.2 2025-10-24T19:33:15.556Z,1761334395.556 [DAT](INFO): got valid direction response: 19:33:13.8633 LVL= 20416, 30433, 18402, 32291, AGC= 70, IDX= 415, 0.46,-2.591, 2.038,-2.945, 2.839, PHS= 0.941,-0.755, 0.496, RAW= 135.3, -9.0, CAL= 141.2, -20.2, ROT= 8.8, 20.2 2025-10-24T19:33:15.557Z,1761334395.557 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:33:15.557Z,1761334395.557 [DAT](INFO): Received a bad header 2025-10-24T19:33:15.568Z,1761334395.568 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:33:15.570Z,1761334395.570 [DAT](INFO): direction in FSK: [0.927445,0.143576,-0.345298] 2025-10-24T19:33:15.574Z,1761334395.574 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:15.574Z,1761334395.574 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:15.574Z,1761334395.574 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:15.637Z,1761334395.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:15.639Z,1761334395.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:15.646Z,1761334395.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 139.281464 m, bearing: 46.652279 deg, approach rate: -0.575730 m/s, LOS rate: -0.003777 deg/s, cmd heading: 42.324046 deg, new cmd heading: 42.318459 deg. 2025-10-24T19:33:15.647Z,1761334395.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738596 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:15.797Z,1761334395.797 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:15.797Z,1761334395.797 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:15.797Z,1761334395.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:15.941Z,1761334395.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739956,-0.672650,0.002621],[0.666670,0.732848,-0.135961],[0.089533,0.102352,0.990711]] 2025-10-24T19:33:15.959Z,1761334395.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:15.962Z,1761334395.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 139.092606 m, bearing: 46.651202 deg, approach rate: -0.590320 m/s, LOS rate: -0.003369 deg/s, cmd heading: 42.318459 deg, new cmd heading: 42.315225 deg. 2025-10-24T19:33:15.962Z,1761334395.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738540 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:16.051Z,1761334396.051 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:16.051Z,1761334396.051 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:16.051Z,1761334396.051 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:16.305Z,1761334396.305 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:16.305Z,1761334396.305 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:16.305Z,1761334396.305 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:16.346Z,1761334396.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740886,-0.671620,0.003774],[0.665856,0.733769,-0.134980],[0.087886,0.102518,0.990841]] 2025-10-24T19:33:16.377Z,1761334396.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:16.379Z,1761334396.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 138.849899 m, bearing: 46.649939 deg, approach rate: -0.580307 m/s, LOS rate: -0.003026 deg/s, cmd heading: 42.315225 deg, new cmd heading: 42.311428 deg. 2025-10-24T19:33:16.381Z,1761334396.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738474 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:16.557Z,1761334396.557 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:16.558Z,1761334396.558 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:16.558Z,1761334396.558 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:16.785Z,1761334396.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742072,-0.670300,0.005220],[0.664797,0.734939,-0.133827],[0.085868,0.102780,0.990991]] 2025-10-24T19:33:16.809Z,1761334396.809 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:16.809Z,1761334396.809 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:16.809Z,1761334396.809 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:16.860Z,1761334396.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:16.863Z,1761334396.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 138.591446 m, bearing: 46.648091 deg, approach rate: -0.539432 m/s, LOS rate: -0.003865 deg/s, cmd heading: 42.311427 deg, new cmd heading: 42.305871 deg. 2025-10-24T19:33:16.868Z,1761334396.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738377 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:17.060Z,1761334397.060 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:17.061Z,1761334397.061 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:17.061Z,1761334397.061 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:17.295Z,1761334397.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743414,-0.668804,0.006137],[0.663505,0.736306,-0.132721],[0.084246,0.102738,0.991134]] 2025-10-24T19:33:17.313Z,1761334397.313 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:17.313Z,1761334397.313 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:17.313Z,1761334397.313 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:17.316Z,1761334397.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:17.337Z,1761334397.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 138.311661 m, bearing: 46.646299 deg, approach rate: -0.607617 m/s, LOS rate: -0.003898 deg/s, cmd heading: 42.305871 deg, new cmd heading: 42.300486 deg. 2025-10-24T19:33:17.338Z,1761334397.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738283 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:17.565Z,1761334397.565 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:17.565Z,1761334397.565 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:17.566Z,1761334397.566 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:17.722Z,1761334397.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744100,-0.668014,0.008525],[0.662977,0.736797,-0.132634],[0.082320,0.104345,0.991128]] 2025-10-24T19:33:17.777Z,1761334397.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:17.779Z,1761334397.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:17.783Z,1761334397.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 138.040771 m, bearing: 46.646046 deg, approach rate: -0.585107 m/s, LOS rate: -0.000548 deg/s, cmd heading: 42.300485 deg, new cmd heading: 42.299724 deg. 2025-10-24T19:33:17.784Z,1761334397.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738269 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:17.817Z,1761334397.817 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:17.817Z,1761334397.817 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:17.817Z,1761334397.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:18.069Z,1761334398.069 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:18.069Z,1761334398.069 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:18.070Z,1761334398.070 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:18.153Z,1761334398.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745005,-0.666970,0.010923],[0.662247,0.737568,-0.131992],[0.079978,0.105568,0.991191]] 2025-10-24T19:33:18.188Z,1761334398.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:18.191Z,1761334398.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 137.802490 m, bearing: 46.645935 deg, approach rate: -0.583308 m/s, LOS rate: -0.000272 deg/s, cmd heading: 42.299724 deg, new cmd heading: 42.299390 deg. 2025-10-24T19:33:18.192Z,1761334398.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738264 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:18.321Z,1761334398.321 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:18.321Z,1761334398.321 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:18.321Z,1761334398.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:18.530Z,1761334398.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745341,-0.666569,0.012393],[0.662167,0.738002,-0.129952],[0.077476,0.105065,0.991443]] 2025-10-24T19:33:18.573Z,1761334398.573 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:18.573Z,1761334398.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:18.573Z,1761334398.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:18.600Z,1761334398.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:18.609Z,1761334398.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 137.581238 m, bearing: 46.648807 deg, approach rate: -0.542117 m/s, LOS rate: 0.007049 deg/s, cmd heading: 42.299389 deg, new cmd heading: 42.308020 deg. 2025-10-24T19:33:18.610Z,1761334398.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738414 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:18.826Z,1761334398.826 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:18.826Z,1761334398.826 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:18.826Z,1761334398.826 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:18.947Z,1761334398.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746302,-0.665347,0.018647],[0.661690,0.738583,-0.129081],[0.072112,0.108672,0.991459]] 2025-10-24T19:33:18.987Z,1761334398.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:18.990Z,1761334398.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 137.358292 m, bearing: 46.651799 deg, approach rate: -0.571346 m/s, LOS rate: 0.007680 deg/s, cmd heading: 42.308019 deg, new cmd heading: 42.317009 deg. 2025-10-24T19:33:18.991Z,1761334398.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738571 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:19.077Z,1761334399.077 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:19.078Z,1761334399.078 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:19.078Z,1761334399.078 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:19.332Z,1761334399.332 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:19.333Z,1761334399.333 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:19.333Z,1761334399.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:19.345Z,1761334399.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746561,-0.664984,0.021056],[0.661678,0.738801,-0.127887],[0.069486,0.109407,0.991565]] 2025-10-24T19:33:19.365Z,1761334399.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:19.369Z,1761334399.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 137.130112 m, bearing: 46.654888 deg, approach rate: -0.601891 m/s, LOS rate: 0.008161 deg/s, cmd heading: 42.317011 deg, new cmd heading: 42.326293 deg. 2025-10-24T19:33:19.370Z,1761334399.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738733 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:19.580Z,1761334399.580 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:19.581Z,1761334399.581 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:19.581Z,1761334399.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:19.742Z,1761334399.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747094,-0.664301,0.023551],[0.661360,0.739296,-0.126667],[0.066734,0.110208,0.991666]] 2025-10-24T19:33:19.797Z,1761334399.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:19.799Z,1761334399.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:19.802Z,1761334399.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 136.877609 m, bearing: 46.659330 deg, approach rate: -0.582845 m/s, LOS rate: 0.010272 deg/s, cmd heading: 42.326293 deg, new cmd heading: 42.339643 deg. 2025-10-24T19:33:19.803Z,1761334399.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738966 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:19.833Z,1761334399.833 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:19.833Z,1761334399.833 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:19.833Z,1761334399.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:20.084Z,1761334400.084 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:20.085Z,1761334400.085 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:20.085Z,1761334400.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:20.151Z,1761334400.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746887,-0.664424,0.026480],[0.661857,0.738984,-0.125893],[0.064078,0.111554,0.991690]] 2025-10-24T19:33:20.184Z,1761334400.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:20.187Z,1761334400.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 136.652527 m, bearing: 46.663255 deg, approach rate: -0.583964 m/s, LOS rate: 0.010199 deg/s, cmd heading: 42.339643 deg, new cmd heading: 42.351436 deg. 2025-10-24T19:33:20.189Z,1761334400.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739172 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:20.337Z,1761334400.337 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:20.337Z,1761334400.337 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:20.337Z,1761334400.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:20.589Z,1761334400.589 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:20.589Z,1761334400.589 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:20.589Z,1761334400.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:20.604Z,1761334400.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:20.607Z,1761334400.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 136.407166 m, bearing: 46.668679 deg, approach rate: -0.584387 m/s, LOS rate: 0.012943 deg/s, cmd heading: 42.351435 deg, new cmd heading: 42.367738 deg. 2025-10-24T19:33:20.608Z,1761334400.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739457 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:20.842Z,1761334400.842 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:20.842Z,1761334400.842 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:20.842Z,1761334400.842 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:20.958Z,1761334400.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746867,-0.664205,0.031942],[0.662314,0.738731,-0.124966],[0.059406,0.114489,0.991647]] 2025-10-24T19:33:20.990Z,1761334400.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:20.993Z,1761334400.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 136.180969 m, bearing: 46.673663 deg, approach rate: -0.586054 m/s, LOS rate: 0.012933 deg/s, cmd heading: 42.367739 deg, new cmd heading: 42.382713 deg. 2025-10-24T19:33:20.994Z,1761334400.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739718 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:21.093Z,1761334401.093 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:21.093Z,1761334401.093 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:21.093Z,1761334401.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:21.345Z,1761334401.345 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:21.345Z,1761334401.345 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:21.345Z,1761334401.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:21.357Z,1761334401.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747413,-0.663508,0.033633],[0.661897,0.739333,-0.123609],[0.057149,0.114648,0.991761]] 2025-10-24T19:33:21.382Z,1761334401.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:21.409Z,1761334401.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 135.954926 m, bearing: 46.678724 deg, approach rate: -0.576357 m/s, LOS rate: 0.012928 deg/s, cmd heading: 42.382714 deg, new cmd heading: 42.397924 deg. 2025-10-24T19:33:21.410Z,1761334401.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739983 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:21.596Z,1761334401.596 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:21.597Z,1761334401.597 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:21.597Z,1761334401.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:21.764Z,1761334401.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747353,-0.663460,0.035825],[0.662148,0.739245,-0.122787],[0.054981,0.115487,0.991786]] 2025-10-24T19:33:21.849Z,1761334401.849 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:21.849Z,1761334401.849 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:21.849Z,1761334401.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:33:21.851Z,1761334401.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:21.880Z,1761334401.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:21.883Z,1761334401.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 135.682693 m, bearing: 46.685083 deg, approach rate: -0.570184 m/s, LOS rate: 0.013346 deg/s, cmd heading: 42.397925 deg, new cmd heading: 42.417040 deg. 2025-10-24T19:33:21.892Z,1761334401.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740317 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:22.101Z,1761334402.101 [DAT](INFO): Reached modem response timeout 2025-10-24T19:33:22.101Z,1761334402.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:33:22.101Z,1761334402.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:22.208Z,1761334402.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747484,-0.663237,0.037204],[0.662138,0.739412,-0.121835],[0.053296,0.115704,0.991853]] 2025-10-24T19:33:22.259Z,1761334402.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:22.263Z,1761334402.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 135.450974 m, bearing: 46.690526 deg, approach rate: -0.580352 m/s, LOS rate: 0.013653 deg/s, cmd heading: 42.417039 deg, new cmd heading: 42.433393 deg. 2025-10-24T19:33:22.273Z,1761334402.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740602 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:22.353Z,1761334402.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:33:22.583Z,1761334402.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747874,-0.662774,0.037622],[0.661842,0.740028,-0.119685],[0.051483,0.114409,0.992099]] 2025-10-24T19:33:22.605Z,1761334402.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:33:22.640Z,1761334402.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:22.643Z,1761334402.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 135.223724 m, bearing: 46.693981 deg, approach rate: -0.622309 m/s, LOS rate: 0.009479 deg/s, cmd heading: 42.433394 deg, new cmd heading: 42.443778 deg. 2025-10-24T19:33:22.648Z,1761334402.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740784 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:22.857Z,1761334402.857 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:33:22.857Z,1761334402.857 [DAT](INFO): response not received 2025-10-24T19:33:22.858Z,1761334402.858 [DAT](INFO): DAT read: user:69> 2025-10-24T19:33:22.858Z,1761334402.858 [DAT](INFO): DAT read: Tx time:19:33:22.2214 2025-10-24T19:33:22.859Z,1761334402.859 [DAT](INFO): Ping request sent. 2025-10-24T19:33:22.859Z,1761334402.859 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:22.859Z,1761334402.859 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:22.859Z,1761334402.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-24T19:33:22.997Z,1761334402.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748039,-0.662501,0.039107],[0.661791,0.740230,-0.118710],[0.049697,0.114680,0.992159]] 2025-10-24T19:33:23.040Z,1761334403.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:23.043Z,1761334403.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 134.982803 m, bearing: 46.697673 deg, approach rate: -0.585546 m/s, LOS rate: 0.008989 deg/s, cmd heading: 42.443779 deg, new cmd heading: 42.454875 deg. 2025-10-24T19:33:23.048Z,1761334403.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.740977 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:23.110Z,1761334403.110 [DAT](INFO): DAT read: TxSync time:19:33:22.2207 2025-10-24T19:33:23.111Z,1761334403.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252132 2025-10-24T19:33:23.361Z,1761334403.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502250 2025-10-24T19:33:23.388Z,1761334403.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747549,-0.663039,0.039367],[0.662445,0.739942,-0.116845],[0.048343,0.113426,0.992370]] 2025-10-24T19:33:23.408Z,1761334403.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:23.411Z,1761334403.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 134.755981 m, bearing: 46.701083 deg, approach rate: -0.608854 m/s, LOS rate: 0.009169 deg/s, cmd heading: 42.454875 deg, new cmd heading: 42.465122 deg. 2025-10-24T19:33:23.412Z,1761334403.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741156 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:23.613Z,1761334403.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754652 2025-10-24T19:33:23.849Z,1761334403.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747099,-0.663719,0.036327],[0.663068,0.740295,-0.110928],[0.046733,0.106962,0.993164]] 2025-10-24T19:33:23.865Z,1761334403.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006052 2025-10-24T19:33:23.917Z,1761334403.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:23.937Z,1761334403.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:23.945Z,1761334403.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 134.447754 m, bearing: 46.704639 deg, approach rate: -0.582839 m/s, LOS rate: 0.006739 deg/s, cmd heading: 42.465123 deg, new cmd heading: 42.475815 deg. 2025-10-24T19:33:23.946Z,1761334403.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741343 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:24.117Z,1761334404.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257953 2025-10-24T19:33:24.249Z,1761334404.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745190,-0.665771,0.037960],[0.665287,0.738337,-0.110681],[0.045661,0.107733,0.993131]] 2025-10-24T19:33:24.278Z,1761334404.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:24.281Z,1761334404.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 134.227264 m, bearing: 46.706916 deg, approach rate: -0.646523 m/s, LOS rate: 0.006689 deg/s, cmd heading: 42.475816 deg, new cmd heading: 42.482659 deg. 2025-10-24T19:33:24.282Z,1761334404.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741462 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:24.370Z,1761334404.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510988 2025-10-24T19:33:24.621Z,1761334404.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762197 2025-10-24T19:33:24.650Z,1761334404.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744203,-0.666705,0.040818],[0.666564,0.737327,-0.109736],[0.043066,0.108873,0.993122]] 2025-10-24T19:33:24.706Z,1761334404.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:24.709Z,1761334404.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 133.966522 m, bearing: 46.706766 deg, approach rate: -0.609177 m/s, LOS rate: -0.000352 deg/s, cmd heading: 42.482660 deg, new cmd heading: 42.482207 deg. 2025-10-24T19:33:24.710Z,1761334404.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741454 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:24.873Z,1761334404.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014293 2025-10-24T19:33:25.061Z,1761334405.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743846,-0.666849,0.044792],[0.667175,0.736893,-0.108933],[0.039635,0.110913,0.993039]] 2025-10-24T19:33:25.081Z,1761334405.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:25.083Z,1761334405.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 133.737518 m, bearing: 46.706566 deg, approach rate: -0.610832 m/s, LOS rate: -0.000535 deg/s, cmd heading: 42.482209 deg, new cmd heading: 42.481608 deg. 2025-10-24T19:33:25.085Z,1761334405.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741444 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:25.125Z,1761334405.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266463 2025-10-24T19:33:25.377Z,1761334405.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517942 2025-10-24T19:33:25.466Z,1761334405.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743542,-0.666925,0.048538],[0.667708,0.736563,-0.107897],[0.036208,0.112635,0.992976]] 2025-10-24T19:33:25.495Z,1761334405.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:25.498Z,1761334405.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 133.485657 m, bearing: 46.706281 deg, approach rate: -0.608238 m/s, LOS rate: -0.000689 deg/s, cmd heading: 42.481608 deg, new cmd heading: 42.480752 deg. 2025-10-24T19:33:25.499Z,1761334405.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741429 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:25.629Z,1761334405.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770479 2025-10-24T19:33:25.881Z,1761334405.881 [DAT](INFO): DAT read: Rx Time:19:33:24.8050 2025-10-24T19:33:25.881Z,1761334405.881 [DAT](INFO): Rx dataTimestamp_ set to:1761334405.880957 2025-10-24T19:33:25.882Z,1761334405.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023042 2025-10-24T19:33:25.926Z,1761334405.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743506,-0.666753,0.051383],[0.667926,0.736650,-0.105934],[0.032781,0.113083,0.993045]] 2025-10-24T19:33:26.020Z,1761334406.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:26.022Z,1761334406.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:26.031Z,1761334406.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 133.174591 m, bearing: 46.707667 deg, approach rate: -0.589954 m/s, LOS rate: 0.002635 deg/s, cmd heading: 42.480751 deg, new cmd heading: 42.484920 deg. 2025-10-24T19:33:26.054Z,1761334406.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741502 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:26.133Z,1761334406.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274510 2025-10-24T19:33:26.351Z,1761334406.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742733,-0.667430,0.053714],[0.668945,0.736115,-0.103189],[0.029331,0.112574,0.993210]] 2025-10-24T19:33:26.370Z,1761334406.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.39 m. 2025-10-24T19:33:26.373Z,1761334406.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.385437 m, nav range: 132.948807 m, bearing: 46.708554 deg, approach rate: -0.648558 m/s, LOS rate: 0.002553 deg/s, cmd heading: 42.484921 deg, new cmd heading: 42.487587 deg. 2025-10-24T19:33:26.374Z,1761334406.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741548 target range: 142.385437 and range: 143.20 m. 2025-10-24T19:33:26.386Z,1761334406.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527095 2025-10-24T19:33:26.643Z,1761334406.643 [DAT](INFO): DAT read: 19:33:24.8050 LVL= 32752, 32753, 31410, 32755, AGC= 66, IDX= 378,-0.17, 0.584,-0.847, 0.124,-0.122, PHS= 0.793,-0.678, 0.243, RAW= 128.3, -5.6, CAL= 133.0, -17.4, ROT= 17.0, 17.4 2025-10-24T19:33:26.644Z,1761334406.644 [DAT](INFO): got valid direction response: 19:33:24.8050 LVL= 32752, 32753, 31410, 32755, AGC= 66, IDX= 378,-0.17, 0.584,-0.847, 0.124,-0.122, PHS= 0.793,-0.678, 0.243, RAW= 128.3, -5.6, CAL= 133.0, -17.4, ROT= 17.0, 17.4 2025-10-24T19:33:26.646Z,1761334406.646 [DAT](INFO): DAT read: Bearing 17.0, 17.4 (Local) 2025-10-24T19:33:26.646Z,1761334406.646 [DAT](INFO): Local bearing/azimuth received: Bearing 17.0, 17.4 (Local) 2025-10-24T19:33:26.648Z,1761334406.648 [DAT](INFO): DAT read: Range 10 to 50 : 134.5 m (Round-trip 179.4 ms) speed 0.7 m/s 2025-10-24T19:33:26.649Z,1761334406.649 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:26.650Z,1761334406.650 [DAT](INFO): direction in FSK: [0.912545,0.278993,-0.299041] 2025-10-24T19:33:26.651Z,1761334406.651 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:26.655Z,1761334406.655 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:26.655Z,1761334406.655 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:26.655Z,1761334406.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:26.862Z,1761334406.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.500000 m, deltaT: 14.619811 s, deltaX: -8.699997 m, approachRate: -0.595083 m/s, rangeRepo size: 4 2025-10-24T19:33:26.868Z,1761334406.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.723740 m, bearing: 60.680603 deg, lat: 36.779563 deg, lon: -121.859683 deg, deltaT: 14.619811 s, deltaX: -8.661697 m, approachRate: -0.592463 m/s, posRepo size: 4 2025-10-24T19:33:26.869Z,1761334406.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:26.877Z,1761334406.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 130.404785 m, bearing: 48.963709 deg, approach rate: 0.000000 m/s, LOS rate: 0.002553 deg/s, cmd heading: 42.487588 deg, new cmd heading: 42.491346 deg. 2025-10-24T19:33:26.878Z,1761334406.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741614 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:26.889Z,1761334406.889 [DAT](INFO): DAT read: user:70> 2025-10-24T19:33:26.890Z,1761334406.890 [DAT](INFO): DAT read: Tx time:19:33:26.2214 2025-10-24T19:33:26.890Z,1761334406.890 [DAT](INFO): Ping request sent. 2025-10-24T19:33:26.890Z,1761334406.890 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:26.890Z,1761334406.890 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:26.891Z,1761334406.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-24T19:33:27.141Z,1761334407.141 [DAT](INFO): DAT read: TxSync time:19:33:26.2207 2025-10-24T19:33:27.142Z,1761334407.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251570 2025-10-24T19:33:27.178Z,1761334407.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741252,-0.668560,0.059766],[0.670828,0.734804,-0.100260],[0.023114,0.114411,0.993165]] 2025-10-24T19:33:27.230Z,1761334407.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:27.237Z,1761334407.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 130.174484 m, bearing: 48.966376 deg, approach rate: -0.624299 m/s, LOS rate: 0.007243 deg/s, cmd heading: 42.491344 deg, new cmd heading: 42.499360 deg. 2025-10-24T19:33:27.241Z,1761334407.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741754 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:27.329Z,1761334407.329 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:33:27.393Z,1761334407.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502869 2025-10-24T19:33:27.599Z,1761334407.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739818,-0.669823,0.063293],[0.672490,0.733306,-0.100096],[0.020633,0.116617,0.992963]] 2025-10-24T19:33:27.645Z,1761334407.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754765 2025-10-24T19:33:27.662Z,1761334407.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:27.665Z,1761334407.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 129.913635 m, bearing: 48.966690 deg, approach rate: -0.603900 m/s, LOS rate: 0.000727 deg/s, cmd heading: 42.499360 deg, new cmd heading: 42.500302 deg. 2025-10-24T19:33:27.666Z,1761334407.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741770 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:27.898Z,1761334407.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007757 2025-10-24T19:33:27.977Z,1761334407.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736792,-0.673042,0.064431],[0.675869,0.730576,-0.097264],[0.018391,0.115210,0.993171]] 2025-10-24T19:33:27.995Z,1761334407.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:27.998Z,1761334407.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 129.717255 m, bearing: 48.966534 deg, approach rate: -0.589121 m/s, LOS rate: -0.000467 deg/s, cmd heading: 42.500302 deg, new cmd heading: 42.499835 deg. 2025-10-24T19:33:27.999Z,1761334407.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741762 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:28.149Z,1761334408.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258725 2025-10-24T19:33:28.332Z,1761334408.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:33:28.371Z,1761334408.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734123,-0.675503,0.068987],[0.678831,0.727749,-0.097827],[0.015877,0.118648,0.992809]] 2025-10-24T19:33:28.388Z,1761334408.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:28.390Z,1761334408.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:28.393Z,1761334408.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 129.485870 m, bearing: 48.965940 deg, approach rate: -0.585774 m/s, LOS rate: -0.001506 deg/s, cmd heading: 42.499834 deg, new cmd heading: 42.498050 deg. 2025-10-24T19:33:28.394Z,1761334408.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741731 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:28.401Z,1761334408.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510917 2025-10-24T19:33:28.654Z,1761334408.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763411 2025-10-24T19:33:28.771Z,1761334408.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733341,-0.675931,0.072993],[0.679748,0.727020,-0.096874],[0.012413,0.120658,0.992616]] 2025-10-24T19:33:28.829Z,1761334408.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:28.832Z,1761334408.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 129.235947 m, bearing: 48.967453 deg, approach rate: -0.569016 m/s, LOS rate: 0.003452 deg/s, cmd heading: 42.498048 deg, new cmd heading: 42.502597 deg. 2025-10-24T19:33:28.833Z,1761334408.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741810 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:28.906Z,1761334408.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015672 2025-10-24T19:33:29.157Z,1761334409.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266704 2025-10-24T19:33:29.180Z,1761334409.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732352,-0.676535,0.077211],[0.680872,0.726140,-0.095572],[0.008592,0.122564,0.992424]] 2025-10-24T19:33:29.223Z,1761334409.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:29.230Z,1761334409.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 129.016479 m, bearing: 48.968639 deg, approach rate: -0.557671 m/s, LOS rate: 0.003019 deg/s, cmd heading: 42.502597 deg, new cmd heading: 42.506161 deg. 2025-10-24T19:33:29.231Z,1761334409.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741872 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:29.409Z,1761334409.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518791 2025-10-24T19:33:29.592Z,1761334409.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732039,-0.676421,0.081073],[0.681243,0.725914,-0.094637],[0.005162,0.124508,0.992205]] 2025-10-24T19:33:29.661Z,1761334409.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770831 2025-10-24T19:33:29.678Z,1761334409.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:29.687Z,1761334409.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 128.761459 m, bearing: 48.969965 deg, approach rate: -0.559717 m/s, LOS rate: 0.002916 deg/s, cmd heading: 42.506163 deg, new cmd heading: 42.510148 deg. 2025-10-24T19:33:29.692Z,1761334409.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741942 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:29.916Z,1761334409.916 [DAT](INFO): DAT read: Rx Time:19:33:28.8019 2025-10-24T19:33:29.917Z,1761334409.917 [DAT](INFO): Rx dataTimestamp_ set to:1761334409.916457 2025-10-24T19:33:29.918Z,1761334409.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027541 2025-10-24T19:33:30.009Z,1761334410.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731856,-0.675977,0.086262],[0.681457,0.726264,-0.090317],[-0.001596,0.124883,0.992170]] 2025-10-24T19:33:30.049Z,1761334410.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:30.073Z,1761334410.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 128.550476 m, bearing: 48.972356 deg, approach rate: -0.569185 m/s, LOS rate: 0.006460 deg/s, cmd heading: 42.510148 deg, new cmd heading: 42.517332 deg. 2025-10-24T19:33:30.074Z,1761334410.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742067 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:30.165Z,1761334410.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274758 2025-10-24T19:33:30.401Z,1761334410.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731766,-0.675904,0.087589],[0.681538,0.726616,-0.086809],[-0.004969,0.123219,0.992367]] 2025-10-24T19:33:30.420Z,1761334410.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529832 2025-10-24T19:33:30.482Z,1761334410.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:30.489Z,1761334410.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.72 m. 2025-10-24T19:33:30.491Z,1761334410.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.723740 m, nav range: 128.312805 m, bearing: 48.975046 deg, approach rate: -0.540782 m/s, LOS rate: 0.006134 deg/s, cmd heading: 42.517333 deg, new cmd heading: 42.525420 deg. 2025-10-24T19:33:30.497Z,1761334410.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742209 target range: 133.723740 and range: 134.50 m. 2025-10-24T19:33:30.683Z,1761334410.683 [DAT](INFO): DAT read: 19:33:28.8019 LVL= 31648, 32753, 28466, 32755, AGC= 69, IDX= 410,-0.45, 2.017, 0.389, 1.552, 1.276, PHS= 0.829,-0.840, 0.273, RAW= 130.9, -3.6, CAL= 136.3, -13.9, ROT= 13.7, 13.9 2025-10-24T19:33:30.688Z,1761334410.688 [DAT](INFO): got valid direction response: 19:33:28.8019 LVL= 31648, 32753, 28466, 32755, AGC= 69, IDX= 410,-0.45, 2.017, 0.389, 1.552, 1.276, PHS= 0.829,-0.840, 0.273, RAW= 130.9, -3.6, CAL= 136.3, -13.9, ROT= 13.7, 13.9 2025-10-24T19:33:30.689Z,1761334410.689 [DAT](INFO): DAT read: Bearing 13.7, 13.9 (Local) 2025-10-24T19:33:30.689Z,1761334410.689 [DAT](INFO): Local bearing/azimuth received: Bearing 13.7, 13.9 (Local) 2025-10-24T19:33:30.691Z,1761334410.691 [DAT](INFO): DAT read: Range 10 to 50 : 132.2 m (Round-trip 176.3 ms) speed 0.5 m/s 2025-10-24T19:33:30.691Z,1761334410.691 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:30.707Z,1761334410.707 [DAT](INFO): direction in FSK: [0.943099,0.229903,-0.240228] 2025-10-24T19:33:30.708Z,1761334410.708 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:30.714Z,1761334410.714 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:30.714Z,1761334410.714 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:30.714Z,1761334410.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:30.811Z,1761334410.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732060,-0.675512,0.088163],[0.681192,0.727403,-0.082840],[-0.008171,0.120700,0.992655]] 2025-10-24T19:33:30.922Z,1761334410.922 [DAT](INFO): DAT read: user:71> 2025-10-24T19:33:30.923Z,1761334410.923 [DAT](INFO): DAT read: Tx time:19:33:30.2215 2025-10-24T19:33:30.925Z,1761334410.925 [DAT](INFO): Ping request sent. 2025-10-24T19:33:30.925Z,1761334410.925 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:30.926Z,1761334410.926 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:30.927Z,1761334410.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001185 2025-10-24T19:33:30.958Z,1761334410.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.199997 m, deltaT: 4.033651 s, deltaX: -2.300003 m, approachRate: -0.570204 m/s, rangeRepo size: 4 2025-10-24T19:33:30.964Z,1761334410.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.436279 m, bearing: 58.221351 deg, lat: 36.779559 deg, lon: -121.859659 deg, deltaT: 4.033651 s, deltaX: -2.287460 m, approachRate: -0.567094 m/s, posRepo size: 4 2025-10-24T19:33:30.965Z,1761334410.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:30.976Z,1761334410.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 129.430923 m, bearing: 49.736089 deg, approach rate: 0.000000 m/s, LOS rate: 0.006134 deg/s, cmd heading: 42.525420 deg, new cmd heading: 42.534043 deg. 2025-10-24T19:33:30.977Z,1761334410.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742359 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:31.175Z,1761334411.175 [DAT](INFO): DAT read: TxSync time:19:33:30.2208 2025-10-24T19:33:31.176Z,1761334411.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250651 2025-10-24T19:33:31.281Z,1761334411.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732217,-0.675246,0.088884],[0.680980,0.727997,-0.079289],[-0.011168,0.118586,0.992881]] 2025-10-24T19:33:31.351Z,1761334411.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:31.362Z,1761334411.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 129.213440 m, bearing: 49.742302 deg, approach rate: -0.552743 m/s, LOS rate: 0.015820 deg/s, cmd heading: 42.534043 deg, new cmd heading: 42.552717 deg. 2025-10-24T19:33:31.362Z,1761334411.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742685 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:31.426Z,1761334411.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500281 2025-10-24T19:33:31.680Z,1761334411.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754304 2025-10-24T19:33:31.706Z,1761334411.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731791,-0.675735,0.088675],[0.681410,0.727876,-0.076663],[-0.012741,0.116525,0.993106]] 2025-10-24T19:33:31.764Z,1761334411.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:31.767Z,1761334411.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 128.958893 m, bearing: 49.748587 deg, approach rate: -0.616122 m/s, LOS rate: 0.015241 deg/s, cmd heading: 42.552717 deg, new cmd heading: 42.571607 deg. 2025-10-24T19:33:31.784Z,1761334411.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743015 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:31.930Z,1761334411.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004299 2025-10-24T19:33:32.089Z,1761334412.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732468,-0.674987,0.088787],[0.680635,0.728920,-0.073572],[-0.015059,0.114320,0.993330]] 2025-10-24T19:33:32.125Z,1761334412.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:32.127Z,1761334412.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 128.759949 m, bearing: 49.753608 deg, approach rate: -0.551240 m/s, LOS rate: 0.013935 deg/s, cmd heading: 42.571606 deg, new cmd heading: 42.586694 deg. 2025-10-24T19:33:32.130Z,1761334412.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743278 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:32.182Z,1761334412.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256233 2025-10-24T19:33:32.433Z,1761334412.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507622 2025-10-24T19:33:32.494Z,1761334412.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732319,-0.675047,0.089558],[0.680731,0.729138,-0.070451],[-0.017742,0.112558,0.993487]] 2025-10-24T19:33:32.513Z,1761334412.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:32.515Z,1761334412.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:32.518Z,1761334412.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 128.545227 m, bearing: 49.759030 deg, approach rate: -0.550465 m/s, LOS rate: 0.013922 deg/s, cmd heading: 42.586694 deg, new cmd heading: 42.602985 deg. 2025-10-24T19:33:32.520Z,1761334412.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.743562 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:32.688Z,1761334412.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762051 2025-10-24T19:33:32.937Z,1761334412.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011640 2025-10-24T19:33:32.964Z,1761334412.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:32.967Z,1761334412.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 128.296890 m, bearing: 49.770811 deg, approach rate: -0.553160 m/s, LOS rate: 0.026294 deg/s, cmd heading: 42.602984 deg, new cmd heading: 42.638398 deg. 2025-10-24T19:33:32.970Z,1761334412.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744180 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:33.189Z,1761334413.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263355 2025-10-24T19:33:33.299Z,1761334413.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735085,-0.671472,0.093675],[0.677558,0.732430,-0.066793],[-0.023761,0.112569,0.993360]] 2025-10-24T19:33:33.322Z,1761334413.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:33.341Z,1761334413.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 128.099258 m, bearing: 49.780596 deg, approach rate: -0.551764 m/s, LOS rate: 0.027360 deg/s, cmd heading: 42.638398 deg, new cmd heading: 42.667798 deg. 2025-10-24T19:33:33.342Z,1761334413.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744694 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:33.442Z,1761334413.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516605 2025-10-24T19:33:33.695Z,1761334413.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769666 2025-10-24T19:33:33.729Z,1761334413.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736093,-0.670312,0.094073],[0.676382,0.733746,-0.064218],[-0.025980,0.110900,0.993492]] 2025-10-24T19:33:33.788Z,1761334413.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:33.791Z,1761334413.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 127.851357 m, bearing: 49.791034 deg, approach rate: -0.532154 m/s, LOS rate: 0.022450 deg/s, cmd heading: 42.667799 deg, new cmd heading: 42.699173 deg. 2025-10-24T19:33:33.792Z,1761334413.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745241 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:33.946Z,1761334413.946 [DAT](INFO): DAT read: Rx Time:19:33:32.7990 2025-10-24T19:33:33.946Z,1761334413.946 [DAT](INFO): Rx dataTimestamp_ set to:1761334413.946034 2025-10-24T19:33:33.948Z,1761334413.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022157 2025-10-24T19:33:34.110Z,1761334414.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736811,-0.669688,0.092883],[0.675539,0.734811,-0.060833],[-0.027512,0.107569,0.993817]] 2025-10-24T19:33:34.144Z,1761334414.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.44 m. 2025-10-24T19:33:34.147Z,1761334414.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.436279 m, nav range: 127.650139 m, bearing: 49.799640 deg, approach rate: -0.564322 m/s, LOS rate: 0.024175 deg/s, cmd heading: 42.699173 deg, new cmd heading: 42.725033 deg. 2025-10-24T19:33:34.148Z,1761334414.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745692 target range: 131.436279 and range: 132.20 m. 2025-10-24T19:33:34.197Z,1761334414.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271592 2025-10-24T19:33:34.463Z,1761334414.463 [DAT](INFO): DAT read: 19:33:32.7990 LVL= 20528, 28593, 19586, 31971, AGC= 69, IDX= 411, 0.24, 2.452, 0.865, 1.966, 1.755, PHS= 0.786,-0.843, 0.208, RAW= 129.5, -2.1, CAL= 135.3, -11.8, ROT= 14.7, 11.8 2025-10-24T19:33:34.469Z,1761334414.469 [DAT](INFO): got valid direction response: 19:33:32.7990 LVL= 20528, 28593, 19586, 31971, AGC= 69, IDX= 411, 0.24, 2.452, 0.865, 1.966, 1.755, PHS= 0.786,-0.843, 0.208, RAW= 129.5, -2.1, CAL= 135.3, -11.8, ROT= 14.7, 11.8 2025-10-24T19:33:34.470Z,1761334414.470 [DAT](INFO): DAT read: Bearing 14.7, 11.8 (Local) 2025-10-24T19:33:34.470Z,1761334414.470 [DAT](INFO): Local bearing/azimuth received: Bearing 14.7, 11.8 (Local) 2025-10-24T19:33:34.489Z,1761334414.489 [DAT](INFO): DAT read: Range 10 to 50 : 129.9 m (Round-trip 173.3 ms) speed 0.7 m/s 2025-10-24T19:33:34.490Z,1761334414.490 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:34.491Z,1761334414.491 [DAT](INFO): direction in FSK: [0.946827,0.248395,-0.204496] 2025-10-24T19:33:34.491Z,1761334414.491 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:34.494Z,1761334414.494 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:34.495Z,1761334414.495 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:34.495Z,1761334414.495 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:34.526Z,1761334414.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737010,-0.669358,0.093682],[0.675267,0.735142,-0.059835],[-0.028819,0.107359,0.993802]] 2025-10-24T19:33:34.575Z,1761334414.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.899994 m, deltaT: 3.779898 s, deltaX: -2.300003 m, approachRate: -0.608483 m/s, rangeRepo size: 4 2025-10-24T19:33:34.581Z,1761334414.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.148697 m, bearing: 58.440219 deg, lat: 36.779415 deg, lon: -121.859544 deg, deltaT: 3.779898 s, deltaX: -2.287582 m, approachRate: -0.605197 m/s, posRepo size: 4 2025-10-24T19:33:34.582Z,1761334414.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:34.589Z,1761334414.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 126.320465 m, bearing: 58.407407 deg, approach rate: 0.000000 m/s, LOS rate: 0.024175 deg/s, cmd heading: 42.725033 deg, new cmd heading: 42.756192 deg. 2025-10-24T19:33:34.590Z,1761334414.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746236 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:34.704Z,1761334414.704 [DAT](INFO): DAT read: user:72> 2025-10-24T19:33:34.707Z,1761334414.707 [DAT](INFO): DAT read: Tx time:19:33:34.0215 2025-10-24T19:33:34.709Z,1761334414.709 [DAT](INFO): Ping request sent. 2025-10-24T19:33:34.709Z,1761334414.709 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:34.710Z,1761334414.710 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:34.712Z,1761334414.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002852 2025-10-24T19:33:34.923Z,1761334414.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737635,-0.668322,0.096123],[0.674527,0.735749,-0.060725],[-0.030139,0.109631,0.993515]] 2025-10-24T19:33:34.954Z,1761334414.954 [DAT](INFO): DAT read: TxSync time:19:33:34.0208 2025-10-24T19:33:34.955Z,1761334414.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246126 2025-10-24T19:33:34.977Z,1761334414.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:34.979Z,1761334414.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:34.982Z,1761334414.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 126.098434 m, bearing: 58.435045 deg, approach rate: -0.548300 m/s, LOS rate: 0.068370 deg/s, cmd heading: 42.756192 deg, new cmd heading: 42.839249 deg. 2025-10-24T19:33:34.983Z,1761334414.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.747686 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:35.205Z,1761334415.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496252 2025-10-24T19:33:35.321Z,1761334415.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737067,-0.668545,0.098889],[0.675131,0.734995,-0.063093],[-0.030503,0.113267,0.993096]] 2025-10-24T19:33:35.340Z,1761334415.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:35.343Z,1761334415.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 125.908295 m, bearing: 58.458708 deg, approach rate: -0.527040 m/s, LOS rate: 0.065691 deg/s, cmd heading: 42.839250 deg, new cmd heading: 42.910348 deg. 2025-10-24T19:33:35.344Z,1761334415.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.748927 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:35.457Z,1761334415.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749069 2025-10-24T19:33:35.711Z,1761334415.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002439 2025-10-24T19:33:35.756Z,1761334415.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736253,-0.671135,0.086654],[0.675958,0.735405,-0.047539],[-0.031821,0.093575,0.995104]] 2025-10-24T19:33:35.817Z,1761334415.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:35.822Z,1761334415.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 125.660645 m, bearing: 58.488815 deg, approach rate: -0.518440 m/s, LOS rate: 0.063152 deg/s, cmd heading: 42.910349 deg, new cmd heading: 43.000849 deg. 2025-10-24T19:33:35.822Z,1761334415.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.750506 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:35.961Z,1761334415.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252514 2025-10-24T19:33:36.130Z,1761334416.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735169,-0.671727,0.091155],[0.677076,0.734187,-0.050379],[-0.033084,0.098756,0.994562]] 2025-10-24T19:33:36.154Z,1761334416.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:36.173Z,1761334416.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 125.463768 m, bearing: 58.512682 deg, approach rate: -0.585158 m/s, LOS rate: 0.071048 deg/s, cmd heading: 43.000849 deg, new cmd heading: 43.072561 deg. 2025-10-24T19:33:36.174Z,1761334416.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.751758 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:36.214Z,1761334416.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505599 2025-10-24T19:33:36.465Z,1761334416.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756577 2025-10-24T19:33:36.538Z,1761334416.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733084,-0.673321,0.096056],[0.679250,0.732004,-0.052820],[-0.034749,0.103968,0.993973]] 2025-10-24T19:33:36.558Z,1761334416.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:36.561Z,1761334416.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 125.244171 m, bearing: 58.539064 deg, approach rate: -0.543693 m/s, LOS rate: 0.065433 deg/s, cmd heading: 43.072563 deg, new cmd heading: 43.151848 deg. 2025-10-24T19:33:36.562Z,1761334416.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753142 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:36.720Z,1761334416.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011537 2025-10-24T19:33:36.943Z,1761334416.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729760,-0.676154,0.101320],[0.682740,0.728550,-0.055503],[-0.036288,0.109679,0.993304]] 2025-10-24T19:33:36.970Z,1761334416.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261835 2025-10-24T19:33:37.006Z,1761334417.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:37.009Z,1761334417.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:37.011Z,1761334417.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 124.995804 m, bearing: 58.565407 deg, approach rate: -0.550948 m/s, LOS rate: 0.058551 deg/s, cmd heading: 43.151848 deg, new cmd heading: 43.231032 deg. 2025-10-24T19:33:37.013Z,1761334417.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754524 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:37.223Z,1761334417.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514084 2025-10-24T19:33:37.351Z,1761334417.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726949,-0.678522,0.105607],[0.685666,0.725629,-0.057656],[-0.037511,0.114324,0.992735]] 2025-10-24T19:33:37.390Z,1761334417.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:37.394Z,1761334417.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 124.795807 m, bearing: 58.586306 deg, approach rate: -0.524248 m/s, LOS rate: 0.054872 deg/s, cmd heading: 43.231033 deg, new cmd heading: 43.293833 deg. 2025-10-24T19:33:37.395Z,1761334417.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755620 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:37.473Z,1761334417.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765003 2025-10-24T19:33:37.728Z,1761334417.728 [DAT](INFO): DAT read: Rx Time:19:33:36.5959 2025-10-24T19:33:37.729Z,1761334417.729 [DAT](INFO): Rx dataTimestamp_ set to:1761334417.728569 2025-10-24T19:33:37.731Z,1761334417.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022553 2025-10-24T19:33:37.798Z,1761334417.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725465,-0.679466,0.109663],[0.687167,0.724034,-0.059811],[-0.038760,0.118747,0.992168]] 2025-10-24T19:33:37.861Z,1761334417.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:37.863Z,1761334417.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 124.522591 m, bearing: 58.610429 deg, approach rate: -0.581549 m/s, LOS rate: 0.051459 deg/s, cmd heading: 43.293834 deg, new cmd heading: 43.366361 deg. 2025-10-24T19:33:37.869Z,1761334417.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756886 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:37.978Z,1761334417.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269124 2025-10-24T19:33:38.233Z,1761334418.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523775 2025-10-24T19:33:38.235Z,1761334418.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724639,-0.679871,0.112578],[0.687983,0.723133,-0.061308],[-0.039727,0.121878,0.991750]] 2025-10-24T19:33:38.295Z,1761334418.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.15 m. 2025-10-24T19:33:38.298Z,1761334418.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.148697 m, nav range: 124.266426 m, bearing: 58.633006 deg, approach rate: -0.588228 m/s, LOS rate: 0.051950 deg/s, cmd heading: 43.366360 deg, new cmd heading: 43.434231 deg. 2025-10-24T19:33:38.299Z,1761334418.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.758070 target range: 129.148697 and range: 129.90 m. 2025-10-24T19:33:38.487Z,1761334418.487 [DAT](INFO): DAT read: 19:33:36.5959 LVL= 20256, 25137, 18290, 27939, AGC= 65, IDX= 412, 0.26,-3.012, 1.676, 2.838, 2.644, PHS= 0.715,-0.921, 0.191, RAW= 131.7, 0.2, CAL= 137.5, -8.4, ROT= 12.5, 8.4 2025-10-24T19:33:38.488Z,1761334418.488 [DAT](INFO): got valid direction response: 19:33:36.5959 LVL= 20256, 25137, 18290, 27939, AGC= 65, IDX= 412, 0.26,-3.012, 1.676, 2.838, 2.644, PHS= 0.715,-0.921, 0.191, RAW= 131.7, 0.2, CAL= 137.5, -8.4, ROT= 12.5, 8.4 2025-10-24T19:33:38.489Z,1761334418.489 [DAT](INFO): DAT read: Bearing 12.5, 8.4 (Local) 2025-10-24T19:33:38.490Z,1761334418.490 [DAT](INFO): Local bearing/azimuth received: Bearing 12.5, 8.4 (Local) 2025-10-24T19:33:38.491Z,1761334418.491 [DAT](INFO): DAT read: Range 10 to 50 : 127.7 m (Round-trip 170.3 ms) speed 0.6 m/s 2025-10-24T19:33:38.492Z,1761334418.492 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:38.493Z,1761334418.493 [DAT](INFO): direction in FSK: [0.965823,0.214118,-0.146083] 2025-10-24T19:33:38.493Z,1761334418.493 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:38.497Z,1761334418.497 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:38.497Z,1761334418.497 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:38.497Z,1761334418.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:38.598Z,1761334418.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723976,-0.680256,0.114505],[0.688617,0.722501,-0.061632],[-0.040804,0.123470,0.991509]] 2025-10-24T19:33:38.650Z,1761334418.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.699997 m, deltaT: 4.030532 s, deltaX: -2.199997 m, approachRate: -0.545833 m/s, rangeRepo size: 4 2025-10-24T19:33:38.656Z,1761334418.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.962242 m, bearing: 57.066650 deg, lat: 36.779415 deg, lon: -121.859544 deg, deltaT: 4.030532 s, deltaX: -2.186455 m, approachRate: -0.542473 m/s, posRepo size: 4 2025-10-24T19:33:38.657Z,1761334418.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:38.659Z,1761334418.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 124.078644 m, bearing: 58.649537 deg, approach rate: 0.000000 m/s, LOS rate: 0.051950 deg/s, cmd heading: 43.434232 deg, new cmd heading: 43.489368 deg. 2025-10-24T19:33:38.661Z,1761334418.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759033 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:38.737Z,1761334418.737 [DAT](INFO): DAT read: user:73> 2025-10-24T19:33:38.739Z,1761334418.739 [DAT](INFO): DAT read: Tx time:19:33:38.0215 2025-10-24T19:33:38.747Z,1761334418.747 [DAT](INFO): Ping request sent. 2025-10-24T19:33:38.747Z,1761334418.747 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:38.749Z,1761334418.749 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:38.751Z,1761334418.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003376 2025-10-24T19:33:38.986Z,1761334418.986 [DAT](INFO): DAT read: TxSync time:19:33:38.0208 2025-10-24T19:33:38.986Z,1761334418.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.239566 2025-10-24T19:33:38.995Z,1761334418.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723351,-0.680632,0.116209],[0.689213,0.721919,-0.061794],[-0.041834,0.124791,0.991301]] 2025-10-24T19:33:39.124Z,1761334419.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:39.141Z,1761334419.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:39.155Z,1761334419.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 123.793449 m, bearing: 58.670106 deg, approach rate: -0.581074 m/s, LOS rate: 0.042005 deg/s, cmd heading: 43.489368 deg, new cmd heading: 43.551217 deg. 2025-10-24T19:33:39.162Z,1761334419.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760112 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:39.238Z,1761334419.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490482 2025-10-24T19:33:39.459Z,1761334419.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722680,-0.681195,0.117076],[0.689881,0.721287,-0.061715],[-0.042405,0.125369,0.991204]] 2025-10-24T19:33:39.486Z,1761334419.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:39.489Z,1761334419.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742081 2025-10-24T19:33:39.509Z,1761334419.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 123.575203 m, bearing: 58.685814 deg, approach rate: -0.632338 m/s, LOS rate: 0.045594 deg/s, cmd heading: 43.551216 deg, new cmd heading: 43.598425 deg. 2025-10-24T19:33:39.510Z,1761334419.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760936 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:39.744Z,1761334419.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996700 2025-10-24T19:33:39.867Z,1761334419.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723071,-0.680524,0.118553],[0.689414,0.721704,-0.062062],[-0.043326,0.126607,0.991006]] 2025-10-24T19:33:39.933Z,1761334419.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:39.941Z,1761334419.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 123.316505 m, bearing: 58.699722 deg, approach rate: -0.584255 m/s, LOS rate: 0.031476 deg/s, cmd heading: 43.598426 deg, new cmd heading: 43.640237 deg. 2025-10-24T19:33:39.942Z,1761334419.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761666 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:39.994Z,1761334419.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246731 2025-10-24T19:33:40.245Z,1761334420.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497918 2025-10-24T19:33:40.306Z,1761334420.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:40.311Z,1761334420.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 123.072197 m, bearing: 58.712911 deg, approach rate: -0.645260 m/s, LOS rate: 0.034903 deg/s, cmd heading: 43.640237 deg, new cmd heading: 43.679882 deg. 2025-10-24T19:33:40.311Z,1761334420.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.762358 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:40.497Z,1761334420.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750194 2025-10-24T19:33:40.670Z,1761334420.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723157,-0.680473,0.118318],[0.689060,0.722530,-0.056088],[-0.047322,0.122089,0.991390]] 2025-10-24T19:33:40.690Z,1761334420.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:40.693Z,1761334420.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 122.838264 m, bearing: 58.725607 deg, approach rate: -0.610267 m/s, LOS rate: 0.033185 deg/s, cmd heading: 43.679883 deg, new cmd heading: 43.718045 deg. 2025-10-24T19:33:40.694Z,1761334420.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763024 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:40.749Z,1761334420.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002128 2025-10-24T19:33:41.001Z,1761334421.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253855 2025-10-24T19:33:41.072Z,1761334421.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722721,-0.680903,0.118513],[0.689384,0.722421,-0.053448],[-0.049224,0.120329,0.991513]] 2025-10-24T19:33:41.144Z,1761334421.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:41.146Z,1761334421.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:41.153Z,1761334421.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 122.566879 m, bearing: 58.735759 deg, approach rate: -0.595059 m/s, LOS rate: 0.022308 deg/s, cmd heading: 43.718043 deg, new cmd heading: 43.748564 deg. 2025-10-24T19:33:41.154Z,1761334421.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763556 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:41.254Z,1761334421.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507009 2025-10-24T19:33:41.476Z,1761334421.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721891,-0.681860,0.118070],[0.690162,0.721862,-0.050922],[-0.050509,0.118247,0.991699]] 2025-10-24T19:33:41.505Z,1761334421.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758241 2025-10-24T19:33:41.514Z,1761334421.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:41.517Z,1761334421.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 122.343407 m, bearing: 58.744022 deg, approach rate: -0.607177 m/s, LOS rate: 0.022493 deg/s, cmd heading: 43.748564 deg, new cmd heading: 43.773400 deg. 2025-10-24T19:33:41.518Z,1761334421.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763990 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:41.757Z,1761334421.757 [DAT](INFO): DAT read: Rx Time:19:33:40.5929 2025-10-24T19:33:41.757Z,1761334421.757 [DAT](INFO): Rx dataTimestamp_ set to:1761334421.757154 2025-10-24T19:33:41.758Z,1761334421.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011084 2025-10-24T19:33:41.935Z,1761334421.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:41.939Z,1761334421.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 122.087662 m, bearing: 58.753516 deg, approach rate: -0.608201 m/s, LOS rate: 0.022625 deg/s, cmd heading: 43.773398 deg, new cmd heading: 43.801939 deg. 2025-10-24T19:33:41.941Z,1761334421.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764488 target range: 126.962242 and range: 127.70 m. 2025-10-24T19:33:42.009Z,1761334422.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262112 2025-10-24T19:33:42.262Z,1761334422.262 [DAT](INFO): DAT read: Range 10 to 50 : 125.4 m (Round-trip 167.2 ms) speed 0.5 m/s 2025-10-24T19:33:42.264Z,1761334422.264 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:33:42.265Z,1761334422.265 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:42.266Z,1761334422.266 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:42.266Z,1761334422.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:42.285Z,1761334422.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719359,-0.684216,0.119876],[0.692617,0.719661,-0.048683],[-0.052961,0.118049,0.991594]] 2025-10-24T19:33:42.342Z,1761334422.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.400002 m, deltaT: 3.779703 s, deltaX: -2.299995 m, approachRate: -0.608512 m/s, rangeRepo size: 4 2025-10-24T19:33:42.343Z,1761334422.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:42.350Z,1761334422.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 121.843246 m, bearing: 58.762217 deg, approach rate: -0.600272 m/s, LOS rate: 0.021413 deg/s, cmd heading: 43.801938 deg, new cmd heading: 43.828094 deg. 2025-10-24T19:33:42.351Z,1761334422.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.764945 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:42.513Z,1761334422.513 [DAT](INFO): DAT read: user:74> 2025-10-24T19:33:42.513Z,1761334422.513 [DAT](INFO): DAT read: Tx time:19:33:41.7715 2025-10-24T19:33:42.514Z,1761334422.514 [DAT](INFO): Ping request sent. 2025-10-24T19:33:42.514Z,1761334422.514 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:42.514Z,1761334422.514 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:42.515Z,1761334422.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-10-24T19:33:42.690Z,1761334422.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718255,-0.685297,0.120323],[0.693647,0.718795,-0.046764],[-0.054440,0.117050,0.991633]] 2025-10-24T19:33:42.717Z,1761334422.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:42.721Z,1761334422.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 121.611183 m, bearing: 58.770340 deg, approach rate: -0.617549 m/s, LOS rate: 0.021657 deg/s, cmd heading: 43.828094 deg, new cmd heading: 43.852509 deg. 2025-10-24T19:33:42.722Z,1761334422.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765371 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:42.765Z,1761334422.765 [DAT](INFO): DAT read: TxSync time:19:33:41.7708 2025-10-24T19:33:42.766Z,1761334422.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251887 2025-10-24T19:33:43.017Z,1761334423.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503073 2025-10-24T19:33:43.091Z,1761334423.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717455,-0.686026,0.120945],[0.694447,0.718025,-0.046722],[-0.054789,0.117511,0.991559]] 2025-10-24T19:33:43.169Z,1761334423.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:43.171Z,1761334423.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:43.175Z,1761334423.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 121.346497 m, bearing: 58.779503 deg, approach rate: -0.584096 m/s, LOS rate: 0.020264 deg/s, cmd heading: 43.852509 deg, new cmd heading: 43.880057 deg. 2025-10-24T19:33:43.179Z,1761334423.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765851 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:43.269Z,1761334423.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755083 2025-10-24T19:33:43.496Z,1761334423.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717489,-0.686164,0.119955],[0.694364,0.718226,-0.044836],[-0.055390,0.115462,0.991766]] 2025-10-24T19:33:43.515Z,1761334423.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:43.518Z,1761334423.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 121.128616 m, bearing: 58.787074 deg, approach rate: -0.632939 m/s, LOS rate: 0.022035 deg/s, cmd heading: 43.880059 deg, new cmd heading: 43.902814 deg. 2025-10-24T19:33:43.519Z,1761334423.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766249 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:43.521Z,1761334423.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006989 2025-10-24T19:33:43.775Z,1761334423.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260786 2025-10-24T19:33:43.900Z,1761334423.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717859,-0.685732,0.120210],[0.693920,0.718701,-0.044092],[-0.056160,0.115069,0.991769]] 2025-10-24T19:33:43.978Z,1761334423.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:43.985Z,1761334423.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 120.861343 m, bearing: 58.803393 deg, approach rate: -0.577004 m/s, LOS rate: 0.035308 deg/s, cmd heading: 43.902813 deg, new cmd heading: 43.951878 deg. 2025-10-24T19:33:43.987Z,1761334423.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767105 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:44.025Z,1761334424.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511064 2025-10-24T19:33:44.278Z,1761334424.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763686 2025-10-24T19:33:44.315Z,1761334424.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719103,-0.684285,0.121011],[0.692475,0.720186,-0.042549],[-0.058035,0.114395,0.991739]] 2025-10-24T19:33:44.370Z,1761334424.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:44.377Z,1761334424.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 120.630005 m, bearing: 58.817788 deg, approach rate: -0.590078 m/s, LOS rate: 0.036787 deg/s, cmd heading: 43.951878 deg, new cmd heading: 43.995145 deg. 2025-10-24T19:33:44.378Z,1761334424.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767860 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:44.529Z,1761334424.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015128 2025-10-24T19:33:44.709Z,1761334424.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719623,-0.683685,0.121312],[0.691855,0.720834,-0.041640],[-0.058977,0.113896,0.991741]] 2025-10-24T19:33:44.728Z,1761334424.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:44.731Z,1761334424.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 120.400475 m, bearing: 58.832214 deg, approach rate: -0.640733 m/s, LOS rate: 0.040348 deg/s, cmd heading: 43.995144 deg, new cmd heading: 44.038505 deg. 2025-10-24T19:33:44.732Z,1761334424.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768617 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:44.782Z,1761334424.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267807 2025-10-24T19:33:45.033Z,1761334425.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518778 2025-10-24T19:33:45.112Z,1761334425.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720492,-0.682944,0.120329],[0.690889,0.721867,-0.039769],[-0.059702,0.111787,0.991937]] 2025-10-24T19:33:45.165Z,1761334425.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:45.169Z,1761334425.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 120.147461 m, bearing: 58.855443 deg, approach rate: -0.578838 m/s, LOS rate: 0.053255 deg/s, cmd heading: 44.038505 deg, new cmd heading: 44.108340 deg. 2025-10-24T19:33:45.170Z,1761334425.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769836 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:45.285Z,1761334425.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770955 2025-10-24T19:33:45.516Z,1761334425.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720510,-0.683211,0.118691],[0.690805,0.722096,-0.036967],[-0.060450,0.108627,0.992243]] 2025-10-24T19:33:45.537Z,1761334425.537 [DAT](INFO): DAT read: Rx Time:19:33:44.3402 2025-10-24T19:33:45.538Z,1761334425.538 [DAT](INFO): Rx dataTimestamp_ set to:1761334425.537260 2025-10-24T19:33:45.538Z,1761334425.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024163 2025-10-24T19:33:45.553Z,1761334425.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:45.555Z,1761334425.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:45.562Z,1761334425.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 119.933708 m, bearing: 58.875155 deg, approach rate: -0.548173 m/s, LOS rate: 0.050641 deg/s, cmd heading: 44.108341 deg, new cmd heading: 44.167581 deg. 2025-10-24T19:33:45.563Z,1761334425.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770870 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:45.789Z,1761334425.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275128 2025-10-24T19:33:46.026Z,1761334426.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.96 m. 2025-10-24T19:33:46.029Z,1761334426.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.962242 m, nav range: 119.663986 m, bearing: 58.907765 deg, approach rate: -0.573614 m/s, LOS rate: 0.069507 deg/s, cmd heading: 44.167582 deg, new cmd heading: 44.265632 deg. 2025-10-24T19:33:46.030Z,1761334426.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772581 target range: 126.962242 and range: 125.40 m. 2025-10-24T19:33:46.046Z,1761334426.046 [DAT](INFO): DAT read: 19:33:44.3402 LVL= 27632, 32369, 27954, 32755, AGC= 67, IDX= 416, 0.04, 1.393,-0.018, 0.983, 0.880, PHS= 0.601,-0.851, 0.100, RAW= 130.1, 2.4, CAL= 136.4, -5.2, ROT= 13.6, 5.2 2025-10-24T19:33:46.048Z,1761334426.048 [DAT](INFO): got valid direction response: 19:33:44.3402 LVL= 27632, 32369, 27954, 32755, AGC= 67, IDX= 416, 0.04, 1.393,-0.018, 0.983, 0.880, PHS= 0.601,-0.851, 0.100, RAW= 130.1, 2.4, CAL= 136.4, -5.2, ROT= 13.6, 5.2 2025-10-24T19:33:46.049Z,1761334426.049 [DAT](INFO): DAT read: Bearing 13.6, 5.2 (Local) 2025-10-24T19:33:46.049Z,1761334426.049 [DAT](INFO): Local bearing/azimuth received: Bearing 13.6, 5.2 (Local) 2025-10-24T19:33:46.050Z,1761334426.050 [DAT](INFO): DAT read: Range 10 to 50 : 123.3 m (Round-trip 164.4 ms) speed 0.5 m/s 2025-10-24T19:33:46.051Z,1761334426.051 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:46.053Z,1761334426.053 [DAT](INFO): direction in FSK: [0.967961,0.234174,-0.090633] 2025-10-24T19:33:46.053Z,1761334426.053 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:46.077Z,1761334426.077 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:46.077Z,1761334426.077 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:46.077Z,1761334426.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:46.293Z,1761334426.293 [DAT](INFO): DAT read: user:75> 2025-10-24T19:33:46.295Z,1761334426.295 [DAT](INFO): DAT read: Tx time:19:33:45.5716 2025-10-24T19:33:46.295Z,1761334426.295 [DAT](INFO): Ping request sent. 2025-10-24T19:33:46.295Z,1761334426.295 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:46.295Z,1761334426.295 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:46.296Z,1761334426.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001192 2025-10-24T19:33:46.388Z,1761334426.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719973,-0.683482,0.120379],[0.691246,0.721687,-0.036705],[-0.061789,0.109638,0.992049]] 2025-10-24T19:33:46.434Z,1761334426.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.300003 m, deltaT: 3.780127 s, deltaX: -2.099998 m, approachRate: -0.555537 m/s, rangeRepo size: 4 2025-10-24T19:33:46.441Z,1761334426.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.584084 m, bearing: 57.992183 deg, lat: 36.779415 deg, lon: -121.859542 deg, deltaT: 7.559830 s, deltaX: -4.378159 m, approachRate: -0.579135 m/s, posRepo size: 4 2025-10-24T19:33:46.441Z,1761334426.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:46.449Z,1761334426.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 119.568024 m, bearing: 58.967208 deg, approach rate: 0.000000 m/s, LOS rate: 0.069507 deg/s, cmd heading: 44.265633 deg, new cmd heading: 44.350573 deg. 2025-10-24T19:33:46.450Z,1761334426.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774064 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:46.546Z,1761334426.546 [DAT](INFO): DAT read: TxSync time:19:33:45.5708 2025-10-24T19:33:46.547Z,1761334426.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251344 2025-10-24T19:33:46.728Z,1761334426.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718212,-0.685018,0.122157],[0.693127,0.719760,-0.038995],[-0.061211,0.112677,0.991745]] 2025-10-24T19:33:46.766Z,1761334426.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:46.773Z,1761334426.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 119.382439 m, bearing: 58.989533 deg, approach rate: -0.557398 m/s, LOS rate: 0.067158 deg/s, cmd heading: 44.350573 deg, new cmd heading: 44.417654 deg. 2025-10-24T19:33:46.777Z,1761334426.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775234 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:46.797Z,1761334426.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501971 2025-10-24T19:33:47.049Z,1761334427.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753660 2025-10-24T19:33:47.133Z,1761334427.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714780,-0.689278,0.118257],[0.696741,0.716451,-0.035371],[-0.060345,0.107677,0.992353]] 2025-10-24T19:33:47.172Z,1761334427.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:47.175Z,1761334427.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 119.152016 m, bearing: 59.022476 deg, approach rate: -0.567741 m/s, LOS rate: 0.081324 deg/s, cmd heading: 44.417652 deg, new cmd heading: 44.516670 deg. 2025-10-24T19:33:47.177Z,1761334427.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.776962 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:47.302Z,1761334427.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007295 2025-10-24T19:33:47.535Z,1761334427.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711177,-0.692375,0.121836],[0.700421,0.712700,-0.038314],[-0.060304,0.112585,0.991811]] 2025-10-24T19:33:47.553Z,1761334427.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258325 2025-10-24T19:33:47.555Z,1761334427.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:47.574Z,1761334427.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 118.944077 m, bearing: 59.051747 deg, approach rate: -0.542407 m/s, LOS rate: 0.076486 deg/s, cmd heading: 44.516670 deg, new cmd heading: 44.604636 deg. 2025-10-24T19:33:47.575Z,1761334427.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778498 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:47.805Z,1761334427.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509723 2025-10-24T19:33:47.942Z,1761334427.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709952,-0.692523,0.127986],[0.701539,0.711374,-0.042313],[-0.061743,0.119827,0.990873]] 2025-10-24T19:33:47.997Z,1761334427.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:47.999Z,1761334427.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:48.002Z,1761334428.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 118.706329 m, bearing: 59.091166 deg, approach rate: -0.535760 m/s, LOS rate: 0.089010 deg/s, cmd heading: 44.604636 deg, new cmd heading: 44.723132 deg. 2025-10-24T19:33:48.003Z,1761334428.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.780566 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:48.058Z,1761334428.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762550 2025-10-24T19:33:48.309Z,1761334428.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013663 2025-10-24T19:33:48.388Z,1761334428.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:48.390Z,1761334428.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 118.498192 m, bearing: 59.125814 deg, approach rate: -0.535431 m/s, LOS rate: 0.089288 deg/s, cmd heading: 44.723133 deg, new cmd heading: 44.827259 deg. 2025-10-24T19:33:48.391Z,1761334428.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782383 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:48.561Z,1761334428.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265769 2025-10-24T19:33:48.751Z,1761334428.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710179,-0.691164,0.133933],[0.701059,0.711708,-0.044582],[-0.064508,0.125556,0.989987]] 2025-10-24T19:33:48.770Z,1761334428.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:48.773Z,1761334428.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 118.294556 m, bearing: 59.159882 deg, approach rate: -0.532534 m/s, LOS rate: 0.089246 deg/s, cmd heading: 44.827259 deg, new cmd heading: 44.929639 deg. 2025-10-24T19:33:48.774Z,1761334428.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784170 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:48.814Z,1761334428.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518294 2025-10-24T19:33:49.065Z,1761334429.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769750 2025-10-24T19:33:49.210Z,1761334429.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:49.213Z,1761334429.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 118.054436 m, bearing: 59.198704 deg, approach rate: -0.545168 m/s, LOS rate: 0.088319 deg/s, cmd heading: 44.929640 deg, new cmd heading: 45.046340 deg. 2025-10-24T19:33:49.214Z,1761334429.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786207 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:49.317Z,1761334429.317 [DAT](INFO): DAT read: Rx Time:19:33:48.1371 2025-10-24T19:33:49.317Z,1761334429.317 [DAT](INFO): Rx dataTimestamp_ set to:1761334429.317178 2025-10-24T19:33:49.318Z,1761334429.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022885 2025-10-24T19:33:49.555Z,1761334429.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711377,-0.690058,0.133280],[0.699680,0.713237,-0.041730],[-0.066264,0.122939,0.990200]] 2025-10-24T19:33:49.570Z,1761334429.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274428 2025-10-24T19:33:49.576Z,1761334429.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.58 m. 2025-10-24T19:33:49.579Z,1761334429.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.584084 m, nav range: 117.855888 m, bearing: 59.231132 deg, approach rate: -0.543324 m/s, LOS rate: 0.088888 deg/s, cmd heading: 45.046341 deg, new cmd heading: 45.143788 deg. 2025-10-24T19:33:49.580Z,1761334429.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787908 target range: 122.584084 and range: 123.30 m. 2025-10-24T19:33:49.841Z,1761334429.841 [DAT](INFO): DAT read: 19:33:48.1371 LVL= 23152, 29265, 20066, 27795, AGC= 68, IDX= 416,-0.03, 1.582, 0.130, 1.191, 1.122, PHS= 0.548,-0.946, 0.066, RAW= 131.6, 5.1, CAL= 137.6, -1.5, ROT= 12.4, 1.5 2025-10-24T19:33:49.842Z,1761334429.842 [DAT](INFO): got valid direction response: 19:33:48.1371 LVL= 23152, 29265, 20066, 27795, AGC= 68, IDX= 416,-0.03, 1.582, 0.130, 1.191, 1.122, PHS= 0.548,-0.946, 0.066, RAW= 131.6, 5.1, CAL= 137.6, -1.5, ROT= 12.4, 1.5 2025-10-24T19:33:49.843Z,1761334429.843 [DAT](INFO): DAT read: Bearing 12.4, 1.5 (Local) 2025-10-24T19:33:49.843Z,1761334429.843 [DAT](INFO): Local bearing/azimuth received: Bearing 12.4, 1.5 (Local) 2025-10-24T19:33:49.845Z,1761334429.845 [DAT](INFO): DAT read: Range 10 to 50 : 120.9 m (Round-trip 161.3 ms) speed 0.7 m/s 2025-10-24T19:33:49.845Z,1761334429.845 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:49.846Z,1761334429.846 [DAT](INFO): direction in FSK: [0.976338,0.214662,-0.026177] 2025-10-24T19:33:49.846Z,1761334429.846 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:49.850Z,1761334429.850 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:49.850Z,1761334429.850 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:49.850Z,1761334429.850 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:49.964Z,1761334429.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712019,-0.689496,0.132754],[0.698986,0.713973,-0.040756],[-0.066682,0.121812,0.990311]] 2025-10-24T19:33:50.073Z,1761334430.073 [DAT](INFO): DAT read: user:76> 2025-10-24T19:33:50.074Z,1761334430.074 [DAT](INFO): DAT read: Tx time:19:33:49.3716 2025-10-24T19:33:50.074Z,1761334430.074 [DAT](INFO): Ping request sent. 2025-10-24T19:33:50.074Z,1761334430.074 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:50.074Z,1761334430.074 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:50.075Z,1761334430.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-24T19:33:50.081Z,1761334430.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.900002 m, deltaT: 3.781378 s, deltaX: -2.400002 m, approachRate: -0.634690 m/s, rangeRepo size: 4 2025-10-24T19:33:50.083Z,1761334430.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.201973 m, bearing: 56.986574 deg, lat: 36.779441 deg, lon: -121.859544 deg, deltaT: 3.781378 s, deltaX: -2.382111 m, approachRate: -0.629958 m/s, posRepo size: 4 2025-10-24T19:33:50.088Z,1761334430.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:50.091Z,1761334430.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 118.942215 m, bearing: 58.067500 deg, approach rate: 0.000000 m/s, LOS rate: 0.088888 deg/s, cmd heading: 45.143787 deg, new cmd heading: 45.278414 deg. 2025-10-24T19:33:50.096Z,1761334430.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790257 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:50.329Z,1761334430.329 [DAT](INFO): DAT read: TxSync time:19:33:49.3708 2025-10-24T19:33:50.331Z,1761334430.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256620 2025-10-24T19:33:50.411Z,1761334430.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:50.413Z,1761334430.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:50.416Z,1761334430.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 118.729172 m, bearing: 58.098572 deg, approach rate: -0.640223 m/s, LOS rate: 0.093542 deg/s, cmd heading: 45.278413 deg, new cmd heading: 45.371796 deg. 2025-10-24T19:33:50.417Z,1761334430.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791887 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:50.581Z,1761334430.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506811 2025-10-24T19:33:50.767Z,1761334430.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713110,-0.688724,0.130897],[0.697968,0.714983,-0.040508],[-0.065690,0.120248,0.990568]] 2025-10-24T19:33:50.793Z,1761334430.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:50.795Z,1761334430.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 118.510139 m, bearing: 58.130812 deg, approach rate: -0.577662 m/s, LOS rate: 0.085185 deg/s, cmd heading: 45.371796 deg, new cmd heading: 45.468695 deg. 2025-10-24T19:33:50.796Z,1761334430.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793578 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:50.833Z,1761334430.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759072 2025-10-24T19:33:51.085Z,1761334431.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010452 2025-10-24T19:33:51.171Z,1761334431.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712941,-0.689258,0.128992],[0.698189,0.714838,-0.039224],[-0.065173,0.118025,0.990870]] 2025-10-24T19:33:51.221Z,1761334431.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:51.225Z,1761334431.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 118.259407 m, bearing: 58.161334 deg, approach rate: -0.584767 m/s, LOS rate: 0.071335 deg/s, cmd heading: 45.468696 deg, new cmd heading: 45.560455 deg. 2025-10-24T19:33:51.226Z,1761334431.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.795180 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:51.339Z,1761334431.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264041 2025-10-24T19:33:51.576Z,1761334431.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712973,-0.689428,0.127900],[0.698204,0.714846,-0.038824],[-0.064662,0.116980,0.991027]] 2025-10-24T19:33:51.589Z,1761334431.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514742 2025-10-24T19:33:51.617Z,1761334431.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:51.621Z,1761334431.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 118.027039 m, bearing: 58.189740 deg, approach rate: -0.587013 m/s, LOS rate: 0.071903 deg/s, cmd heading: 45.560456 deg, new cmd heading: 45.645843 deg. 2025-10-24T19:33:51.622Z,1761334431.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796670 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:51.841Z,1761334431.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766461 2025-10-24T19:33:52.019Z,1761334432.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713200,-0.689088,0.128463],[0.697903,0.715161,-0.038421],[-0.065396,0.117056,0.990970]] 2025-10-24T19:33:52.058Z,1761334432.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:52.060Z,1761334432.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 117.750481 m, bearing: 58.218282 deg, approach rate: -0.627978 m/s, LOS rate: 0.064962 deg/s, cmd heading: 45.645843 deg, new cmd heading: 45.731670 deg. 2025-10-24T19:33:52.061Z,1761334432.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798168 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:52.095Z,1761334432.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020986 2025-10-24T19:33:52.346Z,1761334432.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271769 2025-10-24T19:33:52.426Z,1761334432.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713734,-0.688811,0.126978],[0.697337,0.715803,-0.036705],[-0.065609,0.114744,0.991226]] 2025-10-24T19:33:52.476Z,1761334432.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:52.478Z,1761334432.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:52.490Z,1761334432.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 117.497681 m, bearing: 58.244591 deg, approach rate: -0.600739 m/s, LOS rate: 0.062653 deg/s, cmd heading: 45.731668 deg, new cmd heading: 45.810765 deg. 2025-10-24T19:33:52.491Z,1761334432.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799549 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:52.597Z,1761334432.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522455 2025-10-24T19:33:52.849Z,1761334432.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774585 2025-10-24T19:33:52.897Z,1761334432.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712658,-0.689566,0.128912],[0.698431,0.714648,-0.038365],[-0.065672,0.117377,0.990914]] 2025-10-24T19:33:52.997Z,1761334432.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:53.013Z,1761334433.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 117.195183 m, bearing: 58.275989 deg, approach rate: -0.590377 m/s, LOS rate: 0.061438 deg/s, cmd heading: 45.810765 deg, new cmd heading: 45.905204 deg. 2025-10-24T19:33:53.014Z,1761334433.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801197 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:53.107Z,1761334433.107 [DAT](INFO): DAT read: Rx Time:19:33:51.9339 2025-10-24T19:33:53.110Z,1761334433.110 [DAT](INFO): Rx dataTimestamp_ set to:1761334433.107074 2025-10-24T19:33:53.111Z,1761334433.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036788 2025-10-24T19:33:53.301Z,1761334433.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.710802,-0.691075,0.131059],[0.700266,0.712798,-0.039319],[-0.066246,0.119724,0.990595]] 2025-10-24T19:33:53.357Z,1761334433.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282529 2025-10-24T19:33:53.361Z,1761334433.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.20 m. 2025-10-24T19:33:53.369Z,1761334433.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.201973 m, nav range: 116.941086 m, bearing: 58.296304 deg, approach rate: -0.685689 m/s, LOS rate: 0.054939 deg/s, cmd heading: 45.905203 deg, new cmd heading: 45.966279 deg. 2025-10-24T19:33:53.371Z,1761334433.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802263 target range: 120.201973 and range: 120.90 m. 2025-10-24T19:33:53.614Z,1761334433.614 [DAT](INFO): DAT read: 19:33:51.9339 LVL= 21264, 27025, 18770, 26867, AGC= 68, IDX= 416,-0.24,-0.065,-1.497,-0.400,-0.579, PHS= 0.602,-0.871, 0.177, RAW= 133.7, 1.4, CAL= 139.2, -6.9, ROT= 10.8, 6.9 2025-10-24T19:33:53.615Z,1761334433.615 [DAT](INFO): got valid direction response: 19:33:51.9339 LVL= 21264, 27025, 18770, 26867, AGC= 68, IDX= 416,-0.24,-0.065,-1.497,-0.400,-0.579, PHS= 0.602,-0.871, 0.177, RAW= 133.7, 1.4, CAL= 139.2, -6.9, ROT= 10.8, 6.9 2025-10-24T19:33:53.616Z,1761334433.616 [DAT](INFO): DAT read: Bearing 10.8, 6.9 (Local) 2025-10-24T19:33:53.616Z,1761334433.616 [DAT](INFO): Local bearing/azimuth received: Bearing 10.8, 6.9 (Local) 2025-10-24T19:33:53.618Z,1761334433.618 [DAT](INFO): DAT read: Range 10 to 50 : 118.6 m (Round-trip 158.2 ms) speed 0.5 m/s 2025-10-24T19:33:53.619Z,1761334433.619 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:53.621Z,1761334433.621 [DAT](INFO): direction in FSK: [0.975173,0.186024,-0.120137] 2025-10-24T19:33:53.621Z,1761334433.621 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:53.624Z,1761334433.624 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:53.625Z,1761334433.625 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:53.625Z,1761334433.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:53.774Z,1761334433.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.599998 m, deltaT: 3.786466 s, deltaX: -2.300003 m, approachRate: -0.607427 m/s, rangeRepo size: 4 2025-10-24T19:33:53.780Z,1761334433.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.914185 m, bearing: 56.210828 deg, lat: 36.779448 deg, lon: -121.859548 deg, deltaT: 3.786466 s, deltaX: -2.287788 m, approachRate: -0.604201 m/s, posRepo size: 4 2025-10-24T19:33:53.781Z,1761334433.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:53.788Z,1761334433.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 116.803070 m, bearing: 57.899395 deg, approach rate: 0.000000 m/s, LOS rate: 0.054939 deg/s, cmd heading: 45.966278 deg, new cmd heading: 46.034208 deg. 2025-10-24T19:33:53.789Z,1761334433.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.803448 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:53.861Z,1761334433.861 [DAT](INFO): DAT read: user:77> 2025-10-24T19:33:53.862Z,1761334433.862 [DAT](INFO): DAT read: Tx time:19:33:53.1216 2025-10-24T19:33:53.862Z,1761334433.862 [DAT](INFO): Ping request sent. 2025-10-24T19:33:53.862Z,1761334433.862 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:53.862Z,1761334433.862 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:53.863Z,1761334433.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-24T19:33:54.100Z,1761334434.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706060,-0.694749,0.137122],[0.704908,0.708036,-0.042302],[-0.067698,0.126526,0.989650]] 2025-10-24T19:33:54.113Z,1761334434.113 [DAT](INFO): DAT read: TxSync time:19:33:53.1208 2025-10-24T19:33:54.114Z,1761334434.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251648 2025-10-24T19:33:54.176Z,1761334434.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:54.179Z,1761334434.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 116.540092 m, bearing: 57.914501 deg, approach rate: -0.653641 m/s, LOS rate: 0.037633 deg/s, cmd heading: 46.034208 deg, new cmd heading: 46.079630 deg. 2025-10-24T19:33:54.180Z,1761334434.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804241 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:54.365Z,1761334434.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503211 2025-10-24T19:33:54.512Z,1761334434.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701233,-0.700334,0.133434],[0.709717,0.703490,-0.037461],[-0.067634,0.120969,0.990349]] 2025-10-24T19:33:54.529Z,1761334434.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:54.531Z,1761334434.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:54.534Z,1761334434.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 116.318230 m, bearing: 57.926528 deg, approach rate: -0.624728 m/s, LOS rate: 0.033930 deg/s, cmd heading: 46.079629 deg, new cmd heading: 46.115778 deg. 2025-10-24T19:33:54.535Z,1761334434.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804872 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:54.617Z,1761334434.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895 2025-10-24T19:33:54.869Z,1761334434.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007290 2025-10-24T19:33:54.915Z,1761334434.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696411,-0.704350,0.137490],[0.714428,0.698564,-0.040019],[-0.067858,0.126096,0.989694]] 2025-10-24T19:33:54.950Z,1761334434.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:54.957Z,1761334434.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 116.056931 m, bearing: 57.939887 deg, approach rate: -0.623572 m/s, LOS rate: 0.031953 deg/s, cmd heading: 46.115778 deg, new cmd heading: 46.155945 deg. 2025-10-24T19:33:54.958Z,1761334434.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805573 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:55.121Z,1761334435.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258955 2025-10-24T19:33:55.314Z,1761334435.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693145,-0.706671,0.142006],[0.717454,0.695362,-0.041601],[-0.069347,0.130718,0.988991]] 2025-10-24T19:33:55.374Z,1761334435.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512068 2025-10-24T19:33:55.385Z,1761334435.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:55.390Z,1761334435.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 115.799065 m, bearing: 57.951690 deg, approach rate: -0.593211 m/s, LOS rate: 0.027212 deg/s, cmd heading: 46.155946 deg, new cmd heading: 46.191433 deg. 2025-10-24T19:33:55.392Z,1761334435.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806193 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:55.625Z,1761334435.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762689 2025-10-24T19:33:55.716Z,1761334435.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691510,-0.707620,0.145214],[0.718830,0.693945,-0.041517],[-0.071392,0.133094,0.988529]] 2025-10-24T19:33:55.747Z,1761334435.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:55.750Z,1761334435.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 115.573517 m, bearing: 57.961820 deg, approach rate: -0.627936 m/s, LOS rate: 0.028258 deg/s, cmd heading: 46.191432 deg, new cmd heading: 46.221882 deg. 2025-10-24T19:33:55.751Z,1761334435.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806724 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:55.877Z,1761334435.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014681 2025-10-24T19:33:56.129Z,1761334436.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266781 2025-10-24T19:33:56.183Z,1761334436.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:56.187Z,1761334436.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 115.307014 m, bearing: 57.971412 deg, approach rate: -0.607322 m/s, LOS rate: 0.021908 deg/s, cmd heading: 46.221881 deg, new cmd heading: 46.250722 deg. 2025-10-24T19:33:56.189Z,1761334436.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807227 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:56.389Z,1761334436.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521454 2025-10-24T19:33:56.567Z,1761334436.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:56.570Z,1761334436.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:56.573Z,1761334436.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 115.073402 m, bearing: 57.979856 deg, approach rate: -0.602567 m/s, LOS rate: 0.021826 deg/s, cmd heading: 46.250722 deg, new cmd heading: 46.276107 deg. 2025-10-24T19:33:56.574Z,1761334436.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807670 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:56.634Z,1761334436.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771948 2025-10-24T19:33:56.886Z,1761334436.886 [DAT](INFO): DAT read: Rx Time:19:33:55.6812 2025-10-24T19:33:56.886Z,1761334436.886 [DAT](INFO): Rx dataTimestamp_ set to:1761334436.885803 2025-10-24T19:33:56.887Z,1761334436.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024561 2025-10-24T19:33:56.961Z,1761334436.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688933,-0.709503,0.148247],[0.720838,0.692083,-0.037602],[-0.075921,0.132768,0.988235]] 2025-10-24T19:33:56.998Z,1761334436.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.91 m. 2025-10-24T19:33:57.006Z,1761334437.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.914185 m, nav range: 114.816452 m, bearing: 57.988760 deg, approach rate: -0.600478 m/s, LOS rate: 0.020853 deg/s, cmd heading: 46.276106 deg, new cmd heading: 46.302875 deg. 2025-10-24T19:33:57.010Z,1761334437.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808138 target range: 117.914185 and range: 118.60 m. 2025-10-24T19:33:57.137Z,1761334437.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274996 2025-10-24T19:33:57.359Z,1761334437.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689230,-0.709237,0.148136],[0.720477,0.692513,-0.036578],[-0.076644,0.131940,0.988290]] 2025-10-24T19:33:57.399Z,1761334437.399 [DAT](INFO): DAT read: 19:33:55.6812 LVL= 23232, 27633, 20834, 29107, AGC= 68, IDX= 419, 0.01,-1.561,-2.890,-1.827,-1.969, PHS= 0.496,-0.874, 0.138, RAW= 135.4, 3.9, CAL= 140.5, -3.7, ROT= 9.5, 3.7 2025-10-24T19:33:57.400Z,1761334437.400 [DAT](INFO): got valid direction response: 19:33:55.6812 LVL= 23232, 27633, 20834, 29107, AGC= 68, IDX= 419, 0.01,-1.561,-2.890,-1.827,-1.969, PHS= 0.496,-0.874, 0.138, RAW= 135.4, 3.9, CAL= 140.5, -3.7, ROT= 9.5, 3.7 2025-10-24T19:33:57.401Z,1761334437.401 [DAT](INFO): DAT read: Bearing 9.5, 3.7 (Local) 2025-10-24T19:33:57.401Z,1761334437.401 [DAT](INFO): Local bearing/azimuth received: Bearing 9.5, 3.7 (Local) 2025-10-24T19:33:57.403Z,1761334437.403 [DAT](INFO): DAT read: Range 10 to 50 : 116.4 m (Round-trip 155.3 ms) speed 0.4 m/s 2025-10-24T19:33:57.403Z,1761334437.403 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:33:57.412Z,1761334437.412 [DAT](INFO): direction in FSK: [0.984230,0.164704,-0.064532] 2025-10-24T19:33:57.413Z,1761334437.413 [DAT](INFO): publishing direction and range info 2025-10-24T19:33:57.417Z,1761334437.417 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:33:57.417Z,1761334437.417 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:33:57.418Z,1761334437.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:33:57.465Z,1761334437.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.400002 m, deltaT: 3.780162 s, deltaX: -2.199997 m, approachRate: -0.581985 m/s, rangeRepo size: 4 2025-10-24T19:33:57.467Z,1761334437.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.725868 m, bearing: 56.231670 deg, lat: 36.779463 deg, lon: -121.859552 deg, deltaT: 3.780162 s, deltaX: -2.188316 m, approachRate: -0.578895 m/s, posRepo size: 4 2025-10-24T19:33:57.476Z,1761334437.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:33:57.479Z,1761334437.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 115.128845 m, bearing: 57.197029 deg, approach rate: 0.000000 m/s, LOS rate: 0.020853 deg/s, cmd heading: 46.302877 deg, new cmd heading: 46.331729 deg. 2025-10-24T19:33:57.489Z,1761334437.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808641 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:33:57.642Z,1761334437.642 [DAT](INFO): DAT read: user:78> 2025-10-24T19:33:57.644Z,1761334437.644 [DAT](INFO): DAT read: Tx time:19:33:56.9217 2025-10-24T19:33:57.644Z,1761334437.644 [DAT](INFO): Ping request sent. 2025-10-24T19:33:57.645Z,1761334437.645 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:33:57.645Z,1761334437.645 [DAT](INFO): publishing transmit ping time 2025-10-24T19:33:57.647Z,1761334437.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001731 2025-10-24T19:33:57.764Z,1761334437.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689265,-0.709407,0.147160],[0.720306,0.692830,-0.033859],[-0.077937,0.129338,0.988533]] 2025-10-24T19:33:57.817Z,1761334437.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:33:57.821Z,1761334437.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 114.912453 m, bearing: 57.205438 deg, approach rate: -0.604602 m/s, LOS rate: 0.023541 deg/s, cmd heading: 46.331728 deg, new cmd heading: 46.357004 deg. 2025-10-24T19:33:57.822Z,1761334437.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809082 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:33:57.894Z,1761334437.894 [DAT](INFO): DAT read: TxSync time:19:33:56.9209 2025-10-24T19:33:57.895Z,1761334437.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250288 2025-10-24T19:33:58.145Z,1761334438.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500176 2025-10-24T19:33:58.161Z,1761334438.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687439,-0.711573,0.145228],[0.722094,0.691050,-0.032100],[-0.077518,0.126935,0.988877]] 2025-10-24T19:33:58.225Z,1761334438.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:33:58.227Z,1761334438.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 114.673515 m, bearing: 57.213680 deg, approach rate: -0.586565 m/s, LOS rate: 0.020275 deg/s, cmd heading: 46.357003 deg, new cmd heading: 46.381779 deg. 2025-10-24T19:33:58.233Z,1761334438.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809515 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:33:58.397Z,1761334438.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752207 2025-10-24T19:33:58.465Z,1761334438.465 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:33:58.576Z,1761334438.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687349,-0.709449,0.155669],[0.722104,0.690551,-0.041288],[-0.078206,0.140788,0.986946]] 2025-10-24T19:33:58.593Z,1761334438.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:33:58.595Z,1761334438.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:33:58.598Z,1761334438.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 114.439339 m, bearing: 57.221825 deg, approach rate: -0.632231 m/s, LOS rate: 0.022033 deg/s, cmd heading: 46.381779 deg, new cmd heading: 46.406262 deg. 2025-10-24T19:33:58.599Z,1761334438.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.809942 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:33:58.650Z,1761334438.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004851 2025-10-24T19:33:58.902Z,1761334438.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256906 2025-10-24T19:33:59.021Z,1761334439.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:33:59.024Z,1761334439.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 114.194603 m, bearing: 57.230372 deg, approach rate: -0.574640 m/s, LOS rate: 0.020112 deg/s, cmd heading: 46.406262 deg, new cmd heading: 46.431959 deg. 2025-10-24T19:33:59.025Z,1761334439.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810391 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:33:59.154Z,1761334439.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508814 2025-10-24T19:33:59.371Z,1761334439.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688915,-0.708806,0.151627],[0.720409,0.692654,-0.035235],[-0.080050,0.133507,0.987810]] 2025-10-24T19:33:59.405Z,1761334439.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760288 2025-10-24T19:33:59.422Z,1761334439.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:33:59.425Z,1761334439.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 113.956161 m, bearing: 57.242318 deg, approach rate: -0.594930 m/s, LOS rate: 0.029869 deg/s, cmd heading: 46.431961 deg, new cmd heading: 46.467874 deg. 2025-10-24T19:33:59.426Z,1761334439.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811017 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:33:59.469Z,1761334439.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:33:59.657Z,1761334439.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012297 2025-10-24T19:33:59.775Z,1761334439.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690753,-0.707249,0.150529],[0.718451,0.694830,-0.032243],[-0.081788,0.130419,0.988080]] 2025-10-24T19:33:59.794Z,1761334439.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:33:59.797Z,1761334439.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 113.739456 m, bearing: 57.253506 deg, approach rate: -0.581831 m/s, LOS rate: 0.030094 deg/s, cmd heading: 46.467874 deg, new cmd heading: 46.501500 deg. 2025-10-24T19:33:59.798Z,1761334439.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811604 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:33:59.910Z,1761334439.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265099 2025-10-24T19:34:00.161Z,1761334440.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516192 2025-10-24T19:34:00.179Z,1761334440.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692447,-0.705901,0.149069],[0.716631,0.696850,-0.028995],[-0.083411,0.126905,0.988402]] 2025-10-24T19:34:00.231Z,1761334440.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:00.234Z,1761334440.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 113.489693 m, bearing: 57.269982 deg, approach rate: -0.572301 m/s, LOS rate: 0.037837 deg/s, cmd heading: 46.501499 deg, new cmd heading: 46.551037 deg. 2025-10-24T19:34:00.234Z,1761334440.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812469 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:34:00.413Z,1761334440.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768166 2025-10-24T19:34:00.586Z,1761334440.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693512,-0.704786,0.149391],[0.715385,0.698207,-0.027058],[-0.085236,0.125637,0.988408]] 2025-10-24T19:34:00.614Z,1761334440.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:00.632Z,1761334440.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:00.635Z,1761334440.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 113.270935 m, bearing: 57.284656 deg, approach rate: -0.568115 m/s, LOS rate: 0.038181 deg/s, cmd heading: 46.551038 deg, new cmd heading: 46.595144 deg. 2025-10-24T19:34:00.641Z,1761334440.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813239 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:34:00.665Z,1761334440.665 [DAT](INFO): DAT read: Rx Time:19:33:59.4783 2025-10-24T19:34:00.665Z,1761334440.665 [DAT](INFO): Rx dataTimestamp_ set to:1761334440.665224 2025-10-24T19:34:00.666Z,1761334440.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021512 2025-10-24T19:34:00.917Z,1761334440.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272606 2025-10-24T19:34:00.991Z,1761334440.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694051,-0.704414,0.148642],[0.714694,0.699007,-0.024511],[-0.086636,0.123246,0.988587]] 2025-10-24T19:34:01.018Z,1761334441.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:01.023Z,1761334441.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 113.045532 m, bearing: 57.299931 deg, approach rate: -0.561043 m/s, LOS rate: 0.038098 deg/s, cmd heading: 46.595144 deg, new cmd heading: 46.641063 deg. 2025-10-24T19:34:01.025Z,1761334441.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814040 target range: 115.725868 and range: 116.40 m. 2025-10-24T19:34:01.174Z,1761334441.174 [DAT](INFO): DAT read: Range 10 to 50 : 114.3 m (Round-trip 152.4 ms) speed 0.9 m/s 2025-10-24T19:34:01.175Z,1761334441.175 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:34:01.177Z,1761334441.177 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:01.177Z,1761334441.177 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:01.177Z,1761334441.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:01.391Z,1761334441.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693620,-0.705063,0.147573],[0.714980,0.698803,-0.021843],[-0.087724,0.120663,0.988810]] 2025-10-24T19:34:01.424Z,1761334441.424 [DAT](INFO): DAT read: user:79> 2025-10-24T19:34:01.425Z,1761334441.425 [DAT](INFO): DAT read: Tx time:19:34:00.6717 2025-10-24T19:34:01.425Z,1761334441.425 [DAT](INFO): Ping request sent. 2025-10-24T19:34:01.425Z,1761334441.425 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:01.426Z,1761334441.426 [DAT](INFO): DAT read: TxSync time:19:34:00.6709 2025-10-24T19:34:01.426Z,1761334441.426 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:01.427Z,1761334441.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001560 2025-10-24T19:34:01.480Z,1761334441.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.300003 m, deltaT: 3.782799 s, deltaX: -2.099998 m, approachRate: -0.555144 m/s, rangeRepo size: 4 2025-10-24T19:34:01.481Z,1761334441.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:01.483Z,1761334441.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 112.786430 m, bearing: 57.317172 deg, approach rate: -0.570978 m/s, LOS rate: 0.038080 deg/s, cmd heading: 46.641063 deg, new cmd heading: 46.692904 deg. 2025-10-24T19:34:01.489Z,1761334441.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814945 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:01.673Z,1761334441.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247758 2025-10-24T19:34:01.795Z,1761334441.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692068,-0.706484,0.148066],[0.716449,0.697306,-0.021583],[-0.087999,0.121018,0.988742]] 2025-10-24T19:34:01.833Z,1761334441.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:01.836Z,1761334441.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 112.573303 m, bearing: 57.331177 deg, approach rate: -0.589767 m/s, LOS rate: 0.038827 deg/s, cmd heading: 46.692905 deg, new cmd heading: 46.734998 deg. 2025-10-24T19:34:01.837Z,1761334441.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815680 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:01.926Z,1761334441.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501005 2025-10-24T19:34:02.177Z,1761334442.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751711 2025-10-24T19:34:02.201Z,1761334442.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687041,-0.712714,0.141466],[0.721466,0.692260,-0.016214],[-0.086375,0.113203,0.989810]] 2025-10-24T19:34:02.259Z,1761334442.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:02.266Z,1761334442.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 112.310814 m, bearing: 57.350577 deg, approach rate: -0.615681 m/s, LOS rate: 0.045610 deg/s, cmd heading: 46.734999 deg, new cmd heading: 46.793336 deg. 2025-10-24T19:34:02.267Z,1761334442.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816698 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:02.429Z,1761334442.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003809 2025-10-24T19:34:02.609Z,1761334442.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681751,-0.716843,0.146122],[0.726440,0.686961,-0.019216],[-0.086605,0.119250,0.989080]] 2025-10-24T19:34:02.626Z,1761334442.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:02.628Z,1761334442.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:02.634Z,1761334442.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 112.088486 m, bearing: 57.366245 deg, approach rate: -0.603356 m/s, LOS rate: 0.042606 deg/s, cmd heading: 46.793336 deg, new cmd heading: 46.840435 deg. 2025-10-24T19:34:02.637Z,1761334442.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817520 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:02.681Z,1761334442.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256163 2025-10-24T19:34:02.934Z,1761334442.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508502 2025-10-24T19:34:03.010Z,1761334443.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678590,-0.718992,0.150220],[0.729271,0.683903,-0.021006],[-0.087633,0.123805,0.988429]] 2025-10-24T19:34:03.034Z,1761334443.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:03.037Z,1761334443.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 111.846130 m, bearing: 57.382866 deg, approach rate: -0.597012 m/s, LOS rate: 0.041032 deg/s, cmd heading: 46.840433 deg, new cmd heading: 46.890404 deg. 2025-10-24T19:34:03.038Z,1761334443.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818392 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:03.186Z,1761334443.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760266 2025-10-24T19:34:03.413Z,1761334443.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676273,-0.720273,0.154471],[0.731218,0.681781,-0.022235],[-0.089300,0.127989,0.987747]] 2025-10-24T19:34:03.437Z,1761334443.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011784 2025-10-24T19:34:03.468Z,1761334443.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:03.472Z,1761334443.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 111.577591 m, bearing: 57.398560 deg, approach rate: -0.618469 m/s, LOS rate: 0.036231 deg/s, cmd heading: 46.890403 deg, new cmd heading: 46.937597 deg. 2025-10-24T19:34:03.473Z,1761334443.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819216 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:03.689Z,1761334443.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263755 2025-10-24T19:34:03.817Z,1761334443.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675577,-0.720391,0.156947],[0.731679,0.681280,-0.022415],[-0.090777,0.129977,0.987353]] 2025-10-24T19:34:03.837Z,1761334443.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:03.840Z,1761334443.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 111.349632 m, bearing: 57.411845 deg, approach rate: -0.616975 m/s, LOS rate: 0.036030 deg/s, cmd heading: 46.937596 deg, new cmd heading: 46.977533 deg. 2025-10-24T19:34:03.841Z,1761334443.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819913 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:03.941Z,1761334443.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515798 2025-10-24T19:34:04.193Z,1761334444.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767724 2025-10-24T19:34:04.224Z,1761334444.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674280,-0.721229,0.158666],[0.732720,0.680172,-0.022053],[-0.092015,0.131128,0.987086]] 2025-10-24T19:34:04.278Z,1761334444.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:04.281Z,1761334444.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 111.084961 m, bearing: 57.426636 deg, approach rate: -0.599950 m/s, LOS rate: 0.033608 deg/s, cmd heading: 46.977532 deg, new cmd heading: 47.022012 deg. 2025-10-24T19:34:04.282Z,1761334444.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820689 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:04.445Z,1761334444.445 [DAT](INFO): DAT read: Rx Time:19:34:03.2250 2025-10-24T19:34:04.445Z,1761334444.445 [DAT](INFO): Rx dataTimestamp_ set to:1761334444.445136 2025-10-24T19:34:04.446Z,1761334444.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020927 2025-10-24T19:34:04.624Z,1761334444.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673803,-0.721664,0.158717],[0.733055,0.679849,-0.020868],[-0.092844,0.130409,0.987104]] 2025-10-24T19:34:04.657Z,1761334444.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:04.659Z,1761334444.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.73 m. 2025-10-24T19:34:04.665Z,1761334444.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.725868 m, nav range: 110.854576 m, bearing: 57.439498 deg, approach rate: -0.604415 m/s, LOS rate: 0.033813 deg/s, cmd heading: 47.022010 deg, new cmd heading: 47.060676 deg. 2025-10-24T19:34:04.667Z,1761334444.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821364 target range: 115.725868 and range: 114.30 m. 2025-10-24T19:34:04.697Z,1761334444.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271637 2025-10-24T19:34:04.955Z,1761334444.955 [DAT](INFO): DAT read: 19:34:03.2250 LVL= 19824, 23425, 17890, 27251, AGC= 71, IDX= 402, 0.18,-1.170,-2.679,-1.371,-1.568, PHS= 0.486,-1.064, 0.194, RAW= 139.8, 5.4, CAL= 143.6, -2.4, ROT= 6.4, 2.4 2025-10-24T19:34:04.957Z,1761334444.957 [DAT](INFO): got valid direction response: 19:34:03.2250 LVL= 19824, 23425, 17890, 27251, AGC= 71, IDX= 402, 0.18,-1.170,-2.679,-1.371,-1.568, PHS= 0.486,-1.064, 0.194, RAW= 139.8, 5.4, CAL= 143.6, -2.4, ROT= 6.4, 2.4 2025-10-24T19:34:04.958Z,1761334444.958 [DAT](INFO): DAT read: Bearing 6.4, 2.4 (Local) 2025-10-24T19:34:04.958Z,1761334444.958 [DAT](INFO): Local bearing/azimuth received: Bearing 6.4, 2.4 (Local) 2025-10-24T19:34:04.959Z,1761334444.959 [DAT](INFO): DAT read: Range 10 to 50 : 111.8 m (Round-trip 149.1 ms) speed 0.4 m/s 2025-10-24T19:34:04.965Z,1761334444.965 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:04.966Z,1761334444.966 [DAT](INFO): direction in FSK: [0.992896,0.111371,-0.041876] 2025-10-24T19:34:04.967Z,1761334444.967 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:04.976Z,1761334444.976 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:04.976Z,1761334444.976 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:04.976Z,1761334444.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:05.040Z,1761334445.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673588,-0.721917,0.158477],[0.733135,0.679807,-0.019355],[-0.093762,0.129222,0.987173]] 2025-10-24T19:34:05.147Z,1761334445.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.800003 m, deltaT: 3.777179 s, deltaX: -2.500000 m, approachRate: -0.661870 m/s, rangeRepo size: 4 2025-10-24T19:34:05.173Z,1761334445.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.153687 m, bearing: 54.126055 deg, lat: 36.779471 deg, lon: -121.859566 deg, deltaT: 7.559978 s, deltaX: -4.572182 m, approachRate: -0.604788 m/s, posRepo size: 4 2025-10-24T19:34:05.175Z,1761334445.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:05.196Z,1761334445.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 110.086708 m, bearing: 56.678491 deg, approach rate: 0.000000 m/s, LOS rate: 0.033813 deg/s, cmd heading: 47.060676 deg, new cmd heading: 47.109287 deg. 2025-10-24T19:34:05.197Z,1761334445.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822212 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:05.201Z,1761334445.201 [DAT](INFO): DAT read: user:80> 2025-10-24T19:34:05.202Z,1761334445.202 [DAT](INFO): DAT read: Tx time:19:34:04.4717 2025-10-24T19:34:05.202Z,1761334445.202 [DAT](INFO): Ping request sent. 2025-10-24T19:34:05.203Z,1761334445.203 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:05.203Z,1761334445.203 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:05.203Z,1761334445.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-24T19:34:05.453Z,1761334445.453 [DAT](INFO): DAT read: TxSync time:19:34:04.4709 2025-10-24T19:34:05.454Z,1761334445.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251616 2025-10-24T19:34:05.473Z,1761334445.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672867,-0.722591,0.158469],[0.733689,0.679247,-0.018031],[-0.094610,0.128399,0.987199]] 2025-10-24T19:34:05.579Z,1761334445.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:05.587Z,1761334445.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 109.800797 m, bearing: 56.689354 deg, approach rate: -0.651474 m/s, LOS rate: 0.024816 deg/s, cmd heading: 47.109287 deg, new cmd heading: 47.141959 deg. 2025-10-24T19:34:05.592Z,1761334445.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822782 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:05.705Z,1761334445.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502795 2025-10-24T19:34:05.879Z,1761334445.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671105,-0.724348,0.157918],[0.735316,0.677505,-0.017250],[-0.094495,0.127696,0.987302]] 2025-10-24T19:34:05.897Z,1761334445.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:05.902Z,1761334445.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 109.595001 m, bearing: 56.696946 deg, approach rate: -0.643651 m/s, LOS rate: 0.023790 deg/s, cmd heading: 47.141959 deg, new cmd heading: 47.164778 deg. 2025-10-24T19:34:05.903Z,1761334445.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823181 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:05.957Z,1761334445.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754379 2025-10-24T19:34:06.209Z,1761334446.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006158 2025-10-24T19:34:06.281Z,1761334446.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670789,-0.724392,0.159054],[0.735581,0.677197,-0.018003],[-0.094670,0.129074,0.987106]] 2025-10-24T19:34:06.376Z,1761334446.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:06.379Z,1761334446.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 109.327446 m, bearing: 56.708057 deg, approach rate: -0.558506 m/s, LOS rate: 0.023250 deg/s, cmd heading: 47.164778 deg, new cmd heading: 47.198193 deg. 2025-10-24T19:34:06.384Z,1761334446.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823764 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:06.462Z,1761334446.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259009 2025-10-24T19:34:06.689Z,1761334446.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670188,-0.725182,0.157986],[0.736038,0.676753,-0.015917],[-0.095374,0.126951,0.987313]] 2025-10-24T19:34:06.713Z,1761334446.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510361 2025-10-24T19:34:06.734Z,1761334446.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:06.741Z,1761334446.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:06.743Z,1761334446.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 109.089508 m, bearing: 56.717886 deg, approach rate: -0.661499 m/s, LOS rate: 0.027386 deg/s, cmd heading: 47.198192 deg, new cmd heading: 47.227743 deg. 2025-10-24T19:34:06.749Z,1761334446.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824280 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:06.966Z,1761334446.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763388 2025-10-24T19:34:07.095Z,1761334447.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669357,-0.725948,0.157988],[0.736599,0.676190,-0.013731],[-0.096862,0.125565,0.987345]] 2025-10-24T19:34:07.115Z,1761334447.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:07.118Z,1761334447.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 108.844307 m, bearing: 56.727929 deg, approach rate: -0.647025 m/s, LOS rate: 0.026559 deg/s, cmd heading: 47.227743 deg, new cmd heading: 47.257937 deg. 2025-10-24T19:34:07.120Z,1761334447.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824807 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:07.220Z,1761334447.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017130 2025-10-24T19:34:07.470Z,1761334447.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267241 2025-10-24T19:34:07.505Z,1761334447.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668718,-0.726594,0.157724],[0.736785,0.676062,-0.009375],[-0.099819,0.122478,0.987439]] 2025-10-24T19:34:07.570Z,1761334447.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:07.577Z,1761334447.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 108.576027 m, bearing: 56.735909 deg, approach rate: -0.589869 m/s, LOS rate: 0.017589 deg/s, cmd heading: 47.257939 deg, new cmd heading: 47.281938 deg. 2025-10-24T19:34:07.578Z,1761334447.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825225 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:07.722Z,1761334447.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519403 2025-10-24T19:34:07.898Z,1761334447.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668274,-0.727044,0.157536],[0.737066,0.675774,-0.007902],[-0.100713,0.121395,0.987482]] 2025-10-24T19:34:07.937Z,1761334447.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:07.940Z,1761334447.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 108.354034 m, bearing: 56.742478 deg, approach rate: -0.604542 m/s, LOS rate: 0.017928 deg/s, cmd heading: 47.281937 deg, new cmd heading: 47.301687 deg. 2025-10-24T19:34:07.941Z,1761334447.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825570 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:07.973Z,1761334447.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770559 2025-10-24T19:34:08.225Z,1761334448.225 [DAT](INFO): DAT read: Rx Time:19:34:07.0221 2025-10-24T19:34:08.225Z,1761334448.225 [DAT](INFO): Rx dataTimestamp_ set to:1761334448.225098 2025-10-24T19:34:08.226Z,1761334448.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023354 2025-10-24T19:34:08.300Z,1761334448.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666983,-0.728100,0.158129],[0.738176,0.674565,-0.007590],[-0.101142,0.121789,0.987389]] 2025-10-24T19:34:08.373Z,1761334448.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:08.375Z,1761334448.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 108.112907 m, bearing: 56.750643 deg, approach rate: -0.553502 m/s, LOS rate: 0.018784 deg/s, cmd heading: 47.301686 deg, new cmd heading: 47.326236 deg. 2025-10-24T19:34:08.380Z,1761334448.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825999 target range: 111.153687 and range: 111.80 m. 2025-10-24T19:34:08.477Z,1761334448.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274805 2025-10-24T19:34:08.706Z,1761334448.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666021,-0.728856,0.158698],[0.738959,0.673713,-0.007076],[-0.101760,0.121984,0.987302]] 2025-10-24T19:34:08.741Z,1761334448.741 [DAT](INFO): DAT read: 19:34:07.0221 LVL= 18544, 32753, 19234, 32083, AGC= 71, IDX= 405, 0.00, 2.659, 1.363, 2.483, 2.363, PHS= 0.383,-0.953, 0.117, RAW= 139.2, 7.4, CAL= 142.9, 0.1, ROT= 7.1, -0.1 2025-10-24T19:34:08.748Z,1761334448.748 [DAT](INFO): got valid direction response: 19:34:07.0221 LVL= 18544, 32753, 19234, 32083, AGC= 71, IDX= 405, 0.00, 2.659, 1.363, 2.483, 2.363, PHS= 0.383,-0.953, 0.117, RAW= 139.2, 7.4, CAL= 142.9, 0.1, ROT= 7.1, -0.1 2025-10-24T19:34:08.750Z,1761334448.750 [DAT](INFO): DAT read: Bearing 7.1, -0.1 (Local) 2025-10-24T19:34:08.751Z,1761334448.751 [DAT](INFO): Local bearing/azimuth received: Bearing 7.1, -0.1 (Local) 2025-10-24T19:34:08.763Z,1761334448.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:08.764Z,1761334448.764 [DAT](INFO): DAT read: Range 10 to 50 : 109.5 m (Round-trip 146.1 ms) speed 0.6 m/s 2025-10-24T19:34:08.765Z,1761334448.765 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:08.766Z,1761334448.766 [DAT](INFO): direction in FSK: [0.992330,0.123601,0.001745] 2025-10-24T19:34:08.766Z,1761334448.766 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:08.790Z,1761334448.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.500000 m, deltaT: 3.780692 s, deltaX: -2.300003 m, approachRate: -0.608355 m/s, rangeRepo size: 4 2025-10-24T19:34:08.791Z,1761334448.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:08.794Z,1761334448.794 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:08.794Z,1761334448.794 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:08.794Z,1761334448.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:08.810Z,1761334448.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 107.869080 m, bearing: 56.758774 deg, approach rate: -0.584796 m/s, LOS rate: 0.019546 deg/s, cmd heading: 47.326234 deg, new cmd heading: 47.350682 deg. 2025-10-24T19:34:08.811Z,1761334448.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826425 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:08.981Z,1761334448.981 [DAT](INFO): DAT read: user:81> 2025-10-24T19:34:08.982Z,1761334448.982 [DAT](INFO): DAT read: Tx time:19:34:08.3218 2025-10-24T19:34:08.982Z,1761334448.982 [DAT](INFO): Ping request sent. 2025-10-24T19:34:08.982Z,1761334448.982 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:08.982Z,1761334448.982 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:08.983Z,1761334448.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-24T19:34:09.108Z,1761334449.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664766,-0.729972,0.158829],[0.739936,0.672655,-0.005450],[-0.102859,0.121146,0.987291]] 2025-10-24T19:34:09.155Z,1761334449.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:09.158Z,1761334449.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 107.645012 m, bearing: 56.766087 deg, approach rate: -0.612766 m/s, LOS rate: 0.020038 deg/s, cmd heading: 47.350683 deg, new cmd heading: 47.372665 deg. 2025-10-24T19:34:09.159Z,1761334449.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826809 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:09.237Z,1761334449.237 [DAT](INFO): DAT read: TxSync time:19:34:08.3210 2025-10-24T19:34:09.240Z,1761334449.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256912 2025-10-24T19:34:09.485Z,1761334449.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502553 2025-10-24T19:34:09.522Z,1761334449.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661564,-0.733653,0.155199],[0.742956,0.669333,-0.002930],[-0.101730,0.117244,0.987879]] 2025-10-24T19:34:09.562Z,1761334449.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:09.585Z,1761334449.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 107.404510 m, bearing: 56.775069 deg, approach rate: -0.590812 m/s, LOS rate: 0.022115 deg/s, cmd heading: 47.372666 deg, new cmd heading: 47.399673 deg. 2025-10-24T19:34:09.586Z,1761334449.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827280 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:09.737Z,1761334449.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754600 2025-10-24T19:34:09.926Z,1761334449.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658431,-0.736421,0.155409],[0.745641,0.666346,-0.001556],[-0.102411,0.116904,0.987849]] 2025-10-24T19:34:09.948Z,1761334449.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:09.951Z,1761334449.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 107.188156 m, bearing: 56.782702 deg, approach rate: -0.560960 m/s, LOS rate: 0.019830 deg/s, cmd heading: 47.399672 deg, new cmd heading: 47.422617 deg. 2025-10-24T19:34:09.969Z,1761334449.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827681 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:09.989Z,1761334449.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006689 2025-10-24T19:34:10.244Z,1761334450.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260862 2025-10-24T19:34:10.381Z,1761334450.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:10.385Z,1761334450.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 106.949814 m, bearing: 56.790233 deg, approach rate: -0.549980 m/s, LOS rate: 0.017418 deg/s, cmd heading: 47.422618 deg, new cmd heading: 47.445263 deg. 2025-10-24T19:34:10.386Z,1761334450.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828076 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:10.493Z,1761334450.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510682 2025-10-24T19:34:10.725Z,1761334450.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656650,-0.737707,0.156841],[0.746863,0.664978,0.000838],[-0.104914,0.116588,0.987624]] 2025-10-24T19:34:10.745Z,1761334450.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762660 2025-10-24T19:34:10.767Z,1761334450.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:10.773Z,1761334450.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 106.739456 m, bearing: 56.796661 deg, approach rate: -0.547068 m/s, LOS rate: 0.016750 deg/s, cmd heading: 47.445264 deg, new cmd heading: 47.464585 deg. 2025-10-24T19:34:10.777Z,1761334450.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828413 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:10.997Z,1761334450.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014511 2025-10-24T19:34:11.129Z,1761334451.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657176,-0.737365,0.156247],[0.746172,0.665745,0.003395],[-0.106524,0.114356,0.987712]] 2025-10-24T19:34:11.147Z,1761334451.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:11.149Z,1761334451.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:11.174Z,1761334451.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 106.527138 m, bearing: 56.803269 deg, approach rate: -0.553870 m/s, LOS rate: 0.017271 deg/s, cmd heading: 47.464586 deg, new cmd heading: 47.484448 deg. 2025-10-24T19:34:11.175Z,1761334451.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828760 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:11.254Z,1761334451.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271042 2025-10-24T19:34:11.501Z,1761334451.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518525 2025-10-24T19:34:11.533Z,1761334451.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657367,-0.737209,0.156176],[0.745793,0.666156,0.005355],[-0.107986,0.112955,0.987715]] 2025-10-24T19:34:11.617Z,1761334451.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:11.624Z,1761334451.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 106.279907 m, bearing: 56.815017 deg, approach rate: -0.528777 m/s, LOS rate: 0.025187 deg/s, cmd heading: 47.484448 deg, new cmd heading: 47.519777 deg. 2025-10-24T19:34:11.625Z,1761334451.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829377 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:11.754Z,1761334451.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771801 2025-10-24T19:34:11.941Z,1761334451.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657997,-0.736735,0.155761],[0.745060,0.666959,0.007218],[-0.109204,0.111302,0.987768]] 2025-10-24T19:34:11.977Z,1761334451.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.15 m. 2025-10-24T19:34:11.979Z,1761334451.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.153687 m, nav range: 106.083061 m, bearing: 56.824511 deg, approach rate: -0.547104 m/s, LOS rate: 0.026436 deg/s, cmd heading: 47.519778 deg, new cmd heading: 47.548312 deg. 2025-10-24T19:34:11.980Z,1761334451.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829875 target range: 111.153687 and range: 109.50 m. 2025-10-24T19:34:12.005Z,1761334452.005 [DAT](INFO): DAT read: Rx Time:19:34:10.8693 2025-10-24T19:34:12.005Z,1761334452.005 [DAT](INFO): Rx dataTimestamp_ set to:1761334452.005173 2025-10-24T19:34:12.006Z,1761334452.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023807 2025-10-24T19:34:12.259Z,1761334452.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276388 2025-10-24T19:34:12.531Z,1761334452.531 [DAT](INFO): DAT read: 19:34:10.8693 LVL= 19920, 25585, 17186, 31987, AGC= 69, IDX= 408,-0.11,-0.097,-1.473,-0.235,-0.379, PHS= 0.369,-1.047, 0.141, RAW= 141.4, 8.2, CAL= 144.4, 0.7, ROT= 5.6, -0.7 2025-10-24T19:34:12.537Z,1761334452.537 [DAT](INFO): got valid direction response: 19:34:10.8693 LVL= 19920, 25585, 17186, 31987, AGC= 69, IDX= 408,-0.11,-0.097,-1.473,-0.235,-0.379, PHS= 0.369,-1.047, 0.141, RAW= 141.4, 8.2, CAL= 144.4, 0.7, ROT= 5.6, -0.7 2025-10-24T19:34:12.538Z,1761334452.538 [DAT](INFO): DAT read: Bearing 5.6, -0.7 (Local) 2025-10-24T19:34:12.538Z,1761334452.538 [DAT](INFO): Local bearing/azimuth received: Bearing 5.6, -0.7 (Local) 2025-10-24T19:34:12.544Z,1761334452.544 [DAT](INFO): DAT read: Range 10 to 50 : 107.4 m (Round-trip 143.3 ms) speed 0.6 m/s 2025-10-24T19:34:12.545Z,1761334452.545 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:12.546Z,1761334452.546 [DAT](INFO): direction in FSK: [0.995153,0.097576,0.012217] 2025-10-24T19:34:12.546Z,1761334452.546 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:12.555Z,1761334452.555 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:12.555Z,1761334452.555 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:12.555Z,1761334452.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:12.610Z,1761334452.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.400002 m, deltaT: 3.787275 s, deltaX: -2.099998 m, approachRate: -0.554488 m/s, rangeRepo size: 4 2025-10-24T19:34:12.632Z,1761334452.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.785065 m, bearing: 54.056619 deg, lat: 36.779499 deg, lon: -121.859577 deg, deltaT: 7.567967 s, deltaX: -4.368622 m, approachRate: -0.577252 m/s, posRepo size: 4 2025-10-24T19:34:12.633Z,1761334452.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:12.635Z,1761334452.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 106.593605 m, bearing: 55.164811 deg, approach rate: 0.000000 m/s, LOS rate: 0.026436 deg/s, cmd heading: 47.548311 deg, new cmd heading: 47.597971 deg. 2025-10-24T19:34:12.641Z,1761334452.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830741 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:12.770Z,1761334452.770 [DAT](INFO): DAT read: user:82> 2025-10-24T19:34:12.771Z,1761334452.771 [DAT](INFO): DAT read: Tx time:19:34:12.0718 2025-10-24T19:34:12.771Z,1761334452.771 [DAT](INFO): Ping request sent. 2025-10-24T19:34:12.771Z,1761334452.771 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:12.771Z,1761334452.771 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:12.772Z,1761334452.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000888 2025-10-24T19:34:12.924Z,1761334452.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658062,-0.736934,0.154542],[0.744774,0.667237,0.010365],[-0.110754,0.108278,0.987932]] 2025-10-24T19:34:12.974Z,1761334452.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:12.981Z,1761334452.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 106.338638 m, bearing: 55.171025 deg, approach rate: -0.687550 m/s, LOS rate: 0.016795 deg/s, cmd heading: 47.597970 deg, new cmd heading: 47.616654 deg. 2025-10-24T19:34:12.982Z,1761334452.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831067 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:13.021Z,1761334453.021 [DAT](INFO): DAT read: TxSync time:19:34:12.0710 2025-10-24T19:34:13.022Z,1761334453.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250403 2025-10-24T19:34:13.276Z,1761334453.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504050 2025-10-24T19:34:13.397Z,1761334453.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:13.399Z,1761334453.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:13.408Z,1761334453.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 106.089676 m, bearing: 55.171388 deg, approach rate: -0.584589 m/s, LOS rate: 0.000855 deg/s, cmd heading: 47.616654 deg, new cmd heading: 47.617746 deg. 2025-10-24T19:34:13.411Z,1761334453.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831086 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:13.526Z,1761334453.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754289 2025-10-24T19:34:13.741Z,1761334453.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:13.744Z,1761334453.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 105.892677 m, bearing: 55.171677 deg, approach rate: -0.576235 m/s, LOS rate: 0.000846 deg/s, cmd heading: 47.617746 deg, new cmd heading: 47.618614 deg. 2025-10-24T19:34:13.745Z,1761334453.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831102 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:13.777Z,1761334453.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005420 2025-10-24T19:34:14.029Z,1761334454.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257456 2025-10-24T19:34:14.130Z,1761334454.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:14.133Z,1761334454.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 105.669212 m, bearing: 55.172006 deg, approach rate: -0.574487 m/s, LOS rate: 0.000847 deg/s, cmd heading: 47.618614 deg, new cmd heading: 47.619602 deg. 2025-10-24T19:34:14.134Z,1761334454.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831119 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:14.284Z,1761334454.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512033 2025-10-24T19:34:14.533Z,1761334454.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761602 2025-10-24T19:34:14.602Z,1761334454.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:14.617Z,1761334454.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 105.386833 m, bearing: 55.169189 deg, approach rate: -0.599294 m/s, LOS rate: -0.005994 deg/s, cmd heading: 47.619604 deg, new cmd heading: 47.611131 deg. 2025-10-24T19:34:14.619Z,1761334454.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830971 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:14.785Z,1761334454.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013474 2025-10-24T19:34:14.953Z,1761334454.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:14.956Z,1761334454.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 105.170120 m, bearing: 55.167017 deg, approach rate: -0.616367 m/s, LOS rate: -0.006190 deg/s, cmd heading: 47.611131 deg, new cmd heading: 47.604602 deg. 2025-10-24T19:34:14.957Z,1761334454.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830857 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:15.037Z,1761334455.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266036 2025-10-24T19:34:15.291Z,1761334455.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519485 2025-10-24T19:34:15.354Z,1761334455.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651210,-0.743984,0.149713],[0.750560,0.660561,0.017868],[-0.112188,0.100732,0.988568]] 2025-10-24T19:34:15.410Z,1761334455.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:15.429Z,1761334455.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:15.431Z,1761334455.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 104.877266 m, bearing: 55.156177 deg, approach rate: -0.638145 m/s, LOS rate: -0.023687 deg/s, cmd heading: 47.604602 deg, new cmd heading: 47.571991 deg. 2025-10-24T19:34:15.437Z,1761334455.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830288 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:15.542Z,1761334455.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770497 2025-10-24T19:34:15.718Z,1761334455.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650779,-0.744288,0.150071],[0.750843,0.660224,0.018416],[-0.112788,0.100695,0.988504]] 2025-10-24T19:34:15.758Z,1761334455.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:15.765Z,1761334455.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 104.669891 m, bearing: 55.148405 deg, approach rate: -0.601096 m/s, LOS rate: -0.022573 deg/s, cmd heading: 47.571991 deg, new cmd heading: 47.548628 deg. 2025-10-24T19:34:15.766Z,1761334455.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829880 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:15.794Z,1761334455.794 [DAT](INFO): DAT read: Rx Time:19:34:14.6162 2025-10-24T19:34:15.794Z,1761334455.794 [DAT](INFO): Rx dataTimestamp_ set to:1761334455.794152 2025-10-24T19:34:15.795Z,1761334455.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023705 2025-10-24T19:34:16.045Z,1761334456.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273469 2025-10-24T19:34:16.123Z,1761334456.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650475,-0.744533,0.150178],[0.751005,0.660015,0.019266],[-0.113464,0.100252,0.988471]] 2025-10-24T19:34:16.144Z,1761334456.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.79 m. 2025-10-24T19:34:16.147Z,1761334456.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.785065 m, nav range: 104.410103 m, bearing: 55.138572 deg, approach rate: -0.671981 m/s, LOS rate: -0.025497 deg/s, cmd heading: 47.548628 deg, new cmd heading: 47.519057 deg. 2025-10-24T19:34:16.148Z,1761334456.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829364 target range: 106.785065 and range: 107.40 m. 2025-10-24T19:34:16.318Z,1761334456.318 [DAT](INFO): DAT read: 19:34:14.6162 LVL= 29904, 32753, 29282, 32755, AGC= 68, IDX= 408,-0.23, 0.268,-1.098, 0.151, 0.032, PHS= 0.324,-1.082, 0.116, RAW= 142.1, 9.8, CAL= 144.9, 2.5, ROT= 5.1, -2.5 2025-10-24T19:34:16.323Z,1761334456.323 [DAT](INFO): got valid direction response: 19:34:14.6162 LVL= 29904, 32753, 29282, 32755, AGC= 68, IDX= 408,-0.23, 0.268,-1.098, 0.151, 0.032, PHS= 0.324,-1.082, 0.116, RAW= 142.1, 9.8, CAL= 144.9, 2.5, ROT= 5.1, -2.5 2025-10-24T19:34:16.330Z,1761334456.330 [DAT](INFO): DAT read: Bearing 5.1, -2.5 (Local) 2025-10-24T19:34:16.345Z,1761334456.345 [DAT](INFO): Local bearing/azimuth received: Bearing 5.1, -2.5 (Local) 2025-10-24T19:34:16.371Z,1761334456.371 [DAT](INFO): DAT read: Range 10 to 50 : 105.1 m (Round-trip 140.2 ms) speed 0.7 m/s 2025-10-24T19:34:16.376Z,1761334456.376 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:16.377Z,1761334456.377 [DAT](INFO): direction in FSK: [0.995093,0.088810,0.043619] 2025-10-24T19:34:16.378Z,1761334456.378 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:16.394Z,1761334456.394 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:16.394Z,1761334456.394 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:16.394Z,1761334456.394 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:16.523Z,1761334456.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649819,-0.745073,0.150340],[0.751490,0.659443,0.019959],[-0.114011,0.100009,0.988433]] 2025-10-24T19:34:16.549Z,1761334456.549 [DAT](INFO): DAT read: user:83> 2025-10-24T19:34:16.550Z,1761334456.550 [DAT](INFO): DAT read: Tx time:19:34:15.9218 2025-10-24T19:34:16.550Z,1761334456.550 [DAT](INFO): Ping request sent. 2025-10-24T19:34:16.550Z,1761334456.550 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:16.550Z,1761334456.550 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:16.551Z,1761334456.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-24T19:34:16.694Z,1761334456.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.099998 m, deltaT: 3.781627 s, deltaX: -2.300003 m, approachRate: -0.608205 m/s, rangeRepo size: 4 2025-10-24T19:34:16.700Z,1761334456.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.503807 m, bearing: 53.975567 deg, lat: 36.779509 deg, lon: -121.859589 deg, deltaT: 3.781627 s, deltaX: -2.281258 m, approachRate: -0.603248 m/s, posRepo size: 4 2025-10-24T19:34:16.701Z,1761334456.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:16.703Z,1761334456.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 103.915962 m, bearing: 54.272001 deg, approach rate: 0.000000 m/s, LOS rate: -0.025497 deg/s, cmd heading: 47.519057 deg, new cmd heading: 47.477031 deg. 2025-10-24T19:34:16.708Z,1761334456.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828631 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:16.803Z,1761334456.803 [DAT](INFO): DAT read: TxSync time:19:34:15.9210 2025-10-24T19:34:16.806Z,1761334456.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255217 2025-10-24T19:34:16.991Z,1761334456.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647799,-0.747126,0.148856],[0.753212,0.657417,0.021784],[-0.114136,0.098008,0.988619]] 2025-10-24T19:34:17.009Z,1761334457.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:17.013Z,1761334457.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 103.686409 m, bearing: 54.257289 deg, approach rate: -0.725456 m/s, LOS rate: -0.046597 deg/s, cmd heading: 47.477031 deg, new cmd heading: 47.432797 deg. 2025-10-24T19:34:17.013Z,1761334457.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827859 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:17.054Z,1761334457.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503712 2025-10-24T19:34:17.307Z,1761334457.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756679 2025-10-24T19:34:17.452Z,1761334457.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:17.454Z,1761334457.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:17.457Z,1761334457.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 103.402565 m, bearing: 54.239818 deg, approach rate: -0.637890 m/s, LOS rate: -0.039372 deg/s, cmd heading: 47.432799 deg, new cmd heading: 47.380240 deg. 2025-10-24T19:34:17.458Z,1761334457.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826941 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:17.557Z,1761334457.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006986 2025-10-24T19:34:17.794Z,1761334457.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648647,-0.746529,0.148164],[0.752440,0.658272,0.022620],[-0.114419,0.096812,0.988704]] 2025-10-24T19:34:17.809Z,1761334457.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258862 2025-10-24T19:34:17.814Z,1761334457.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:17.833Z,1761334457.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 103.173248 m, bearing: 54.225777 deg, approach rate: -0.638216 m/s, LOS rate: -0.039163 deg/s, cmd heading: 47.380240 deg, new cmd heading: 47.338025 deg. 2025-10-24T19:34:17.834Z,1761334457.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826204 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:18.062Z,1761334458.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512196 2025-10-24T19:34:18.193Z,1761334458.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649625,-0.746041,0.146323],[0.751386,0.659356,0.025884],[-0.115790,0.093131,0.988898]] 2025-10-24T19:34:18.212Z,1761334458.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:18.215Z,1761334458.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 102.918205 m, bearing: 54.210282 deg, approach rate: -0.640438 m/s, LOS rate: -0.039008 deg/s, cmd heading: 47.338026 deg, new cmd heading: 47.291424 deg. 2025-10-24T19:34:18.216Z,1761334458.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825391 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:18.316Z,1761334458.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765480 2025-10-24T19:34:18.565Z,1761334458.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853 2025-10-24T19:34:18.600Z,1761334458.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650182,-0.745640,0.145891],[0.750696,0.660057,0.027939],[-0.117129,0.091355,0.988906]] 2025-10-24T19:34:18.661Z,1761334458.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:18.663Z,1761334458.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 102.641167 m, bearing: 54.197263 deg, approach rate: -0.617535 m/s, LOS rate: -0.029097 deg/s, cmd heading: 47.291424 deg, new cmd heading: 47.252263 deg. 2025-10-24T19:34:18.665Z,1761334458.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824708 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:18.817Z,1761334458.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266829 2025-10-24T19:34:19.005Z,1761334459.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649921,-0.745913,0.145659],[0.750741,0.659928,0.029700],[-0.118278,0.090050,0.988889]] 2025-10-24T19:34:19.024Z,1761334459.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:19.026Z,1761334459.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 102.416084 m, bearing: 54.186603 deg, approach rate: -0.619927 m/s, LOS rate: -0.029424 deg/s, cmd heading: 47.252263 deg, new cmd heading: 47.220213 deg. 2025-10-24T19:34:19.027Z,1761334459.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824148 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:19.070Z,1761334459.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520265 2025-10-24T19:34:19.321Z,1761334459.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770751 2025-10-24T19:34:19.423Z,1761334459.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650125,-0.745700,0.145837],[0.750360,0.660292,0.031214],[-0.119572,0.089137,0.988816]] 2025-10-24T19:34:19.475Z,1761334459.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:19.482Z,1761334459.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:19.489Z,1761334459.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 102.153328 m, bearing: 54.176583 deg, approach rate: -0.573785 m/s, LOS rate: -0.021937 deg/s, cmd heading: 47.220212 deg, new cmd heading: 47.190075 deg. 2025-10-24T19:34:19.490Z,1761334459.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823622 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:19.575Z,1761334459.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024607 2025-10-24T19:34:19.822Z,1761334459.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649938,-0.745590,0.147228],[0.750308,0.660325,0.031774],[-0.120908,0.089815,0.988592]] 2025-10-24T19:34:19.825Z,1761334459.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275194 2025-10-24T19:34:19.843Z,1761334459.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:19.846Z,1761334459.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 101.937233 m, bearing: 54.168286 deg, approach rate: -0.598243 m/s, LOS rate: -0.023020 deg/s, cmd heading: 47.190074 deg, new cmd heading: 47.165128 deg. 2025-10-24T19:34:19.847Z,1761334459.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823187 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:20.077Z,1761334460.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527160 2025-10-24T19:34:20.223Z,1761334460.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650387,-0.745028,0.148091],[0.749741,0.660939,0.032387],[-0.122009,0.089966,0.988443]] 2025-10-24T19:34:20.243Z,1761334460.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:20.246Z,1761334460.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 101.703972 m, bearing: 54.159380 deg, approach rate: -0.582944 m/s, LOS rate: -0.022307 deg/s, cmd heading: 47.165127 deg, new cmd heading: 47.138349 deg. 2025-10-24T19:34:20.247Z,1761334460.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822719 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:20.329Z,1761334460.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779296 2025-10-24T19:34:20.581Z,1761334460.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030710 2025-10-24T19:34:20.623Z,1761334460.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650725,-0.744497,0.149269],[0.749290,0.661441,0.032549],[-0.122965,0.090666,0.988261]] 2025-10-24T19:34:20.695Z,1761334460.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:20.699Z,1761334460.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 101.455589 m, bearing: 54.158469 deg, approach rate: -0.549367 m/s, LOS rate: -0.002019 deg/s, cmd heading: 47.138349 deg, new cmd heading: 47.135610 deg. 2025-10-24T19:34:20.699Z,1761334460.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822672 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:20.833Z,1761334460.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282849 2025-10-24T19:34:21.023Z,1761334461.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651487,-0.743782,0.149511],[0.748458,0.662331,0.033572],[-0.123996,0.090031,0.988190]] 2025-10-24T19:34:21.042Z,1761334461.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:21.045Z,1761334461.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 101.265717 m, bearing: 54.157892 deg, approach rate: -0.547488 m/s, LOS rate: -0.001669 deg/s, cmd heading: 47.135610 deg, new cmd heading: 47.133874 deg. 2025-10-24T19:34:21.046Z,1761334461.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822641 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:21.086Z,1761334461.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535743 2025-10-24T19:34:21.337Z,1761334461.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786962 2025-10-24T19:34:21.457Z,1761334461.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652440,-0.742772,0.150369],[0.747521,0.663393,0.033499],[-0.124636,0.090548,0.988062]] 2025-10-24T19:34:21.510Z,1761334461.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:21.512Z,1761334461.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:21.515Z,1761334461.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 101.015839 m, bearing: 54.164746 deg, approach rate: -0.531887 m/s, LOS rate: 0.014626 deg/s, cmd heading: 47.133875 deg, new cmd heading: 47.154489 deg. 2025-10-24T19:34:21.515Z,1761334461.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823001 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:21.589Z,1761334461.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038934 2025-10-24T19:34:21.830Z,1761334461.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654081,-0.741096,0.151506],[0.745970,0.665155,0.033132],[-0.125329,0.091347,0.987901]] 2025-10-24T19:34:21.842Z,1761334461.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291808 2025-10-24T19:34:21.875Z,1761334461.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:21.882Z,1761334461.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 100.831856 m, bearing: 54.170050 deg, approach rate: -0.506141 m/s, LOS rate: 0.014618 deg/s, cmd heading: 47.154489 deg, new cmd heading: 47.170430 deg. 2025-10-24T19:34:21.883Z,1761334461.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823279 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:22.094Z,1761334462.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544084 2025-10-24T19:34:22.236Z,1761334462.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655586,-0.739490,0.152846],[0.744514,0.666805,0.032729],[-0.126122,0.092339,0.987708]] 2025-10-24T19:34:22.281Z,1761334462.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:22.284Z,1761334462.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 100.616867 m, bearing: 54.176527 deg, approach rate: -0.529388 m/s, LOS rate: 0.015985 deg/s, cmd heading: 47.170430 deg, new cmd heading: 47.189905 deg. 2025-10-24T19:34:22.286Z,1761334462.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823619 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:22.348Z,1761334462.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797593 2025-10-24T19:34:22.597Z,1761334462.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046802 2025-10-24T19:34:22.640Z,1761334462.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657400,-0.737627,0.154049],[0.742791,0.668745,0.032286],[-0.126835,0.093202,0.987535]] 2025-10-24T19:34:22.696Z,1761334462.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:22.699Z,1761334462.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 100.399094 m, bearing: 54.186600 deg, approach rate: -0.525396 m/s, LOS rate: 0.024355 deg/s, cmd heading: 47.189903 deg, new cmd heading: 47.220188 deg. 2025-10-24T19:34:22.700Z,1761334462.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824148 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:22.849Z,1761334462.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298746 2025-10-24T19:34:23.045Z,1761334463.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659224,-0.735816,0.154912],[0.741037,0.670689,0.032242],[-0.127622,0.093541,0.987402]] 2025-10-24T19:34:23.063Z,1761334463.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:23.066Z,1761334463.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 100.214851 m, bearing: 54.195427 deg, approach rate: -0.501334 m/s, LOS rate: 0.024062 deg/s, cmd heading: 47.220188 deg, new cmd heading: 47.246717 deg. 2025-10-24T19:34:23.067Z,1761334463.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824611 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:23.101Z,1761334463.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551071 2025-10-24T19:34:23.353Z,1761334463.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803390 2025-10-24T19:34:23.473Z,1761334463.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660822,-0.734101,0.156240],[0.739468,0.672437,0.031874],[-0.128460,0.094471,0.987205]] 2025-10-24T19:34:23.510Z,1761334463.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:23.513Z,1761334463.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:23.516Z,1761334463.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 99.991676 m, bearing: 54.207370 deg, approach rate: -0.496572 m/s, LOS rate: 0.026632 deg/s, cmd heading: 47.246717 deg, new cmd heading: 47.282624 deg. 2025-10-24T19:34:23.517Z,1761334463.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825237 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:23.605Z,1761334463.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054941 2025-10-24T19:34:23.854Z,1761334463.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662922,-0.732112,0.156672],[0.737493,0.674605,0.031828],[-0.128993,0.094445,0.987138]] 2025-10-24T19:34:23.857Z,1761334463.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306851 2025-10-24T19:34:23.881Z,1761334463.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:23.884Z,1761334463.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 99.811737 m, bearing: 54.217341 deg, approach rate: -0.488021 m/s, LOS rate: 0.027092 deg/s, cmd heading: 47.282623 deg, new cmd heading: 47.312591 deg. 2025-10-24T19:34:23.886Z,1761334463.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825760 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:24.109Z,1761334464.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558964 2025-10-24T19:34:24.257Z,1761334464.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663991,-0.730795,0.158286],[0.736424,0.675812,0.030965],[-0.129601,0.096005,0.986908]] 2025-10-24T19:34:24.288Z,1761334464.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:24.291Z,1761334464.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 99.606369 m, bearing: 54.228952 deg, approach rate: -0.505346 m/s, LOS rate: 0.028630 deg/s, cmd heading: 47.312591 deg, new cmd heading: 47.347496 deg. 2025-10-24T19:34:24.293Z,1761334464.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826370 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:24.361Z,1761334464.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810955 2025-10-24T19:34:24.613Z,1761334464.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062950 2025-10-24T19:34:24.748Z,1761334464.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:24.751Z,1761334464.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 99.373482 m, bearing: 54.234884 deg, approach rate: -0.510789 m/s, LOS rate: 0.013041 deg/s, cmd heading: 47.347496 deg, new cmd heading: 47.365334 deg. 2025-10-24T19:34:24.757Z,1761334464.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826681 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:24.865Z,1761334464.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314802 2025-10-24T19:34:25.063Z,1761334465.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666174,-0.728337,0.160432],[0.734265,0.678200,0.029980],[-0.130641,0.097827,0.986591]] 2025-10-24T19:34:25.092Z,1761334465.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:25.095Z,1761334465.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 99.188507 m, bearing: 54.239955 deg, approach rate: -0.530711 m/s, LOS rate: 0.014577 deg/s, cmd heading: 47.365333 deg, new cmd heading: 47.380575 deg. 2025-10-24T19:34:25.096Z,1761334465.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826947 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:25.117Z,1761334465.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566833 2025-10-24T19:34:25.369Z,1761334465.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819305 2025-10-24T19:34:25.503Z,1761334465.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666924,-0.727361,0.161735],[0.733491,0.679066,0.029331],[-0.131163,0.099070,0.986398]] 2025-10-24T19:34:25.539Z,1761334465.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:25.542Z,1761334465.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:25.545Z,1761334465.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 98.941650 m, bearing: 54.246174 deg, approach rate: -0.548758 m/s, LOS rate: 0.013859 deg/s, cmd heading: 47.380575 deg, new cmd heading: 47.399279 deg. 2025-10-24T19:34:25.546Z,1761334465.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827273 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:25.622Z,1761334465.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071709 2025-10-24T19:34:25.873Z,1761334465.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322861 2025-10-24T19:34:25.877Z,1761334465.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667321,-0.726782,0.162696],[0.733033,0.679571,0.029084],[-0.131701,0.099854,0.986247]] 2025-10-24T19:34:25.902Z,1761334465.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:25.909Z,1761334465.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 98.743355 m, bearing: 54.251266 deg, approach rate: -0.551753 m/s, LOS rate: 0.014197 deg/s, cmd heading: 47.399279 deg, new cmd heading: 47.414586 deg. 2025-10-24T19:34:25.912Z,1761334465.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827541 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:26.128Z,1761334466.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577721 2025-10-24T19:34:26.277Z,1761334466.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667276,-0.726618,0.163613],[0.733029,0.679597,0.028571],[-0.131951,0.100868,0.986111]] 2025-10-24T19:34:26.312Z,1761334466.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:26.315Z,1761334466.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 98.521599 m, bearing: 54.256987 deg, approach rate: -0.545681 m/s, LOS rate: 0.014109 deg/s, cmd heading: 47.414586 deg, new cmd heading: 47.431786 deg. 2025-10-24T19:34:26.320Z,1761334466.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827841 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:26.377Z,1761334466.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826856 2025-10-24T19:34:26.628Z,1761334466.628 [DAT](INFO): Reached modem response timeout 2025-10-24T19:34:26.629Z,1761334466.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:34:26.629Z,1761334466.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:26.680Z,1761334466.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667762,-0.726221,0.163394],[0.732461,0.680164,0.029619],[-0.132645,0.099901,0.986116]] 2025-10-24T19:34:26.730Z,1761334466.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:26.733Z,1761334466.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 98.270729 m, bearing: 54.252686 deg, approach rate: -0.594815 m/s, LOS rate: -0.010223 deg/s, cmd heading: 47.431788 deg, new cmd heading: 47.418853 deg. 2025-10-24T19:34:26.734Z,1761334466.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827615 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:26.881Z,1761334466.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:34:27.083Z,1761334467.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666942,-0.726678,0.164702],[0.733164,0.679439,0.028874],[-0.132887,0.101496,0.985921]] 2025-10-24T19:34:27.112Z,1761334467.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:27.115Z,1761334467.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 98.046036 m, bearing: 54.248685 deg, approach rate: -0.587816 m/s, LOS rate: -0.010491 deg/s, cmd heading: 47.418851 deg, new cmd heading: 47.406821 deg. 2025-10-24T19:34:27.116Z,1761334467.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827405 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:27.135Z,1761334467.135 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:34:27.385Z,1761334467.385 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:34:27.386Z,1761334467.386 [DAT](INFO): response not received 2025-10-24T19:34:27.386Z,1761334467.386 [DAT](INFO): DAT read: user:84> 2025-10-24T19:34:27.386Z,1761334467.386 [DAT](ERROR): No response from remote modem. 2025-10-24T19:34:27.387Z,1761334467.387 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:34:27.387Z,1761334467.387 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:27.530Z,1761334467.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666235,-0.727197,0.165274],[0.733745,0.678809,0.028930],[-0.133228,0.101995,0.985823]] 2025-10-24T19:34:27.566Z,1761334467.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:27.570Z,1761334467.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:27.572Z,1761334467.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 97.762863 m, bearing: 54.234189 deg, approach rate: -0.618863 m/s, LOS rate: -0.031773 deg/s, cmd heading: 47.406820 deg, new cmd heading: 47.363205 deg. 2025-10-24T19:34:27.573Z,1761334467.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826644 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:27.638Z,1761334467.638 [DAT](INFO): DAT read: Tx time:19:34:26.8719 2025-10-24T19:34:27.638Z,1761334467.638 [DAT](INFO): Ping request sent. 2025-10-24T19:34:27.638Z,1761334467.638 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:27.639Z,1761334467.639 [DAT](INFO): DAT read: TxSync time:19:34:26.8711 2025-10-24T19:34:27.640Z,1761334467.640 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:27.641Z,1761334467.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002998 2025-10-24T19:34:27.889Z,1761334467.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250357 2025-10-24T19:34:27.894Z,1761334467.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665405,-0.727975,0.165193],[0.734453,0.678018,0.029490],[-0.133472,0.101704,0.985820]] 2025-10-24T19:34:27.951Z,1761334467.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:27.962Z,1761334467.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 97.530136 m, bearing: 54.222057 deg, approach rate: -0.610606 m/s, LOS rate: -0.031906 deg/s, cmd heading: 47.363206 deg, new cmd heading: 47.326723 deg. 2025-10-24T19:34:27.963Z,1761334467.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826007 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:28.141Z,1761334468.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502329 2025-10-24T19:34:28.299Z,1761334468.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662705,-0.731855,0.158777],[0.737148,0.674875,0.034004],[-0.132040,0.094507,0.986729]] 2025-10-24T19:34:28.319Z,1761334468.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:28.322Z,1761334468.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 97.297691 m, bearing: 54.209292 deg, approach rate: -0.632549 m/s, LOS rate: -0.034818 deg/s, cmd heading: 47.326722 deg, new cmd heading: 47.288338 deg. 2025-10-24T19:34:28.323Z,1761334468.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825337 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:28.398Z,1761334468.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759304 2025-10-24T19:34:28.649Z,1761334468.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010458 2025-10-24T19:34:28.701Z,1761334468.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660562,-0.734366,0.156090],[0.739160,0.672558,0.036151],[-0.131527,0.091496,0.987081]] 2025-10-24T19:34:28.757Z,1761334468.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:28.760Z,1761334468.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 97.023041 m, bearing: 54.193706 deg, approach rate: -0.626078 m/s, LOS rate: -0.035631 deg/s, cmd heading: 47.288337 deg, new cmd heading: 47.241444 deg. 2025-10-24T19:34:28.761Z,1761334468.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824519 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:28.901Z,1761334468.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262898 2025-10-24T19:34:29.146Z,1761334469.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:29.149Z,1761334469.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 96.777390 m, bearing: 54.179690 deg, approach rate: -0.631171 m/s, LOS rate: -0.036105 deg/s, cmd heading: 47.241444 deg, new cmd heading: 47.199288 deg. 2025-10-24T19:34:29.150Z,1761334469.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823783 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:29.161Z,1761334469.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522507 2025-10-24T19:34:29.413Z,1761334469.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774739 2025-10-24T19:34:29.551Z,1761334469.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653583,-0.739459,0.161339],[0.745280,0.665933,0.033027],[-0.131864,0.098657,0.986346]] 2025-10-24T19:34:29.604Z,1761334469.604 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:34:29.610Z,1761334469.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:29.616Z,1761334469.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:29.624Z,1761334469.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 96.489670 m, bearing: 54.156243 deg, approach rate: -0.618008 m/s, LOS rate: -0.050513 deg/s, cmd heading: 47.199288 deg, new cmd heading: 47.128737 deg. 2025-10-24T19:34:29.625Z,1761334469.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822552 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:29.665Z,1761334469.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026705 2025-10-24T19:34:29.917Z,1761334469.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278690 2025-10-24T19:34:29.930Z,1761334469.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651995,-0.740513,0.162922],[0.746574,0.664503,0.032595],[-0.132399,0.100382,0.986100]] 2025-10-24T19:34:29.950Z,1761334469.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:29.953Z,1761334469.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 96.256233 m, bearing: 54.136833 deg, approach rate: -0.690316 m/s, LOS rate: -0.057537 deg/s, cmd heading: 47.128739 deg, new cmd heading: 47.070369 deg. 2025-10-24T19:34:29.954Z,1761334469.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821533 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:30.169Z,1761334470.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531134 2025-10-24T19:34:30.317Z,1761334470.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651281,-0.741022,0.163464],[0.747126,0.663875,0.032770],[-0.132803,0.100786,0.986005]] 2025-10-24T19:34:30.393Z,1761334470.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:30.403Z,1761334470.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 95.996407 m, bearing: 54.114976 deg, approach rate: -0.586533 m/s, LOS rate: -0.049475 deg/s, cmd heading: 47.070368 deg, new cmd heading: 47.004618 deg. 2025-10-24T19:34:30.408Z,1761334470.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820385 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:30.421Z,1761334470.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782506 2025-10-24T19:34:30.608Z,1761334470.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:34:30.673Z,1761334470.673 [DAT](INFO): DAT read: Rx Time:19:34:29.4049 2025-10-24T19:34:30.674Z,1761334470.674 [DAT](INFO): Rx dataTimestamp_ set to:1761334470.673246 2025-10-24T19:34:30.674Z,1761334470.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035760 2025-10-24T19:34:30.727Z,1761334470.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650421,-0.741743,0.163615],[0.747868,0.663035,0.032833],[-0.132836,0.101007,0.985978]] 2025-10-24T19:34:30.794Z,1761334470.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:30.802Z,1761334470.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 95.725288 m, bearing: 54.092327 deg, approach rate: -0.675236 m/s, LOS rate: -0.056568 deg/s, cmd heading: 47.004617 deg, new cmd heading: 46.936479 deg. 2025-10-24T19:34:30.803Z,1761334470.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819196 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:30.926Z,1761334470.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287308 2025-10-24T19:34:31.134Z,1761334471.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650472,-0.741748,0.163388],[0.747784,0.663105,0.033319],[-0.133058,0.100506,0.985999]] 2025-10-24T19:34:31.153Z,1761334471.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:31.156Z,1761334471.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 95.486588 m, bearing: 54.072290 deg, approach rate: -0.664927 m/s, LOS rate: -0.055956 deg/s, cmd heading: 46.936479 deg, new cmd heading: 46.876217 deg. 2025-10-24T19:34:31.157Z,1761334471.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818144 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:31.183Z,1761334471.183 [DAT](INFO): DAT read: 19:34:29.4049 LVL= 18448, 28401, 16274, 32755, AGC= 70, IDX= 291,-0.07,-0.616,-1.920,-0.834,-0.858, PHS= 0.330,-1.016, 0.021, RAW= 137.3, 10.9, CAL= 141.3, 4.5, ROT= 8.7, -4.5 2025-10-24T19:34:31.184Z,1761334471.184 [DAT](INFO): got valid direction response: 19:34:29.4049 LVL= 18448, 28401, 16274, 32755, AGC= 70, IDX= 291,-0.07,-0.616,-1.920,-0.834,-0.858, PHS= 0.330,-1.016, 0.021, RAW= 137.3, 10.9, CAL= 141.3, 4.5, ROT= 8.7, -4.5 2025-10-24T19:34:31.185Z,1761334471.185 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:34:31.186Z,1761334471.186 [DAT](INFO): Received a bad header 2025-10-24T19:34:31.200Z,1761334471.200 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:34:31.201Z,1761334471.201 [DAT](INFO): direction in FSK: [0.985447,0.150795,0.078459] 2025-10-24T19:34:31.205Z,1761334471.205 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:31.205Z,1761334471.205 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:31.205Z,1761334471.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:31.428Z,1761334471.428 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:31.429Z,1761334471.429 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:31.429Z,1761334471.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:31.580Z,1761334471.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650194,-0.742195,0.162462],[0.747985,0.662818,0.034499],[-0.133288,0.099088,0.986112]] 2025-10-24T19:34:31.619Z,1761334471.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:31.622Z,1761334471.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:31.640Z,1761334471.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 95.205597 m, bearing: 54.053879 deg, approach rate: -0.599959 m/s, LOS rate: -0.039426 deg/s, cmd heading: 46.876217 deg, new cmd heading: 46.820821 deg. 2025-10-24T19:34:31.641Z,1761334471.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817177 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:31.681Z,1761334471.681 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:31.681Z,1761334471.681 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:31.681Z,1761334471.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:31.933Z,1761334471.933 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:31.933Z,1761334471.933 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:31.933Z,1761334471.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:31.988Z,1761334471.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:31.991Z,1761334471.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 94.985031 m, bearing: 54.039350 deg, approach rate: -0.608600 m/s, LOS rate: -0.040181 deg/s, cmd heading: 46.820820 deg, new cmd heading: 46.777134 deg. 2025-10-24T19:34:31.996Z,1761334471.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816415 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:32.185Z,1761334472.185 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:32.185Z,1761334472.185 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:32.185Z,1761334472.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:32.335Z,1761334472.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650320,-0.742305,0.161452],[0.747769,0.662973,0.036164],[-0.133883,0.097211,0.986218]] 2025-10-24T19:34:32.365Z,1761334472.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:32.372Z,1761334472.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 94.755486 m, bearing: 54.024184 deg, approach rate: -0.602322 m/s, LOS rate: -0.039891 deg/s, cmd heading: 46.777135 deg, new cmd heading: 46.731527 deg. 2025-10-24T19:34:32.373Z,1761334472.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815619 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:32.439Z,1761334472.439 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:32.439Z,1761334472.439 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:32.439Z,1761334472.439 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:32.689Z,1761334472.689 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:32.689Z,1761334472.689 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:32.689Z,1761334472.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:32.769Z,1761334472.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651359,-0.741594,0.160528],[0.746683,0.664086,0.038145],[-0.134893,0.095017,0.986294]] 2025-10-24T19:34:32.816Z,1761334472.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:32.819Z,1761334472.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 94.491745 m, bearing: 54.014917 deg, approach rate: -0.585198 m/s, LOS rate: -0.020621 deg/s, cmd heading: 46.731526 deg, new cmd heading: 46.703645 deg. 2025-10-24T19:34:32.821Z,1761334472.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815132 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:32.942Z,1761334472.942 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:32.942Z,1761334472.942 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:32.942Z,1761334472.942 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:33.193Z,1761334473.193 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:33.193Z,1761334473.193 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:33.193Z,1761334473.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:33.243Z,1761334473.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652033,-0.741123,0.159968],[0.746024,0.664773,0.039046],[-0.135280,0.093880,0.986350]] 2025-10-24T19:34:33.283Z,1761334473.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:33.293Z,1761334473.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 94.229973 m, bearing: 54.005815 deg, approach rate: -0.560581 m/s, LOS rate: -0.019544 deg/s, cmd heading: 46.703645 deg, new cmd heading: 46.676266 deg. 2025-10-24T19:34:33.294Z,1761334473.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814655 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:33.445Z,1761334473.445 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:33.445Z,1761334473.445 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:33.445Z,1761334473.445 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:33.645Z,1761334473.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652939,-0.740456,0.159361],[0.745137,0.665703,0.040127],[-0.135799,0.092546,0.986405]] 2025-10-24T19:34:33.682Z,1761334473.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:33.697Z,1761334473.697 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:33.697Z,1761334473.697 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:33.697Z,1761334473.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:33.705Z,1761334473.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:33.707Z,1761334473.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 93.999451 m, bearing: 54.004630 deg, approach rate: -0.546110 m/s, LOS rate: -0.002816 deg/s, cmd heading: 46.676266 deg, new cmd heading: 46.672700 deg. 2025-10-24T19:34:33.713Z,1761334473.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814592 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:33.949Z,1761334473.949 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:33.949Z,1761334473.949 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:33.949Z,1761334473.949 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:34.122Z,1761334474.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654745,-0.738838,0.159462],[0.743487,0.667541,0.040202],[-0.136151,0.092236,0.986385]] 2025-10-24T19:34:34.144Z,1761334474.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:34.146Z,1761334474.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 93.748444 m, bearing: 54.003710 deg, approach rate: -0.572083 m/s, LOS rate: -0.002102 deg/s, cmd heading: 46.672701 deg, new cmd heading: 46.669934 deg. 2025-10-24T19:34:34.147Z,1761334474.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814544 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:34.201Z,1761334474.201 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:34.202Z,1761334474.202 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:34.202Z,1761334474.202 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:34.453Z,1761334474.453 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:34.453Z,1761334474.453 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:34.453Z,1761334474.453 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:34.516Z,1761334474.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656857,-0.737153,0.158571],[0.741581,0.669612,0.040948],[-0.136366,0.090697,0.986498]] 2025-10-24T19:34:34.543Z,1761334474.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:34.574Z,1761334474.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 93.531311 m, bearing: 54.003293 deg, approach rate: -0.545530 m/s, LOS rate: -0.001051 deg/s, cmd heading: 46.669935 deg, new cmd heading: 46.668680 deg. 2025-10-24T19:34:34.583Z,1761334474.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814522 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:34.706Z,1761334474.706 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:34.706Z,1761334474.706 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:34.706Z,1761334474.706 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:34.929Z,1761334474.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658781,-0.735521,0.158165],[0.739884,0.671489,0.040918],[-0.136302,0.090068,0.986564]] 2025-10-24T19:34:34.957Z,1761334474.957 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:34.957Z,1761334474.957 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:34.957Z,1761334474.957 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:35.004Z,1761334475.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:35.007Z,1761334475.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 93.297836 m, bearing: 54.011933 deg, approach rate: -0.509418 m/s, LOS rate: 0.018901 deg/s, cmd heading: 46.668681 deg, new cmd heading: 46.694669 deg. 2025-10-24T19:34:35.012Z,1761334475.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814976 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:35.208Z,1761334475.208 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:35.209Z,1761334475.209 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:35.209Z,1761334475.209 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:35.325Z,1761334475.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661592,-0.733082,0.157755],[0.737415,0.674223,0.040526],[-0.136071,0.089519,0.986646]] 2025-10-24T19:34:35.344Z,1761334475.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:35.346Z,1761334475.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 93.112816 m, bearing: 54.019244 deg, approach rate: -0.538338 m/s, LOS rate: 0.021313 deg/s, cmd heading: 46.694670 deg, new cmd heading: 46.716645 deg. 2025-10-24T19:34:35.347Z,1761334475.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815359 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:35.461Z,1761334475.461 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:35.461Z,1761334475.461 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:35.461Z,1761334475.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:35.712Z,1761334475.712 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:35.713Z,1761334475.713 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:35.713Z,1761334475.713 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:35.745Z,1761334475.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663915,-0.731085,0.157263],[0.735373,0.676466,0.040242],[-0.135804,0.088930,0.986736]] 2025-10-24T19:34:35.799Z,1761334475.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:35.801Z,1761334475.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:35.805Z,1761334475.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 92.879807 m, bearing: 54.035085 deg, approach rate: -0.509573 m/s, LOS rate: 0.034730 deg/s, cmd heading: 46.716646 deg, new cmd heading: 46.764288 deg. 2025-10-24T19:34:35.806Z,1761334475.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816191 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:35.965Z,1761334475.965 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:35.965Z,1761334475.965 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:35.965Z,1761334475.965 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:36.132Z,1761334476.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666513,-0.728734,0.157185],[0.733106,0.678981,0.039260],[-0.135336,0.089065,0.986789]] 2025-10-24T19:34:36.154Z,1761334476.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:36.157Z,1761334476.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 92.699303 m, bearing: 54.047804 deg, approach rate: -0.511141 m/s, LOS rate: 0.036088 deg/s, cmd heading: 46.764287 deg, new cmd heading: 46.802520 deg. 2025-10-24T19:34:36.158Z,1761334476.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816858 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:36.217Z,1761334476.217 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:36.217Z,1761334476.217 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:36.217Z,1761334476.217 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:36.469Z,1761334476.469 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:36.469Z,1761334476.469 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:36.469Z,1761334476.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:36.562Z,1761334476.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668702,-0.726689,0.157355],[0.731209,0.681093,0.038019],[-0.134802,0.089636,0.986810]] 2025-10-24T19:34:36.654Z,1761334476.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:36.661Z,1761334476.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 92.446907 m, bearing: 54.066135 deg, approach rate: -0.504881 m/s, LOS rate: 0.036769 deg/s, cmd heading: 46.802519 deg, new cmd heading: 46.857663 deg. 2025-10-24T19:34:36.662Z,1761334476.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817820 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:36.721Z,1761334476.721 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:36.721Z,1761334476.721 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:36.721Z,1761334476.721 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:36.957Z,1761334476.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671116,-0.724529,0.157035],[0.729116,0.683388,0.037016],[-0.134135,0.089655,0.986899]] 2025-10-24T19:34:36.973Z,1761334476.973 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:36.973Z,1761334476.973 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:36.973Z,1761334476.973 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:37.023Z,1761334477.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:37.026Z,1761334477.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 92.253983 m, bearing: 54.081466 deg, approach rate: -0.522194 m/s, LOS rate: 0.041582 deg/s, cmd heading: 46.857662 deg, new cmd heading: 46.903749 deg. 2025-10-24T19:34:37.027Z,1761334477.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818625 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:37.225Z,1761334477.225 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:37.225Z,1761334477.225 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:37.226Z,1761334477.226 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:37.394Z,1761334477.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:37.397Z,1761334477.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 92.061470 m, bearing: 54.096828 deg, approach rate: -0.519250 m/s, LOS rate: 0.041522 deg/s, cmd heading: 46.903749 deg, new cmd heading: 46.949932 deg. 2025-10-24T19:34:37.398Z,1761334477.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819431 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:37.477Z,1761334477.477 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:37.477Z,1761334477.477 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:37.477Z,1761334477.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:34:37.729Z,1761334477.729 [DAT](INFO): Reached modem response timeout 2025-10-24T19:34:37.729Z,1761334477.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:34:37.730Z,1761334477.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:37.790Z,1761334477.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675141,-0.720828,0.156818],[0.725603,0.687224,0.034980],[-0.132984,0.090171,0.987008]] 2025-10-24T19:34:37.837Z,1761334477.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:37.839Z,1761334477.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:37.842Z,1761334477.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 91.827240 m, bearing: 54.115671 deg, approach rate: -0.526599 m/s, LOS rate: 0.042471 deg/s, cmd heading: 46.949931 deg, new cmd heading: 47.006604 deg. 2025-10-24T19:34:37.843Z,1761334477.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820420 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:37.981Z,1761334477.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:34:38.192Z,1761334478.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676699,-0.719285,0.157185],[0.724293,0.688687,0.033300],[-0.132204,0.091314,0.987008]] 2025-10-24T19:34:38.234Z,1761334478.234 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:34:38.247Z,1761334478.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:38.261Z,1761334478.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 91.628090 m, bearing: 54.132030 deg, approach rate: -0.489853 m/s, LOS rate: 0.040326 deg/s, cmd heading: 47.006605 deg, new cmd heading: 47.055789 deg. 2025-10-24T19:34:38.262Z,1761334478.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821278 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:38.486Z,1761334478.486 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:34:38.486Z,1761334478.486 [DAT](INFO): response not received 2025-10-24T19:34:38.487Z,1761334478.487 [DAT](INFO): DAT read: user:86> 2025-10-24T19:34:38.488Z,1761334478.488 [DAT](INFO): DAT read: Tx time:19:34:37.8221 2025-10-24T19:34:38.488Z,1761334478.488 [DAT](INFO): Ping request sent. 2025-10-24T19:34:38.488Z,1761334478.488 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:38.489Z,1761334478.489 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:38.490Z,1761334478.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001239 2025-10-24T19:34:38.737Z,1761334478.737 [DAT](INFO): DAT read: TxSync time:19:34:37.8213 2025-10-24T19:34:38.738Z,1761334478.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249384 2025-10-24T19:34:38.759Z,1761334478.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:38.762Z,1761334478.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 91.343231 m, bearing: 54.150102 deg, approach rate: -0.555200 m/s, LOS rate: 0.035334 deg/s, cmd heading: 47.055789 deg, new cmd heading: 47.110177 deg. 2025-10-24T19:34:38.763Z,1761334478.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822228 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:38.990Z,1761334478.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501198 2025-10-24T19:34:39.086Z,1761334479.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678285,-0.717166,0.160009],[0.723817,0.689622,0.022617],[-0.126566,0.100476,0.986856]] 2025-10-24T19:34:39.103Z,1761334479.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:39.126Z,1761334479.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 91.144920 m, bearing: 54.162979 deg, approach rate: -0.575702 m/s, LOS rate: 0.037461 deg/s, cmd heading: 47.110178 deg, new cmd heading: 47.148890 deg. 2025-10-24T19:34:39.127Z,1761334479.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822903 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:39.241Z,1761334479.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752471 2025-10-24T19:34:39.490Z,1761334479.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679599,-0.716136,0.159042],[0.722962,0.690589,0.020319],[-0.124384,0.101172,0.987063]] 2025-10-24T19:34:39.493Z,1761334479.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004523 2025-10-24T19:34:39.527Z,1761334479.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:39.531Z,1761334479.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 90.915329 m, bearing: 54.178188 deg, approach rate: -0.540967 m/s, LOS rate: 0.035926 deg/s, cmd heading: 47.148891 deg, new cmd heading: 47.194634 deg. 2025-10-24T19:34:39.531Z,1761334479.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823702 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:39.745Z,1761334479.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256435 2025-10-24T19:34:39.892Z,1761334479.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680548,-0.715579,0.157486],[0.722489,0.691141,0.018272],[-0.121920,0.101347,0.987352]] 2025-10-24T19:34:39.955Z,1761334479.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:39.957Z,1761334479.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:39.959Z,1761334479.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 90.669716 m, bearing: 54.187553 deg, approach rate: -0.572034 m/s, LOS rate: 0.021870 deg/s, cmd heading: 47.194633 deg, new cmd heading: 47.222804 deg. 2025-10-24T19:34:39.961Z,1761334479.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824193 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:39.997Z,1761334479.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508659 2025-10-24T19:34:40.251Z,1761334480.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762562 2025-10-24T19:34:40.333Z,1761334480.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:40.337Z,1761334480.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 90.453644 m, bearing: 54.195833 deg, approach rate: -0.573964 m/s, LOS rate: 0.022049 deg/s, cmd heading: 47.222804 deg, new cmd heading: 47.247705 deg. 2025-10-24T19:34:40.338Z,1761334480.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824628 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:40.502Z,1761334480.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012901 2025-10-24T19:34:40.713Z,1761334480.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681901,-0.714506,0.156500],[0.721741,0.692009,0.014625],[-0.118749,0.102980,0.987570]] 2025-10-24T19:34:40.753Z,1761334480.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264769 2025-10-24T19:34:40.775Z,1761334480.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:40.783Z,1761334480.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 90.192764 m, bearing: 54.199489 deg, approach rate: -0.590555 m/s, LOS rate: 0.008300 deg/s, cmd heading: 47.247704 deg, new cmd heading: 47.258704 deg. 2025-10-24T19:34:40.789Z,1761334480.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824820 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:41.005Z,1761334481.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516960 2025-10-24T19:34:41.107Z,1761334481.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681579,-0.714811,0.156510],[0.722394,0.691382,0.011745],[-0.116604,0.105056,0.987607]] 2025-10-24T19:34:41.142Z,1761334481.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:41.145Z,1761334481.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 89.974007 m, bearing: 54.202493 deg, approach rate: -0.596301 m/s, LOS rate: 0.008207 deg/s, cmd heading: 47.258704 deg, new cmd heading: 47.267736 deg. 2025-10-24T19:34:41.146Z,1761334481.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824978 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:41.257Z,1761334481.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768459 2025-10-24T19:34:41.511Z,1761334481.511 [DAT](INFO): DAT read: Rx Time:19:34:40.3466 2025-10-24T19:34:41.512Z,1761334481.512 [DAT](INFO): Rx dataTimestamp_ set to:1761334481.511608 2025-10-24T19:34:41.512Z,1761334481.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024042 2025-10-24T19:34:41.522Z,1761334481.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680967,-0.715495,0.156048],[0.723373,0.690400,0.008874],[-0.114085,0.106838,0.987710]] 2025-10-24T19:34:41.571Z,1761334481.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.50 m. 2025-10-24T19:34:41.577Z,1761334481.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.503807 m, nav range: 89.720634 m, bearing: 54.205825 deg, approach rate: -0.590929 m/s, LOS rate: 0.007795 deg/s, cmd heading: 47.267737 deg, new cmd heading: 47.277763 deg. 2025-10-24T19:34:41.581Z,1761334481.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825153 target range: 104.503807 and range: 105.10 m. 2025-10-24T19:34:41.765Z,1761334481.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276446 2025-10-24T19:34:42.027Z,1761334482.027 [DAT](INFO): DAT read: 19:34:40.3466 LVL= 25328, 29217, 20770, 31475, AGC= 68, IDX= 365, 0.06,-0.486,-1.859,-0.710,-0.827, PHS= 0.430,-0.985, 0.114, RAW= 137.7, 6.9, CAL= 141.9, -0.3, ROT= 8.1, 0.3 2025-10-24T19:34:42.028Z,1761334482.028 [DAT](INFO): got valid direction response: 19:34:40.3466 LVL= 25328, 29217, 20770, 31475, AGC= 68, IDX= 365, 0.06,-0.486,-1.859,-0.710,-0.827, PHS= 0.430,-0.985, 0.114, RAW= 137.7, 6.9, CAL= 141.9, -0.3, ROT= 8.1, 0.3 2025-10-24T19:34:42.029Z,1761334482.029 [DAT](INFO): DAT read: Bearing 8.1, 0.3 (Local) 2025-10-24T19:34:42.029Z,1761334482.029 [DAT](INFO): Local bearing/azimuth received: Bearing 8.1, 0.3 (Local) 2025-10-24T19:34:42.031Z,1761334482.031 [DAT](INFO): DAT read: Range 10 to 50 : 90.3 m (Round-trip 120.4 ms) speed 0.7 m/s 2025-10-24T19:34:42.031Z,1761334482.031 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:42.033Z,1761334482.033 [DAT](INFO): direction in FSK: [0.990010,0.140899,-0.005236] 2025-10-24T19:34:42.033Z,1761334482.033 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:42.046Z,1761334482.046 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:42.046Z,1761334482.046 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:42.046Z,1761334482.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:42.073Z,1761334482.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.300003 m, deltaT: 25.722777 s, deltaX: -14.799995 m, approachRate: -0.575365 m/s, rangeRepo size: 4 2025-10-24T19:34:42.075Z,1761334482.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.806267 m, bearing: 54.858362 deg, lat: 36.779509 deg, lon: -121.859589 deg, deltaT: 25.722777 s, deltaX: -14.697540 m, approachRate: -0.571382 m/s, posRepo size: 4 2025-10-24T19:34:42.080Z,1761334482.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:42.083Z,1761334482.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 89.439522 m, bearing: 54.203909 deg, approach rate: 0.000000 m/s, LOS rate: 0.007795 deg/s, cmd heading: 47.277763 deg, new cmd heading: 47.289496 deg. 2025-10-24T19:34:42.092Z,1761334482.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825357 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:42.273Z,1761334482.273 [DAT](INFO): DAT read: user:87> 2025-10-24T19:34:42.274Z,1761334482.274 [DAT](INFO): DAT read: Tx time:19:34:41.5721 2025-10-24T19:34:42.274Z,1761334482.274 [DAT](INFO): Ping request sent. 2025-10-24T19:34:42.274Z,1761334482.274 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:42.274Z,1761334482.274 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:42.275Z,1761334482.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-24T19:34:42.386Z,1761334482.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678763,-0.718039,0.153950],[0.726243,0.687425,0.004230],[-0.108866,0.108934,0.988070]] 2025-10-24T19:34:42.440Z,1761334482.440 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:42.442Z,1761334482.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:42.450Z,1761334482.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 89.194328 m, bearing: 54.201684 deg, approach rate: -0.662938 m/s, LOS rate: -0.006032 deg/s, cmd heading: 47.289494 deg, new cmd heading: 47.282802 deg. 2025-10-24T19:34:42.451Z,1761334482.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825241 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:42.526Z,1761334482.526 [DAT](INFO): DAT read: TxSync time:19:34:41.5713 2025-10-24T19:34:42.527Z,1761334482.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252570 2025-10-24T19:34:42.777Z,1761334482.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502646 2025-10-24T19:34:42.783Z,1761334482.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675508,-0.721475,0.152194],[0.729826,0.683631,0.001442],[-0.105085,0.110101,0.988350]] 2025-10-24T19:34:42.869Z,1761334482.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:42.872Z,1761334482.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 88.917786 m, bearing: 54.195904 deg, approach rate: -0.649426 m/s, LOS rate: -0.013616 deg/s, cmd heading: 47.282801 deg, new cmd heading: 47.265407 deg. 2025-10-24T19:34:42.873Z,1761334482.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824937 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:43.029Z,1761334483.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754865 2025-10-24T19:34:43.242Z,1761334483.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:43.245Z,1761334483.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 88.685234 m, bearing: 54.191016 deg, approach rate: -0.621769 m/s, LOS rate: -0.013104 deg/s, cmd heading: 47.265408 deg, new cmd heading: 47.250704 deg. 2025-10-24T19:34:43.246Z,1761334483.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824680 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:43.283Z,1761334483.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008463 2025-10-24T19:34:43.533Z,1761334483.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258649 2025-10-24T19:34:43.584Z,1761334483.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671782,-0.725456,0.149744],[0.734107,0.679023,-0.003730],[-0.098974,0.112434,0.988718]] 2025-10-24T19:34:43.629Z,1761334483.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:43.632Z,1761334483.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 88.441681 m, bearing: 54.184998 deg, approach rate: -0.629379 m/s, LOS rate: -0.015594 deg/s, cmd heading: 47.250702 deg, new cmd heading: 47.232599 deg. 2025-10-24T19:34:43.633Z,1761334483.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824364 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:43.785Z,1761334483.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511040 2025-10-24T19:34:43.990Z,1761334483.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670304,-0.726902,0.149356],[0.735713,0.677270,-0.005640],[-0.097054,0.113664,0.988767]] 2025-10-24T19:34:44.029Z,1761334484.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:44.031Z,1761334484.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 88.174217 m, bearing: 54.172569 deg, approach rate: -0.669031 m/s, LOS rate: -0.031185 deg/s, cmd heading: 47.232599 deg, new cmd heading: 47.195198 deg. 2025-10-24T19:34:44.033Z,1761334484.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823712 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:44.053Z,1761334484.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778961 2025-10-24T19:34:44.305Z,1761334484.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030719 2025-10-24T19:34:44.393Z,1761334484.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669352,-0.727980,0.148367],[0.736796,0.676082,-0.006749],[-0.095395,0.113834,0.988909]] 2025-10-24T19:34:44.411Z,1761334484.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:44.414Z,1761334484.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 87.930305 m, bearing: 54.160941 deg, approach rate: -0.637478 m/s, LOS rate: -0.030473 deg/s, cmd heading: 47.195197 deg, new cmd heading: 47.160217 deg. 2025-10-24T19:34:44.415Z,1761334484.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823101 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:44.557Z,1761334484.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282683 2025-10-24T19:34:44.796Z,1761334484.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668463,-0.728834,0.148183],[0.737841,0.674916,-0.008895],[-0.093528,0.115281,0.988920]] 2025-10-24T19:34:44.809Z,1761334484.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534713 2025-10-24T19:34:44.850Z,1761334484.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:44.853Z,1761334484.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:44.856Z,1761334484.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 87.656708 m, bearing: 54.151034 deg, approach rate: -0.619029 m/s, LOS rate: -0.022485 deg/s, cmd heading: 47.160216 deg, new cmd heading: 47.130403 deg. 2025-10-24T19:34:44.857Z,1761334484.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822581 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:45.061Z,1761334485.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786846 2025-10-24T19:34:45.198Z,1761334485.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668133,-0.729426,0.146752],[0.738385,0.674304,-0.010115],[-0.091578,0.115118,0.989122]] 2025-10-24T19:34:45.234Z,1761334485.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:45.240Z,1761334485.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 87.418785 m, bearing: 54.142276 deg, approach rate: -0.625291 m/s, LOS rate: -0.023081 deg/s, cmd heading: 47.130402 deg, new cmd heading: 47.104055 deg. 2025-10-24T19:34:45.242Z,1761334485.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822121 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:45.315Z,1761334485.315 [DAT](INFO): DAT read: Rx Time:19:34:44.0939 2025-10-24T19:34:45.316Z,1761334485.316 [DAT](INFO): Rx dataTimestamp_ set to:1761334485.315437 2025-10-24T19:34:45.317Z,1761334485.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042695 2025-10-24T19:34:45.565Z,1761334485.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290621 2025-10-24T19:34:45.610Z,1761334485.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666930,-0.730773,0.145515],[0.739765,0.672759,-0.011939],[-0.089172,0.115610,0.989284]] 2025-10-24T19:34:45.635Z,1761334485.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m. 2025-10-24T19:34:45.639Z,1761334485.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.806267 m, nav range: 87.169304 m, bearing: 54.132746 deg, approach rate: -0.622997 m/s, LOS rate: -0.023866 deg/s, cmd heading: 47.104055 deg, new cmd heading: 47.075384 deg. 2025-10-24T19:34:45.640Z,1761334485.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821620 target range: 89.806267 and range: 90.30 m. 2025-10-24T19:34:45.823Z,1761334485.823 [DAT](INFO): DAT read: 19:34:44.0939 LVL= 19616, 32753, 19890, 32755, AGC= 69, IDX= 416, 0.16, 2.465, 1.098, 2.279, 2.210, PHS= 0.343,-1.065, 0.066, RAW= 139.3, 10.2, CAL= 142.8, 3.4, ROT= 7.2, -3.4 2025-10-24T19:34:45.825Z,1761334485.825 [DAT](INFO): got valid direction response: 19:34:44.0939 LVL= 19616, 32753, 19890, 32755, AGC= 69, IDX= 416, 0.16, 2.465, 1.098, 2.279, 2.210, PHS= 0.343,-1.065, 0.066, RAW= 139.3, 10.2, CAL= 142.8, 3.4, ROT= 7.2, -3.4 2025-10-24T19:34:45.826Z,1761334485.826 [DAT](INFO): DAT read: Bearing 7.2, -3.4 (Local) 2025-10-24T19:34:45.826Z,1761334485.826 [DAT](INFO): Local bearing/azimuth received: Bearing 7.2, -3.4 (Local) 2025-10-24T19:34:45.827Z,1761334485.827 [DAT](INFO): DAT read: Range 10 to 50 : 88.1 m (Round-trip 117.5 ms) speed 0.5 m/s 2025-10-24T19:34:45.828Z,1761334485.828 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:45.829Z,1761334485.829 [DAT](INFO): direction in FSK: [0.990368,0.125113,0.059306] 2025-10-24T19:34:45.829Z,1761334485.829 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:45.833Z,1761334485.833 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:45.833Z,1761334485.833 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:45.833Z,1761334485.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:46.070Z,1761334486.070 [DAT](INFO): DAT read: user:88> 2025-10-24T19:34:46.071Z,1761334486.071 [DAT](INFO): DAT read: Tx time:19:34:45.3722 2025-10-24T19:34:46.071Z,1761334486.071 [DAT](INFO): Ping request sent. 2025-10-24T19:34:46.071Z,1761334486.071 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:46.071Z,1761334486.071 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:46.072Z,1761334486.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000853 2025-10-24T19:34:46.088Z,1761334486.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.099998 m, deltaT: 3.795565 s, deltaX: -2.200005 m, approachRate: -0.579625 m/s, rangeRepo size: 4 2025-10-24T19:34:46.090Z,1761334486.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 87.619270 m, bearing: 54.705861 deg, lat: 36.779506 deg, lon: -121.859583 deg, deltaT: 3.795565 s, deltaX: -2.186996 m, approachRate: -0.576198 m/s, posRepo size: 4 2025-10-24T19:34:46.091Z,1761334486.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:46.094Z,1761334486.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 87.129066 m, bearing: 54.481821 deg, approach rate: 0.000000 m/s, LOS rate: -0.023866 deg/s, cmd heading: 47.075385 deg, new cmd heading: 47.042976 deg. 2025-10-24T19:34:46.095Z,1761334486.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821055 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:46.321Z,1761334486.321 [DAT](INFO): DAT read: TxSync time:19:34:45.3714 2025-10-24T19:34:46.322Z,1761334486.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250695 2025-10-24T19:34:46.418Z,1761334486.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666468,-0.731864,0.142111],[0.740669,0.671719,-0.014251],[-0.085029,0.114755,0.989748]] 2025-10-24T19:34:46.457Z,1761334486.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:46.464Z,1761334486.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 86.912582 m, bearing: 54.479756 deg, approach rate: -0.585038 m/s, LOS rate: -0.005594 deg/s, cmd heading: 47.042976 deg, new cmd heading: 47.036765 deg. 2025-10-24T19:34:46.465Z,1761334486.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.820946 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:46.573Z,1761334486.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502352 2025-10-24T19:34:46.825Z,1761334486.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753853 2025-10-24T19:34:46.831Z,1761334486.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664329,-0.731905,0.151599],[0.742977,0.668768,-0.027090],[-0.081557,0.130632,0.988071]] 2025-10-24T19:34:46.935Z,1761334486.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:46.963Z,1761334486.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:46.971Z,1761334486.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 86.630188 m, bearing: 54.485018 deg, approach rate: -0.558674 m/s, LOS rate: 0.010445 deg/s, cmd heading: 47.036767 deg, new cmd heading: 47.052607 deg. 2025-10-24T19:34:46.980Z,1761334486.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821223 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:47.077Z,1761334487.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005738 2025-10-24T19:34:47.257Z,1761334487.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663442,-0.733257,0.148925],[0.744016,0.667597,-0.027476],[-0.079275,0.129031,0.988467]] 2025-10-24T19:34:47.304Z,1761334487.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:47.307Z,1761334487.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 86.404495 m, bearing: 54.489053 deg, approach rate: -0.661702 m/s, LOS rate: 0.011858 deg/s, cmd heading: 47.052606 deg, new cmd heading: 47.064740 deg. 2025-10-24T19:34:47.308Z,1761334487.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821435 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:47.329Z,1761334487.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257807 2025-10-24T19:34:47.581Z,1761334487.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509722 2025-10-24T19:34:47.658Z,1761334487.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663577,-0.733747,0.145879],[0.744117,0.667482,-0.027526],[-0.077175,0.126817,0.988919]] 2025-10-24T19:34:47.693Z,1761334487.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:47.695Z,1761334487.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 86.186356 m, bearing: 54.492984 deg, approach rate: -0.560876 m/s, LOS rate: 0.010135 deg/s, cmd heading: 47.064740 deg, new cmd heading: 47.076565 deg. 2025-10-24T19:34:47.701Z,1761334487.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821641 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:47.833Z,1761334487.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761846 2025-10-24T19:34:48.061Z,1761334488.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665133,-0.732847,0.143292],[0.742852,0.668905,-0.027154],[-0.075949,0.124506,0.989308]] 2025-10-24T19:34:48.086Z,1761334488.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014910 2025-10-24T19:34:48.133Z,1761334488.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:48.143Z,1761334488.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 85.945747 m, bearing: 54.507512 deg, approach rate: -0.546662 m/s, LOS rate: 0.033100 deg/s, cmd heading: 47.076567 deg, new cmd heading: 47.120273 deg. 2025-10-24T19:34:48.149Z,1761334488.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822404 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:48.337Z,1761334488.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266091 2025-10-24T19:34:48.463Z,1761334488.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667337,-0.731376,0.140535],[0.740985,0.670995,-0.026592],[-0.074849,0.121880,0.989719]] 2025-10-24T19:34:48.493Z,1761334488.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:48.496Z,1761334488.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 85.727753 m, bearing: 54.521184 deg, approach rate: -0.604693 m/s, LOS rate: 0.038020 deg/s, cmd heading: 47.120273 deg, new cmd heading: 47.161393 deg. 2025-10-24T19:34:48.497Z,1761334488.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823122 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:48.589Z,1761334488.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517876 2025-10-24T19:34:48.841Z,1761334488.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769696 2025-10-24T19:34:48.873Z,1761334488.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670023,-0.729598,0.136951],[0.738628,0.673656,-0.024826],[-0.074145,0.117790,0.990267]] 2025-10-24T19:34:48.954Z,1761334488.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:48.960Z,1761334488.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:48.963Z,1761334488.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 85.478462 m, bearing: 54.543960 deg, approach rate: -0.539119 m/s, LOS rate: 0.049400 deg/s, cmd heading: 47.161394 deg, new cmd heading: 47.229922 deg. 2025-10-24T19:34:48.969Z,1761334488.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824318 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:49.093Z,1761334489.093 [DAT](INFO): DAT read: Rx Time:19:34:47.8909 2025-10-24T19:34:49.093Z,1761334489.093 [DAT](INFO): Rx dataTimestamp_ set to:1761334489.093079 2025-10-24T19:34:49.094Z,1761334489.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022898 2025-10-24T19:34:49.277Z,1761334489.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672965,-0.727491,0.133693],[0.735994,0.676596,-0.023043],[-0.073693,0.113904,0.990755]] 2025-10-24T19:34:49.295Z,1761334489.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.62 m. 2025-10-24T19:34:49.297Z,1761334489.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 87.619270 m, nav range: 85.288109 m, bearing: 54.561974 deg, approach rate: -0.561541 m/s, LOS rate: 0.053261 deg/s, cmd heading: 47.229921 deg, new cmd heading: 47.284085 deg. 2025-10-24T19:34:49.298Z,1761334489.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.825263 target range: 87.619270 and range: 88.10 m. 2025-10-24T19:34:49.346Z,1761334489.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275002 2025-10-24T19:34:49.603Z,1761334489.603 [DAT](INFO): DAT read: 19:34:47.8909 LVL= 21280, 25057, 18514, 31299, AGC= 68, IDX= 417, 0.04, 2.186, 0.822, 2.018, 1.857, PHS= 0.416,-0.988, 0.157, RAW= 140.0, 6.5, CAL= 143.7, -1.2, ROT= 6.3, 1.2 2025-10-24T19:34:49.604Z,1761334489.604 [DAT](INFO): got valid direction response: 19:34:47.8909 LVL= 21280, 25057, 18514, 31299, AGC= 68, IDX= 417, 0.04, 2.186, 0.822, 2.018, 1.857, PHS= 0.416,-0.988, 0.157, RAW= 140.0, 6.5, CAL= 143.7, -1.2, ROT= 6.3, 1.2 2025-10-24T19:34:49.605Z,1761334489.605 [DAT](INFO): DAT read: Bearing 6.3, 1.2 (Local) 2025-10-24T19:34:49.606Z,1761334489.606 [DAT](INFO): Local bearing/azimuth received: Bearing 6.3, 1.2 (Local) 2025-10-24T19:34:49.607Z,1761334489.607 [DAT](INFO): DAT read: Range 10 to 50 : 85.8 m (Round-trip 114.5 ms) speed 0.7 m/s 2025-10-24T19:34:49.608Z,1761334489.608 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:49.609Z,1761334489.609 [DAT](INFO): direction in FSK: [0.993743,0.109710,-0.020942] 2025-10-24T19:34:49.609Z,1761334489.609 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:49.612Z,1761334489.612 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:49.612Z,1761334489.612 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:49.613Z,1761334489.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:49.688Z,1761334489.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675172,-0.725848,0.131482],[0.734027,0.678757,-0.022213],[-0.073121,0.111509,0.991070]] 2025-10-24T19:34:49.737Z,1761334489.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 85.800003 m, deltaT: 3.780239 s, deltaX: -2.299995 m, approachRate: -0.608426 m/s, rangeRepo size: 4 2025-10-24T19:34:49.739Z,1761334489.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 85.331841 m, bearing: 53.806747 deg, lat: 36.779513 deg, lon: -121.859589 deg, deltaT: 3.780239 s, deltaX: -2.287430 m, approachRate: -0.605102 m/s, posRepo size: 4 2025-10-24T19:34:49.744Z,1761334489.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:49.747Z,1761334489.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 85.062408 m, bearing: 54.003702 deg, approach rate: 0.000000 m/s, LOS rate: 0.053261 deg/s, cmd heading: 47.284085 deg, new cmd heading: 47.353969 deg. 2025-10-24T19:34:49.752Z,1761334489.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826483 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:49.851Z,1761334489.851 [DAT](INFO): DAT read: user:89> 2025-10-24T19:34:49.852Z,1761334489.852 [DAT](INFO): DAT read: Tx time:19:34:49.1222 2025-10-24T19:34:49.853Z,1761334489.853 [DAT](INFO): Ping request sent. 2025-10-24T19:34:49.853Z,1761334489.853 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:49.853Z,1761334489.853 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:49.854Z,1761334489.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001072 2025-10-24T19:34:50.084Z,1761334490.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677439,-0.724033,0.129821],[0.731974,0.680989,-0.021637],[-0.072741,0.109683,0.991301]] 2025-10-24T19:34:50.101Z,1761334490.101 [DAT](INFO): DAT read: TxSync time:19:34:49.1214 2025-10-24T19:34:50.102Z,1761334490.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249561 2025-10-24T19:34:50.158Z,1761334490.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:50.160Z,1761334490.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 84.823029 m, bearing: 54.030093 deg, approach rate: -0.562529 m/s, LOS rate: 0.062191 deg/s, cmd heading: 47.353968 deg, new cmd heading: 47.433362 deg. 2025-10-24T19:34:50.161Z,1761334490.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827868 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:50.353Z,1761334490.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499933 2025-10-24T19:34:50.488Z,1761334490.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677771,-0.724015,0.128177],[0.731803,0.681160,-0.022041],[-0.071351,0.108739,0.991506]] 2025-10-24T19:34:50.531Z,1761334490.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:50.538Z,1761334490.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 84.629356 m, bearing: 54.051606 deg, approach rate: -0.518428 m/s, LOS rate: 0.057718 deg/s, cmd heading: 47.433362 deg, new cmd heading: 47.498049 deg. 2025-10-24T19:34:50.539Z,1761334490.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828997 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:50.606Z,1761334490.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753437 2025-10-24T19:34:50.857Z,1761334490.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003947 2025-10-24T19:34:50.915Z,1761334490.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674457,-0.727985,0.123067],[0.735111,0.677647,-0.020183],[-0.068703,0.104081,0.992193]] 2025-10-24T19:34:50.970Z,1761334490.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:50.973Z,1761334490.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:50.975Z,1761334490.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 84.381462 m, bearing: 54.076496 deg, approach rate: -0.561200 m/s, LOS rate: 0.056514 deg/s, cmd heading: 47.498047 deg, new cmd heading: 47.572938 deg. 2025-10-24T19:34:50.977Z,1761334490.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830304 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:51.109Z,1761334491.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256191 2025-10-24T19:34:51.334Z,1761334491.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:51.339Z,1761334491.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 84.184128 m, bearing: 54.096415 deg, approach rate: -0.546611 m/s, LOS rate: 0.055306 deg/s, cmd heading: 47.572937 deg, new cmd heading: 47.632835 deg. 2025-10-24T19:34:51.341Z,1761334491.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831350 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:51.361Z,1761334491.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508112 2025-10-24T19:34:51.613Z,1761334491.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759924 2025-10-24T19:34:51.709Z,1761334491.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675907,-0.726390,0.124527],[0.733686,0.679178,-0.020525],[-0.069667,0.105237,0.992004]] 2025-10-24T19:34:51.728Z,1761334491.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:51.731Z,1761334491.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 83.969925 m, bearing: 54.118448 deg, approach rate: -0.543446 m/s, LOS rate: 0.056041 deg/s, cmd heading: 47.632834 deg, new cmd heading: 47.699101 deg. 2025-10-24T19:34:51.732Z,1761334491.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832506 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:51.868Z,1761334491.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014803 2025-10-24T19:34:52.115Z,1761334492.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676953,-0.725424,0.124476],[0.732732,0.680198,-0.020837],[-0.069553,0.105313,0.992004]] 2025-10-24T19:34:52.117Z,1761334492.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264104 2025-10-24T19:34:52.180Z,1761334492.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:52.183Z,1761334492.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 83.719223 m, bearing: 54.139951 deg, approach rate: -0.554123 m/s, LOS rate: 0.047669 deg/s, cmd heading: 47.699101 deg, new cmd heading: 47.763801 deg. 2025-10-24T19:34:52.185Z,1761334492.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833636 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:52.369Z,1761334492.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516249 2025-10-24T19:34:52.508Z,1761334492.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677741,-0.724700,0.124411],[0.732019,0.680955,-0.021148],[-0.069392,0.105404,0.992005]] 2025-10-24T19:34:52.530Z,1761334492.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:52.533Z,1761334492.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 83.524765 m, bearing: 54.156864 deg, approach rate: -0.555574 m/s, LOS rate: 0.048433 deg/s, cmd heading: 47.763800 deg, new cmd heading: 47.814656 deg. 2025-10-24T19:34:52.534Z,1761334492.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834523 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:52.622Z,1761334492.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768718 2025-10-24T19:34:52.876Z,1761334492.876 [DAT](INFO): DAT read: Rx Time:19:34:51.6379 2025-10-24T19:34:52.878Z,1761334492.878 [DAT](INFO): Rx dataTimestamp_ set to:1761334492.876629 2025-10-24T19:34:52.881Z,1761334492.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027442 2025-10-24T19:34:52.955Z,1761334492.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678551,-0.724002,0.124055],[0.731284,0.681743,-0.021197],[-0.069226,0.105103,0.992049]] 2025-10-24T19:34:53.010Z,1761334493.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:53.017Z,1761334493.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:53.024Z,1761334493.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 83.253395 m, bearing: 54.172758 deg, approach rate: -0.558107 m/s, LOS rate: 0.032796 deg/s, cmd heading: 47.814657 deg, new cmd heading: 47.862497 deg. 2025-10-24T19:34:53.025Z,1761334493.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835358 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:53.125Z,1761334493.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272234 2025-10-24T19:34:53.328Z,1761334493.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678302,-0.724297,0.123694],[0.731559,0.681442,-0.021434],[-0.068765,0.105029,0.992089]] 2025-10-24T19:34:53.346Z,1761334493.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.33 m. 2025-10-24T19:34:53.349Z,1761334493.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 85.331841 m, nav range: 83.049019 m, bearing: 54.184744 deg, approach rate: -0.620589 m/s, LOS rate: 0.036486 deg/s, cmd heading: 47.862496 deg, new cmd heading: 47.898543 deg. 2025-10-24T19:34:53.350Z,1761334493.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835987 target range: 85.331841 and range: 85.80 m. 2025-10-24T19:34:53.385Z,1761334493.385 [DAT](INFO): DAT read: 19:34:51.6379 LVL= 19840, 32753, 19698, 30115, AGC= 70, IDX= 419, 0.10, 0.635,-0.771, 0.471, 0.278, PHS= 0.446,-1.002, 0.190, RAW= 140.5, 5.5, CAL= 144.1, -2.4, ROT= 5.9, 2.4 2025-10-24T19:34:53.388Z,1761334493.388 [DAT](INFO): got valid direction response: 19:34:51.6379 LVL= 19840, 32753, 19698, 30115, AGC= 70, IDX= 419, 0.10, 0.635,-0.771, 0.471, 0.278, PHS= 0.446,-1.002, 0.190, RAW= 140.5, 5.5, CAL= 144.1, -2.4, ROT= 5.9, 2.4 2025-10-24T19:34:53.390Z,1761334493.390 [DAT](INFO): DAT read: Bearing 5.9, 2.4 (Local) 2025-10-24T19:34:53.390Z,1761334493.390 [DAT](INFO): Local bearing/azimuth received: Bearing 5.9, 2.4 (Local) 2025-10-24T19:34:53.392Z,1761334493.392 [DAT](INFO): DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.6 ms) speed 0.4 m/s 2025-10-24T19:34:53.393Z,1761334493.393 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:53.394Z,1761334493.394 [DAT](INFO): direction in FSK: [0.993830,0.102702,-0.041876] 2025-10-24T19:34:53.394Z,1761334493.394 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:53.397Z,1761334493.397 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:53.397Z,1761334493.397 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:53.398Z,1761334493.398 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:53.629Z,1761334493.629 [DAT](INFO): DAT read: user:90> 2025-10-24T19:34:53.629Z,1761334493.629 [DAT](INFO): DAT read: Tx time:19:34:52.9222 2025-10-24T19:34:53.630Z,1761334493.630 [DAT](INFO): Ping request sent. 2025-10-24T19:34:53.630Z,1761334493.630 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:53.630Z,1761334493.630 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:53.631Z,1761334493.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-24T19:34:53.723Z,1761334493.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678327,-0.724351,0.123237],[0.731569,0.681429,-0.021495],[-0.068407,0.104737,0.992144]] 2025-10-24T19:34:53.766Z,1761334493.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 3.780758 s, deltaX: -2.100006 m, approachRate: -0.555446 m/s, rangeRepo size: 4 2025-10-24T19:34:53.768Z,1761334493.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.243851 m, bearing: 53.308169 deg, lat: 36.779515 deg, lon: -121.859589 deg, deltaT: 3.780758 s, deltaX: -2.087990 m, approachRate: -0.552267 m/s, posRepo size: 4 2025-10-24T19:34:53.769Z,1761334493.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:53.772Z,1761334493.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 82.941391 m, bearing: 54.070531 deg, approach rate: 0.000000 m/s, LOS rate: 0.036486 deg/s, cmd heading: 47.898542 deg, new cmd heading: 47.944420 deg. 2025-10-24T19:34:53.773Z,1761334493.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836788 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:53.885Z,1761334493.885 [DAT](INFO): DAT read: TxSync time:19:34:52.9214 2025-10-24T19:34:53.888Z,1761334493.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257743 2025-10-24T19:34:54.137Z,1761334494.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507200 2025-10-24T19:34:54.182Z,1761334494.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:54.186Z,1761334494.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 82.685318 m, bearing: 54.073725 deg, approach rate: -0.614486 m/s, LOS rate: 0.007689 deg/s, cmd heading: 47.944421 deg, new cmd heading: 47.954034 deg. 2025-10-24T19:34:54.187Z,1761334494.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836956 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:54.390Z,1761334494.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760239 2025-10-24T19:34:54.531Z,1761334494.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673712,-0.729332,0.119108],[0.736096,0.676556,-0.020844],[-0.065381,0.101718,0.992662]] 2025-10-24T19:34:54.567Z,1761334494.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:54.571Z,1761334494.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 82.450470 m, bearing: 54.075593 deg, approach rate: -0.609159 m/s, LOS rate: 0.004857 deg/s, cmd heading: 47.954034 deg, new cmd heading: 47.959652 deg. 2025-10-24T19:34:54.572Z,1761334494.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837054 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:54.642Z,1761334494.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011360 2025-10-24T19:34:54.896Z,1761334494.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265248 2025-10-24T19:34:54.994Z,1761334494.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:54.997Z,1761334494.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 82.176689 m, bearing: 54.068134 deg, approach rate: -0.642080 m/s, LOS rate: -0.017549 deg/s, cmd heading: 47.959652 deg, new cmd heading: 47.937203 deg. 2025-10-24T19:34:54.998Z,1761334494.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836662 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:55.145Z,1761334495.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514859 2025-10-24T19:34:55.338Z,1761334495.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669405,-0.732849,0.121774],[0.740098,0.672079,-0.023759],[-0.064430,0.106029,0.992273]] 2025-10-24T19:34:55.374Z,1761334495.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:55.376Z,1761334495.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:55.379Z,1761334495.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 81.930496 m, bearing: 54.060407 deg, approach rate: -0.643315 m/s, LOS rate: -0.020254 deg/s, cmd heading: 47.937205 deg, new cmd heading: 47.913951 deg. 2025-10-24T19:34:55.380Z,1761334495.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836256 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:55.398Z,1761334495.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768579 2025-10-24T19:34:55.649Z,1761334495.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018929 2025-10-24T19:34:55.741Z,1761334495.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668434,-0.733741,0.121740],[0.740962,0.671142,-0.023323],[-0.064592,0.105794,0.992288]] 2025-10-24T19:34:55.775Z,1761334495.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:55.777Z,1761334495.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 81.674545 m, bearing: 54.052087 deg, approach rate: -0.642905 m/s, LOS rate: -0.020964 deg/s, cmd heading: 47.913951 deg, new cmd heading: 47.888913 deg. 2025-10-24T19:34:55.778Z,1761334495.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835819 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:55.908Z,1761334495.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277115 2025-10-24T19:34:56.147Z,1761334496.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666856,-0.735302,0.120967],[0.742424,0.669536,-0.022969],[-0.064103,0.105126,0.992391]] 2025-10-24T19:34:56.153Z,1761334496.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523442 2025-10-24T19:34:56.188Z,1761334496.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:56.191Z,1761334496.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 81.400078 m, bearing: 54.035708 deg, approach rate: -0.663998 m/s, LOS rate: -0.039758 deg/s, cmd heading: 47.888912 deg, new cmd heading: 47.839609 deg. 2025-10-24T19:34:56.192Z,1761334496.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834959 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:56.405Z,1761334496.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775024 2025-10-24T19:34:56.567Z,1761334496.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666117,-0.736051,0.120485],[0.743150,0.668717,-0.023361],[-0.063375,0.105099,0.992440]] 2025-10-24T19:34:56.587Z,1761334496.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:56.590Z,1761334496.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 81.135330 m, bearing: 54.019608 deg, approach rate: -0.662784 m/s, LOS rate: -0.040437 deg/s, cmd heading: 47.839608 deg, new cmd heading: 47.791150 deg. 2025-10-24T19:34:56.591Z,1761334496.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834113 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:56.658Z,1761334496.658 [DAT](INFO): DAT read: Rx Time:19:34:55.4350 2025-10-24T19:34:56.659Z,1761334496.659 [DAT](INFO): Rx dataTimestamp_ set to:1761334496.658434 2025-10-24T19:34:56.660Z,1761334496.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029685 2025-10-24T19:34:56.911Z,1761334496.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281110 2025-10-24T19:34:56.964Z,1761334496.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664200,-0.737899,0.119767],[0.744945,0.666707,-0.023631],[-0.062412,0.104915,0.992521]] 2025-10-24T19:34:57.021Z,1761334497.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.24 m. 2025-10-24T19:34:57.023Z,1761334497.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.243851 m, nav range: 80.843536 m, bearing: 54.000164 deg, approach rate: -0.673562 m/s, LOS rate: -0.045046 deg/s, cmd heading: 47.791151 deg, new cmd heading: 47.732608 deg. 2025-10-24T19:34:57.025Z,1761334497.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833091 target range: 83.243851 and range: 83.70 m. 2025-10-24T19:34:57.166Z,1761334497.166 [DAT](INFO): DAT read: 19:34:55.4350 LVL= 20784, 32753, 19794, 32755, AGC= 70, IDX= 404, 0.05, 1.087,-0.202, 0.940, 0.812, PHS= 0.364,-0.967, 0.125, RAW= 140.3, 7.8, CAL= 143.7, 0.4, ROT= 6.3, -0.4 2025-10-24T19:34:57.167Z,1761334497.167 [DAT](INFO): got valid direction response: 19:34:55.4350 LVL= 20784, 32753, 19794, 32755, AGC= 70, IDX= 404, 0.05, 1.087,-0.202, 0.940, 0.812, PHS= 0.364,-0.967, 0.125, RAW= 140.3, 7.8, CAL= 143.7, 0.4, ROT= 6.3, -0.4 2025-10-24T19:34:57.170Z,1761334497.170 [DAT](INFO): DAT read: Bearing 6.3, -0.4 (Local) 2025-10-24T19:34:57.170Z,1761334497.170 [DAT](INFO): Local bearing/azimuth received: Bearing 6.3, -0.4 (Local) 2025-10-24T19:34:57.171Z,1761334497.171 [DAT](INFO): DAT read: Range 10 to 50 : 81.3 m (Round-trip 108.5 ms) speed 0.7 m/s 2025-10-24T19:34:57.172Z,1761334497.172 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:34:57.173Z,1761334497.173 [DAT](INFO): direction in FSK: [0.993937,0.109732,0.006981] 2025-10-24T19:34:57.173Z,1761334497.173 [DAT](INFO): publishing direction and range info 2025-10-24T19:34:57.186Z,1761334497.186 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:34:57.186Z,1761334497.186 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:34:57.186Z,1761334497.186 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:34:57.374Z,1761334497.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663515,-0.738916,0.117261],[0.745601,0.666030,-0.021981],[-0.061857,0.102015,0.992858]] 2025-10-24T19:34:57.399Z,1761334497.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.300003 m, deltaT: 3.783071 s, deltaX: -2.399994 m, approachRate: -0.634404 m/s, rangeRepo size: 4 2025-10-24T19:34:57.401Z,1761334497.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.860298 m, bearing: 54.565390 deg, lat: 36.779510 deg, lon: -121.859583 deg, deltaT: 3.783071 s, deltaX: -2.383553 m, approachRate: -0.630058 m/s, posRepo size: 4 2025-10-24T19:34:57.403Z,1761334497.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:34:57.413Z,1761334497.413 [DAT](INFO): DAT read: user:91> 2025-10-24T19:34:57.415Z,1761334497.415 [DAT](INFO): DAT read: Tx time:19:34:56.7223 2025-10-24T19:34:57.415Z,1761334497.415 [DAT](INFO): Ping request sent. 2025-10-24T19:34:57.415Z,1761334497.415 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:34:57.416Z,1761334497.416 [DAT](INFO): publishing transmit ping time 2025-10-24T19:34:57.417Z,1761334497.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001544 2025-10-24T19:34:57.419Z,1761334497.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 80.674530 m, bearing: 54.509695 deg, approach rate: 0.000000 m/s, LOS rate: -0.045046 deg/s, cmd heading: 47.732610 deg, new cmd heading: 47.681543 deg. 2025-10-24T19:34:57.441Z,1761334497.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832200 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:34:57.665Z,1761334497.665 [DAT](INFO): DAT read: TxSync time:19:34:56.7215 2025-10-24T19:34:57.666Z,1761334497.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250437 2025-10-24T19:34:57.773Z,1761334497.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661775,-0.740792,0.115244],[0.747220,0.664243,-0.021052],[-0.060955,0.100044,0.993114]] 2025-10-24T19:34:57.794Z,1761334497.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:57.796Z,1761334497.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:34:57.799Z,1761334497.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 80.404305 m, bearing: 54.492574 deg, approach rate: -0.680347 m/s, LOS rate: -0.043251 deg/s, cmd heading: 47.681544 deg, new cmd heading: 47.630007 deg. 2025-10-24T19:34:57.800Z,1761334497.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831300 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:34:57.921Z,1761334497.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504994 2025-10-24T19:34:58.170Z,1761334498.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754175 2025-10-24T19:34:58.178Z,1761334498.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659753,-0.743743,0.107574],[0.749141,0.662215,-0.016084],[-0.059275,0.091200,0.994067]] 2025-10-24T19:34:58.230Z,1761334498.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:34:58.233Z,1761334498.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 80.112770 m, bearing: 54.477278 deg, approach rate: -0.671202 m/s, LOS rate: -0.035343 deg/s, cmd heading: 47.630007 deg, new cmd heading: 47.583953 deg. 2025-10-24T19:34:58.234Z,1761334498.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830497 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:34:58.421Z,1761334498.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005252 2025-10-24T19:34:58.592Z,1761334498.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656722,-0.746403,0.107697],[0.751909,0.659033,-0.017555],[-0.057873,0.092507,0.994029]] 2025-10-24T19:34:58.611Z,1761334498.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:34:58.614Z,1761334498.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 79.857323 m, bearing: 54.463033 deg, approach rate: -0.669908 m/s, LOS rate: -0.037477 deg/s, cmd heading: 47.583954 deg, new cmd heading: 47.541082 deg. 2025-10-24T19:34:58.615Z,1761334498.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829748 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:34:58.674Z,1761334498.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258288 2025-10-24T19:34:58.929Z,1761334498.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512861 2025-10-24T19:34:58.990Z,1761334498.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654651,-0.748181,0.107971],[0.753793,0.656841,-0.018858],[-0.056810,0.093733,0.993975]] 2025-10-24T19:34:59.042Z,1761334499.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:34:59.046Z,1761334499.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 79.573364 m, bearing: 54.453241 deg, approach rate: -0.658622 m/s, LOS rate: -0.022792 deg/s, cmd heading: 47.541081 deg, new cmd heading: 47.511601 deg. 2025-10-24T19:34:59.046Z,1761334499.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829234 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:34:59.177Z,1761334499.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761272 2025-10-24T19:34:59.391Z,1761334499.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655440,-0.747393,0.108632],[0.753053,0.657696,-0.018626],[-0.057526,0.094013,0.993908]] 2025-10-24T19:34:59.413Z,1761334499.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:34:59.416Z,1761334499.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 79.330772 m, bearing: 54.445009 deg, approach rate: -0.654223 m/s, LOS rate: -0.022268 deg/s, cmd heading: 47.511602 deg, new cmd heading: 47.486830 deg. 2025-10-24T19:34:59.417Z,1761334499.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828802 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:34:59.429Z,1761334499.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013439 2025-10-24T19:34:59.681Z,1761334499.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266061 2025-10-24T19:34:59.792Z,1761334499.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655916,-0.746947,0.108834],[0.752628,0.658180,-0.018706],[-0.057660,0.094181,0.993884]] 2025-10-24T19:34:59.812Z,1761334499.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:34:59.814Z,1761334499.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:34:59.817Z,1761334499.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 79.066788 m, bearing: 54.436116 deg, approach rate: -0.658314 m/s, LOS rate: -0.022252 deg/s, cmd heading: 47.486829 deg, new cmd heading: 47.460059 deg. 2025-10-24T19:34:59.819Z,1761334499.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828334 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:34:59.937Z,1761334499.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521472 2025-10-24T19:35:00.185Z,1761334500.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770032 2025-10-24T19:35:00.199Z,1761334500.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657469,-0.745758,0.107609],[0.751274,0.659748,-0.017906],[-0.057641,0.092616,0.994032]] 2025-10-24T19:35:00.262Z,1761334500.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:35:00.270Z,1761334500.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 78.793175 m, bearing: 54.435402 deg, approach rate: -0.611163 m/s, LOS rate: -0.001600 deg/s, cmd heading: 47.460058 deg, new cmd heading: 47.457909 deg. 2025-10-24T19:35:00.271Z,1761334500.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828297 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:35:00.437Z,1761334500.437 [DAT](INFO): DAT read: Rx Time:19:34:59.2320 2025-10-24T19:35:00.437Z,1761334500.437 [DAT](INFO): Rx dataTimestamp_ set to:1761334500.437034 2025-10-24T19:35:00.438Z,1761334500.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022444 2025-10-24T19:35:00.611Z,1761334500.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658179,-0.745219,0.107000],[0.750664,0.660448,-0.017689],[-0.057486,0.091964,0.994102]] 2025-10-24T19:35:00.642Z,1761334500.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.86 m. 2025-10-24T19:35:00.645Z,1761334500.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.860298 m, nav range: 78.533638 m, bearing: 54.434900 deg, approach rate: -0.682232 m/s, LOS rate: -0.001324 deg/s, cmd heading: 47.457910 deg, new cmd heading: 47.456399 deg. 2025-10-24T19:35:00.646Z,1761334500.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828270 target range: 80.860298 and range: 81.30 m. 2025-10-24T19:35:00.689Z,1761334500.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273619 2025-10-24T19:35:00.729Z,1761334500.729 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:35:00.985Z,1761334500.985 [DAT](INFO): DAT read: 19:34:59.2320 LVL= 24528, 32753, 21138, 32755, AGC= 70, IDX= 405,-0.48, 0.868,-0.472, 0.772, 0.588, PHS= 0.368,-1.013, 0.181, RAW= 142.8, 7.2, CAL= 145.6, -0.8, ROT= 4.4, 0.8 2025-10-24T19:35:01.013Z,1761334501.013 [DAT](INFO): got valid direction response: 19:34:59.2320 LVL= 24528, 32753, 21138, 32755, AGC= 70, IDX= 405,-0.48, 0.868,-0.472, 0.772, 0.588, PHS= 0.368,-1.013, 0.181, RAW= 142.8, 7.2, CAL= 145.6, -0.8, ROT= 4.4, 0.8 2025-10-24T19:35:01.014Z,1761334501.014 [DAT](INFO): DAT read: Bearing 4.4, 0.8 (Local) 2025-10-24T19:35:01.014Z,1761334501.014 [DAT](INFO): Local bearing/azimuth received: Bearing 4.4, 0.8 (Local) 2025-10-24T19:35:01.015Z,1761334501.015 [DAT](INFO): DAT read: Range 10 to 50 : 79.1 m (Round-trip 105.5 ms) speed 0.8 m/s 2025-10-24T19:35:01.029Z,1761334501.029 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:01.029Z,1761334501.029 [DAT](INFO): direction in FSK: [0.996956,0.076712,-0.013962] 2025-10-24T19:35:01.030Z,1761334501.030 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:01.033Z,1761334501.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659473,-0.744223,0.105957],[0.749546,0.661727,-0.017296],[-0.057243,0.090826,0.994220]] 2025-10-24T19:35:01.042Z,1761334501.042 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:01.042Z,1761334501.042 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:01.043Z,1761334501.043 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:01.178Z,1761334501.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.099998 m, deltaT: 3.781441 s, deltaX: -2.200005 m, approachRate: -0.581790 m/s, rangeRepo size: 4 2025-10-24T19:35:01.184Z,1761334501.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.676048 m, bearing: 53.121143 deg, lat: 36.779515 deg, lon: -121.859591 deg, deltaT: 3.781441 s, deltaX: -2.184250 m, approachRate: -0.577624 m/s, posRepo size: 4 2025-10-24T19:35:01.185Z,1761334501.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:01.193Z,1761334501.193 [DAT](INFO): DAT read: user:92> 2025-10-24T19:35:01.194Z,1761334501.194 [DAT](INFO): DAT read: Tx time:19:35:00.5723 2025-10-24T19:35:01.194Z,1761334501.194 [DAT](INFO): Ping request sent. 2025-10-24T19:35:01.194Z,1761334501.194 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:01.194Z,1761334501.194 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:01.195Z,1761334501.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-24T19:35:01.200Z,1761334501.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 77.995453 m, bearing: 53.826016 deg, approach rate: 0.000000 m/s, LOS rate: -0.001324 deg/s, cmd heading: 47.456400 deg, new cmd heading: 47.454277 deg. 2025-10-24T19:35:01.201Z,1761334501.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828233 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:01.445Z,1761334501.445 [DAT](INFO): DAT read: TxSync time:19:35:00.5715 2025-10-24T19:35:01.446Z,1761334501.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251399 2025-10-24T19:35:01.479Z,1761334501.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660279,-0.743601,0.105303],[0.748839,0.662536,-0.016914],[-0.057190,0.090023,0.994296]] 2025-10-24T19:35:01.538Z,1761334501.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:01.545Z,1761334501.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 77.760506 m, bearing: 53.834631 deg, approach rate: -0.651522 m/s, LOS rate: 0.023964 deg/s, cmd heading: 47.454276 deg, new cmd heading: 47.480201 deg. 2025-10-24T19:35:01.546Z,1761334501.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828686 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:01.698Z,1761334501.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503310 2025-10-24T19:35:01.732Z,1761334501.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:35:01.872Z,1761334501.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661096,-0.742985,0.104525],[0.748170,0.663283,-0.017243],[-0.056518,0.089602,0.994373]] 2025-10-24T19:35:01.905Z,1761334501.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:01.909Z,1761334501.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:01.913Z,1761334501.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 77.526421 m, bearing: 53.843453 deg, approach rate: -0.632782 m/s, LOS rate: 0.023919 deg/s, cmd heading: 47.480200 deg, new cmd heading: 47.506745 deg. 2025-10-24T19:35:01.915Z,1761334501.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829149 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:01.949Z,1761334501.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754640 2025-10-24T19:35:02.201Z,1761334502.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006515 2025-10-24T19:35:02.275Z,1761334502.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661468,-0.742467,0.105845],[0.747901,0.663522,-0.019552],[-0.055714,0.092095,0.994190]] 2025-10-24T19:35:02.331Z,1761334502.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:02.334Z,1761334502.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 77.275589 m, bearing: 53.862625 deg, approach rate: -0.592645 m/s, LOS rate: 0.045445 deg/s, cmd heading: 47.506746 deg, new cmd heading: 47.564448 deg. 2025-10-24T19:35:02.335Z,1761334502.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830156 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:02.454Z,1761334502.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259534 2025-10-24T19:35:02.684Z,1761334502.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663570,-0.740645,0.105450],[0.746087,0.665534,-0.020454],[-0.055031,0.092247,0.994214]] 2025-10-24T19:35:02.705Z,1761334502.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510738 2025-10-24T19:35:02.706Z,1761334502.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:02.709Z,1761334502.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 77.056976 m, bearing: 53.879893 deg, approach rate: -0.582408 m/s, LOS rate: 0.046135 deg/s, cmd heading: 47.564447 deg, new cmd heading: 47.616399 deg. 2025-10-24T19:35:02.710Z,1761334502.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831063 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:02.957Z,1761334502.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762574 2025-10-24T19:35:03.098Z,1761334503.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665954,-0.738515,0.105358],[0.743893,0.668013,-0.019558],[-0.055937,0.091400,0.994242]] 2025-10-24T19:35:03.156Z,1761334503.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:03.159Z,1761334503.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 76.798714 m, bearing: 53.905267 deg, approach rate: -0.574773 m/s, LOS rate: 0.056661 deg/s, cmd heading: 47.616397 deg, new cmd heading: 47.692776 deg. 2025-10-24T19:35:03.159Z,1761334503.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832396 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:03.209Z,1761334503.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014750 2025-10-24T19:35:03.461Z,1761334503.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266665 2025-10-24T19:35:03.515Z,1761334503.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667935,-0.736660,0.105806],[0.742034,0.670096,-0.018888],[-0.056986,0.091128,0.994207]] 2025-10-24T19:35:03.574Z,1761334503.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:03.585Z,1761334503.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 76.576942 m, bearing: 53.927655 deg, approach rate: -0.530330 m/s, LOS rate: 0.053691 deg/s, cmd heading: 47.692776 deg, new cmd heading: 47.760132 deg. 2025-10-24T19:35:03.586Z,1761334503.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833572 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:03.713Z,1761334503.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518594 2025-10-24T19:35:03.965Z,1761334503.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770925 2025-10-24T19:35:04.051Z,1761334504.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671449,-0.733174,0.107759],[0.738808,0.673606,-0.020429],[-0.057609,0.093330,0.993967]] 2025-10-24T19:35:04.114Z,1761334504.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:04.117Z,1761334504.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:04.121Z,1761334504.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 76.261185 m, bearing: 53.960638 deg, approach rate: -0.581732 m/s, LOS rate: 0.061019 deg/s, cmd heading: 47.760132 deg, new cmd heading: 47.859492 deg. 2025-10-24T19:35:04.122Z,1761334504.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835306 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:04.217Z,1761334504.217 [DAT](INFO): DAT read: Rx Time:19:35:03.0786 2025-10-24T19:35:04.218Z,1761334504.218 [DAT](INFO): Rx dataTimestamp_ set to:1761334504.217302 2025-10-24T19:35:04.219Z,1761334504.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024540 2025-10-24T19:35:04.395Z,1761334504.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673285,-0.731501,0.107673],[0.737178,0.675360,-0.021405],[-0.057060,0.093786,0.993956]] 2025-10-24T19:35:04.429Z,1761334504.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.68 m. 2025-10-24T19:35:04.431Z,1761334504.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.676048 m, nav range: 76.087402 m, bearing: 53.979238 deg, approach rate: -0.556831 m/s, LOS rate: 0.059732 deg/s, cmd heading: 47.859491 deg, new cmd heading: 47.915417 deg. 2025-10-24T19:35:04.433Z,1761334504.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836282 target range: 78.676048 and range: 79.10 m. 2025-10-24T19:35:04.469Z,1761334504.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274936 2025-10-24T19:35:04.741Z,1761334504.741 [DAT](INFO): DAT read: 19:35:03.0786 LVL= 21520, 32753, 20546, 32755, AGC= 69, IDX= 402, 0.07, 0.311,-1.115, 0.154,-0.024, PHS= 0.422,-1.044, 0.175, RAW= 140.9, 6.6, CAL= 144.3, -1.1, ROT= 5.7, 1.1 2025-10-24T19:35:04.742Z,1761334504.742 [DAT](INFO): got valid direction response: 19:35:03.0786 LVL= 21520, 32753, 20546, 32755, AGC= 69, IDX= 402, 0.07, 0.311,-1.115, 0.154,-0.024, PHS= 0.422,-1.044, 0.175, RAW= 140.9, 6.6, CAL= 144.3, -1.1, ROT= 5.7, 1.1 2025-10-24T19:35:04.743Z,1761334504.743 [DAT](INFO): DAT read: Bearing 5.7, 1.1 (Local) 2025-10-24T19:35:04.743Z,1761334504.743 [DAT](INFO): Local bearing/azimuth received: Bearing 5.7, 1.1 (Local) 2025-10-24T19:35:04.746Z,1761334504.746 [DAT](INFO): DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.1 ms) speed 0.7 m/s 2025-10-24T19:35:04.746Z,1761334504.746 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:04.747Z,1761334504.747 [DAT](INFO): direction in FSK: [0.994872,0.099301,-0.019197] 2025-10-24T19:35:04.748Z,1761334504.748 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:04.751Z,1761334504.751 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:04.751Z,1761334504.751 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:04.753Z,1761334504.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:04.813Z,1761334504.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674064,-0.730722,0.108089],[0.736553,0.675972,-0.023468],[-0.055917,0.095433,0.993864]] 2025-10-24T19:35:04.905Z,1761334504.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 3.781240 s, deltaX: -2.599998 m, approachRate: -0.687605 m/s, rangeRepo size: 4 2025-10-24T19:35:04.913Z,1761334504.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.091148 m, bearing: 53.327288 deg, lat: 36.779522 deg, lon: -121.859593 deg, deltaT: 3.781240 s, deltaX: -2.584900 m, approachRate: -0.683612 m/s, posRepo size: 4 2025-10-24T19:35:04.914Z,1761334504.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:04.927Z,1761334504.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 76.173576 m, bearing: 53.463903 deg, approach rate: 0.000000 m/s, LOS rate: 0.059732 deg/s, cmd heading: 47.915416 deg, new cmd heading: 47.999130 deg. 2025-10-24T19:35:04.937Z,1761334504.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837743 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:04.977Z,1761334504.977 [DAT](INFO): DAT read: user:93> 2025-10-24T19:35:04.978Z,1761334504.978 [DAT](INFO): DAT read: Tx time:19:35:04.2724 2025-10-24T19:35:04.978Z,1761334504.978 [DAT](INFO): Ping request sent. 2025-10-24T19:35:04.979Z,1761334504.979 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:04.979Z,1761334504.979 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:04.980Z,1761334504.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001079 2025-10-24T19:35:05.215Z,1761334505.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674949,-0.729845,0.108488],[0.735863,0.676624,-0.026175],[-0.054302,0.097499,0.993753]] 2025-10-24T19:35:05.225Z,1761334505.225 [DAT](INFO): DAT read: TxSync time:19:35:04.2716 2025-10-24T19:35:05.226Z,1761334505.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247154 2025-10-24T19:35:05.327Z,1761334505.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:05.334Z,1761334505.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 75.939613 m, bearing: 53.483196 deg, approach rate: -0.543334 m/s, LOS rate: 0.044944 deg/s, cmd heading: 47.999130 deg, new cmd heading: 48.057190 deg. 2025-10-24T19:35:05.340Z,1761334505.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838756 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:05.477Z,1761334505.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498180 2025-10-24T19:35:05.635Z,1761334505.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673003,-0.730807,0.113967],[0.737873,0.674022,-0.035189],[-0.051100,0.107776,0.992861]] 2025-10-24T19:35:05.669Z,1761334505.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:05.676Z,1761334505.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 75.745239 m, bearing: 53.498911 deg, approach rate: -0.567120 m/s, LOS rate: 0.045969 deg/s, cmd heading: 48.057191 deg, new cmd heading: 48.104457 deg. 2025-10-24T19:35:05.677Z,1761334505.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839581 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:05.729Z,1761334505.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750411 2025-10-24T19:35:05.981Z,1761334505.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002299 2025-10-24T19:35:06.078Z,1761334506.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673903,-0.730327,0.111704],[0.737215,0.674669,-0.036546],[-0.048673,0.106978,0.993069]] 2025-10-24T19:35:06.132Z,1761334506.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:06.134Z,1761334506.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:06.137Z,1761334506.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 75.477577 m, bearing: 53.514307 deg, approach rate: -0.576032 m/s, LOS rate: 0.033250 deg/s, cmd heading: 48.104455 deg, new cmd heading: 48.150805 deg. 2025-10-24T19:35:06.138Z,1761334506.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840390 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:06.233Z,1761334506.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254470 2025-10-24T19:35:06.459Z,1761334506.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675673,-0.728972,0.109844],[0.735728,0.676210,-0.038001],[-0.046576,0.106491,0.993222]] 2025-10-24T19:35:06.485Z,1761334506.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506847 2025-10-24T19:35:06.492Z,1761334506.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:06.495Z,1761334506.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 75.285301 m, bearing: 53.525772 deg, approach rate: -0.536170 m/s, LOS rate: 0.032054 deg/s, cmd heading: 48.150805 deg, new cmd heading: 48.185290 deg. 2025-10-24T19:35:06.500Z,1761334506.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840992 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:06.737Z,1761334506.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758225 2025-10-24T19:35:06.881Z,1761334506.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:06.884Z,1761334506.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 75.059761 m, bearing: 53.539297 deg, approach rate: -0.580292 m/s, LOS rate: 0.034901 deg/s, cmd heading: 48.185291 deg, new cmd heading: 48.225986 deg. 2025-10-24T19:35:06.886Z,1761334506.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841702 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:06.989Z,1761334506.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010406 2025-10-24T19:35:07.241Z,1761334507.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262306 2025-10-24T19:35:07.328Z,1761334507.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:07.331Z,1761334507.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 74.814995 m, bearing: 53.544934 deg, approach rate: -0.552734 m/s, LOS rate: 0.012772 deg/s, cmd heading: 48.225985 deg, new cmd heading: 48.242952 deg. 2025-10-24T19:35:07.332Z,1761334507.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841998 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:07.493Z,1761334507.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514166 2025-10-24T19:35:07.657Z,1761334507.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677220,-0.728029,0.106522],[0.734607,0.677191,-0.042018],[-0.041545,0.106707,0.993422]] 2025-10-24T19:35:07.677Z,1761334507.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:07.697Z,1761334507.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 74.602242 m, bearing: 53.550176 deg, approach rate: -0.602375 m/s, LOS rate: 0.014885 deg/s, cmd heading: 48.242951 deg, new cmd heading: 48.258723 deg. 2025-10-24T19:35:07.698Z,1761334507.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.842274 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:07.745Z,1761334507.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766700 2025-10-24T19:35:07.997Z,1761334507.997 [DAT](INFO): DAT read: Rx Time:19:35:06.7757 2025-10-24T19:35:07.997Z,1761334507.997 [DAT](INFO): Rx dataTimestamp_ set to:1761334507.997069 2025-10-24T19:35:07.998Z,1761334507.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019337 2025-10-24T19:35:08.124Z,1761334508.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676683,-0.728782,0.104767],[0.735228,0.676430,-0.043390],[-0.039245,0.106389,0.993550]] 2025-10-24T19:35:08.171Z,1761334508.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:08.174Z,1761334508.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:08.177Z,1761334508.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 74.305099 m, bearing: 53.543998 deg, approach rate: -0.598344 m/s, LOS rate: -0.012491 deg/s, cmd heading: 48.258722 deg, new cmd heading: 48.240113 deg. 2025-10-24T19:35:08.178Z,1761334508.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841949 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:08.250Z,1761334508.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271217 2025-10-24T19:35:08.466Z,1761334508.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675089,-0.730391,0.103844],[0.736825,0.674536,-0.045716],[-0.036656,0.107378,0.993542]] 2025-10-24T19:35:08.486Z,1761334508.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.09 m. 2025-10-24T19:35:08.489Z,1761334508.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.091148 m, nav range: 74.118286 m, bearing: 53.539768 deg, approach rate: -0.600819 m/s, LOS rate: -0.013638 deg/s, cmd heading: 48.240113 deg, new cmd heading: 48.227392 deg. 2025-10-24T19:35:08.490Z,1761334508.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841727 target range: 76.091148 and range: 76.50 m. 2025-10-24T19:35:08.507Z,1761334508.507 [DAT](INFO): DAT read: 19:35:06.7757 LVL= 21936, 32753, 17394, 29331, AGC= 71, IDX= 404, 0.08, 0.669,-0.761, 0.554, 0.318, PHS= 0.439,-1.032, 0.233, RAW= 142.5, 5.3, CAL= 145.7, -2.9, ROT= 4.3, 2.9 2025-10-24T19:35:08.508Z,1761334508.508 [DAT](INFO): got valid direction response: 19:35:06.7757 LVL= 21936, 32753, 17394, 29331, AGC= 71, IDX= 404, 0.08, 0.669,-0.761, 0.554, 0.318, PHS= 0.439,-1.032, 0.233, RAW= 142.5, 5.3, CAL= 145.7, -2.9, ROT= 4.3, 2.9 2025-10-24T19:35:08.509Z,1761334508.509 [DAT](INFO): DAT read: Bearing 4.3, 2.9 (Local) 2025-10-24T19:35:08.510Z,1761334508.510 [DAT](INFO): Local bearing/azimuth received: Bearing 4.3, 2.9 (Local) 2025-10-24T19:35:08.511Z,1761334508.511 [DAT](INFO): DAT read: Range 10 to 50 : 74.4 m (Round-trip 99.2 ms) speed 0.5 m/s 2025-10-24T19:35:08.511Z,1761334508.511 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:08.512Z,1761334508.512 [DAT](INFO): direction in FSK: [0.995908,0.074883,-0.050593] 2025-10-24T19:35:08.513Z,1761334508.513 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:08.516Z,1761334508.516 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:08.516Z,1761334508.516 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:08.516Z,1761334508.516 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:08.753Z,1761334508.753 [DAT](INFO): DAT read: user:94> 2025-10-24T19:35:08.755Z,1761334508.755 [DAT](INFO): DAT read: Tx time:19:35:08.0224 2025-10-24T19:35:08.755Z,1761334508.755 [DAT](INFO): Ping request sent. 2025-10-24T19:35:08.755Z,1761334508.755 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:08.756Z,1761334508.756 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:08.757Z,1761334508.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001191 2025-10-24T19:35:08.910Z,1761334508.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.777265 s, deltaX: -2.099998 m, approachRate: -0.555957 m/s, rangeRepo size: 4 2025-10-24T19:35:08.914Z,1761334508.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.001541 m, bearing: 52.099972 deg, lat: 36.779522 deg, lon: -121.859596 deg, deltaT: 3.777265 s, deltaX: -2.089607 m, approachRate: -0.553206 m/s, posRepo size: 4 2025-10-24T19:35:08.915Z,1761334508.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:08.919Z,1761334508.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 73.653114 m, bearing: 53.362297 deg, approach rate: 0.000000 m/s, LOS rate: -0.013638 deg/s, cmd heading: 48.227392 deg, new cmd heading: 48.210059 deg. 2025-10-24T19:35:08.921Z,1761334508.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841424 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:09.006Z,1761334509.006 [DAT](INFO): DAT read: TxSync time:19:35:08.0216 2025-10-24T19:35:09.007Z,1761334509.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251479 2025-10-24T19:35:09.257Z,1761334509.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501606 2025-10-24T19:35:09.339Z,1761334509.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:09.342Z,1761334509.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 73.383949 m, bearing: 53.351471 deg, approach rate: -0.625331 m/s, LOS rate: -0.025244 deg/s, cmd heading: 48.210057 deg, new cmd heading: 48.177459 deg. 2025-10-24T19:35:09.343Z,1761334509.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840855 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:09.509Z,1761334509.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753452 2025-10-24T19:35:09.676Z,1761334509.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667396,-0.738409,0.096617],[0.744195,0.666098,-0.049880],[-0.027525,0.105192,0.994071]] 2025-10-24T19:35:09.704Z,1761334509.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:09.706Z,1761334509.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 73.157677 m, bearing: 53.340393 deg, approach rate: -0.620108 m/s, LOS rate: -0.030453 deg/s, cmd heading: 48.177460 deg, new cmd heading: 48.144124 deg. 2025-10-24T19:35:09.707Z,1761334509.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840273 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:09.762Z,1761334509.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006051 2025-10-24T19:35:10.013Z,1761334510.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257346 2025-10-24T19:35:10.123Z,1761334510.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664219,-0.741327,0.096166],[0.747134,0.662573,-0.052795],[-0.024579,0.106916,0.993964]] 2025-10-24T19:35:10.162Z,1761334510.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:10.185Z,1761334510.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 72.875603 m, bearing: 53.325538 deg, approach rate: -0.615854 m/s, LOS rate: -0.032558 deg/s, cmd heading: 48.144125 deg, new cmd heading: 48.099388 deg. 2025-10-24T19:35:10.186Z,1761334510.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839493 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:10.266Z,1761334510.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510342 2025-10-24T19:35:10.483Z,1761334510.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662923,-0.742580,0.095433],[0.748341,0.661089,-0.054289],[-0.022776,0.107406,0.993954]] 2025-10-24T19:35:10.517Z,1761334510.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761459 2025-10-24T19:35:10.528Z,1761334510.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:10.530Z,1761334510.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:10.533Z,1761334510.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 72.640930 m, bearing: 53.309971 deg, approach rate: -0.636785 m/s, LOS rate: -0.042377 deg/s, cmd heading: 48.099387 deg, new cmd heading: 48.052536 deg. 2025-10-24T19:35:10.534Z,1761334510.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838675 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:10.774Z,1761334510.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016031 2025-10-24T19:35:10.887Z,1761334510.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662634,-0.742883,0.095080],[0.748629,0.660671,-0.055388],[-0.021670,0.107881,0.993928]] 2025-10-24T19:35:10.927Z,1761334510.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:10.941Z,1761334510.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 72.401672 m, bearing: 53.293922 deg, approach rate: -0.603275 m/s, LOS rate: -0.040600 deg/s, cmd heading: 48.052536 deg, new cmd heading: 48.004230 deg. 2025-10-24T19:35:10.943Z,1761334510.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837832 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:11.023Z,1761334511.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266870 2025-10-24T19:35:11.273Z,1761334511.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517327 2025-10-24T19:35:11.297Z,1761334511.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661222,-0.744212,0.094524],[0.749922,0.659085,-0.056770],[-0.020050,0.108423,0.993903]] 2025-10-24T19:35:11.364Z,1761334511.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:11.367Z,1761334511.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 72.112732 m, bearing: 53.272640 deg, approach rate: -0.662200 m/s, LOS rate: -0.048972 deg/s, cmd heading: 48.004229 deg, new cmd heading: 47.940125 deg. 2025-10-24T19:35:11.369Z,1761334511.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836713 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:11.525Z,1761334511.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769499 2025-10-24T19:35:11.738Z,1761334511.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:11.741Z,1761334511.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 71.866234 m, bearing: 53.254347 deg, approach rate: -0.658007 m/s, LOS rate: -0.048997 deg/s, cmd heading: 47.940124 deg, new cmd heading: 47.885060 deg. 2025-10-24T19:35:11.741Z,1761334511.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.835752 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:11.778Z,1761334511.778 [DAT](INFO): DAT read: Rx Time:19:35:10.5228 2025-10-24T19:35:11.779Z,1761334511.779 [DAT](INFO): Rx dataTimestamp_ set to:1761334511.778130 2025-10-24T19:35:11.780Z,1761334511.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024945 2025-10-24T19:35:12.029Z,1761334512.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273293 2025-10-24T19:35:12.107Z,1761334512.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659382,-0.746233,0.091387],[0.751622,0.657036,-0.058044],[-0.016730,0.106962,0.994122]] 2025-10-24T19:35:12.194Z,1761334512.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-24T19:35:12.202Z,1761334512.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.001541 m, nav range: 71.575569 m, bearing: 53.232013 deg, approach rate: -0.636468 m/s, LOS rate: -0.049105 deg/s, cmd heading: 47.885059 deg, new cmd heading: 47.817784 deg. 2025-10-24T19:35:12.208Z,1761334512.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834578 target range: 74.001541 and range: 74.40 m. 2025-10-24T19:35:12.290Z,1761334512.290 [DAT](INFO): DAT read: 19:35:10.5228 LVL= 18720, 29921, 18146, 31347, AGC= 66, IDX= 406,-0.29,-1.231,-2.525,-1.307,-1.534, PHS= 0.392,-0.944, 0.224, RAW= 143.4, 5.3, CAL= 146.4, -3.0, ROT= 3.6, 3.0 2025-10-24T19:35:12.293Z,1761334512.293 [DAT](INFO): got valid direction response: 19:35:10.5228 LVL= 18720, 29921, 18146, 31347, AGC= 66, IDX= 406,-0.29,-1.231,-2.525,-1.307,-1.534, PHS= 0.392,-0.944, 0.224, RAW= 143.4, 5.3, CAL= 146.4, -3.0, ROT= 3.6, 3.0 2025-10-24T19:35:12.294Z,1761334512.294 [DAT](INFO): DAT read: Bearing 3.6, 3.0 (Local) 2025-10-24T19:35:12.294Z,1761334512.294 [DAT](INFO): Local bearing/azimuth received: Bearing 3.6, 3.0 (Local) 2025-10-24T19:35:12.301Z,1761334512.301 [DAT](INFO): DAT read: Range 10 to 50 : 72.1 m (Round-trip 96.2 ms) speed 0.5 m/s 2025-10-24T19:35:12.302Z,1761334512.302 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:12.309Z,1761334512.309 [DAT](INFO): direction in FSK: [0.996659,0.062704,-0.052336] 2025-10-24T19:35:12.309Z,1761334512.309 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:12.325Z,1761334512.325 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:12.325Z,1761334512.325 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:12.325Z,1761334512.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:12.507Z,1761334512.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659189,-0.746673,0.089155],[0.751824,0.656802,-0.058075],[-0.015194,0.105311,0.994323]] 2025-10-24T19:35:12.533Z,1761334512.533 [DAT](INFO): DAT read: user:95> 2025-10-24T19:35:12.534Z,1761334512.534 [DAT](INFO): DAT read: Tx time:19:35:11.8224 2025-10-24T19:35:12.534Z,1761334512.534 [DAT](INFO): Ping request sent. 2025-10-24T19:35:12.534Z,1761334512.534 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:12.534Z,1761334512.534 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:12.536Z,1761334512.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001432 2025-10-24T19:35:12.627Z,1761334512.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.099998 m, deltaT: 3.780415 s, deltaX: -2.300003 m, approachRate: -0.608400 m/s, rangeRepo size: 4 2025-10-24T19:35:12.633Z,1761334512.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.714378 m, bearing: 52.654853 deg, lat: 36.779524 deg, lon: -121.859596 deg, deltaT: 3.780415 s, deltaX: -2.287163 m, approachRate: -0.605003 m/s, posRepo size: 4 2025-10-24T19:35:12.634Z,1761334512.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:12.641Z,1761334512.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 71.481941 m, bearing: 53.051663 deg, approach rate: 0.000000 m/s, LOS rate: -0.049105 deg/s, cmd heading: 47.817782 deg, new cmd heading: 47.754130 deg. 2025-10-24T19:35:12.642Z,1761334512.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833467 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:12.785Z,1761334512.785 [DAT](INFO): DAT read: TxSync time:19:35:11.8216 2025-10-24T19:35:12.786Z,1761334512.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251953 2025-10-24T19:35:12.917Z,1761334512.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658841,-0.747245,0.086910],[0.752154,0.656452,-0.057752],[-0.013897,0.103419,0.994541]] 2025-10-24T19:35:12.940Z,1761334512.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:12.942Z,1761334512.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:12.945Z,1761334512.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 71.237701 m, bearing: 53.035059 deg, approach rate: -0.773016 m/s, LOS rate: -0.052732 deg/s, cmd heading: 47.754128 deg, new cmd heading: 47.704145 deg. 2025-10-24T19:35:12.946Z,1761334512.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832594 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:13.037Z,1761334513.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502936 2025-10-24T19:35:13.289Z,1761334513.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754886 2025-10-24T19:35:13.313Z,1761334513.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656445,-0.750291,0.078385],[0.754287,0.654392,-0.053117],[-0.011441,0.093993,0.995507]] 2025-10-24T19:35:13.372Z,1761334513.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:13.375Z,1761334513.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 70.969429 m, bearing: 53.016350 deg, approach rate: -0.631042 m/s, LOS rate: -0.044174 deg/s, cmd heading: 47.704145 deg, new cmd heading: 47.647806 deg. 2025-10-24T19:35:13.375Z,1761334513.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831611 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:13.541Z,1761334513.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006862 2025-10-24T19:35:13.726Z,1761334513.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654275,-0.752096,0.079216],[0.756191,0.651996,-0.055459],[-0.009938,0.096188,0.995314]] 2025-10-24T19:35:13.744Z,1761334513.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:13.747Z,1761334513.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 70.713364 m, bearing: 52.997763 deg, approach rate: -0.680873 m/s, LOS rate: -0.049602 deg/s, cmd heading: 47.647806 deg, new cmd heading: 47.591842 deg. 2025-10-24T19:35:13.748Z,1761334513.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830634 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:13.793Z,1761334513.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259213 2025-10-24T19:35:14.048Z,1761334514.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513886 2025-10-24T19:35:14.120Z,1761334514.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652224,-0.753806,0.079882],[0.757979,0.649728,-0.057622],[-0.008465,0.098131,0.995138]] 2025-10-24T19:35:14.175Z,1761334514.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:14.199Z,1761334514.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 70.453468 m, bearing: 52.978185 deg, approach rate: -0.605147 m/s, LOS rate: -0.045755 deg/s, cmd heading: 47.591843 deg, new cmd heading: 47.532891 deg. 2025-10-24T19:35:14.207Z,1761334514.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829605 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:14.301Z,1761334514.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766891 2025-10-24T19:35:14.524Z,1761334514.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653373,-0.752748,0.080455],[0.756982,0.650891,-0.057609],[-0.009002,0.098544,0.995092]] 2025-10-24T19:35:14.549Z,1761334514.549 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, +71, +-8,A 2025-10-24T19:35:14.553Z,1761334514.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019087 2025-10-24T19:35:14.567Z,1761334514.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:14.571Z,1761334514.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 70.176308 m, bearing: 52.957494 deg, approach rate: -0.703132 m/s, LOS rate: -0.052697 deg/s, cmd heading: 47.532892 deg, new cmd heading: 47.470576 deg. 2025-10-24T19:35:14.572Z,1761334514.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828518 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:14.805Z,1761334514.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270875 2025-10-24T19:35:14.933Z,1761334514.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654500,-0.751801,0.080154],[0.756008,0.652037,-0.057448],[-0.009074,0.098197,0.995126]] 2025-10-24T19:35:14.959Z,1761334514.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:14.961Z,1761334514.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:14.963Z,1761334514.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 69.920235 m, bearing: 52.938546 deg, approach rate: -0.650675 m/s, LOS rate: -0.048325 deg/s, cmd heading: 47.470576 deg, new cmd heading: 47.413522 deg. 2025-10-24T19:35:14.965Z,1761334514.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827522 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:15.057Z,1761334515.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523316 2025-10-24T19:35:15.309Z,1761334515.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775061 2025-10-24T19:35:15.339Z,1761334515.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656237,-0.750384,0.079229],[0.754503,0.653790,-0.057298],[-0.008803,0.097380,0.995208]] 2025-10-24T19:35:15.400Z,1761334515.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:15.403Z,1761334515.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 69.668144 m, bearing: 52.938772 deg, approach rate: -0.579697 m/s, LOS rate: 0.000522 deg/s, cmd heading: 47.413520 deg, new cmd heading: 47.414201 deg. 2025-10-24T19:35:15.405Z,1761334515.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827534 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:15.561Z,1761334515.561 [DAT](INFO): DAT read: Rx Time:19:35:14.3198 2025-10-24T19:35:15.562Z,1761334515.562 [DAT](INFO): Rx dataTimestamp_ set to:1761334515.561258 2025-10-24T19:35:15.562Z,1761334515.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028117 2025-10-24T19:35:15.735Z,1761334515.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657026,-0.749807,0.078148],[0.753823,0.654583,-0.057207],[-0.008261,0.096496,0.995299]] 2025-10-24T19:35:15.778Z,1761334515.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.71 m. 2025-10-24T19:35:15.785Z,1761334515.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.714378 m, nav range: 69.438576 m, bearing: 52.939178 deg, approach rate: -0.599890 m/s, LOS rate: 0.001066 deg/s, cmd heading: 47.414200 deg, new cmd heading: 47.415424 deg. 2025-10-24T19:35:15.787Z,1761334515.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827555 target range: 71.714378 and range: 72.10 m. 2025-10-24T19:35:15.814Z,1761334515.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280035 2025-10-24T19:35:16.071Z,1761334516.071 [DAT](INFO): DAT read: 19:35:14.3198 LVL= 17968, 32753, 18578, 32755, AGC= 68, IDX= 406, 0.31, 0.050,-1.253, 0.015,-0.281, PHS= 0.419,-0.925, 0.293, RAW= 145.1, 3.4, CAL= 148.2, -5.3, ROT= 1.8, 5.3 2025-10-24T19:35:16.072Z,1761334516.072 [DAT](INFO): got valid direction response: 19:35:14.3198 LVL= 17968, 32753, 18578, 32755, AGC= 68, IDX= 406, 0.31, 0.050,-1.253, 0.015,-0.281, PHS= 0.419,-0.925, 0.293, RAW= 145.1, 3.4, CAL= 148.2, -5.3, ROT= 1.8, 5.3 2025-10-24T19:35:16.073Z,1761334516.073 [DAT](INFO): DAT read: Bearing 1.8, 5.3 (Local) 2025-10-24T19:35:16.073Z,1761334516.073 [DAT](INFO): Local bearing/azimuth received: Bearing 1.8, 5.3 (Local) 2025-10-24T19:35:16.075Z,1761334516.075 [DAT](INFO): DAT read: Range 10 to 50 : 69.8 m (Round-trip 93.1 ms) speed 0.6 m/s 2025-10-24T19:35:16.075Z,1761334516.075 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:16.077Z,1761334516.077 [DAT](INFO): direction in FSK: [0.995233,0.031276,-0.092371] 2025-10-24T19:35:16.077Z,1761334516.077 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:16.083Z,1761334516.083 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:16.083Z,1761334516.083 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:16.083Z,1761334516.083 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:16.153Z,1761334516.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659012,-0.748219,0.076626],[0.752089,0.656637,-0.056474],[-0.008060,0.094847,0.995459]] 2025-10-24T19:35:16.261Z,1761334516.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.800003 m, deltaT: 3.783557 s, deltaX: -2.299995 m, approachRate: -0.607892 m/s, rangeRepo size: 4 2025-10-24T19:35:16.263Z,1761334516.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.426262 m, bearing: 51.071160 deg, lat: 36.779529 deg, lon: -121.859599 deg, deltaT: 3.783557 s, deltaX: -2.288116 m, approachRate: -0.604753 m/s, posRepo size: 4 2025-10-24T19:35:16.272Z,1761334516.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:16.275Z,1761334516.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 69.265549 m, bearing: 52.530080 deg, approach rate: 0.000000 m/s, LOS rate: 0.001066 deg/s, cmd heading: 47.415423 deg, new cmd heading: 47.416950 deg. 2025-10-24T19:35:16.275Z,1761334516.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827582 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:16.317Z,1761334516.317 [DAT](INFO): DAT read: user:96> 2025-10-24T19:35:16.318Z,1761334516.318 [DAT](INFO): DAT read: Tx time:19:35:15.6225 2025-10-24T19:35:16.318Z,1761334516.318 [DAT](INFO): Ping request sent. 2025-10-24T19:35:16.319Z,1761334516.319 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:16.319Z,1761334516.319 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:16.321Z,1761334516.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001078 2025-10-24T19:35:16.545Z,1761334516.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660484,-0.747018,0.075665],[0.750798,0.658150,-0.056032],[-0.007942,0.093818,0.995558]] 2025-10-24T19:35:16.570Z,1761334516.570 [DAT](INFO): DAT read: TxSync time:19:35:15.6217 2025-10-24T19:35:16.572Z,1761334516.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253034 2025-10-24T19:35:16.642Z,1761334516.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:16.644Z,1761334516.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 69.021866 m, bearing: 52.533809 deg, approach rate: -0.631732 m/s, LOS rate: 0.009702 deg/s, cmd heading: 47.416949 deg, new cmd heading: 47.428177 deg. 2025-10-24T19:35:16.645Z,1761334516.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827778 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:16.821Z,1761334516.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502174 2025-10-24T19:35:16.986Z,1761334516.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:16.988Z,1761334516.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:16.990Z,1761334516.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 68.822411 m, bearing: 52.536881 deg, approach rate: -0.576462 m/s, LOS rate: 0.008905 deg/s, cmd heading: 47.428178 deg, new cmd heading: 47.437421 deg. 2025-10-24T19:35:16.991Z,1761334516.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827939 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:17.074Z,1761334517.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755131 2025-10-24T19:35:17.325Z,1761334517.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006160 2025-10-24T19:35:17.363Z,1761334517.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665893,-0.742495,0.072711],[0.746029,0.663378,-0.058049],[-0.005134,0.092899,0.995662]] 2025-10-24T19:35:17.423Z,1761334517.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:17.426Z,1761334517.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 68.594040 m, bearing: 52.553412 deg, approach rate: -0.524807 m/s, LOS rate: 0.038116 deg/s, cmd heading: 47.437423 deg, new cmd heading: 47.487181 deg. 2025-10-24T19:35:17.427Z,1761334517.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828808 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:17.577Z,1761334517.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258415 2025-10-24T19:35:17.759Z,1761334517.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667552,-0.741090,0.071835],[0.744546,0.665089,-0.057521],[-0.005148,0.091882,0.995757]] 2025-10-24T19:35:17.799Z,1761334517.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:17.807Z,1761334517.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 68.387466 m, bearing: 52.568856 deg, approach rate: -0.548668 m/s, LOS rate: 0.041141 deg/s, cmd heading: 47.487180 deg, new cmd heading: 47.533650 deg. 2025-10-24T19:35:17.812Z,1761334517.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829619 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:17.829Z,1761334517.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510382 2025-10-24T19:35:18.081Z,1761334518.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762165 2025-10-24T19:35:18.169Z,1761334518.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670188,-0.738697,0.071938],[0.742169,0.667768,-0.057193],[-0.005790,0.091720,0.995768]] 2025-10-24T19:35:18.193Z,1761334518.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:18.195Z,1761334518.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 68.163574 m, bearing: 52.586373 deg, approach rate: -0.570173 m/s, LOS rate: 0.044758 deg/s, cmd heading: 47.533650 deg, new cmd heading: 47.586376 deg. 2025-10-24T19:35:18.215Z,1761334518.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830539 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:18.333Z,1761334518.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014266 2025-10-24T19:35:18.586Z,1761334518.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267178 2025-10-24T19:35:18.670Z,1761334518.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673084,-0.736093,0.071585],[0.739540,0.670713,-0.056796],[-0.006206,0.091168,0.995816]] 2025-10-24T19:35:18.724Z,1761334518.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:18.726Z,1761334518.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 67.878120 m, bearing: 52.616764 deg, approach rate: -0.541028 m/s, LOS rate: 0.057842 deg/s, cmd heading: 47.586375 deg, new cmd heading: 47.677930 deg. 2025-10-24T19:35:18.727Z,1761334518.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832137 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:18.838Z,1761334518.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518780 2025-10-24T19:35:19.063Z,1761334519.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674762,-0.734533,0.071823],[0.738010,0.672345,-0.057383],[-0.006140,0.091726,0.995765]] 2025-10-24T19:35:19.080Z,1761334519.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:19.082Z,1761334519.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:19.086Z,1761334519.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 67.682251 m, bearing: 52.638147 deg, approach rate: -0.539813 m/s, LOS rate: 0.059101 deg/s, cmd heading: 47.677931 deg, new cmd heading: 47.742265 deg. 2025-10-24T19:35:19.087Z,1761334519.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833260 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:19.089Z,1761334519.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770338 2025-10-24T19:35:19.341Z,1761334519.341 [DAT](INFO): DAT read: Rx Time:19:35:18.1167 2025-10-24T19:35:19.341Z,1761334519.341 [DAT](INFO): Rx dataTimestamp_ set to:1761334519.341072 2025-10-24T19:35:19.342Z,1761334519.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023307 2025-10-24T19:35:19.487Z,1761334519.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677066,-0.732464,0.071260],[0.735900,0.674624,-0.057745],[-0.005777,0.091538,0.995785]] 2025-10-24T19:35:19.541Z,1761334519.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.43 m. 2025-10-24T19:35:19.543Z,1761334519.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.426262 m, nav range: 67.438057 m, bearing: 52.664466 deg, approach rate: -0.532709 m/s, LOS rate: 0.057623 deg/s, cmd heading: 47.742264 deg, new cmd heading: 47.821507 deg. 2025-10-24T19:35:19.545Z,1761334519.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834643 target range: 69.426262 and range: 69.80 m. 2025-10-24T19:35:19.593Z,1761334519.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274340 2025-10-24T19:35:19.850Z,1761334519.850 [DAT](INFO): DAT read: 19:35:18.1167 LVL= 19792, 23569, 17906, 26163, AGC= 68, IDX= 406, 0.40,-1.753, 3.061,-1.839,-2.148, PHS= 0.483,-1.027, 0.306, RAW= 143.9, 3.4, CAL= 147.2, -5.2, ROT= 2.8, 5.2 2025-10-24T19:35:19.851Z,1761334519.851 [DAT](INFO): got valid direction response: 19:35:18.1167 LVL= 19792, 23569, 17906, 26163, AGC= 68, IDX= 406, 0.40,-1.753, 3.061,-1.839,-2.148, PHS= 0.483,-1.027, 0.306, RAW= 143.9, 3.4, CAL= 147.2, -5.2, ROT= 2.8, 5.2 2025-10-24T19:35:19.852Z,1761334519.852 [DAT](INFO): DAT read: Bearing 2.8, 5.2 (Local) 2025-10-24T19:35:19.853Z,1761334519.853 [DAT](INFO): Local bearing/azimuth received: Bearing 2.8, 5.2 (Local) 2025-10-24T19:35:19.855Z,1761334519.855 [DAT](INFO): DAT read: Range 10 to 50 : 67.5 m (Round-trip 90.1 ms) speed 0.5 m/s 2025-10-24T19:35:19.859Z,1761334519.859 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:19.860Z,1761334519.860 [DAT](INFO): direction in FSK: [0.994695,0.048649,-0.090633] 2025-10-24T19:35:19.860Z,1761334519.860 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:19.864Z,1761334519.864 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:19.864Z,1761334519.864 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:19.864Z,1761334519.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:19.922Z,1761334519.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678551,-0.731188,0.070230],[0.734536,0.676076,-0.058112],[-0.004990,0.091019,0.995837]] 2025-10-24T19:35:20.021Z,1761334520.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.500000 m, deltaT: 3.779967 s, deltaX: -2.300003 m, approachRate: -0.608472 m/s, rangeRepo size: 4 2025-10-24T19:35:20.023Z,1761334520.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.138390 m, bearing: 50.532525 deg, lat: 36.779534 deg, lon: -121.859606 deg, deltaT: 3.779967 s, deltaX: -2.287872 m, approachRate: -0.605263 m/s, posRepo size: 4 2025-10-24T19:35:20.023Z,1761334520.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:20.030Z,1761334520.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 67.074883 m, bearing: 51.899711 deg, approach rate: 0.000000 m/s, LOS rate: 0.057623 deg/s, cmd heading: 47.821508 deg, new cmd heading: 47.902933 deg. 2025-10-24T19:35:20.031Z,1761334520.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836064 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:20.098Z,1761334520.098 [DAT](INFO): DAT read: user:97> 2025-10-24T19:35:20.099Z,1761334520.099 [DAT](INFO): DAT read: Tx time:19:35:19.3725 2025-10-24T19:35:20.099Z,1761334520.099 [DAT](INFO): Ping request sent. 2025-10-24T19:35:20.100Z,1761334520.100 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:20.100Z,1761334520.100 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:20.101Z,1761334520.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001513 2025-10-24T19:35:20.328Z,1761334520.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680261,-0.729599,0.070213],[0.732962,0.677557,-0.060687],[-0.003296,0.092747,0.995684]] 2025-10-24T19:35:20.349Z,1761334520.349 [DAT](INFO): DAT read: TxSync time:19:35:19.3717 2025-10-24T19:35:20.350Z,1761334520.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250426 2025-10-24T19:35:20.461Z,1761334520.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:20.472Z,1761334520.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 66.817833 m, bearing: 51.922660 deg, approach rate: -0.572146 m/s, LOS rate: 0.051276 deg/s, cmd heading: 47.902934 deg, new cmd heading: 47.972045 deg. 2025-10-24T19:35:20.473Z,1761334520.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837270 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:20.601Z,1761334520.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501952 2025-10-24T19:35:20.775Z,1761334520.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679986,-0.730318,0.065227],[0.733225,0.677279,-0.060621],[0.000096,0.089048,0.996027]] 2025-10-24T19:35:20.793Z,1761334520.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:20.796Z,1761334520.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 66.627205 m, bearing: 51.939728 deg, approach rate: -0.576088 m/s, LOS rate: 0.051729 deg/s, cmd heading: 47.972045 deg, new cmd heading: 48.023396 deg. 2025-10-24T19:35:20.797Z,1761334520.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.838166 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:20.854Z,1761334520.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754356 2025-10-24T19:35:21.105Z,1761334521.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005485 2025-10-24T19:35:21.157Z,1761334521.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678639,-0.731655,0.064265],[0.734467,0.675708,-0.063061],[0.002714,0.089996,0.995938]] 2025-10-24T19:35:21.198Z,1761334521.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:21.200Z,1761334521.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:21.205Z,1761334521.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 66.404556 m, bearing: 51.959432 deg, approach rate: -0.545615 m/s, LOS rate: 0.048449 deg/s, cmd heading: 48.023398 deg, new cmd heading: 48.082709 deg. 2025-10-24T19:35:21.206Z,1761334521.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839202 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:21.357Z,1761334521.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258037 2025-10-24T19:35:21.609Z,1761334521.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509783 2025-10-24T19:35:21.641Z,1761334521.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:21.643Z,1761334521.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 66.174484 m, bearing: 51.971756 deg, approach rate: -0.521925 m/s, LOS rate: 0.028053 deg/s, cmd heading: 48.082708 deg, new cmd heading: 48.119807 deg. 2025-10-24T19:35:21.653Z,1761334521.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839849 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:21.861Z,1761334521.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761406 2025-10-24T19:35:21.988Z,1761334521.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676925,-0.733015,0.066790],[0.736017,0.673212,-0.071166],[0.007202,0.097333,0.995226]] 2025-10-24T19:35:22.008Z,1761334522.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:22.011Z,1761334522.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 65.956757 m, bearing: 51.983082 deg, approach rate: -0.593242 m/s, LOS rate: 0.030961 deg/s, cmd heading: 48.119806 deg, new cmd heading: 48.153896 deg. 2025-10-24T19:35:22.012Z,1761334522.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840444 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:22.113Z,1761334522.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013602 2025-10-24T19:35:22.365Z,1761334522.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265621 2025-10-24T19:35:22.375Z,1761334522.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677866,-0.732145,0.066797],[0.735131,0.673903,-0.073741],[0.008975,0.099091,0.995038]] 2025-10-24T19:35:22.491Z,1761334522.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:22.562Z,1761334522.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 65.715141 m, bearing: 51.988400 deg, approach rate: -0.499626 m/s, LOS rate: 0.011039 deg/s, cmd heading: 48.153896 deg, new cmd heading: 48.169911 deg. 2025-10-24T19:35:22.563Z,1761334522.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840724 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:22.620Z,1761334522.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520980 2025-10-24T19:35:22.856Z,1761334522.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677657,-0.732310,0.067104],[0.735295,0.673382,-0.076799],[0.011054,0.101385,0.994786]] 2025-10-24T19:35:22.874Z,1761334522.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774840 2025-10-24T19:35:22.921Z,1761334522.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:22.936Z,1761334522.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 65.429695 m, bearing: 51.994687 deg, approach rate: -0.673533 m/s, LOS rate: 0.014899 deg/s, cmd heading: 48.169909 deg, new cmd heading: 48.188851 deg. 2025-10-24T19:35:22.937Z,1761334522.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841054 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:23.125Z,1761334523.125 [DAT](INFO): DAT read: Rx Time:19:35:21.8638 2025-10-24T19:35:23.125Z,1761334523.125 [DAT](INFO): Rx dataTimestamp_ set to:1761334523.125035 2025-10-24T19:35:23.126Z,1761334523.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026600 2025-10-24T19:35:23.264Z,1761334523.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677540,-0.732542,0.065744],[0.735361,0.673063,-0.078940],[0.013577,0.101831,0.994709]] 2025-10-24T19:35:23.363Z,1761334523.363 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:23.371Z,1761334523.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.14 m. 2025-10-24T19:35:23.377Z,1761334523.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277696 2025-10-24T19:35:23.382Z,1761334523.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.138390 m, nav range: 65.167656 m, bearing: 52.000479 deg, approach rate: -0.575435 m/s, LOS rate: 0.012770 deg/s, cmd heading: 48.188853 deg, new cmd heading: 48.206297 deg. 2025-10-24T19:35:23.383Z,1761334523.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841359 target range: 67.138390 and range: 67.50 m. 2025-10-24T19:35:23.636Z,1761334523.636 [DAT](INFO): DAT read: 19:35:21.8638 LVL= 19696, 25873, 15730, 27315, AGC= 67, IDX= 409, 0.09, 1.672, 0.247, 1.569, 1.247, PHS= 0.512,-0.953, 0.318, RAW= 143.0, 1.8, CAL= 146.8, -6.9, ROT= 3.2, 6.9 2025-10-24T19:35:23.638Z,1761334523.638 [DAT](INFO): got valid direction response: 19:35:21.8638 LVL= 19696, 25873, 15730, 27315, AGC= 67, IDX= 409, 0.09, 1.672, 0.247, 1.569, 1.247, PHS= 0.512,-0.953, 0.318, RAW= 143.0, 1.8, CAL= 146.8, -6.9, ROT= 3.2, 6.9 2025-10-24T19:35:23.639Z,1761334523.639 [DAT](INFO): DAT read: Bearing 3.2, 6.9 (Local) 2025-10-24T19:35:23.644Z,1761334523.644 [DAT](INFO): Local bearing/azimuth received: Bearing 3.2, 6.9 (Local) 2025-10-24T19:35:23.645Z,1761334523.645 [DAT](INFO): DAT read: Range 10 to 50 : 65.4 m (Round-trip 87.2 ms) speed 0.4 m/s 2025-10-24T19:35:23.646Z,1761334523.646 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:23.647Z,1761334523.647 [DAT](INFO): direction in FSK: [0.991209,0.055417,-0.120137] 2025-10-24T19:35:23.647Z,1761334523.647 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:23.650Z,1761334523.650 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:23.650Z,1761334523.650 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:23.651Z,1761334523.651 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:23.731Z,1761334523.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676239,-0.733986,0.062975],[0.736446,0.671384,-0.083008],[0.018646,0.102511,0.994557]] 2025-10-24T19:35:23.808Z,1761334523.808 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:35:23.827Z,1761334523.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.400002 m, deltaT: 3.783975 s, deltaX: -2.099998 m, approachRate: -0.554972 m/s, rangeRepo size: 4 2025-10-24T19:35:23.830Z,1761334523.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.049522 m, bearing: 51.325255 deg, lat: 36.779539 deg, lon: -121.859612 deg, deltaT: 3.783975 s, deltaX: -2.088867 m, approachRate: -0.552030 m/s, posRepo size: 4 2025-10-24T19:35:23.831Z,1761334523.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:23.838Z,1761334523.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 64.770546 m, bearing: 51.337274 deg, approach rate: 0.000000 m/s, LOS rate: 0.012770 deg/s, cmd heading: 48.206297 deg, new cmd heading: 48.223763 deg. 2025-10-24T19:35:23.839Z,1761334523.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841663 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:23.881Z,1761334523.881 [DAT](INFO): DAT read: user:98> 2025-10-24T19:35:23.882Z,1761334523.882 [DAT](INFO): DAT read: Tx time:19:35:23.1725 2025-10-24T19:35:23.883Z,1761334523.883 [DAT](INFO): Ping request sent. 2025-10-24T19:35:23.883Z,1761334523.883 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:23.883Z,1761334523.883 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:23.884Z,1761334523.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001186 2025-10-24T19:35:24.128Z,1761334524.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674572,-0.735580,0.062244],[0.737902,0.669460,-0.085577],[0.021279,0.103658,0.994385]] 2025-10-24T19:35:24.133Z,1761334524.133 [DAT](INFO): DAT read: TxSync time:19:35:23.1717 2025-10-24T19:35:24.135Z,1761334524.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251352 2025-10-24T19:35:24.188Z,1761334524.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:24.191Z,1761334524.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 64.552261 m, bearing: 51.328149 deg, approach rate: -0.603323 m/s, LOS rate: -0.025305 deg/s, cmd heading: 48.223762 deg, new cmd heading: 48.196295 deg. 2025-10-24T19:35:24.196Z,1761334524.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.841184 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:24.385Z,1761334524.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502499 2025-10-24T19:35:24.513Z,1761334524.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673687,-0.736109,0.065488],[0.738617,0.667760,-0.092423],[0.024304,0.110635,0.993564]] 2025-10-24T19:35:24.553Z,1761334524.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:24.556Z,1761334524.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 64.307495 m, bearing: 51.309710 deg, approach rate: -0.671385 m/s, LOS rate: -0.050771 deg/s, cmd heading: 48.196294 deg, new cmd heading: 48.140766 deg. 2025-10-24T19:35:24.557Z,1761334524.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.840215 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:24.637Z,1761334524.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754248 2025-10-24T19:35:24.890Z,1761334524.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007062 2025-10-24T19:35:24.933Z,1761334524.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673592,-0.736463,0.062412],[0.738609,0.667648,-0.093292],[0.027036,0.108939,0.993681]] 2025-10-24T19:35:24.955Z,1761334524.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:24.958Z,1761334524.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 64.055374 m, bearing: 51.290533 deg, approach rate: -0.626739 m/s, LOS rate: -0.047859 deg/s, cmd heading: 48.140765 deg, new cmd heading: 48.083008 deg. 2025-10-24T19:35:24.959Z,1761334524.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.839207 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:25.141Z,1761334525.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257924 2025-10-24T19:35:25.361Z,1761334525.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671904,-0.738249,0.059442],[0.740029,0.665929,-0.094321],[0.030048,0.107363,0.993766]] 2025-10-24T19:35:25.393Z,1761334525.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510069 2025-10-24T19:35:25.407Z,1761334525.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:25.410Z,1761334525.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:25.413Z,1761334525.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 63.772114 m, bearing: 51.260554 deg, approach rate: -0.623017 m/s, LOS rate: -0.066232 deg/s, cmd heading: 48.083009 deg, new cmd heading: 47.992670 deg. 2025-10-24T19:35:25.414Z,1761334525.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.837630 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:25.645Z,1761334525.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761967 2025-10-24T19:35:25.725Z,1761334525.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671637,-0.738585,0.058270],[0.740217,0.665632,-0.094935],[0.031332,0.106895,0.993777]] 2025-10-24T19:35:25.761Z,1761334525.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:25.764Z,1761334525.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 63.550945 m, bearing: 51.236889 deg, approach rate: -0.629070 m/s, LOS rate: -0.067544 deg/s, cmd heading: 47.992669 deg, new cmd heading: 47.921428 deg. 2025-10-24T19:35:25.765Z,1761334525.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.836387 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:25.897Z,1761334525.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014599 2025-10-24T19:35:26.127Z,1761334526.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669504,-0.740603,0.057197],[0.742063,0.663399,-0.096149],[0.033264,0.106816,0.993722]] 2025-10-24T19:35:26.147Z,1761334526.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:26.149Z,1761334526.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266098 2025-10-24T19:35:26.152Z,1761334526.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 63.309502 m, bearing: 51.210235 deg, approach rate: -0.626211 m/s, LOS rate: -0.069394 deg/s, cmd heading: 47.921427 deg, new cmd heading: 47.841160 deg. 2025-10-24T19:35:26.153Z,1761334526.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.834986 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:26.401Z,1761334526.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517958 2025-10-24T19:35:26.607Z,1761334526.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:26.610Z,1761334526.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 63.041111 m, bearing: 51.183106 deg, approach rate: -0.584092 m/s, LOS rate: -0.059291 deg/s, cmd heading: 47.841158 deg, new cmd heading: 47.759425 deg. 2025-10-24T19:35:26.611Z,1761334526.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.833559 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:26.654Z,1761334526.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770771 2025-10-24T19:35:26.906Z,1761334526.906 [DAT](INFO): DAT read: Rx Time:19:35:25.6609 2025-10-24T19:35:26.906Z,1761334526.906 [DAT](INFO): Rx dataTimestamp_ set to:1761334526.906010 2025-10-24T19:35:26.907Z,1761334526.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024116 2025-10-24T19:35:26.958Z,1761334526.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665993,-0.743834,0.056253],[0.745071,0.659631,-0.098770],[0.036363,0.107693,0.993519]] 2025-10-24T19:35:26.981Z,1761334526.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.05 m. 2025-10-24T19:35:26.984Z,1761334526.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.049522 m, nav range: 62.806305 m, bearing: 51.158173 deg, approach rate: -0.626882 m/s, LOS rate: -0.066814 deg/s, cmd heading: 47.759425 deg, new cmd heading: 47.684348 deg. 2025-10-24T19:35:26.985Z,1761334526.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832249 target range: 65.049522 and range: 65.40 m. 2025-10-24T19:35:27.157Z,1761334527.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273952 2025-10-24T19:35:27.392Z,1761334527.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664999,-0.744825,0.054890],[0.745885,0.658625,-0.099342],[0.037840,0.107004,0.993538]] 2025-10-24T19:35:27.415Z,1761334527.415 [DAT](INFO): DAT read: 19:35:25.6609 LVL= 21488, 29249, 21458, 32755, AGC= 68, IDX= 411, 0.14, 0.230,-1.178, 0.185,-0.200, PHS= 0.517,-0.931, 0.382, RAW= 145.1, 0.5, CAL= 148.9, -8.5, ROT= 1.1, 8.5 2025-10-24T19:35:27.416Z,1761334527.416 [DAT](INFO): got valid direction response: 19:35:25.6609 LVL= 21488, 29249, 21458, 32755, AGC= 68, IDX= 411, 0.14, 0.230,-1.178, 0.185,-0.200, PHS= 0.517,-0.931, 0.382, RAW= 145.1, 0.5, CAL= 148.9, -8.5, ROT= 1.1, 8.5 2025-10-24T19:35:27.417Z,1761334527.417 [DAT](INFO): DAT read: Bearing 1.1, 8.5 (Local) 2025-10-24T19:35:27.417Z,1761334527.417 [DAT](INFO): Local bearing/azimuth received: Bearing 1.1, 8.5 (Local) 2025-10-24T19:35:27.419Z,1761334527.419 [DAT](INFO): DAT read: Range 10 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.4 m/s 2025-10-24T19:35:27.420Z,1761334527.420 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:27.421Z,1761334527.421 [DAT](INFO): direction in FSK: [0.988834,0.018987,-0.147809] 2025-10-24T19:35:27.421Z,1761334527.421 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:27.425Z,1761334527.425 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:27.425Z,1761334527.425 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:27.425Z,1761334527.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:27.527Z,1761334527.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.099998 m, deltaT: 3.780340 s, deltaX: -2.300003 m, approachRate: -0.608412 m/s, rangeRepo size: 4 2025-10-24T19:35:27.534Z,1761334527.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.761982 m, bearing: 50.281623 deg, lat: 36.779540 deg, lon: -121.859613 deg, deltaT: 3.780340 s, deltaX: -2.287540 m, approachRate: -0.605115 m/s, posRepo size: 4 2025-10-24T19:35:27.535Z,1761334527.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:27.542Z,1761334527.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 62.559166 m, bearing: 51.033735 deg, approach rate: 0.000000 m/s, LOS rate: -0.066814 deg/s, cmd heading: 47.684348 deg, new cmd heading: 47.574997 deg. 2025-10-24T19:35:27.543Z,1761334527.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830340 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:27.661Z,1761334527.661 [DAT](INFO): DAT read: user:99> 2025-10-24T19:35:27.662Z,1761334527.662 [DAT](INFO): DAT read: Tx time:19:35:26.9241 2025-10-24T19:35:27.662Z,1761334527.662 [DAT](INFO): Ping request sent. 2025-10-24T19:35:27.662Z,1761334527.662 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:27.662Z,1761334527.662 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:27.663Z,1761334527.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-24T19:35:27.822Z,1761334527.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663212,-0.746418,0.054868],[0.747399,0.656664,-0.100932],[0.039308,0.107948,0.993379]] 2025-10-24T19:35:27.841Z,1761334527.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:27.843Z,1761334527.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:27.845Z,1761334527.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 62.346741 m, bearing: 51.014300 deg, approach rate: -0.672428 m/s, LOS rate: -0.061733 deg/s, cmd heading: 47.574996 deg, new cmd heading: 47.516491 deg. 2025-10-24T19:35:27.847Z,1761334527.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829319 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:27.914Z,1761334527.914 [DAT](INFO): DAT read: TxSync time:19:35:26.9233 2025-10-24T19:35:27.915Z,1761334527.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253165 2025-10-24T19:35:28.165Z,1761334528.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502805 2025-10-24T19:35:28.220Z,1761334528.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661544,-0.748043,0.052825],[0.748750,0.654973,-0.101899],[0.041626,0.106963,0.993391]] 2025-10-24T19:35:28.255Z,1761334528.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:28.258Z,1761334528.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 62.109718 m, bearing: 50.991980 deg, approach rate: -0.575039 m/s, LOS rate: -0.054356 deg/s, cmd heading: 47.516492 deg, new cmd heading: 47.449279 deg. 2025-10-24T19:35:28.259Z,1761334528.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828146 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:28.420Z,1761334528.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758010 2025-10-24T19:35:28.669Z,1761334528.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007388 2025-10-24T19:35:28.690Z,1761334528.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:28.693Z,1761334528.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 61.848873 m, bearing: 50.974622 deg, approach rate: -0.598982 m/s, LOS rate: -0.040027 deg/s, cmd heading: 47.449280 deg, new cmd heading: 47.396986 deg. 2025-10-24T19:35:28.694Z,1761334528.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827233 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:28.922Z,1761334528.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259698 2025-10-24T19:35:29.028Z,1761334529.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660384,-0.749334,0.048903],[0.749596,0.653937,-0.102338],[0.044706,0.104240,0.993547]] 2025-10-24T19:35:29.060Z,1761334529.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:29.066Z,1761334529.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 61.634995 m, bearing: 50.959999 deg, approach rate: -0.578667 m/s, LOS rate: -0.039703 deg/s, cmd heading: 47.396988 deg, new cmd heading: 47.352964 deg. 2025-10-24T19:35:29.069Z,1761334529.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826465 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:29.173Z,1761334529.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511079 2025-10-24T19:35:29.425Z,1761334529.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762701 2025-10-24T19:35:29.435Z,1761334529.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661243,-0.748628,0.048103],[0.748832,0.654875,-0.101929],[0.044805,0.103421,0.993628]] 2025-10-24T19:35:29.492Z,1761334529.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:29.495Z,1761334529.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 61.399601 m, bearing: 50.956942 deg, approach rate: -0.544190 m/s, LOS rate: -0.007092 deg/s, cmd heading: 47.352964 deg, new cmd heading: 47.343760 deg. 2025-10-24T19:35:29.496Z,1761334529.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826304 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:29.677Z,1761334529.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014783 2025-10-24T19:35:29.836Z,1761334529.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663106,-0.747051,0.046959],[0.747180,0.656851,-0.101331],[0.044855,0.102280,0.993744]] 2025-10-24T19:35:29.866Z,1761334529.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:29.869Z,1761334529.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:29.873Z,1761334529.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 61.194305 m, bearing: 50.954742 deg, approach rate: -0.546797 m/s, LOS rate: -0.005880 deg/s, cmd heading: 47.343760 deg, new cmd heading: 47.337137 deg. 2025-10-24T19:35:29.874Z,1761334529.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826189 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:29.930Z,1761334529.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267462 2025-10-24T19:35:30.181Z,1761334530.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518812 2025-10-24T19:35:30.239Z,1761334530.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665122,-0.745339,0.045636],[0.745387,0.659010,-0.100523],[0.044849,0.100876,0.993888]] 2025-10-24T19:35:30.266Z,1761334530.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:30.270Z,1761334530.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 60.976849 m, bearing: 50.952954 deg, approach rate: -0.546613 m/s, LOS rate: -0.004510 deg/s, cmd heading: 47.337138 deg, new cmd heading: 47.331755 deg. 2025-10-24T19:35:30.271Z,1761334530.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826095 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:30.438Z,1761334530.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773302 2025-10-24T19:35:30.644Z,1761334530.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666556,-0.744133,0.044374],[0.744086,0.660546,-0.100074],[0.045157,0.099723,0.993990]] 2025-10-24T19:35:30.691Z,1761334530.691 [DAT](INFO): DAT read: Rx Time:19:35:29.4097 2025-10-24T19:35:30.691Z,1761334530.691 [DAT](INFO): Rx dataTimestamp_ set to:1761334530.691200 2025-10-24T19:35:30.692Z,1761334530.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030242 2025-10-24T19:35:30.724Z,1761334530.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:30.726Z,1761334530.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 60.736954 m, bearing: 50.963678 deg, approach rate: -0.533272 m/s, LOS rate: 0.023932 deg/s, cmd heading: 47.331756 deg, new cmd heading: 47.364053 deg. 2025-10-24T19:35:30.727Z,1761334530.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826659 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:30.945Z,1761334530.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283261 2025-10-24T19:35:31.078Z,1761334531.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668275,-0.742678,0.042877],[0.742519,0.662384,-0.099564],[0.045543,0.098373,0.994107]] 2025-10-24T19:35:31.112Z,1761334531.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.76 m. 2025-10-24T19:35:31.115Z,1761334531.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.761982 m, nav range: 60.525265 m, bearing: 50.973683 deg, approach rate: -0.533269 m/s, LOS rate: 0.025293 deg/s, cmd heading: 47.364053 deg, new cmd heading: 47.394174 deg. 2025-10-24T19:35:31.120Z,1761334531.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827184 target range: 62.761982 and range: 63.10 m. 2025-10-24T19:35:31.203Z,1761334531.203 [DAT](INFO): DAT read: 19:35:29.4097 LVL= 18592, 29489, 18034, 31155, AGC= 66, IDX= 413, 0.33,-2.473, 2.375,-2.504,-2.930, PHS= 0.545,-0.931, 0.423, RAW= 145.7, -0.5, CAL= 149.6, -9.6, ROT= 0.4, 9.6 2025-10-24T19:35:31.204Z,1761334531.204 [DAT](INFO): got valid direction response: 19:35:29.4097 LVL= 18592, 29489, 18034, 31155, AGC= 66, IDX= 413, 0.33,-2.473, 2.375,-2.504,-2.930, PHS= 0.545,-0.931, 0.423, RAW= 145.7, -0.5, CAL= 149.6, -9.6, ROT= 0.4, 9.6 2025-10-24T19:35:31.205Z,1761334531.205 [DAT](INFO): DAT read: Bearing 0.4, 9.6 (Local) 2025-10-24T19:35:31.205Z,1761334531.205 [DAT](INFO): Local bearing/azimuth received: Bearing 0.4, 9.6 (Local) 2025-10-24T19:35:31.207Z,1761334531.207 [DAT](INFO): DAT read: Range 10 to 50 : 61.0 m (Round-trip 81.4 ms) speed 0.5 m/s 2025-10-24T19:35:31.207Z,1761334531.207 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:31.208Z,1761334531.208 [DAT](INFO): direction in FSK: [0.985972,0.006883,-0.166769] 2025-10-24T19:35:31.209Z,1761334531.209 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:31.218Z,1761334531.218 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:31.218Z,1761334531.218 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:31.219Z,1761334531.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:31.450Z,1761334531.450 [DAT](INFO): DAT read: user:100> 2025-10-24T19:35:31.451Z,1761334531.451 [DAT](INFO): DAT read: Tx time:19:35:30.7226 2025-10-24T19:35:31.451Z,1761334531.451 [DAT](INFO): Ping request sent. 2025-10-24T19:35:31.451Z,1761334531.451 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:31.452Z,1761334531.452 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:31.453Z,1761334531.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001348 2025-10-24T19:35:31.503Z,1761334531.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669837,-0.741348,0.041489],[0.741090,0.664061,-0.099040],[0.045872,0.097088,0.994218]] 2025-10-24T19:35:31.588Z,1761334531.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.000000 m, deltaT: 3.787847 s, deltaX: -2.099998 m, approachRate: -0.554404 m/s, rangeRepo size: 4 2025-10-24T19:35:31.590Z,1761334531.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.672756 m, bearing: 49.221938 deg, lat: 36.779544 deg, lon: -121.859619 deg, deltaT: 3.787847 s, deltaX: -2.089226 m, approachRate: -0.551560 m/s, posRepo size: 4 2025-10-24T19:35:31.591Z,1761334531.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:31.598Z,1761334531.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 60.119110 m, bearing: 50.271439 deg, approach rate: 0.000000 m/s, LOS rate: 0.025293 deg/s, cmd heading: 47.394174 deg, new cmd heading: 47.429897 deg. 2025-10-24T19:35:31.599Z,1761334531.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827808 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:31.702Z,1761334531.702 [DAT](INFO): DAT read: TxSync time:19:35:30.7218 2025-10-24T19:35:31.703Z,1761334531.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251568 2025-10-24T19:35:31.880Z,1761334531.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:35:31.899Z,1761334531.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671705,-0.739727,0.040209],[0.739378,0.666026,-0.098638],[0.046185,0.095985,0.994311]] 2025-10-24T19:35:31.945Z,1761334531.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:31.947Z,1761334531.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:31.950Z,1761334531.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 59.921612 m, bearing: 50.279470 deg, approach rate: -0.542555 m/s, LOS rate: 0.022134 deg/s, cmd heading: 47.429896 deg, new cmd heading: 47.454067 deg. 2025-10-24T19:35:31.951Z,1761334531.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828230 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:31.954Z,1761334531.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501611 2025-10-24T19:35:32.205Z,1761334532.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753545 2025-10-24T19:35:32.334Z,1761334532.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:32.338Z,1761334532.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 59.697712 m, bearing: 50.288639 deg, approach rate: -0.579359 m/s, LOS rate: 0.023814 deg/s, cmd heading: 47.454068 deg, new cmd heading: 47.481677 deg. 2025-10-24T19:35:32.339Z,1761334532.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.828712 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:32.469Z,1761334532.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008121 2025-10-24T19:35:32.709Z,1761334532.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257563 2025-10-24T19:35:32.716Z,1761334532.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671036,-0.740594,0.035085],[0.739801,0.665686,-0.097756],[0.049042,0.091553,0.994592]] 2025-10-24T19:35:32.791Z,1761334532.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:32.798Z,1761334532.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 59.446838 m, bearing: 50.306841 deg, approach rate: -0.548290 m/s, LOS rate: 0.039948 deg/s, cmd heading: 47.481675 deg, new cmd heading: 47.536511 deg. 2025-10-24T19:35:32.799Z,1761334532.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829669 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:32.886Z,1761334532.886 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:35:32.961Z,1761334532.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509462 2025-10-24T19:35:33.111Z,1761334533.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670238,-0.741289,0.035659],[0.740440,0.664668,-0.099828],[0.050300,0.093312,0.994366]] 2025-10-24T19:35:33.130Z,1761334533.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:33.137Z,1761334533.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 59.253979 m, bearing: 50.320751 deg, approach rate: -0.570771 m/s, LOS rate: 0.041302 deg/s, cmd heading: 47.536512 deg, new cmd heading: 47.578378 deg. 2025-10-24T19:35:33.156Z,1761334533.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830399 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:33.214Z,1761334533.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762278 2025-10-24T19:35:33.468Z,1761334533.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015732 2025-10-24T19:35:33.521Z,1761334533.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672654,-0.739113,0.035336],[0.738275,0.667140,-0.099366],[0.049869,0.092927,0.994423]] 2025-10-24T19:35:33.572Z,1761334533.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:33.575Z,1761334533.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 58.991295 m, bearing: 50.331282 deg, approach rate: -0.593484 m/s, LOS rate: 0.023899 deg/s, cmd heading: 47.578377 deg, new cmd heading: 47.610111 deg. 2025-10-24T19:35:33.592Z,1761334533.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830953 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:33.717Z,1761334533.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265508 2025-10-24T19:35:33.926Z,1761334533.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673635,-0.738216,0.035392],[0.737360,0.668061,-0.099971],[0.050156,0.093441,0.994361]] 2025-10-24T19:35:33.948Z,1761334533.948 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:33.950Z,1761334533.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:33.953Z,1761334533.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 58.766705 m, bearing: 50.340657 deg, approach rate: -0.593879 m/s, LOS rate: 0.024886 deg/s, cmd heading: 47.610110 deg, new cmd heading: 47.638344 deg. 2025-10-24T19:35:33.954Z,1761334533.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831446 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:33.979Z,1761334533.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527934 2025-10-24T19:35:34.233Z,1761334534.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781421 2025-10-24T19:35:34.358Z,1761334534.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:34.360Z,1761334534.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 58.524982 m, bearing: 50.350828 deg, approach rate: -0.593058 m/s, LOS rate: 0.025057 deg/s, cmd heading: 47.638343 deg, new cmd heading: 47.668981 deg. 2025-10-24T19:35:34.361Z,1761334534.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831981 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:34.490Z,1761334534.490 [DAT](INFO): DAT read: Rx Time:19:35:33.2050 2025-10-24T19:35:34.491Z,1761334534.491 [DAT](INFO): Rx dataTimestamp_ set to:1761334534.490080 2025-10-24T19:35:34.494Z,1761334534.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.042192 2025-10-24T19:35:34.737Z,1761334534.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285595 2025-10-24T19:35:34.737Z,1761334534.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676852,-0.735347,0.033721],[0.734266,0.671190,-0.101775],[0.052207,0.093646,0.994236]] 2025-10-24T19:35:34.838Z,1761334534.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m. 2025-10-24T19:35:34.863Z,1761334534.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.672756 m, nav range: 58.253677 m, bearing: 50.354646 deg, approach rate: -0.572498 m/s, LOS rate: 0.008094 deg/s, cmd heading: 47.668980 deg, new cmd heading: 47.680487 deg. 2025-10-24T19:35:34.869Z,1761334534.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832182 target range: 60.672756 and range: 61.00 m. 2025-10-24T19:35:35.001Z,1761334535.001 [DAT](INFO): DAT read: 19:35:33.2050 LVL= 18800, 23873, 19218, 29939, AGC= 65, IDX= 413, 0.20, 1.408,-0.078, 1.365, 0.882, PHS= 0.613,-0.913, 0.480, RAW= 145.5, -2.5, CAL= 149.9, -11.5, ROT= 0.1, 11.5 2025-10-24T19:35:35.003Z,1761334535.003 [DAT](INFO): got valid direction response: 19:35:33.2050 LVL= 18800, 23873, 19218, 29939, AGC= 65, IDX= 413, 0.20, 1.408,-0.078, 1.365, 0.882, PHS= 0.613,-0.913, 0.480, RAW= 145.5, -2.5, CAL= 149.9, -11.5, ROT= 0.1, 11.5 2025-10-24T19:35:35.003Z,1761334535.003 [DAT](INFO): DAT read: Bearing 0.1, 11.5 (Local) 2025-10-24T19:35:35.004Z,1761334535.004 [DAT](INFO): Local bearing/azimuth received: Bearing 0.1, 11.5 (Local) 2025-10-24T19:35:35.005Z,1761334535.005 [DAT](INFO): DAT read: Range 10 to 50 : 58.7 m (Round-trip 78.3 ms) speed 0.5 m/s 2025-10-24T19:35:35.006Z,1761334535.006 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:35.007Z,1761334535.007 [DAT](INFO): direction in FSK: [0.979923,0.001710,-0.199368] 2025-10-24T19:35:35.007Z,1761334535.007 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:35.013Z,1761334535.013 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:35.014Z,1761334535.014 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:35.014Z,1761334535.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:35.182Z,1761334535.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676788,-0.735399,0.033856],[0.734258,0.670988,-0.103153],[0.053142,0.094671,0.994089]] 2025-10-24T19:35:35.235Z,1761334535.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.700001 m, deltaT: 3.796375 s, deltaX: -2.299999 m, approachRate: -0.605841 m/s, rangeRepo size: 4 2025-10-24T19:35:35.242Z,1761334535.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.384331 m, bearing: 48.525663 deg, lat: 36.779545 deg, lon: -121.859620 deg, deltaT: 3.796375 s, deltaX: -2.288425 m, approachRate: -0.602792 m/s, posRepo size: 4 2025-10-24T19:35:35.242Z,1761334535.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:35.243Z,1761334535.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:35.245Z,1761334535.245 [DAT](INFO): DAT read: user:101> 2025-10-24T19:35:35.246Z,1761334535.246 [DAT](INFO): DAT read: Tx time:19:35:34.5226 2025-10-24T19:35:35.246Z,1761334535.246 [DAT](INFO): Ping request sent. 2025-10-24T19:35:35.246Z,1761334535.246 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:35.246Z,1761334535.246 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:35.247Z,1761334535.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-10-24T19:35:35.256Z,1761334535.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 57.991188 m, bearing: 50.289578 deg, approach rate: 0.000000 m/s, LOS rate: 0.008094 deg/s, cmd heading: 47.680489 deg, new cmd heading: 47.690262 deg. 2025-10-24T19:35:35.257Z,1761334535.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.832352 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:35.297Z,1761334535.297 [DockingStepper](INFO): Changing to mode: 2 2025-10-24T19:35:35.502Z,1761334535.502 [DAT](INFO): DAT read: TxSync time:19:35:34.5218 2025-10-24T19:35:35.505Z,1761334535.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258329 2025-10-24T19:35:35.622Z,1761334535.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:35.622Z,1761334535.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:35.646Z,1761334535.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 57.736191 m, bearing: 50.282064 deg, approach rate: -0.657243 m/s, LOS rate: -0.019453 deg/s, cmd heading: 47.690263 deg, new cmd heading: 47.667620 deg. 2025-10-24T19:35:35.646Z,1761334535.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831957 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:35.750Z,1761334535.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503874 2025-10-24T19:35:35.974Z,1761334535.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676847,-0.735405,0.032520],[0.734031,0.670936,-0.105089],[0.055464,0.095000,0.993931]] 2025-10-24T19:35:35.991Z,1761334535.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:35.994Z,1761334535.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:35.994Z,1761334535.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:35.997Z,1761334535.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 57.501667 m, bearing: 50.275139 deg, approach rate: -0.631132 m/s, LOS rate: -0.018712 deg/s, cmd heading: 47.667620 deg, new cmd heading: 47.646761 deg. 2025-10-24T19:35:35.998Z,1761334535.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831593 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:36.002Z,1761334536.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755400 2025-10-24T19:35:36.253Z,1761334536.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006752 2025-10-24T19:35:36.389Z,1761334536.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675581,-0.736572,0.032440],[0.735031,0.669424,-0.107708],[0.057619,0.096610,0.993653]] 2025-10-24T19:35:36.451Z,1761334536.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:36.457Z,1761334536.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:36.459Z,1761334536.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 57.239487 m, bearing: 50.266916 deg, approach rate: -0.574174 m/s, LOS rate: -0.018090 deg/s, cmd heading: 47.646761 deg, new cmd heading: 47.621980 deg. 2025-10-24T19:35:36.461Z,1761334536.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831160 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:36.512Z,1761334536.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265151 2025-10-24T19:35:36.764Z,1761334536.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518168 2025-10-24T19:35:36.826Z,1761334536.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674652,-0.737390,0.033184],[0.735852,0.668351,-0.108756],[0.058017,0.097791,0.993514]] 2025-10-24T19:35:36.933Z,1761334536.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:36.934Z,1761334536.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:36.945Z,1761334536.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 56.924732 m, bearing: 50.248993 deg, approach rate: -0.652298 m/s, LOS rate: -0.037349 deg/s, cmd heading: 47.621981 deg, new cmd heading: 47.567914 deg. 2025-10-24T19:35:36.946Z,1761334536.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830217 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:37.013Z,1761334537.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766898 2025-10-24T19:35:37.265Z,1761334537.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018645 2025-10-24T19:35:37.389Z,1761334537.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:37.390Z,1761334537.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:37.393Z,1761334537.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 56.590080 m, bearing: 50.229718 deg, approach rate: -0.732621 m/s, LOS rate: -0.042447 deg/s, cmd heading: 47.567913 deg, new cmd heading: 47.509746 deg. 2025-10-24T19:35:37.394Z,1761334537.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829202 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:37.521Z,1761334537.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274027 2025-10-24T19:35:37.769Z,1761334537.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522961 2025-10-24T19:35:37.818Z,1761334537.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:37.819Z,1761334537.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:37.822Z,1761334537.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 56.310852 m, bearing: 50.204027 deg, approach rate: -0.652390 m/s, LOS rate: -0.060321 deg/s, cmd heading: 47.509747 deg, new cmd heading: 47.432294 deg. 2025-10-24T19:35:37.823Z,1761334537.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827850 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:38.021Z,1761334538.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775329 2025-10-24T19:35:38.157Z,1761334538.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672181,-0.739511,0.036007],[0.738121,0.665529,-0.110677],[0.057883,0.100973,0.993204]] 2025-10-24T19:35:38.174Z,1761334538.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:38.178Z,1761334538.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:38.179Z,1761334538.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:38.202Z,1761334538.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 56.077404 m, bearing: 50.181560 deg, approach rate: -0.648795 m/s, LOS rate: -0.062701 deg/s, cmd heading: 47.432293 deg, new cmd heading: 47.364610 deg. 2025-10-24T19:35:38.203Z,1761334538.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826668 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:38.279Z,1761334538.279 [DAT](INFO): DAT read: Rx Time:19:35:37.0020 2025-10-24T19:35:38.279Z,1761334538.279 [DAT](INFO): Rx dataTimestamp_ set to:1761334538.278942 2025-10-24T19:35:38.280Z,1761334538.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033829 2025-10-24T19:35:38.531Z,1761334538.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284619 2025-10-24T19:35:38.585Z,1761334538.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671030,-0.740524,0.036636],[0.739177,0.664325,-0.110858],[0.057755,0.101469,0.993161]] 2025-10-24T19:35:38.702Z,1761334538.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.38 m. 2025-10-24T19:35:38.703Z,1761334538.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.70 m. 2025-10-24T19:35:38.706Z,1761334538.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.384331 m, nav range: 55.749378 m, bearing: 50.141766 deg, approach rate: -0.625080 m/s, LOS rate: -0.076277 deg/s, cmd heading: 47.364609 deg, new cmd heading: 47.244525 deg. 2025-10-24T19:35:38.707Z,1761334538.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824573 target range: 58.384331 and range: 58.70 m. 2025-10-24T19:35:38.790Z,1761334538.790 [DAT](INFO): DAT read: 19:35:37.0020 LVL= 17856, 24401, 17650, 27187, AGC= 62, IDX= 415,-0.08,-0.840,-2.174,-0.934,-1.320, PHS= 0.568,-0.807, 0.383, RAW= 142.9, -2.3, CAL= 147.6, -11.4, ROT= 2.4, 11.4 2025-10-24T19:35:38.791Z,1761334538.791 [DAT](INFO): got valid direction response: 19:35:37.0020 LVL= 17856, 24401, 17650, 27187, AGC= 62, IDX= 415,-0.08,-0.840,-2.174,-0.934,-1.320, PHS= 0.568,-0.807, 0.383, RAW= 142.9, -2.3, CAL= 147.6, -11.4, ROT= 2.4, 11.4 2025-10-24T19:35:38.792Z,1761334538.792 [DAT](INFO): DAT read: Bearing 2.4, 11.4 (Local) 2025-10-24T19:35:38.792Z,1761334538.792 [DAT](INFO): Local bearing/azimuth received: Bearing 2.4, 11.4 (Local) 2025-10-24T19:35:38.794Z,1761334538.794 [DAT](INFO): DAT read: Range 10 to 50 : 56.4 m (Round-trip 75.2 ms) speed 0.5 m/s 2025-10-24T19:35:38.794Z,1761334538.794 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:38.795Z,1761334538.795 [DAT](INFO): direction in FSK: [0.979411,0.041049,-0.197657] 2025-10-24T19:35:38.795Z,1761334538.795 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:38.799Z,1761334538.799 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:38.799Z,1761334538.799 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:38.799Z,1761334538.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:38.986Z,1761334538.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669599,-0.741759,0.037827],[0.740494,0.662781,-0.111314],[0.057497,0.102546,0.993065]] 2025-10-24T19:35:39.019Z,1761334539.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.400002 m, deltaT: 3.788214 s, deltaX: -2.299999 m, approachRate: -0.607146 m/s, rangeRepo size: 4 2025-10-24T19:35:39.021Z,1761334539.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.096516 m, bearing: 51.415949 deg, lat: 36.779545 deg, lon: -121.859620 deg, deltaT: 3.788214 s, deltaX: -2.287815 m, approachRate: -0.603930 m/s, posRepo size: 4 2025-10-24T19:35:39.022Z,1761334539.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:39.023Z,1761334539.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:39.025Z,1761334539.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 55.545975 m, bearing: 50.116441 deg, approach rate: 0.000000 m/s, LOS rate: -0.076277 deg/s, cmd heading: 47.244524 deg, new cmd heading: 47.172354 deg. 2025-10-24T19:35:39.026Z,1761334539.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.823313 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:39.033Z,1761334539.033 [DAT](INFO): DAT read: user:102> 2025-10-24T19:35:39.034Z,1761334539.034 [DAT](INFO): DAT read: Tx time:19:35:38.3226 2025-10-24T19:35:39.034Z,1761334539.034 [DAT](INFO): Ping request sent. 2025-10-24T19:35:39.035Z,1761334539.035 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:39.035Z,1761334539.035 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:39.036Z,1761334539.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001124 2025-10-24T19:35:39.286Z,1761334539.286 [DAT](INFO): DAT read: TxSync time:19:35:38.3218 2025-10-24T19:35:39.286Z,1761334539.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251833 2025-10-24T19:35:39.383Z,1761334539.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668809,-0.742462,0.037999],[0.741224,0.662012,-0.111028],[0.057278,0.102423,0.993091]] 2025-10-24T19:35:39.417Z,1761334539.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:39.418Z,1761334539.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:39.421Z,1761334539.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 55.289284 m, bearing: 50.083923 deg, approach rate: -0.642659 m/s, LOS rate: -0.081790 deg/s, cmd heading: 47.172353 deg, new cmd heading: 47.074348 deg. 2025-10-24T19:35:39.422Z,1761334539.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821602 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:39.541Z,1761334539.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506293 2025-10-24T19:35:39.789Z,1761334539.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754469 2025-10-24T19:35:39.789Z,1761334539.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667089,-0.743834,0.041261],[0.742738,0.659771,-0.114204],[0.057726,0.106830,0.992600]] 2025-10-24T19:35:39.860Z,1761334539.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:39.861Z,1761334539.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:39.868Z,1761334539.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 55.030048 m, bearing: 50.052862 deg, approach rate: -0.584556 m/s, LOS rate: -0.070370 deg/s, cmd heading: 47.074347 deg, new cmd heading: 46.980725 deg. 2025-10-24T19:35:39.869Z,1761334539.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819968 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:40.041Z,1761334540.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006188 2025-10-24T19:35:40.194Z,1761334540.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667425,-0.743493,0.041974],[0.742446,0.660008,-0.114732],[0.057599,0.107739,0.992509]] 2025-10-24T19:35:40.229Z,1761334540.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:40.231Z,1761334540.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:40.240Z,1761334540.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:40.247Z,1761334540.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 54.801353 m, bearing: 50.025326 deg, approach rate: -0.616282 m/s, LOS rate: -0.074516 deg/s, cmd heading: 46.980725 deg, new cmd heading: 46.897770 deg. 2025-10-24T19:35:40.262Z,1761334540.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.818520 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:40.293Z,1761334540.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258407 2025-10-24T19:35:40.547Z,1761334540.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512509 2025-10-24T19:35:40.683Z,1761334540.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:40.686Z,1761334540.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:40.689Z,1761334540.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 54.529236 m, bearing: 49.997111 deg, approach rate: -0.602490 m/s, LOS rate: -0.062781 deg/s, cmd heading: 46.897769 deg, new cmd heading: 46.812703 deg. 2025-10-24T19:35:40.690Z,1761334540.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817036 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:40.798Z,1761334540.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763554 2025-10-24T19:35:41.049Z,1761334541.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014376 2025-10-24T19:35:41.063Z,1761334541.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:41.063Z,1761334541.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:41.087Z,1761334541.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 54.308681 m, bearing: 49.974034 deg, approach rate: -0.581201 m/s, LOS rate: -0.061058 deg/s, cmd heading: 46.812703 deg, new cmd heading: 46.743192 deg. 2025-10-24T19:35:41.095Z,1761334541.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815823 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:41.304Z,1761334541.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269498 2025-10-24T19:35:41.458Z,1761334541.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669889,-0.741583,0.036099],[0.740325,0.663486,-0.108191],[0.056281,0.099201,0.993475]] 2025-10-24T19:35:41.477Z,1761334541.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:41.478Z,1761334541.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:41.481Z,1761334541.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 54.067657 m, bearing: 49.949444 deg, approach rate: -0.581251 m/s, LOS rate: -0.059567 deg/s, cmd heading: 46.743192 deg, new cmd heading: 46.669091 deg. 2025-10-24T19:35:41.482Z,1761334541.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.814529 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:41.557Z,1761334541.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522228 2025-10-24T19:35:41.805Z,1761334541.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770322 2025-10-24T19:35:41.850Z,1761334541.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670727,-0.740837,0.035861],[0.739598,0.664401,-0.107545],[0.055847,0.098656,0.993553]] 2025-10-24T19:35:41.922Z,1761334541.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:41.922Z,1761334541.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:41.935Z,1761334541.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 53.825031 m, bearing: 49.924757 deg, approach rate: -0.568455 m/s, LOS rate: -0.058100 deg/s, cmd heading: 46.669091 deg, new cmd heading: 46.594697 deg. 2025-10-24T19:35:41.941Z,1761334541.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813231 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:42.058Z,1761334542.058 [DAT](INFO): DAT read: Rx Time:19:35:40.7991 2025-10-24T19:35:42.058Z,1761334542.058 [DAT](INFO): Rx dataTimestamp_ set to:1761334542.057844 2025-10-24T19:35:42.059Z,1761334542.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024521 2025-10-24T19:35:42.241Z,1761334542.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671208,-0.740419,0.035494],[0.739178,0.664952,-0.107028],[0.055644,0.098074,0.993622]] 2025-10-24T19:35:42.263Z,1761334542.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:42.266Z,1761334542.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.10 m. 2025-10-24T19:35:42.266Z,1761334542.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.40 m. 2025-10-24T19:35:42.269Z,1761334542.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.096516 m, nav range: 53.609112 m, bearing: 49.902748 deg, approach rate: -0.597076 m/s, LOS rate: -0.061105 deg/s, cmd heading: 46.594697 deg, new cmd heading: 46.528405 deg. 2025-10-24T19:35:42.270Z,1761334542.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812074 target range: 56.096516 and range: 56.40 m. 2025-10-24T19:35:42.310Z,1761334542.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275994 2025-10-24T19:35:42.599Z,1761334542.599 [DAT](INFO): DAT read: 19:35:40.7991 LVL= 13200, 23649, 13810, 20563, AGC= 61, IDX= 416,-0.23,-0.003,-1.285, 0.160,-0.410, PHS= 0.495,-0.828, 0.567, RAW= 152.6, -3.5, CAL= 156.7, -11.9, ROT= 353.3, 11.9 2025-10-24T19:35:42.618Z,1761334542.618 [DAT](INFO): got valid direction response: 19:35:40.7991 LVL= 13200, 23649, 13810, 20563, AGC= 61, IDX= 416,-0.23,-0.003,-1.285, 0.160,-0.410, PHS= 0.495,-0.828, 0.567, RAW= 152.6, -3.5, CAL= 156.7, -11.9, ROT= 353.3, 11.9 2025-10-24T19:35:42.661Z,1761334542.661 [DAT](INFO): DAT read: Bearing 353.3, 11.9 (Local) 2025-10-24T19:35:42.661Z,1761334542.661 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, 11.9 (Local) 2025-10-24T19:35:42.663Z,1761334542.663 [DAT](INFO): DAT read: Range 10 to 50 : 54.1 m (Round-trip 72.2 ms) speed 0.7 m/s 2025-10-24T19:35:42.663Z,1761334542.663 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:42.677Z,1761334542.677 [DAT](INFO): direction in FSK: [0.971826,-0.114164,-0.206204] 2025-10-24T19:35:42.677Z,1761334542.677 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:42.705Z,1761334542.705 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:42.705Z,1761334542.705 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:42.705Z,1761334542.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:42.813Z,1761334542.813 [DAT](INFO): DAT read: user:103> 2025-10-24T19:35:42.814Z,1761334542.814 [DAT](INFO): DAT read: Tx time:19:35:42.2227 2025-10-24T19:35:42.814Z,1761334542.814 [DAT](INFO): Ping request sent. 2025-10-24T19:35:42.814Z,1761334542.814 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:42.814Z,1761334542.814 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:42.815Z,1761334542.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-24T19:35:42.820Z,1761334542.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.099998 m, deltaT: 3.780836 s, deltaX: -2.300003 m, approachRate: -0.608332 m/s, rangeRepo size: 4 2025-10-24T19:35:42.822Z,1761334542.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.807961 m, bearing: 42.330420 deg, lat: 36.779553 deg, lon: -121.859626 deg, deltaT: 3.780836 s, deltaX: -2.288555 m, approachRate: -0.605304 m/s, posRepo size: 4 2025-10-24T19:35:42.823Z,1761334542.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:42.823Z,1761334542.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:42.838Z,1761334542.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 53.443886 m, bearing: 48.764809 deg, approach rate: 0.000000 m/s, LOS rate: -0.061105 deg/s, cmd heading: 46.528403 deg, new cmd heading: 46.428407 deg. 2025-10-24T19:35:42.839Z,1761334542.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810329 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:43.065Z,1761334543.065 [DAT](INFO): DAT read: TxSync time:19:35:42.2219 2025-10-24T19:35:43.066Z,1761334543.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252027 2025-10-24T19:35:43.150Z,1761334543.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672096,-0.739663,0.034433],[0.738382,0.665998,-0.106014],[0.055483,0.096676,0.993768]] 2025-10-24T19:35:43.184Z,1761334543.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:43.185Z,1761334543.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:43.200Z,1761334543.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 53.213554 m, bearing: 48.736380 deg, approach rate: -0.646221 m/s, LOS rate: -0.080104 deg/s, cmd heading: 46.428406 deg, new cmd heading: 46.342751 deg. 2025-10-24T19:35:43.201Z,1761334543.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.808834 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:43.317Z,1761334543.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502847 2025-10-24T19:35:43.558Z,1761334543.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670713,-0.741495,0.018157],[0.739532,0.666659,-0.093048],[0.056890,0.075836,0.995496]] 2025-10-24T19:35:43.571Z,1761334543.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757106 2025-10-24T19:35:43.669Z,1761334543.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:43.670Z,1761334543.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:43.677Z,1761334543.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 52.939579 m, bearing: 48.701717 deg, approach rate: -0.546367 m/s, LOS rate: -0.069484 deg/s, cmd heading: 46.342752 deg, new cmd heading: 46.238224 deg. 2025-10-24T19:35:43.677Z,1761334543.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807009 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:43.821Z,1761334543.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006729 2025-10-24T19:35:43.953Z,1761334543.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671318,-0.740874,0.020911],[0.738980,0.666901,-0.095664],[0.056930,0.079674,0.995194]] 2025-10-24T19:35:44.002Z,1761334544.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:44.002Z,1761334544.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:44.006Z,1761334544.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 52.751961 m, bearing: 48.694533 deg, approach rate: -0.564201 m/s, LOS rate: -0.021681 deg/s, cmd heading: 46.238226 deg, new cmd heading: 46.216597 deg. 2025-10-24T19:35:44.007Z,1761334544.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806632 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:44.073Z,1761334544.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259002 2025-10-24T19:35:44.325Z,1761334544.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511272 2025-10-24T19:35:44.356Z,1761334544.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670640,-0.741393,0.024024],[0.739585,0.665811,-0.098537],[0.057060,0.083851,0.994843]] 2025-10-24T19:35:44.388Z,1761334544.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:44.390Z,1761334544.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:44.390Z,1761334544.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:44.393Z,1761334544.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 52.550686 m, bearing: 48.686550 deg, approach rate: -0.518257 m/s, LOS rate: -0.020635 deg/s, cmd heading: 46.216598 deg, new cmd heading: 46.192557 deg. 2025-10-24T19:35:44.394Z,1761334544.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806212 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:44.578Z,1761334544.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763560 2025-10-24T19:35:44.761Z,1761334544.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669287,-0.742481,0.027894],[0.740826,0.663981,-0.101517],[0.056853,0.088609,0.994443]] 2025-10-24T19:35:44.829Z,1761334544.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014856 2025-10-24T19:35:44.854Z,1761334544.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:44.854Z,1761334544.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:44.858Z,1761334544.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 52.314945 m, bearing: 48.681971 deg, approach rate: -0.508346 m/s, LOS rate: -0.009918 deg/s, cmd heading: 46.192556 deg, new cmd heading: 46.178758 deg. 2025-10-24T19:35:44.858Z,1761334544.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805971 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:45.081Z,1761334545.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841 2025-10-24T19:35:45.162Z,1761334545.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668693,-0.742839,0.032256],[0.741407,0.662865,-0.104523],[0.056262,0.093809,0.993999]] 2025-10-24T19:35:45.194Z,1761334545.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:45.195Z,1761334545.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:45.198Z,1761334545.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 52.137066 m, bearing: 48.678326 deg, approach rate: -0.522089 m/s, LOS rate: -0.010737 deg/s, cmd heading: 46.178759 deg, new cmd heading: 46.167784 deg. 2025-10-24T19:35:45.199Z,1761334545.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805780 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:45.334Z,1761334545.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520301 2025-10-24T19:35:45.563Z,1761334545.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667474,-0.743780,0.035648],[0.742516,0.661205,-0.107138],[0.056116,0.097981,0.993605]] 2025-10-24T19:35:45.586Z,1761334545.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771610 2025-10-24T19:35:45.663Z,1761334545.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:45.663Z,1761334545.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:45.671Z,1761334545.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 51.922298 m, bearing: 48.673498 deg, approach rate: -0.458499 m/s, LOS rate: -0.010348 deg/s, cmd heading: 46.167786 deg, new cmd heading: 46.153244 deg. 2025-10-24T19:35:45.677Z,1761334545.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805526 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:45.837Z,1761334545.837 [DAT](INFO): DAT read: Rx Time:19:35:44.6959 2025-10-24T19:35:45.837Z,1761334545.837 [DAT](INFO): Rx dataTimestamp_ set to:1761334545.837115 2025-10-24T19:35:45.838Z,1761334545.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023973 2025-10-24T19:35:46.030Z,1761334546.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.81 m. 2025-10-24T19:35:46.031Z,1761334546.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.10 m. 2025-10-24T19:35:46.034Z,1761334546.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.807961 m, nav range: 51.704426 m, bearing: 48.664312 deg, approach rate: -0.592831 m/s, LOS rate: -0.025101 deg/s, cmd heading: 46.153245 deg, new cmd heading: 46.125570 deg. 2025-10-24T19:35:46.035Z,1761334546.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.805043 target range: 53.807961 and range: 54.10 m. 2025-10-24T19:35:46.090Z,1761334546.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275585 2025-10-24T19:35:46.382Z,1761334546.382 [DAT](INFO): DAT read: 19:35:44.6959 LVL= 17696, 22705, 13970, 20707, AGC= 61, IDX= 416,-0.14,-1.670,-3.115,-1.588,-2.164, PHS= 0.582,-0.904, 0.573, RAW= 149.7, -3.4, CAL= 154.0, -12.1, ROT= 356.0, 12.1 2025-10-24T19:35:46.383Z,1761334546.383 [DAT](INFO): got valid direction response: 19:35:44.6959 LVL= 17696, 22705, 13970, 20707, AGC= 61, IDX= 416,-0.14,-1.670,-3.115,-1.588,-2.164, PHS= 0.582,-0.904, 0.573, RAW= 149.7, -3.4, CAL= 154.0, -12.1, ROT= 356.0, 12.1 2025-10-24T19:35:46.384Z,1761334546.384 [DAT](INFO): DAT read: Bearing 356.0, 12.1 (Local) 2025-10-24T19:35:46.385Z,1761334546.385 [DAT](INFO): Local bearing/azimuth received: Bearing 356.0, 12.1 (Local) 2025-10-24T19:35:46.386Z,1761334546.386 [DAT](INFO): DAT read: Range 10 to 50 : 51.8 m (Round-trip 69.1 ms) speed 0.4 m/s 2025-10-24T19:35:46.387Z,1761334546.387 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:46.390Z,1761334546.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668265,-0.742990,0.037238],[0.741826,0.661790,-0.108301],[0.055822,0.099998,0.993421]] 2025-10-24T19:35:46.392Z,1761334546.392 [DAT](INFO): direction in FSK: [0.975401,-0.068207,-0.209619] 2025-10-24T19:35:46.392Z,1761334546.392 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:46.404Z,1761334546.404 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:46.405Z,1761334546.405 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:46.405Z,1761334546.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:46.496Z,1761334546.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.799999 m, deltaT: 3.780438 s, deltaX: -2.299999 m, approachRate: -0.608395 m/s, rangeRepo size: 4 2025-10-24T19:35:46.498Z,1761334546.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.519939 m, bearing: 45.264482 deg, lat: 36.779556 deg, lon: -121.859635 deg, deltaT: 3.780438 s, deltaX: -2.288021 m, approachRate: -0.605226 m/s, posRepo size: 4 2025-10-24T19:35:46.499Z,1761334546.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:46.506Z,1761334546.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.80 m. 2025-10-24T19:35:46.506Z,1761334546.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 51.80 m. 2025-10-24T19:35:46.506Z,1761334546.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-24T19:35:46.521Z,1761334546.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 51.159195 m, bearing: 47.811089 deg, approach rate: 0.000000 m/s, LOS rate: -0.025101 deg/s, cmd heading: 46.125569 deg, new cmd heading: 46.091144 deg. 2025-10-24T19:35:46.522Z,1761334546.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804442 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:46.594Z,1761334546.594 [DAT](INFO): DAT read: user:104> 2025-10-24T19:35:46.594Z,1761334546.594 [DAT](INFO): DAT read: Tx time:19:35:45.9227 2025-10-24T19:35:46.595Z,1761334546.595 [DAT](INFO): Ping request sent. 2025-10-24T19:35:46.595Z,1761334546.595 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:46.595Z,1761334546.595 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:46.596Z,1761334546.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-24T19:35:46.845Z,1761334546.845 [DAT](INFO): DAT read: TxSync time:19:35:45.9219 2025-10-24T19:35:46.846Z,1761334546.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251029 2025-10-24T19:35:46.911Z,1761334546.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:46.918Z,1761334546.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:46.936Z,1761334546.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 50.891800 m, bearing: 47.791854 deg, approach rate: -0.621673 m/s, LOS rate: -0.044955 deg/s, cmd heading: 46.091144 deg, new cmd heading: 46.033136 deg. 2025-10-24T19:35:46.937Z,1761334546.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.803430 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:47.097Z,1761334547.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501940 2025-10-24T19:35:47.219Z,1761334547.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667803,-0.743411,0.037148],[0.742154,0.661194,-0.109678],[0.056974,0.100813,0.993273]] 2025-10-24T19:35:47.237Z,1761334547.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:47.241Z,1761334547.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 50.705311 m, bearing: 47.778200 deg, approach rate: -0.583822 m/s, LOS rate: -0.042903 deg/s, cmd heading: 46.033136 deg, new cmd heading: 45.992023 deg. 2025-10-24T19:35:47.242Z,1761334547.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802712 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:47.354Z,1761334547.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758773 2025-10-24T19:35:47.607Z,1761334547.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011918 2025-10-24T19:35:47.673Z,1761334547.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668084,-0.743684,0.024460],[0.741862,0.663187,-0.099115],[0.057489,0.084364,0.994775]] 2025-10-24T19:35:47.737Z,1761334547.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:47.740Z,1761334547.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 50.429417 m, bearing: 47.754546 deg, approach rate: -0.551366 m/s, LOS rate: -0.047530 deg/s, cmd heading: 45.992021 deg, new cmd heading: 45.920672 deg. 2025-10-24T19:35:47.741Z,1761334547.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801467 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:47.857Z,1761334547.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262623 2025-10-24T19:35:48.023Z,1761334548.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668031,-0.743649,0.026846],[0.741909,0.662813,-0.101243],[0.057495,0.087550,0.994500]] 2025-10-24T19:35:48.053Z,1761334548.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:48.056Z,1761334548.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 50.255344 m, bearing: 47.739481 deg, approach rate: -0.551376 m/s, LOS rate: -0.047883 deg/s, cmd heading: 45.920673 deg, new cmd heading: 45.875322 deg. 2025-10-24T19:35:48.057Z,1761334548.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800675 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:48.110Z,1761334548.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514809 2025-10-24T19:35:48.361Z,1761334548.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765914 2025-10-24T19:35:48.429Z,1761334548.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667082,-0.744383,0.029945],[0.742783,0.661485,-0.103493],[0.057231,0.091281,0.994179]] 2025-10-24T19:35:48.449Z,1761334548.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:48.453Z,1761334548.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 50.035873 m, bearing: 47.720022 deg, approach rate: -0.554927 m/s, LOS rate: -0.049418 deg/s, cmd heading: 45.875321 deg, new cmd heading: 45.816687 deg. 2025-10-24T19:35:48.454Z,1761334548.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799652 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:48.613Z,1761334548.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017930 2025-10-24T19:35:48.827Z,1761334548.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665784,-0.745401,0.033313],[0.743964,0.659765,-0.105959],[0.057003,0.095330,0.993812]] 2025-10-24T19:35:48.865Z,1761334548.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270140 2025-10-24T19:35:48.875Z,1761334548.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:48.878Z,1761334548.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 49.791672 m, bearing: 47.694379 deg, approach rate: -0.572373 m/s, LOS rate: -0.060398 deg/s, cmd heading: 45.816687 deg, new cmd heading: 45.739380 deg. 2025-10-24T19:35:48.879Z,1761334548.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798303 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:49.117Z,1761334549.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522063 2025-10-24T19:35:49.234Z,1761334549.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664558,-0.746359,0.036212],[0.745082,0.658185,-0.107909],[0.056704,0.098693,0.993501]] 2025-10-24T19:35:49.250Z,1761334549.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:49.252Z,1761334549.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:49.255Z,1761334549.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 49.575466 m, bearing: 47.671052 deg, approach rate: -0.573866 m/s, LOS rate: -0.062185 deg/s, cmd heading: 45.739379 deg, new cmd heading: 45.669094 deg. 2025-10-24T19:35:49.256Z,1761334549.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797076 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:49.370Z,1761334549.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775280 2025-10-24T19:35:49.621Z,1761334549.621 [DAT](INFO): DAT read: Rx Time:19:35:48.3934 2025-10-24T19:35:49.621Z,1761334549.621 [DAT](INFO): Rx dataTimestamp_ set to:1761334549.621062 2025-10-24T19:35:49.622Z,1761334549.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027117 2025-10-24T19:35:49.676Z,1761334549.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664304,-0.746512,0.037686],[0.745309,0.657721,-0.109170],[0.056710,0.100610,0.993308]] 2025-10-24T19:35:49.774Z,1761334549.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:49.777Z,1761334549.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 49.269207 m, bearing: 47.629840 deg, approach rate: -0.586651 m/s, LOS rate: -0.079434 deg/s, cmd heading: 45.669093 deg, new cmd heading: 45.544689 deg. 2025-10-24T19:35:49.778Z,1761334549.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794905 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:49.873Z,1761334549.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278332 2025-10-24T19:35:50.105Z,1761334550.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.52 m. 2025-10-24T19:35:50.108Z,1761334550.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.519939 m, nav range: 49.075367 m, bearing: 47.603489 deg, approach rate: -0.585998 m/s, LOS rate: -0.079978 deg/s, cmd heading: 45.544688 deg, new cmd heading: 45.465322 deg. 2025-10-24T19:35:50.109Z,1761334550.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793520 target range: 51.519939 and range: 51.80 m. 2025-10-24T19:35:50.130Z,1761334550.130 [DAT](INFO): DAT read: 19:35:48.3934 LVL= 14464, 24049, 17074, 25475, AGC= 64, IDX= 422,-0.49, 0.871,-0.457, 0.948, 0.435, PHS= 0.524,-0.844, 0.510, RAW= 149.5, -2.8, CAL= 153.7, -11.6, ROT= 356.3, 11.6 2025-10-24T19:35:50.144Z,1761334550.144 [DAT](INFO): got valid direction response: 19:35:48.3934 LVL= 14464, 24049, 17074, 25475, AGC= 64, IDX= 422,-0.49, 0.871,-0.457, 0.948, 0.435, PHS= 0.524,-0.844, 0.510, RAW= 149.5, -2.8, CAL= 153.7, -11.6, ROT= 356.3, 11.6 2025-10-24T19:35:50.145Z,1761334550.145 [DAT](INFO): DAT read: Bearing 356.3, 11.6 (Local) 2025-10-24T19:35:50.145Z,1761334550.145 [DAT](INFO): Local bearing/azimuth received: Bearing 356.3, 11.6 (Local) 2025-10-24T19:35:50.146Z,1761334550.146 [DAT](INFO): DAT read: Range 10 to 50 : 49.9 m (Round-trip 66.6 ms) speed 0.3 m/s 2025-10-24T19:35:50.147Z,1761334550.147 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:50.153Z,1761334550.153 [DAT](INFO): direction in FSK: [0.977533,-0.063214,-0.201078] 2025-10-24T19:35:50.153Z,1761334550.153 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:50.165Z,1761334550.165 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:50.165Z,1761334550.165 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:50.165Z,1761334550.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:50.377Z,1761334550.377 [DAT](INFO): DAT read: user:105> 2025-10-24T19:35:50.379Z,1761334550.379 [DAT](INFO): DAT read: Tx time:19:35:49.6727 2025-10-24T19:35:50.380Z,1761334550.380 [DAT](INFO): Ping request sent. 2025-10-24T19:35:50.380Z,1761334550.380 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:50.381Z,1761334550.381 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:50.382Z,1761334550.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001721 2025-10-24T19:35:50.475Z,1761334550.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665519,-0.745306,0.040046],[0.744300,0.658705,-0.110113],[0.055690,0.103089,0.993112]] 2025-10-24T19:35:50.498Z,1761334550.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.900002 m, deltaT: 3.782302 s, deltaX: -1.899998 m, approachRate: -0.502339 m/s, rangeRepo size: 4 2025-10-24T19:35:50.501Z,1761334550.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.628471 m, bearing: 45.756332 deg, lat: 36.779567 deg, lon: -121.859645 deg, deltaT: 3.782302 s, deltaX: -1.891468 m, approachRate: -0.500084 m/s, posRepo size: 4 2025-10-24T19:35:50.502Z,1761334550.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:50.506Z,1761334550.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 49.053509 m, bearing: 45.756155 deg, approach rate: 0.000000 m/s, LOS rate: -0.079978 deg/s, cmd heading: 45.465322 deg, new cmd heading: 45.371027 deg. 2025-10-24T19:35:50.511Z,1761334550.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791874 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:50.629Z,1761334550.629 [DAT](INFO): DAT read: TxSync time:19:35:49.6719 2025-10-24T19:35:50.630Z,1761334550.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249561 2025-10-24T19:35:50.847Z,1761334550.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666122,-0.744710,0.041095],[0.743813,0.659238,-0.110214],[0.054986,0.103983,0.993058]] 2025-10-24T19:35:50.881Z,1761334550.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500665 2025-10-24T19:35:50.911Z,1761334550.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:50.916Z,1761334550.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 48.814365 m, bearing: 45.709614 deg, approach rate: -0.578876 m/s, LOS rate: -0.113209 deg/s, cmd heading: 45.371027 deg, new cmd heading: 45.230721 deg. 2025-10-24T19:35:50.918Z,1761334550.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789425 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:51.133Z,1761334551.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752973 2025-10-24T19:35:51.254Z,1761334551.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666919,-0.744109,0.039005],[0.743067,0.660267,-0.109083],[0.055416,0.101733,0.993267]] 2025-10-24T19:35:51.273Z,1761334551.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:51.275Z,1761334551.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:51.278Z,1761334551.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 48.591785 m, bearing: 45.666173 deg, approach rate: -0.611458 m/s, LOS rate: -0.119886 deg/s, cmd heading: 45.230722 deg, new cmd heading: 45.099801 deg. 2025-10-24T19:35:51.279Z,1761334551.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787140 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:51.386Z,1761334551.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005338 2025-10-24T19:35:51.637Z,1761334551.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256838 2025-10-24T19:35:51.656Z,1761334551.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667522,-0.743586,0.038664],[0.742518,0.660895,-0.109021],[0.055514,0.101483,0.993287]] 2025-10-24T19:35:51.758Z,1761334551.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:51.765Z,1761334551.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 48.329685 m, bearing: 45.614758 deg, approach rate: -0.542464 m/s, LOS rate: -0.106989 deg/s, cmd heading: 45.099801 deg, new cmd heading: 44.944721 deg. 2025-10-24T19:35:51.766Z,1761334551.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.784433 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:51.889Z,1761334551.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508838 2025-10-24T19:35:52.121Z,1761334552.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:52.124Z,1761334552.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 48.095108 m, bearing: 45.566781 deg, approach rate: -0.646207 m/s, LOS rate: -0.132810 deg/s, cmd heading: 44.944721 deg, new cmd heading: 44.800089 deg. 2025-10-24T19:35:52.125Z,1761334552.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781909 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:52.141Z,1761334552.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760591 2025-10-24T19:35:52.393Z,1761334552.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013106 2025-10-24T19:35:52.471Z,1761334552.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670811,-0.740558,0.039841],[0.739687,0.664204,-0.108153],[0.053631,0.102020,0.993336]] 2025-10-24T19:35:52.494Z,1761334552.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:52.497Z,1761334552.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 47.876591 m, bearing: 45.522833 deg, approach rate: -0.585671 m/s, LOS rate: -0.118327 deg/s, cmd heading: 44.800088 deg, new cmd heading: 44.667643 deg. 2025-10-24T19:35:52.498Z,1761334552.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.779597 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:52.645Z,1761334552.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264574 2025-10-24T19:35:52.869Z,1761334552.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672682,-0.738859,0.039839],[0.738047,0.666156,-0.107344],[0.052773,0.101611,0.993424]] 2025-10-24T19:35:52.897Z,1761334552.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516748 2025-10-24T19:35:52.962Z,1761334552.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:52.966Z,1761334552.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 47.614861 m, bearing: 45.473853 deg, approach rate: -0.559799 m/s, LOS rate: -0.105337 deg/s, cmd heading: 44.667644 deg, new cmd heading: 44.519896 deg. 2025-10-24T19:35:52.967Z,1761334552.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.777019 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:53.149Z,1761334553.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768530 2025-10-24T19:35:53.280Z,1761334553.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676710,-0.735197,0.039359],[0.734512,0.670477,-0.104658],[0.050555,0.099733,0.993729]] 2025-10-24T19:35:53.300Z,1761334553.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:53.302Z,1761334553.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:53.305Z,1761334553.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 47.401344 m, bearing: 45.434913 deg, approach rate: -0.626684 m/s, LOS rate: -0.114805 deg/s, cmd heading: 44.519897 deg, new cmd heading: 44.402553 deg. 2025-10-24T19:35:53.306Z,1761334553.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.774971 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:53.402Z,1761334553.402 [DAT](INFO): DAT read: Rx Time:19:35:52.1408 2025-10-24T19:35:53.402Z,1761334553.402 [DAT](INFO): Rx dataTimestamp_ set to:1761334553.401837 2025-10-24T19:35:53.404Z,1761334553.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023047 2025-10-24T19:35:53.654Z,1761334553.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273473 2025-10-24T19:35:53.680Z,1761334553.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679674,-0.732497,0.038617],[0.731869,0.673685,-0.102544],[0.049097,0.097959,0.993979]] 2025-10-24T19:35:53.762Z,1761334553.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-24T19:35:53.808Z,1761334553.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628471 m, nav range: 47.161427 m, bearing: 45.391923 deg, approach rate: -0.531257 m/s, LOS rate: -0.095680 deg/s, cmd heading: 44.402551 deg, new cmd heading: 44.272923 deg. 2025-10-24T19:35:53.810Z,1761334553.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772708 target range: 49.628471 and range: 49.90 m. 2025-10-24T19:35:53.913Z,1761334553.913 [DAT](INFO): DAT read: 19:35:52.1408 LVL= 14416, 23409, 16482, 24339, AGC= 63, IDX= 410,-0.02,-2.356, 2.698,-2.316,-2.763, PHS= 0.496,-0.775, 0.444, RAW= 147.9, -2.7, CAL= 152.2, -11.5, ROT= 357.8, 11.5 2025-10-24T19:35:53.915Z,1761334553.915 [DAT](INFO): got valid direction response: 19:35:52.1408 LVL= 14416, 23409, 16482, 24339, AGC= 63, IDX= 410,-0.02,-2.356, 2.698,-2.316,-2.763, PHS= 0.496,-0.775, 0.444, RAW= 147.9, -2.7, CAL= 152.2, -11.5, ROT= 357.8, 11.5 2025-10-24T19:35:53.916Z,1761334553.916 [DAT](INFO): DAT read: Bearing 357.8, 11.5 (Local) 2025-10-24T19:35:53.917Z,1761334553.917 [DAT](INFO): Local bearing/azimuth received: Bearing 357.8, 11.5 (Local) 2025-10-24T19:35:53.919Z,1761334553.919 [DAT](INFO): DAT read: Range 10 to 50 : 47.8 m (Round-trip 63.8 ms) speed 0.5 m/s 2025-10-24T19:35:53.922Z,1761334553.922 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:53.930Z,1761334553.930 [DAT](INFO): direction in FSK: [0.979202,-0.037618,-0.199368] 2025-10-24T19:35:53.930Z,1761334553.930 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:53.940Z,1761334553.940 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:53.940Z,1761334553.940 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:53.941Z,1761334553.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:54.100Z,1761334554.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680765,-0.731478,0.038729],[0.730908,0.674847,-0.101754],[0.048294,0.097578,0.994056]] 2025-10-24T19:35:54.157Z,1761334554.157 [DAT](INFO): DAT read: user:106> 2025-10-24T19:35:54.158Z,1761334554.158 [DAT](INFO): DAT read: Tx time:19:35:53.4728 2025-10-24T19:35:54.158Z,1761334554.158 [DAT](INFO): Ping request sent. 2025-10-24T19:35:54.158Z,1761334554.158 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:54.158Z,1761334554.158 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:54.159Z,1761334554.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-24T19:35:54.192Z,1761334554.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.799999 m, deltaT: 3.780399 s, deltaX: -2.100002 m, approachRate: -0.555498 m/s, rangeRepo size: 4 2025-10-24T19:35:54.194Z,1761334554.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.539040 m, bearing: 45.992674 deg, lat: 36.779567 deg, lon: -121.859645 deg, deltaT: 3.780399 s, deltaX: -2.089432 m, approachRate: -0.552701 m/s, posRepo size: 4 2025-10-24T19:35:54.195Z,1761334554.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:54.216Z,1761334554.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 46.899643 m, bearing: 45.340662 deg, approach rate: 0.000000 m/s, LOS rate: -0.095680 deg/s, cmd heading: 44.272924 deg, new cmd heading: 44.148555 deg. 2025-10-24T19:35:54.218Z,1761334554.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770538 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:54.409Z,1761334554.409 [DAT](INFO): DAT read: TxSync time:19:35:53.4720 2025-10-24T19:35:54.410Z,1761334554.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251609 2025-10-24T19:35:54.529Z,1761334554.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682607,-0.729774,0.038438],[0.729222,0.676765,-0.101116],[0.047779,0.097052,0.994132]] 2025-10-24T19:35:54.591Z,1761334554.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:54.598Z,1761334554.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 46.666298 m, bearing: 45.295215 deg, approach rate: -0.577997 m/s, LOS rate: -0.113134 deg/s, cmd heading: 44.148553 deg, new cmd heading: 44.011532 deg. 2025-10-24T19:35:54.599Z,1761334554.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768146 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:54.661Z,1761334554.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502929 2025-10-24T19:35:54.915Z,1761334554.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756561 2025-10-24T19:35:54.930Z,1761334554.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683406,-0.729252,0.033892],[0.728489,0.678195,-0.096720],[0.047547,0.090789,0.994734]] 2025-10-24T19:35:55.013Z,1761334555.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:55.016Z,1761334555.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 46.405045 m, bearing: 45.247691 deg, approach rate: -0.618663 m/s, LOS rate: -0.113174 deg/s, cmd heading: 44.011533 deg, new cmd heading: 43.868158 deg. 2025-10-24T19:35:55.017Z,1761334555.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.765644 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:55.165Z,1761334555.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006771 2025-10-24T19:35:55.321Z,1761334555.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683513,-0.729043,0.036138],[0.728390,0.678005,-0.098778],[0.047512,0.093839,0.994453]] 2025-10-24T19:35:55.338Z,1761334555.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:55.341Z,1761334555.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:55.343Z,1761334555.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 46.215763 m, bearing: 45.212949 deg, approach rate: -0.578208 m/s, LOS rate: -0.106564 deg/s, cmd heading: 43.868157 deg, new cmd heading: 43.763503 deg. 2025-10-24T19:35:55.345Z,1761334555.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763817 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:55.418Z,1761334555.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259465 2025-10-24T19:35:55.670Z,1761334555.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511454 2025-10-24T19:35:55.721Z,1761334555.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684824,-0.727741,0.037533],[0.727222,0.679232,-0.098954],[0.046519,0.095061,0.994384]] 2025-10-24T19:35:55.823Z,1761334555.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:55.826Z,1761334555.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 45.960098 m, bearing: 45.166132 deg, approach rate: -0.529948 m/s, LOS rate: -0.097582 deg/s, cmd heading: 43.763501 deg, new cmd heading: 43.622271 deg. 2025-10-24T19:35:55.827Z,1761334555.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761352 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:55.922Z,1761334555.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763147 2025-10-24T19:35:56.128Z,1761334556.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686773,-0.725834,0.038832],[0.725457,0.681128,-0.098877],[0.045319,0.096077,0.994342]] 2025-10-24T19:35:56.173Z,1761334556.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014883 2025-10-24T19:35:56.189Z,1761334556.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:56.197Z,1761334556.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 45.740421 m, bearing: 45.123441 deg, approach rate: -0.599894 m/s, LOS rate: -0.117141 deg/s, cmd heading: 43.622270 deg, new cmd heading: 43.493582 deg. 2025-10-24T19:35:56.198Z,1761334556.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759106 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:56.442Z,1761334556.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.284201 2025-10-24T19:35:56.571Z,1761334556.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:56.573Z,1761334556.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 45.512539 m, bearing: 45.078715 deg, approach rate: -0.597869 m/s, LOS rate: -0.117930 deg/s, cmd heading: 43.493583 deg, new cmd heading: 43.358733 deg. 2025-10-24T19:35:56.574Z,1761334556.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756753 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:56.677Z,1761334556.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518764 2025-10-24T19:35:56.929Z,1761334556.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771076 2025-10-24T19:35:57.008Z,1761334557.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:57.011Z,1761334557.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 45.268875 m, bearing: 45.028710 deg, approach rate: -0.557638 m/s, LOS rate: -0.115054 deg/s, cmd heading: 43.358734 deg, new cmd heading: 43.207913 deg. 2025-10-24T19:35:57.012Z,1761334557.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.754120 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:57.182Z,1761334557.182 [DAT](INFO): DAT read: Rx Time:19:35:55.9376 2025-10-24T19:35:57.183Z,1761334557.183 [DAT](INFO): Rx dataTimestamp_ set to:1761334557.182029 2025-10-24T19:35:57.184Z,1761334557.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025545 2025-10-24T19:35:57.336Z,1761334557.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693719,-0.719093,0.040730],[0.718970,0.688017,-0.098563],[0.042853,0.097658,0.994297]] 2025-10-24T19:35:57.373Z,1761334557.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:57.375Z,1761334557.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-24T19:35:57.378Z,1761334557.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.539040 m, nav range: 45.074558 m, bearing: 44.990857 deg, approach rate: -0.528275 m/s, LOS rate: -0.103354 deg/s, cmd heading: 43.207913 deg, new cmd heading: 43.093863 deg. 2025-10-24T19:35:57.379Z,1761334557.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752130 target range: 47.539040 and range: 47.80 m. 2025-10-24T19:35:57.434Z,1761334557.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275192 2025-10-24T19:35:57.691Z,1761334557.691 [DAT](INFO): DAT read: 19:35:55.9376 LVL= 15456, 24817, 18354, 26947, AGC= 65, IDX= 409, 0.11,-0.956,-2.422,-1.030,-1.479, PHS= 0.612,-0.896, 0.447, RAW= 144.3, -2.3, CAL= 148.8, -11.4, ROT= 1.2, 11.4 2025-10-24T19:35:57.693Z,1761334557.693 [DAT](INFO): got valid direction response: 19:35:55.9376 LVL= 15456, 24817, 18354, 26947, AGC= 65, IDX= 409, 0.11,-0.956,-2.422,-1.030,-1.479, PHS= 0.612,-0.896, 0.447, RAW= 144.3, -2.3, CAL= 148.8, -11.4, ROT= 1.2, 11.4 2025-10-24T19:35:57.694Z,1761334557.694 [DAT](INFO): DAT read: Bearing 1.2, 11.4 (Local) 2025-10-24T19:35:57.694Z,1761334557.694 [DAT](INFO): Local bearing/azimuth received: Bearing 1.2, 11.4 (Local) 2025-10-24T19:35:57.695Z,1761334557.695 [DAT](INFO): DAT read: Range 10 to 50 : 45.5 m (Round-trip 60.7 ms) speed 0.5 m/s 2025-10-24T19:35:57.697Z,1761334557.697 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:35:57.698Z,1761334557.698 [DAT](INFO): direction in FSK: [0.980056,0.020529,-0.197657] 2025-10-24T19:35:57.698Z,1761334557.698 [DAT](INFO): publishing direction and range info 2025-10-24T19:35:57.702Z,1761334557.702 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:35:57.702Z,1761334557.702 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:35:57.703Z,1761334557.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:35:57.740Z,1761334557.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695461,-0.717445,0.040095],[0.717315,0.689880,-0.097598],[0.042361,0.096637,0.994418]] 2025-10-24T19:35:57.867Z,1761334557.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.500000 m, deltaT: 3.780335 s, deltaX: -2.299999 m, approachRate: -0.608411 m/s, rangeRepo size: 4 2025-10-24T19:35:57.889Z,1761334557.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.251152 m, bearing: 48.179966 deg, lat: 36.779567 deg, lon: -121.859645 deg, deltaT: 3.780335 s, deltaX: -2.287888 m, approachRate: -0.605208 m/s, posRepo size: 4 2025-10-24T19:35:57.890Z,1761334557.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:35:57.897Z,1761334557.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 44.842308 m, bearing: 44.945906 deg, approach rate: 0.000000 m/s, LOS rate: -0.103354 deg/s, cmd heading: 43.093863 deg, new cmd heading: 42.941701 deg. 2025-10-24T19:35:57.899Z,1761334557.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749474 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:35:57.937Z,1761334557.937 [DAT](INFO): DAT read: user:107> 2025-10-24T19:35:57.938Z,1761334557.938 [DAT](INFO): DAT read: Tx time:19:35:57.2228 2025-10-24T19:35:57.938Z,1761334557.938 [DAT](INFO): Ping request sent. 2025-10-24T19:35:57.938Z,1761334557.938 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:35:57.938Z,1761334557.938 [DAT](INFO): publishing transmit ping time 2025-10-24T19:35:57.939Z,1761334557.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000774 2025-10-24T19:35:58.189Z,1761334558.189 [DAT](INFO): DAT read: TxSync time:19:35:57.2220 2025-10-24T19:35:58.191Z,1761334558.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252173 2025-10-24T19:35:58.232Z,1761334558.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697455,-0.715527,0.039721],[0.715408,0.691963,-0.096845],[0.041809,0.095962,0.994507]] 2025-10-24T19:35:58.353Z,1761334558.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:35:58.365Z,1761334558.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 44.528812 m, bearing: 44.886294 deg, approach rate: -0.643232 m/s, LOS rate: -0.123173 deg/s, cmd heading: 42.941700 deg, new cmd heading: 42.761606 deg. 2025-10-24T19:35:58.366Z,1761334558.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746331 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:35:58.444Z,1761334558.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505137 2025-10-24T19:35:58.646Z,1761334558.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698351,-0.714290,0.045781],[0.714456,0.691803,-0.104695],[0.043111,0.105822,0.993450]] 2025-10-24T19:35:58.678Z,1761334558.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:35:58.681Z,1761334558.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 44.354576 m, bearing: 44.853101 deg, approach rate: -0.536827 m/s, LOS rate: -0.102671 deg/s, cmd heading: 42.761605 deg, new cmd heading: 42.661634 deg. 2025-10-24T19:35:58.682Z,1761334558.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744586 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:35:58.693Z,1761334558.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754872 2025-10-24T19:35:58.945Z,1761334558.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006766 2025-10-24T19:35:59.047Z,1761334559.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701506,-0.711343,0.043367],[0.711389,0.695317,-0.102276],[0.042600,0.102598,0.993810]] 2025-10-24T19:35:59.104Z,1761334559.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:35:59.106Z,1761334559.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 44.120617 m, bearing: 44.805670 deg, approach rate: -0.549891 m/s, LOS rate: -0.112073 deg/s, cmd heading: 42.661635 deg, new cmd heading: 42.518586 deg. 2025-10-24T19:35:59.107Z,1761334559.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742089 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:35:59.197Z,1761334559.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258767 2025-10-24T19:35:59.450Z,1761334559.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511269 2025-10-24T19:35:59.486Z,1761334559.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704706,-0.708307,0.041123],[0.708248,0.698839,-0.100040],[0.042121,0.099624,0.994133]] 2025-10-24T19:35:59.518Z,1761334559.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:35:59.519Z,1761334559.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:35:59.522Z,1761334559.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 43.906250 m, bearing: 44.763045 deg, approach rate: -0.515261 m/s, LOS rate: -0.102954 deg/s, cmd heading: 42.518587 deg, new cmd heading: 42.390089 deg. 2025-10-24T19:35:59.523Z,1761334559.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739847 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:35:59.701Z,1761334559.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763377 2025-10-24T19:35:59.883Z,1761334559.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707859,-0.705188,0.040578],[0.705184,0.702213,-0.098047],[0.040647,0.098018,0.994354]] 2025-10-24T19:35:59.949Z,1761334559.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:35:59.953Z,1761334559.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014893 2025-10-24T19:35:59.955Z,1761334559.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 43.678722 m, bearing: 44.727948 deg, approach rate: -0.529559 m/s, LOS rate: -0.082113 deg/s, cmd heading: 42.390090 deg, new cmd heading: 42.284250 deg. 2025-10-24T19:35:59.957Z,1761334559.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737999 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:36:00.206Z,1761334560.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268323 2025-10-24T19:36:00.303Z,1761334560.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:36:00.306Z,1761334560.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 43.479256 m, bearing: 44.696874 deg, approach rate: -0.563438 m/s, LOS rate: -0.088177 deg/s, cmd heading: 42.284250 deg, new cmd heading: 42.190601 deg. 2025-10-24T19:36:00.307Z,1761334560.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.736365 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:36:00.458Z,1761334560.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519255 2025-10-24T19:36:00.664Z,1761334560.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711819,-0.701188,0.040620],[0.701284,0.706330,-0.096432],[0.038926,0.097128,0.994510]] 2025-10-24T19:36:00.699Z,1761334560.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:36:00.703Z,1761334560.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 43.274754 m, bearing: 44.666247 deg, approach rate: -0.516991 m/s, LOS rate: -0.077792 deg/s, cmd heading: 42.190601 deg, new cmd heading: 42.098287 deg. 2025-10-24T19:36:00.704Z,1761334560.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734754 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:36:00.709Z,1761334560.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770855 2025-10-24T19:36:00.961Z,1761334560.961 [DAT](INFO): DAT read: Rx Time:19:35:59.6849 2025-10-24T19:36:00.961Z,1761334560.961 [DAT](INFO): Rx dataTimestamp_ set to:1761334560.961034 2025-10-24T19:36:00.962Z,1761334560.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023857 2025-10-24T19:36:01.067Z,1761334561.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713619,-0.699390,0.040027],[0.699491,0.708276,-0.095168],[0.038210,0.095912,0.994656]] 2025-10-24T19:36:01.124Z,1761334561.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.25 m. 2025-10-24T19:36:01.127Z,1761334561.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.251152 m, nav range: 43.038971 m, bearing: 44.642405 deg, approach rate: -0.554578 m/s, LOS rate: -0.056386 deg/s, cmd heading: 42.098288 deg, new cmd heading: 42.026369 deg. 2025-10-24T19:36:01.128Z,1761334561.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733499 target range: 45.251152 and range: 45.50 m. 2025-10-24T19:36:01.214Z,1761334561.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275401 2025-10-24T19:36:01.470Z,1761334561.470 [DAT](INFO): DAT read: 19:35:59.6849 LVL= 20208, 26833, 17042, 28195, AGC= 64, IDX= 412, 0.14,-3.006, 1.700, 3.091, 2.667, PHS= 0.699,-0.920, 0.421, RAW= 140.8, -2.7, CAL= 145.8, -12.0, ROT= 4.2, 12.0 2025-10-24T19:36:01.471Z,1761334561.471 [DAT](INFO): got valid direction response: 19:35:59.6849 LVL= 20208, 26833, 17042, 28195, AGC= 64, IDX= 412, 0.14,-3.006, 1.700, 3.091, 2.667, PHS= 0.699,-0.920, 0.421, RAW= 140.8, -2.7, CAL= 145.8, -12.0, ROT= 4.2, 12.0 2025-10-24T19:36:01.476Z,1761334561.476 [DAT](INFO): DAT read: Bearing 4.2, 12.0 (Local) 2025-10-24T19:36:01.477Z,1761334561.477 [DAT](INFO): Local bearing/azimuth received: Bearing 4.2, 12.0 (Local) 2025-10-24T19:36:01.478Z,1761334561.478 [DAT](INFO): DAT read: Range 10 to 50 : 43.4 m (Round-trip 57.9 ms) speed 0.4 m/s 2025-10-24T19:36:01.479Z,1761334561.479 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:36:01.479Z,1761334561.479 [DAT](INFO): direction in FSK: [0.975521,0.071638,-0.207912] 2025-10-24T19:36:01.480Z,1761334561.480 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:01.483Z,1761334561.483 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:36:01.483Z,1761334561.483 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:36:01.483Z,1761334561.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:36:01.508Z,1761334561.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714985,-0.697934,0.041041],[0.698139,0.709590,-0.095312],[0.037400,0.096799,0.994601]] 2025-10-24T19:36:01.580Z,1761334561.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.400002 m, deltaT: 3.778931 s, deltaX: -2.099998 m, approachRate: -0.555712 m/s, rangeRepo size: 4 2025-10-24T19:36:01.582Z,1761334561.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.162708 m, bearing: 49.635158 deg, lat: 36.779564 deg, lon: -121.859640 deg, deltaT: 3.778931 s, deltaX: -2.088444 m, approachRate: -0.552655 m/s, posRepo size: 4 2025-10-24T19:36:01.583Z,1761334561.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:01.590Z,1761334561.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 42.882278 m, bearing: 45.335635 deg, approach rate: 0.000000 m/s, LOS rate: -0.056386 deg/s, cmd heading: 42.026369 deg, new cmd heading: 41.950512 deg. 2025-10-24T19:36:01.591Z,1761334561.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732175 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:01.717Z,1761334561.717 [DAT](INFO): DAT read: user:108> 2025-10-24T19:36:01.719Z,1761334561.719 [DAT](INFO): DAT read: Tx time:19:36:01.0229 2025-10-24T19:36:01.719Z,1761334561.719 [DAT](INFO): Ping request sent. 2025-10-24T19:36:01.719Z,1761334561.719 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:36:01.719Z,1761334561.719 [DAT](INFO): publishing transmit ping time 2025-10-24T19:36:01.720Z,1761334561.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001036 2025-10-24T19:36:01.945Z,1761334561.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716421,-0.696406,0.041941],[0.696703,0.710976,-0.095484],[0.036677,0.097627,0.994547]] 2025-10-24T19:36:01.970Z,1761334561.970 [DAT](INFO): DAT read: TxSync time:19:36:01.0221 2025-10-24T19:36:01.971Z,1761334561.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251785 2025-10-24T19:36:02.057Z,1761334562.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:02.059Z,1761334562.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:02.067Z,1761334562.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 42.609749 m, bearing: 45.324420 deg, approach rate: -0.559565 m/s, LOS rate: -0.023174 deg/s, cmd heading: 41.950513 deg, new cmd heading: 41.916653 deg. 2025-10-24T19:36:02.072Z,1761334562.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731584 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:02.221Z,1761334562.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501527 2025-10-24T19:36:02.338Z,1761334562.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717532,-0.695227,0.042511],[0.695585,0.712056,-0.095596],[0.036191,0.098163,0.994512]] 2025-10-24T19:36:02.373Z,1761334562.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:02.375Z,1761334562.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 42.440811 m, bearing: 45.317753 deg, approach rate: -0.539540 m/s, LOS rate: -0.021379 deg/s, cmd heading: 41.916652 deg, new cmd heading: 41.896570 deg. 2025-10-24T19:36:02.376Z,1761334562.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731233 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:02.473Z,1761334562.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754105 2025-10-24T19:36:02.729Z,1761334562.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009698 2025-10-24T19:36:02.741Z,1761334562.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717462,-0.695518,0.038774],[0.695597,0.712339,-0.093371],[0.037321,0.093961,0.994876]] 2025-10-24T19:36:02.764Z,1761334562.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:02.766Z,1761334562.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 42.235081 m, bearing: 45.309575 deg, approach rate: -0.526104 m/s, LOS rate: -0.021014 deg/s, cmd heading: 41.896572 deg, new cmd heading: 41.871920 deg. 2025-10-24T19:36:02.768Z,1761334562.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730803 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:02.982Z,1761334562.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262182 2025-10-24T19:36:03.005Z,1761334563.005 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:36:03.150Z,1761334563.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717739,-0.695050,0.041913],[0.695352,0.712288,-0.095561],[0.036566,0.097732,0.994541]] 2025-10-24T19:36:03.195Z,1761334563.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:03.199Z,1761334563.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 42.003941 m, bearing: 45.303632 deg, approach rate: -0.535338 m/s, LOS rate: -0.013841 deg/s, cmd heading: 41.871921 deg, new cmd heading: 41.853993 deg. 2025-10-24T19:36:03.199Z,1761334563.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730490 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:03.233Z,1761334563.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513690 2025-10-24T19:36:03.485Z,1761334563.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765587 2025-10-24T19:36:03.555Z,1761334563.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719521,-0.693125,0.043218],[0.693581,0.714055,-0.095242],[0.035155,0.098504,0.994516]] 2025-10-24T19:36:03.577Z,1761334563.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:03.579Z,1761334563.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 41.801807 m, bearing: 45.299072 deg, approach rate: -0.531045 m/s, LOS rate: -0.012038 deg/s, cmd heading: 41.853992 deg, new cmd heading: 41.840246 deg. 2025-10-24T19:36:03.580Z,1761334563.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730250 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:03.737Z,1761334563.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017652 2025-10-24T19:36:03.965Z,1761334563.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720773,-0.691808,0.043456],[0.692308,0.715330,-0.094938],[0.034593,0.098514,0.994534]] 2025-10-24T19:36:03.989Z,1761334563.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269715 2025-10-24T19:36:04.008Z,1761334564.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:36:04.026Z,1761334564.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:04.029Z,1761334564.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 41.558990 m, bearing: 45.305279 deg, approach rate: -0.539388 m/s, LOS rate: 0.013870 deg/s, cmd heading: 41.840246 deg, new cmd heading: 41.858978 deg. 2025-10-24T19:36:04.030Z,1761334564.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730577 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:04.241Z,1761334564.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521726 2025-10-24T19:36:04.356Z,1761334564.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722876,-0.689576,0.043991],[0.690157,0.717449,-0.094606],[0.033676,0.098749,0.994542]] 2025-10-24T19:36:04.374Z,1761334564.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:04.376Z,1761334564.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:04.379Z,1761334564.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 41.370907 m, bearing: 45.310920 deg, approach rate: -0.537566 m/s, LOS rate: 0.016196 deg/s, cmd heading: 41.858978 deg, new cmd heading: 41.875978 deg. 2025-10-24T19:36:04.380Z,1761334564.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730874 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:04.494Z,1761334564.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774389 2025-10-24T19:36:04.745Z,1761334564.745 [DAT](INFO): DAT read: Rx Time:19:36:03.4823 2025-10-24T19:36:04.745Z,1761334564.745 [DAT](INFO): Rx dataTimestamp_ set to:1761334564.744965 2025-10-24T19:36:04.746Z,1761334564.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026627 2025-10-24T19:36:04.762Z,1761334564.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723871,-0.688511,0.044310],[0.689130,0.718431,-0.094647],[0.033332,0.099047,0.994524]] 2025-10-24T19:36:04.797Z,1761334564.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:04.804Z,1761334564.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 41.152920 m, bearing: 45.317954 deg, approach rate: -0.517392 m/s, LOS rate: 0.016783 deg/s, cmd heading: 41.875979 deg, new cmd heading: 41.897192 deg. 2025-10-24T19:36:04.805Z,1761334564.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731244 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:04.997Z,1761334564.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277633 2025-10-24T19:36:05.163Z,1761334565.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725647,-0.686653,0.044097],[0.687278,0.720253,-0.094260],[0.032963,0.098707,0.994570]] 2025-10-24T19:36:05.210Z,1761334565.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m. 2025-10-24T19:36:05.213Z,1761334565.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.162708 m, nav range: 40.913589 m, bearing: 45.323012 deg, approach rate: -0.579783 m/s, LOS rate: 0.012325 deg/s, cmd heading: 41.897193 deg, new cmd heading: 41.912457 deg. 2025-10-24T19:36:05.214Z,1761334565.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731510 target range: 43.162708 and range: 43.40 m. 2025-10-24T19:36:05.256Z,1761334565.256 [DAT](INFO): DAT read: 19:36:03.4823 LVL= 16272, 24049, 16162, 27635, AGC= 62, IDX= 417, 0.32,-1.301,-2.632,-1.580,-1.837, PHS= 0.624,-0.749, 0.253, RAW= 134.9, -2.1, CAL= 140.3, -11.7, ROT= 9.7, 11.7 2025-10-24T19:36:05.257Z,1761334565.257 [DAT](INFO): got valid direction response: 19:36:03.4823 LVL= 16272, 24049, 16162, 27635, AGC= 62, IDX= 417, 0.32,-1.301,-2.632,-1.580,-1.837, PHS= 0.624,-0.749, 0.253, RAW= 134.9, -2.1, CAL= 140.3, -11.7, ROT= 9.7, 11.7 2025-10-24T19:36:05.258Z,1761334565.258 [DAT](INFO): DAT read: Bearing 9.7, 11.7 (Local) 2025-10-24T19:36:05.258Z,1761334565.258 [DAT](INFO): Local bearing/azimuth received: Bearing 9.7, 11.7 (Local) 2025-10-24T19:36:05.259Z,1761334565.259 [DAT](INFO): DAT read: Range 10 to 50 : 41.4 m (Round-trip 55.2 ms) speed 0.4 m/s 2025-10-24T19:36:05.260Z,1761334565.260 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:36:05.261Z,1761334565.261 [DAT](INFO): direction in FSK: [0.965223,0.164989,-0.202787] 2025-10-24T19:36:05.262Z,1761334565.262 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:05.265Z,1761334565.265 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:36:05.265Z,1761334565.265 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:36:05.266Z,1761334565.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:36:05.501Z,1761334565.501 [DAT](INFO): DAT read: user:109> 2025-10-24T19:36:05.501Z,1761334565.501 [DAT](INFO): DAT read: Tx time:19:36:04.7729 2025-10-24T19:36:05.502Z,1761334565.502 [DAT](INFO): Ping request sent. 2025-10-24T19:36:05.502Z,1761334565.502 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:36:05.502Z,1761334565.502 [DAT](INFO): publishing transmit ping time 2025-10-24T19:36:05.503Z,1761334565.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-24T19:36:05.580Z,1761334565.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725935,-0.686306,0.044737],[0.686981,0.720473,-0.094737],[0.032787,0.099506,0.994497]] 2025-10-24T19:36:05.622Z,1761334565.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.784098 s, deltaX: -2.000000 m, approachRate: -0.528528 m/s, rangeRepo size: 4 2025-10-24T19:36:05.624Z,1761334565.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.173683 m, bearing: 54.173572 deg, lat: 36.779550 deg, lon: -121.859627 deg, deltaT: 3.784098 s, deltaX: -1.989025 m, approachRate: -0.525627 m/s, posRepo size: 4 2025-10-24T19:36:05.625Z,1761334565.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:05.629Z,1761334565.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 40.501442 m, bearing: 48.143437 deg, approach rate: 0.000000 m/s, LOS rate: 0.012325 deg/s, cmd heading: 41.912455 deg, new cmd heading: 41.927659 deg. 2025-10-24T19:36:05.631Z,1761334565.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731776 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:05.754Z,1761334565.754 [DAT](INFO): DAT read: TxSync time:19:36:04.7721 2025-10-24T19:36:05.755Z,1761334565.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252633 2025-10-24T19:36:06.005Z,1761334566.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502962 2025-10-24T19:36:06.047Z,1761334566.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:06.050Z,1761334566.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 40.240681 m, bearing: 48.156504 deg, approach rate: -0.612852 m/s, LOS rate: 0.030909 deg/s, cmd heading: 41.927659 deg, new cmd heading: 41.967114 deg. 2025-10-24T19:36:06.052Z,1761334566.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732464 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:06.259Z,1761334566.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756712 2025-10-24T19:36:06.376Z,1761334566.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724964,-0.687760,0.037593],[0.687905,0.720197,-0.090010],[0.034830,0.091115,0.995231]] 2025-10-24T19:36:06.409Z,1761334566.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:06.411Z,1761334566.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:06.414Z,1761334566.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 40.029854 m, bearing: 48.166803 deg, approach rate: -0.578826 m/s, LOS rate: 0.028424 deg/s, cmd heading: 41.967114 deg, new cmd heading: 41.998172 deg. 2025-10-24T19:36:06.415Z,1761334566.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733006 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:06.510Z,1761334566.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007856 2025-10-24T19:36:06.761Z,1761334566.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258803 2025-10-24T19:36:06.817Z,1761334566.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:06.821Z,1761334566.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 39.793079 m, bearing: 48.178499 deg, approach rate: -0.583667 m/s, LOS rate: 0.029003 deg/s, cmd heading: 41.998174 deg, new cmd heading: 42.033471 deg. 2025-10-24T19:36:06.822Z,1761334566.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733622 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:07.013Z,1761334567.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511263 2025-10-24T19:36:07.186Z,1761334567.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723996,-0.688513,0.042189],[0.688922,0.718623,-0.094698],[0.034883,0.097626,0.994612]] 2025-10-24T19:36:07.233Z,1761334567.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:07.238Z,1761334567.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 39.549179 m, bearing: 48.183385 deg, approach rate: -0.585402 m/s, LOS rate: 0.011801 deg/s, cmd heading: 42.033473 deg, new cmd heading: 42.048223 deg. 2025-10-24T19:36:07.239Z,1761334567.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733880 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:07.265Z,1761334567.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762985 2025-10-24T19:36:07.517Z,1761334567.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014853 2025-10-24T19:36:07.596Z,1761334567.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723897,-0.688456,0.044737],[0.689043,0.718221,-0.096839],[0.034538,0.100928,0.994294]] 2025-10-24T19:36:07.618Z,1761334567.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:07.621Z,1761334567.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 39.323967 m, bearing: 48.187906 deg, approach rate: -0.586101 m/s, LOS rate: 0.011831 deg/s, cmd heading: 42.048222 deg, new cmd heading: 42.061861 deg. 2025-10-24T19:36:07.621Z,1761334567.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734118 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:07.770Z,1761334567.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267810 2025-10-24T19:36:08.021Z,1761334568.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519016 2025-10-24T19:36:08.033Z,1761334568.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724634,-0.687629,0.045527],[0.688267,0.718827,-0.097858],[0.034564,0.102246,0.994158]] 2025-10-24T19:36:08.103Z,1761334568.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:08.110Z,1761334568.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 39.036957 m, bearing: 48.175253 deg, approach rate: -0.590861 m/s, LOS rate: -0.026239 deg/s, cmd heading: 42.061862 deg, new cmd heading: 42.023626 deg. 2025-10-24T19:36:08.111Z,1761334568.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.733451 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:08.274Z,1761334568.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772152 2025-10-24T19:36:08.525Z,1761334568.525 [DAT](INFO): DAT read: Rx Time:19:36:07.2293 2025-10-24T19:36:08.526Z,1761334568.526 [DAT](INFO): Rx dataTimestamp_ set to:1761334568.525302 2025-10-24T19:36:08.526Z,1761334568.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024242 2025-10-24T19:36:08.579Z,1761334568.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:08.581Z,1761334568.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:08.585Z,1761334568.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 38.743324 m, bearing: 48.162115 deg, approach rate: -0.614068 m/s, LOS rate: -0.027685 deg/s, cmd heading: 42.023627 deg, new cmd heading: 41.983913 deg. 2025-10-24T19:36:08.586Z,1761334568.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732758 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:08.777Z,1761334568.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274936 2025-10-24T19:36:08.932Z,1761334568.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727208,-0.684936,0.045072],[0.685540,0.721390,-0.098141],[0.034706,0.102268,0.994151]] 2025-10-24T19:36:09.014Z,1761334569.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.17 m. 2025-10-24T19:36:09.022Z,1761334569.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.173683 m, nav range: 38.519001 m, bearing: 48.153196 deg, approach rate: -0.525962 m/s, LOS rate: -0.021035 deg/s, cmd heading: 41.983913 deg, new cmd heading: 41.956999 deg. 2025-10-24T19:36:09.023Z,1761334569.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.732288 target range: 41.173683 and range: 41.40 m. 2025-10-24T19:36:09.035Z,1761334569.035 [DAT](INFO): DAT read: 19:36:07.2293 LVL= 18672, 30001, 17906, 29955, AGC= 65, IDX= 404, 0.05, 2.016, 0.521, 1.699, 1.404, PHS= 0.700,-0.836, 0.292, RAW= 135.1, -2.3, CAL= 140.5, -11.9, ROT= 9.5, 11.9 2025-10-24T19:36:09.036Z,1761334569.036 [DAT](INFO): got valid direction response: 19:36:07.2293 LVL= 18672, 30001, 17906, 29955, AGC= 65, IDX= 404, 0.05, 2.016, 0.521, 1.699, 1.404, PHS= 0.700,-0.836, 0.292, RAW= 135.1, -2.3, CAL= 140.5, -11.9, ROT= 9.5, 11.9 2025-10-24T19:36:09.037Z,1761334569.037 [DAT](INFO): DAT read: Bearing 9.5, 11.9 (Local) 2025-10-24T19:36:09.037Z,1761334569.037 [DAT](INFO): Local bearing/azimuth received: Bearing 9.5, 11.9 (Local) 2025-10-24T19:36:09.039Z,1761334569.039 [DAT](INFO): DAT read: Range 10 to 50 : 39.2 m (Round-trip 52.3 ms) speed 0.5 m/s 2025-10-24T19:36:09.039Z,1761334569.039 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:36:09.040Z,1761334569.040 [DAT](INFO): direction in FSK: [0.965089,0.161501,-0.206204] 2025-10-24T19:36:09.041Z,1761334569.041 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:09.044Z,1761334569.044 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:36:09.044Z,1761334569.044 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:36:09.045Z,1761334569.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:36:09.281Z,1761334569.281 [DAT](INFO): DAT read: user:110> 2025-10-24T19:36:09.281Z,1761334569.281 [DAT](INFO): DAT read: Tx time:19:36:08.5729 2025-10-24T19:36:09.282Z,1761334569.282 [DAT](INFO): Ping request sent. 2025-10-24T19:36:09.282Z,1761334569.282 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:36:09.282Z,1761334569.282 [DAT](INFO): publishing transmit ping time 2025-10-24T19:36:09.283Z,1761334569.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-24T19:36:09.333Z,1761334569.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727811,-0.684279,0.045314],[0.684913,0.721986,-0.098130],[0.034432,0.102456,0.994141]] 2025-10-24T19:36:09.392Z,1761334569.392 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-24T19:36:09.392Z,1761334569.392 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T19:36:09.393Z,1761334569.393 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-24T19:36:09.394Z,1761334569.394 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.200001 m (mode 2.000000 count ). 2025-10-24T19:36:09.394Z,1761334569.394 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-24T19:36:09.394Z,1761334569.394 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-24T19:36:09.417Z,1761334569.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.200001 m, deltaT: 3.780001 s, deltaX: -2.200001 m, approachRate: -0.582011 m/s, rangeRepo size: 4 2025-10-24T19:36:09.424Z,1761334569.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.985779 m, bearing: 53.864706 deg, lat: 36.779541 deg, lon: -121.859619 deg, deltaT: 3.780001 s, deltaX: -2.187904 m, approachRate: -0.578811 m/s, posRepo size: 4 2025-10-24T19:36:09.425Z,1761334569.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:09.427Z,1761334569.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 38.151402 m, bearing: 49.935634 deg, approach rate: 0.000000 m/s, LOS rate: -0.021035 deg/s, cmd heading: 41.956998 deg, new cmd heading: 41.931503 deg. 2025-10-24T19:36:09.431Z,1761334569.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.731843 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:09.533Z,1761334569.533 [DAT](INFO): DAT read: TxSync time:19:36:08.5721 2025-10-24T19:36:09.535Z,1761334569.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252484 2025-10-24T19:36:09.731Z,1761334569.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728706,-0.683279,0.046027],[0.683978,0.722812,-0.098570],[0.034082,0.103310,0.994065]] 2025-10-24T19:36:09.773Z,1761334569.773 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-24T19:36:09.773Z,1761334569.773 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-24T19:36:09.775Z,1761334569.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:09.779Z,1761334569.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 37.918598 m, bearing: 49.916705 deg, approach rate: -0.640973 m/s, LOS rate: -0.052436 deg/s, cmd heading: 41.931501 deg, new cmd heading: 41.874366 deg. 2025-10-24T19:36:09.780Z,1761334569.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730846 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:09.785Z,1761334569.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503408 2025-10-24T19:36:10.037Z,1761334570.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754954 2025-10-24T19:36:10.139Z,1761334570.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727431,-0.685266,0.035407],[0.685309,0.722939,-0.087811],[0.034577,0.088141,0.995508]] 2025-10-24T19:36:10.178Z,1761334570.178 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-24T19:36:10.178Z,1761334570.178 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-24T19:36:10.181Z,1761334570.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:10.183Z,1761334570.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 37.661621 m, bearing: 49.885747 deg, approach rate: -0.633637 m/s, LOS rate: -0.076855 deg/s, cmd heading: 41.874367 deg, new cmd heading: 41.780859 deg. 2025-10-24T19:36:10.186Z,1761334570.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729214 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:10.289Z,1761334570.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007259 2025-10-24T19:36:10.541Z,1761334570.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258969 2025-10-24T19:36:10.541Z,1761334570.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727535,-0.685078,0.036901],[0.685226,0.722919,-0.088618],[0.034034,0.089758,0.995382]] 2025-10-24T19:36:10.583Z,1761334570.583 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-24T19:36:10.588Z,1761334570.588 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T19:36:10.588Z,1761334570.588 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-24T19:36:10.588Z,1761334570.588 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T19:36:10.589Z,1761334570.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:10.591Z,1761334570.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:10.598Z,1761334570.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 37.422192 m, bearing: 49.856582 deg, approach rate: -0.584264 m/s, LOS rate: -0.071624 deg/s, cmd heading: 41.780858 deg, new cmd heading: 41.692804 deg. 2025-10-24T19:36:10.598Z,1761334570.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.727677 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:10.793Z,1761334570.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510973 2025-10-24T19:36:10.948Z,1761334570.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727730,-0.684753,0.039022],[0.685073,0.722981,-0.089296],[0.032934,0.091716,0.995240]] 2025-10-24T19:36:10.973Z,1761334570.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:10.975Z,1761334570.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 37.165596 m, bearing: 49.825026 deg, approach rate: -0.671664 m/s, LOS rate: -0.083171 deg/s, cmd heading: 41.692803 deg, new cmd heading: 41.597482 deg. 2025-10-24T19:36:11.019Z,1761334571.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.726013 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:11.048Z,1761334571.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765780 2025-10-24T19:36:11.297Z,1761334571.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014904 2025-10-24T19:36:11.418Z,1761334571.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:11.421Z,1761334571.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 36.887733 m, bearing: 49.780178 deg, approach rate: -0.624841 m/s, LOS rate: -0.101613 deg/s, cmd heading: 41.597481 deg, new cmd heading: 41.461922 deg. 2025-10-24T19:36:11.422Z,1761334571.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.723647 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:11.549Z,1761334571.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267234 2025-10-24T19:36:11.758Z,1761334571.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725956,-0.686216,0.045776],[0.687089,0.720761,-0.091718],[0.029945,0.098036,0.994732]] 2025-10-24T19:36:11.778Z,1761334571.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:11.794Z,1761334571.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 36.665493 m, bearing: 49.742932 deg, approach rate: -0.617839 m/s, LOS rate: -0.104172 deg/s, cmd heading: 41.461922 deg, new cmd heading: 41.349508 deg. 2025-10-24T19:36:11.796Z,1761334571.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721685 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:11.816Z,1761334571.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534340 2025-10-24T19:36:12.055Z,1761334572.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773131 2025-10-24T19:36:12.155Z,1761334572.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725047,-0.686935,0.049269],[0.688106,0.719596,-0.093233],[0.028592,0.101500,0.994425]] 2025-10-24T19:36:12.211Z,1761334572.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:12.225Z,1761334572.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 36.416397 m, bearing: 49.698701 deg, approach rate: -0.573824 m/s, LOS rate: -0.102588 deg/s, cmd heading: 41.349508 deg, new cmd heading: 41.215908 deg. 2025-10-24T19:36:12.226Z,1761334572.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719353 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:12.305Z,1761334572.305 [DAT](INFO): DAT read: Rx Time:19:36:11.0264 2025-10-24T19:36:12.306Z,1761334572.306 [DAT](INFO): Rx dataTimestamp_ set to:1761334572.305685 2025-10-24T19:36:12.306Z,1761334572.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024642 2025-10-24T19:36:12.557Z,1761334572.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274896 2025-10-24T19:36:12.567Z,1761334572.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724810,-0.687051,0.051099],[0.688431,0.719395,-0.092379],[0.026708,0.102136,0.994412]] 2025-10-24T19:36:12.588Z,1761334572.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:12.591Z,1761334572.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 36.182804 m, bearing: 49.656527 deg, approach rate: -0.619797 m/s, LOS rate: -0.112625 deg/s, cmd heading: 41.215909 deg, new cmd heading: 41.088569 deg. 2025-10-24T19:36:12.592Z,1761334572.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717131 target range: 38.985779 and range: 39.20 m. 2025-10-24T19:36:12.812Z,1761334572.812 [DAT](INFO): DAT read: Range 10 to 50 : 36.9 m (Round-trip 49.3 ms) speed 0.6 m/s 2025-10-24T19:36:12.812Z,1761334572.812 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:36:12.813Z,1761334572.813 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:36:12.813Z,1761334572.813 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:36:12.813Z,1761334572.813 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:36:12.969Z,1761334572.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724662,-0.687074,0.052868],[0.688639,0.719217,-0.092210],[0.025332,0.103228,0.994335]] 2025-10-24T19:36:13.063Z,1761334573.063 [DAT](INFO): DAT read: user:111> 2025-10-24T19:36:13.066Z,1761334573.066 [DAT](INFO): DAT read: Tx time:19:36:12.3230 2025-10-24T19:36:13.067Z,1761334573.067 [DAT](INFO): Ping request sent. 2025-10-24T19:36:13.068Z,1761334573.068 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:36:13.069Z,1761334573.069 [DAT](INFO): publishing transmit ping time 2025-10-24T19:36:13.071Z,1761334573.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003169 2025-10-24T19:36:13.086Z,1761334573.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:13.093Z,1761334573.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 3.781851 s, deltaX: -2.299999 m, approachRate: -0.608168 m/s, rangeRepo size: 4 2025-10-24T19:36:13.094Z,1761334573.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:13.102Z,1761334573.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 35.931690 m, bearing: 49.610482 deg, approach rate: -0.497821 m/s, LOS rate: -0.091919 deg/s, cmd heading: 41.088570 deg, new cmd heading: 40.949472 deg. 2025-10-24T19:36:13.103Z,1761334573.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714703 target range: 38.985779 and range: 36.90 m. 2025-10-24T19:36:13.313Z,1761334573.313 [DAT](INFO): DAT read: TxSync time:19:36:12.3222 2025-10-24T19:36:13.314Z,1761334573.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246775 2025-10-24T19:36:13.393Z,1761334573.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725655,-0.685960,0.053700],[0.687636,0.720261,-0.091543],[0.024117,0.103354,0.994352]] 2025-10-24T19:36:13.448Z,1761334573.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:13.451Z,1761334573.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 35.672741 m, bearing: 49.566873 deg, approach rate: -0.728884 m/s, LOS rate: -0.123641 deg/s, cmd heading: 40.949474 deg, new cmd heading: 40.817697 deg. 2025-10-24T19:36:13.453Z,1761334573.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712403 target range: 38.985779 and range: 36.90 m. 2025-10-24T19:36:13.565Z,1761334573.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497970 2025-10-24T19:36:13.805Z,1761334573.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726512,-0.685768,0.043617],[0.686775,0.722540,-0.079217],[0.022809,0.087507,0.995903]] 2025-10-24T19:36:13.818Z,1761334573.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750555 2025-10-24T19:36:13.862Z,1761334573.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:13.873Z,1761334573.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 35.440792 m, bearing: 49.527728 deg, approach rate: -0.559606 m/s, LOS rate: -0.095062 deg/s, cmd heading: 40.817695 deg, new cmd heading: 40.699490 deg. 2025-10-24T19:36:13.874Z,1761334573.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.710340 target range: 38.985779 and range: 36.90 m. 2025-10-24T19:36:14.072Z,1761334574.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004554 2025-10-24T19:36:14.209Z,1761334574.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726825,-0.685317,0.045449],[0.686489,0.722816,-0.079184],[0.021416,0.088753,0.995823]] 2025-10-24T19:36:14.283Z,1761334574.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:14.297Z,1761334574.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 35.204212 m, bearing: 49.500986 deg, approach rate: -0.561753 m/s, LOS rate: -0.063924 deg/s, cmd heading: 40.699489 deg, new cmd heading: 40.618725 deg. 2025-10-24T19:36:14.298Z,1761334574.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708930 target range: 38.985779 and range: 36.90 m. 2025-10-24T19:36:14.321Z,1761334574.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254119 2025-10-24T19:36:14.573Z,1761334574.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505887 2025-10-24T19:36:14.608Z,1761334574.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726608,-0.685358,0.048220],[0.686747,0.722404,-0.080688],[0.020466,0.091743,0.995572]] 2025-10-24T19:36:14.684Z,1761334574.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:14.705Z,1761334574.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 34.994438 m, bearing: 49.476840 deg, approach rate: -0.539951 m/s, LOS rate: -0.062524 deg/s, cmd heading: 40.618725 deg, new cmd heading: 40.545852 deg. 2025-10-24T19:36:14.706Z,1761334574.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.707659 target range: 38.985779 and range: 36.90 m. 2025-10-24T19:36:14.825Z,1761334574.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757915 2025-10-24T19:36:15.012Z,1761334575.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727053,-0.684606,0.052032],[0.686348,0.722746,-0.081019],[0.017860,0.094618,0.995353]] 2025-10-24T19:36:15.037Z,1761334575.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:15.045Z,1761334575.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 34.763035 m, bearing: 49.450080 deg, approach rate: -0.633224 m/s, LOS rate: -0.073715 deg/s, cmd heading: 40.545854 deg, new cmd heading: 40.465039 deg. 2025-10-24T19:36:15.048Z,1761334575.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706248 target range: 38.985779 and range: 36.90 m. 2025-10-24T19:36:15.082Z,1761334575.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012181 2025-10-24T19:36:15.329Z,1761334575.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261922 2025-10-24T19:36:15.414Z,1761334575.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727300,-0.684093,0.055245],[0.686152,0.722984,-0.080559],[0.015168,0.096497,0.995218]] 2025-10-24T19:36:15.515Z,1761334575.515 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:15.519Z,1761334575.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m. 2025-10-24T19:36:15.523Z,1761334575.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.985779 m, nav range: 34.506474 m, bearing: 49.445855 deg, approach rate: -0.532483 m/s, LOS rate: -0.008833 deg/s, cmd heading: 40.465039 deg, new cmd heading: 40.452272 deg. 2025-10-24T19:36:15.524Z,1761334575.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.706025 target range: 38.985779 and range: 36.90 m. 2025-10-24T19:36:15.582Z,1761334575.582 [DAT](INFO): DAT read: Rx Time:19:36:14.4985 2025-10-24T19:36:15.583Z,1761334575.583 [DAT](INFO): Rx dataTimestamp_ set to:1761334575.582662 2025-10-24T19:36:15.585Z,1761334575.585 [DAT](INFO): DAT read: Bearing 10.7, 8.0 (Local) 2025-10-24T19:36:15.585Z,1761334575.585 [DAT](INFO): Local bearing/azimuth received: Bearing 10.7, 8.0 (Local) 2025-10-24T19:36:15.587Z,1761334575.587 [DAT](INFO): DAT read: Range 10 to 50 : 34.8 m (trip time 23.2 ms) speed 0.5 2025-10-24T19:36:15.592Z,1761334575.592 [DAT](INFO): DAT read: 19:36:14.4985 LVL= 15456, 15857, 17330, 22899, AGC= 64, IDX= 150, 0.30,-0.801,-2.323,-1.156,-1.369, PHS= 0.656,-0.907, 0.209, RAW= 133.9, 0.6, CAL= 139.3, -8.0, ROT= 10.7, 8.0 2025-10-24T19:36:15.593Z,1761334575.593 [DAT](INFO): got valid direction response: 19:36:14.4985 LVL= 15456, 15857, 17330, 22899, AGC= 64, IDX= 150, 0.30,-0.801,-2.323,-1.156,-1.369, PHS= 0.656,-0.907, 0.209, RAW= 133.9, 0.6, CAL= 139.3, -8.0, ROT= 10.7, 8.0 2025-10-24T19:36:15.594Z,1761334575.594 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:36:15.595Z,1761334575.595 [DAT](INFO): direction in FSK: [0.973050,0.183860,-0.139173] 2025-10-24T19:36:15.595Z,1761334575.595 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:15.607Z,1761334575.607 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.540128 2025-10-24T19:36:15.814Z,1761334575.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728711,-0.682372,0.057865],[0.684713,0.724492,-0.079239],[0.012148,0.097364,0.995175]] 2025-10-24T19:36:15.833Z,1761334575.833 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766268 2025-10-24T19:36:15.881Z,1761334575.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 2.772507 s, deltaX: -2.100002 m, approachRate: -0.757438 m/s, rangeRepo size: 4 2025-10-24T19:36:15.883Z,1761334575.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.609962 m, bearing: 54.620138 deg, lat: 36.779524 deg, lon: -121.859597 deg, deltaT: 6.554358 s, deltaX: -4.375816 m, approachRate: -0.667619 m/s, posRepo size: 4 2025-10-24T19:36:15.888Z,1761334575.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.61 m. 2025-10-24T19:36:15.894Z,1761334575.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.609962 m, nav range: 34.679832 m, bearing: 53.811226 deg, approach rate: 0.000000 m/s, LOS rate: -0.008833 deg/s, cmd heading: 40.452273 deg, new cmd heading: 40.442701 deg. 2025-10-24T19:36:15.895Z,1761334575.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705858 target range: 34.609962 and range: 34.80 m. 2025-10-24T19:36:16.091Z,1761334576.091 [DAT](INFO): DAT read: Rx Time:19:36:14.9982 2025-10-24T19:36:16.093Z,1761334576.093 [DAT](INFO): Rx dataTimestamp_ set to:1761334576.092254 2025-10-24T19:36:16.098Z,1761334576.098 [DAT](INFO): DAT read: Bearing 11.9, 6.7 (Local) 2025-10-24T19:36:16.099Z,1761334576.099 [DAT](INFO): Local bearing/azimuth received: Bearing 11.9, 6.7 (Local) 2025-10-24T19:36:16.110Z,1761334576.110 [DAT](INFO): DAT read: Range 10 to 50 : 34.4 m (trip time 22.9 ms) speed 0.5 2025-10-24T19:36:16.115Z,1761334576.115 [DAT](INFO): DAT read: 19:36:14.9982 LVL= 15088, 23793, 16242, 25475, AGC= 62, IDX= 500,-0.41, 1.748, 0.253, 1.363, 1.198, PHS= 0.638,-0.898, 0.162, RAW= 132.4, 1.5, CAL= 138.1, -6.7, ROT= 11.9, 6.7 2025-10-24T19:36:16.147Z,1761334576.147 [DAT](INFO): got valid direction response: 19:36:14.9982 LVL= 15088, 23793, 16242, 25475, AGC= 62, IDX= 500,-0.41, 1.748, 0.253, 1.363, 1.198, PHS= 0.638,-0.898, 0.162, RAW= 132.4, 1.5, CAL= 138.1, -6.7, ROT= 11.9, 6.7 2025-10-24T19:36:16.147Z,1761334576.147 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-24T19:36:16.154Z,1761334576.154 [DAT](INFO): direction in FSK: [0.971826,0.204796,-0.116671] 2025-10-24T19:36:16.154Z,1761334576.154 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:16.180Z,1761334576.180 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.113238 2025-10-24T19:36:16.219Z,1761334576.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730610,-0.680178,0.059729],[0.682725,0.726480,-0.078190],[0.009791,0.097905,0.995148]] 2025-10-24T19:36:16.337Z,1761334576.337 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.269979 2025-10-24T19:36:16.361Z,1761334576.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.509592 s, deltaX: -0.399998 m, approachRate: -0.784937 m/s, rangeRepo size: 4 2025-10-24T19:36:16.368Z,1761334576.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.212116 m, bearing: 55.536417 deg, lat: 36.779521 deg, lon: -121.859596 deg, deltaT: 0.509592 s, deltaX: -0.397846 m, approachRate: -0.780715 m/s, posRepo size: 4 2025-10-24T19:36:16.370Z,1761334576.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m. 2025-10-24T19:36:16.379Z,1761334576.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.212116 m, nav range: 34.261597 m, bearing: 54.453472 deg, approach rate: 0.000000 m/s, LOS rate: -0.008833 deg/s, cmd heading: 40.442701 deg, new cmd heading: 40.430124 deg. 2025-10-24T19:36:16.384Z,1761334576.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.705639 target range: 34.212116 and range: 34.40 m. 2025-10-24T19:36:16.591Z,1761334576.591 [DAT](INFO): DAT read: Rx Time:19:36:15.4980 2025-10-24T19:36:16.591Z,1761334576.591 [DAT](INFO): Rx dataTimestamp_ set to:1761334576.590860 2025-10-24T19:36:16.593Z,1761334576.593 [DAT](INFO): DAT read: Bearing 12.8, 5.9 (Local) 2025-10-24T19:36:16.593Z,1761334576.593 [DAT](INFO): Local bearing/azimuth received: Bearing 12.8, 5.9 (Local) 2025-10-24T19:36:16.595Z,1761334576.595 [DAT](INFO): DAT read: Range 10 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 2025-10-24T19:36:16.601Z,1761334576.601 [DAT](INFO): DAT read: 19:36:15.4980 LVL= 17840, 24817, 19794, 28659, AGC= 498,-0.11, 0.635,-0.810, 0.240, 0.108, PHS= 0.615,-0.871, 0.128, RAW= 131.3, 2.0, CAL= 137.2, -5.9, ROT= 5.9 2025-10-24T19:36:16.602Z,1761334576.602 [DAT](INFO): unknown deviceResponse_: 19:36:15.4980 LVL= 17840, 24817, 19794, 28659, AGC= 498,-0.11, 0.635,-0.810, 0.240, 0.108, PHS= 0.615,-0.871, 0.128, RAW= 131.3, 2.0, CAL= 137.2, -5.9, ROT= 5.9 2025-10-24T19:36:16.602Z,1761334576.602 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-24T19:36:16.604Z,1761334576.604 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.536711 2025-10-24T19:36:16.682Z,1761334576.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732625,-0.677883,0.061111],[0.680587,0.728581,-0.077276],[0.007860,0.098206,0.995135]] 2025-10-24T19:36:16.782Z,1761334576.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.498606 s, deltaX: -0.300003 m, approachRate: -0.601684 m/s, rangeRepo size: 4 2025-10-24T19:36:16.782Z,1761334576.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m. 2025-10-24T19:36:16.797Z,1761334576.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.212116 m, nav range: 34.044193 m, bearing: 54.512137 deg, approach rate: -0.521290 m/s, LOS rate: 0.141566 deg/s, cmd heading: 40.430123 deg, new cmd heading: 40.607242 deg. 2025-10-24T19:36:16.798Z,1761334576.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.708730 target range: 34.212116 and range: 34.10 m. 2025-10-24T19:36:16.841Z,1761334576.841 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.773826 2025-10-24T19:36:17.097Z,1761334577.097 [DAT](INFO): DAT read: Rx Time:19:36:15.9978 2025-10-24T19:36:17.099Z,1761334577.099 [DAT](INFO): Rx dataTimestamp_ set to:1761334577.097882 2025-10-24T19:36:17.103Z,1761334577.103 [DAT](INFO): DAT read: Bearing 12.2, 6.7 (Local) 2025-10-24T19:36:17.107Z,1761334577.107 [DAT](INFO): Local bearing/azimuth received: Bearing 12.2, 6.7 (Local) 2025-10-24T19:36:17.128Z,1761334577.128 [DAT](INFO): DAT read: Range 10 to 50 : 33.8 m (trip time 22.5 ms) speed 0.5 2025-10-24T19:36:17.146Z,1761334577.146 [DAT](INFO): DAT read: 19:36:15.9978 LVL= 15440, 22129, 16418, 24675, AGC= 62, IDX= 495, 0.13, 0.556,-0.943, 0.161, 0.001, PHS= 0.644,-0.897, 0.157, RAW= 132.0, 1.4, CAL= 137.8, -6.7, ROT= 12.2, 6.7 2025-10-24T19:36:17.156Z,1761334577.156 [DAT](INFO): got valid direction response: 19:36:15.9978 LVL= 15440, 22129, 16418, 24675, AGC= 62, IDX= 495, 0.13, 0.556,-0.943, 0.161, 0.001, PHS= 0.644,-0.897, 0.157, RAW= 132.0, 1.4, CAL= 137.8, -6.7, ROT= 12.2, 6.7 2025-10-24T19:36:17.156Z,1761334577.156 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-24T19:36:17.157Z,1761334577.157 [DAT](INFO): direction in FSK: [0.970741,0.209882,-0.116671] 2025-10-24T19:36:17.158Z,1761334577.158 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:17.170Z,1761334577.170 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.102930 2025-10-24T19:36:17.171Z,1761334577.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735422,-0.674829,0.061322],[0.677584,0.731598,-0.075127],[0.005835,0.096801,0.995287]] 2025-10-24T19:36:17.283Z,1761334577.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.507022 s, deltaX: -0.299999 m, approachRate: -0.591689 m/s, rangeRepo size: 4 2025-10-24T19:36:17.290Z,1761334577.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.615379 m, bearing: 55.429114 deg, lat: 36.779519 deg, lon: -121.859596 deg, deltaT: 1.005628 s, deltaX: -0.596737 m, approachRate: -0.593397 m/s, posRepo size: 4 2025-10-24T19:36:17.290Z,1761334577.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.62 m. 2025-10-24T19:36:17.297Z,1761334577.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.615379 m, nav range: 33.711441 m, bearing: 54.858606 deg, approach rate: 0.000000 m/s, LOS rate: 0.141566 deg/s, cmd heading: 40.607244 deg, new cmd heading: 40.823991 deg. 2025-10-24T19:36:17.298Z,1761334577.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.712513 target range: 33.615379 and range: 33.80 m. 2025-10-24T19:36:17.346Z,1761334577.346 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.278589 2025-10-24T19:36:17.551Z,1761334577.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737131,-0.672851,0.062530],[0.675737,0.733376,-0.074421],[0.004217,0.097112,0.995265]] 2025-10-24T19:36:17.593Z,1761334577.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:17.595Z,1761334577.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.62 m. 2025-10-24T19:36:17.598Z,1761334577.598 [DAT](INFO): DAT read: Rx Time:19:36:16.4977 2025-10-24T19:36:17.598Z,1761334577.598 [DAT](INFO): Rx dataTimestamp_ set to:1761334577.597978 2025-10-24T19:36:17.600Z,1761334577.600 [DAT](INFO): DAT read: Bearing 13.1, 6.0 (Local) 2025-10-24T19:36:17.600Z,1761334577.600 [DAT](INFO): Local bearing/azimuth received: Bearing 13.1, 6.0 (Local) 2025-10-24T19:36:17.603Z,1761334577.603 [DAT](INFO): DAT read: Range 10 to 50 : 33.6 m (trip time 22.4 ms) speed 0.4 2025-10-24T19:36:17.608Z,1761334577.608 [DAT](INFO): DAT read: 19:36:16.4977 LVL= 18160, 29937, 18866, 31859, AGC= 64, IDX= 511,-0.46, 0.503,-0.982, 0.085,-0.046, PHS= 0.637,-0.889, 0.128, RAW= 130.9, 1.9, CAL= 136.9, -6.0, ROT= 13.1, 6.0 2025-10-24T19:36:17.609Z,1761334577.609 [DAT](INFO): got valid direction response: 19:36:16.4977 LVL= 18160, 29937, 18866, 31859, AGC= 64, IDX= 511,-0.46, 0.503,-0.982, 0.085,-0.046, PHS= 0.637,-0.889, 0.128, RAW= 130.9, 1.9, CAL= 136.9, -6.0, ROT= 13.1, 6.0 2025-10-24T19:36:17.609Z,1761334577.609 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-24T19:36:17.610Z,1761334577.610 [DAT](INFO): direction in FSK: [0.968640,0.225410,-0.104528] 2025-10-24T19:36:17.610Z,1761334577.610 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:17.622Z,1761334577.622 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.555400 2025-10-24T19:36:17.629Z,1761334577.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.615379 m, nav range: 33.557144 m, bearing: 54.925888 deg, approach rate: -0.494136 m/s, LOS rate: 0.216461 deg/s, cmd heading: 40.823993 deg, new cmd heading: 41.026766 deg. 2025-10-24T19:36:17.630Z,1761334577.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716052 target range: 33.615379 and range: 33.80 m. 2025-10-24T19:36:17.849Z,1761334577.849 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.781939 2025-10-24T19:36:17.980Z,1761334577.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739967,-0.669565,0.064282],[0.672640,0.736267,-0.073933],[0.002175,0.097946,0.995189]] 2025-10-24T19:36:18.004Z,1761334578.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.599998 m, deltaT: 0.500096 s, deltaX: -0.200001 m, approachRate: -0.399925 m/s, rangeRepo size: 4 2025-10-24T19:36:18.006Z,1761334578.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.416458 m, bearing: 55.881463 deg, lat: 36.779516 deg, lon: -121.859596 deg, deltaT: 0.500096 s, deltaX: -0.198921 m, approachRate: -0.397766 m/s, posRepo size: 4 2025-10-24T19:36:18.007Z,1761334578.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.42 m. 2025-10-24T19:36:18.010Z,1761334578.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.416458 m, nav range: 33.128456 m, bearing: 55.591595 deg, approach rate: 0.000000 m/s, LOS rate: 0.216461 deg/s, cmd heading: 41.026768 deg, new cmd heading: 41.292019 deg. 2025-10-24T19:36:18.011Z,1761334578.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.720682 target range: 33.416458 and range: 33.60 m. 2025-10-24T19:36:18.106Z,1761334578.106 [DAT](INFO): DAT read: Rx Time:19:36:16.9974 2025-10-24T19:36:18.110Z,1761334578.110 [DAT](INFO): Rx dataTimestamp_ set to:1761334578.106766 2025-10-24T19:36:18.117Z,1761334578.117 [DAT](INFO): DAT read: Bearing 13.9, 4.7 (Local) 2025-10-24T19:36:18.119Z,1761334578.119 [DAT](INFO): Local bearing/azimuth received: Bearing 13.9, 4.7 (Local) 2025-10-24T19:36:18.145Z,1761334578.145 [DAT](INFO): DAT read: Range 10 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4 2025-10-24T19:36:18.158Z,1761334578.158 [DAT](INFO): DAT read: 19:36:16.9974 LVL= 16304, 22321, 16962, 28179, AGC= 62, IDX= 508,-0.04,-1.352,-2.826,-1.793,-1.888, PHS= 0.624,-0.891, 0.092, RAW= 129.8, 2.7, CAL= 136.1, -4.7, ROT= 13.9, 4.7 2025-10-24T19:36:18.159Z,1761334578.159 [DAT](INFO): got valid direction response: 19:36:16.9974 LVL= 16304, 22321, 16962, 28179, AGC= 62, IDX= 508,-0.04,-1.352,-2.826,-1.793,-1.888, PHS= 0.624,-0.891, 0.092, RAW= 129.8, 2.7, CAL= 136.1, -4.7, ROT= 13.9, 4.7 2025-10-24T19:36:18.174Z,1761334578.174 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-24T19:36:18.175Z,1761334578.175 [DAT](INFO): direction in FSK: [0.967452,0.239420,-0.081939] 2025-10-24T19:36:18.175Z,1761334578.175 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:18.183Z,1761334578.183 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.116328 2025-10-24T19:36:18.353Z,1761334578.353 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.285778 2025-10-24T19:36:18.469Z,1761334578.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.508788 s, deltaX: -0.399998 m, approachRate: -0.786178 m/s, rangeRepo size: 4 2025-10-24T19:36:18.471Z,1761334578.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.018642 m, bearing: 56.552487 deg, lat: 36.779515 deg, lon: -121.859594 deg, deltaT: 0.508788 s, deltaX: -0.397816 m, approachRate: -0.781889 m/s, posRepo size: 4 2025-10-24T19:36:18.471Z,1761334578.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.02 m. 2025-10-24T19:36:18.486Z,1761334578.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.018642 m, nav range: 33.094219 m, bearing: 55.959203 deg, approach rate: 0.000000 m/s, LOS rate: 0.216461 deg/s, cmd heading: 41.292018 deg, new cmd heading: 41.589377 deg. 2025-10-24T19:36:18.486Z,1761334578.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725872 target range: 33.018642 and range: 33.20 m. 2025-10-24T19:36:18.607Z,1761334578.607 [DAT](INFO): DAT read: Rx Time:19:36:17.4974 2025-10-24T19:36:18.608Z,1761334578.608 [DAT](INFO): Rx dataTimestamp_ set to:1761334578.608131 2025-10-24T19:36:18.611Z,1761334578.611 [DAT](INFO): DAT read: Bearing 14.0, 5.1 (Local) 2025-10-24T19:36:18.611Z,1761334578.611 [DAT](INFO): Local bearing/azimuth received: Bearing 14.0, 5.1 (Local) 2025-10-24T19:36:18.615Z,1761334578.615 [DAT](INFO): DAT read: Range 10 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4 2025-10-24T19:36:18.633Z,1761334578.633 [DAT](INFO): DAT read: 19:36:17.4974 LVL= 20064, 32625, 20450, 32659, AGC= 64, IDX= 507, 0.33, 0.895,-0.605, 0.444, 0.341, PHS= 0.642,-0.899, 0.100, RAW= 129.7, 2.3, CAL= 136.0, -5.1, ROT= 14.0, 5.1 2025-10-24T19:36:18.635Z,1761334578.635 [DAT](INFO): got valid direction response: 19:36:17.4974 LVL= 20064, 32625, 20450, 32659, AGC= 64, IDX= 507, 0.33, 0.895,-0.605, 0.444, 0.341, PHS= 0.642,-0.899, 0.100, RAW= 129.7, 2.3, CAL= 136.0, -5.1, ROT= 14.0, 5.1 2025-10-24T19:36:18.635Z,1761334578.635 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-24T19:36:18.636Z,1761334578.636 [DAT](INFO): direction in FSK: [0.966454,0.240964,-0.088894] 2025-10-24T19:36:18.637Z,1761334578.637 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:18.656Z,1761334578.656 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.589582 2025-10-24T19:36:18.759Z,1761334578.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744569,-0.664196,0.066794],[0.667544,0.741068,-0.072135],[-0.001587,0.098297,0.995156]] 2025-10-24T19:36:18.809Z,1761334578.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.501365 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:18.817Z,1761334578.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.018642 m, bearing: 56.301151 deg, lat: 36.779515 deg, lon: -121.859594 deg, deltaT: 0.501365 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:18.818Z,1761334578.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.02 m. 2025-10-24T19:36:18.826Z,1761334578.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.018642 m, nav range: 32.932217 m, bearing: 56.115184 deg, approach rate: 0.000000 m/s, LOS rate: 0.216461 deg/s, cmd heading: 41.589377 deg, new cmd heading: 41.811068 deg. 2025-10-24T19:36:18.827Z,1761334578.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729741 target range: 33.018642 and range: 33.20 m. 2025-10-24T19:36:18.859Z,1761334578.859 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.791298 2025-10-24T19:36:19.115Z,1761334579.115 [DAT](INFO): DAT read: Rx Time:19:36:17.9971 2025-10-24T19:36:19.117Z,1761334579.117 [DAT](INFO): Rx dataTimestamp_ set to:1761334579.116141 2025-10-24T19:36:19.122Z,1761334579.122 [DAT](INFO): DAT read: Bearing 15.3, 3.7 (Local) 2025-10-24T19:36:19.123Z,1761334579.123 [DAT](INFO): Local bearing/azimuth received: Bearing 15.3, 3.7 (Local) 2025-10-24T19:36:19.131Z,1761334579.131 [DAT](INFO): DAT read: Range 10 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 2025-10-24T19:36:19.174Z,1761334579.174 [DAT](INFO): DAT read: 19:36:17.9971 LVL= 18032, 25489, 19106, 29011, AGC= 61, IDX= 505,-0.14,-1.711, 3.114,-2.191,-2.246, PHS= 0.623,-0.876, 0.052, RAW= 127.8, 3.1, CAL= 134.7, -3.7, ROT= 15.3, 3.7 2025-10-24T19:36:19.175Z,1761334579.175 [DAT](INFO): got valid direction response: 19:36:17.9971 LVL= 18032, 25489, 19106, 29011, AGC= 61, IDX= 505,-0.14,-1.711, 3.114,-2.191,-2.246, PHS= 0.623,-0.876, 0.052, RAW= 127.8, 3.1, CAL= 134.7, -3.7, ROT= 15.3, 3.7 2025-10-24T19:36:19.175Z,1761334579.175 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-24T19:36:19.186Z,1761334579.186 [DAT](INFO): direction in FSK: [0.962547,0.263323,-0.064532] 2025-10-24T19:36:19.186Z,1761334579.186 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:19.198Z,1761334579.198 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.131138 2025-10-24T19:36:19.219Z,1761334579.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746174,-0.662159,0.069065],[0.665744,0.742619,-0.072810],[-0.003077,0.100308,0.994952]] 2025-10-24T19:36:19.344Z,1761334579.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.508010 s, deltaX: -0.500000 m, approachRate: -0.984233 m/s, rangeRepo size: 4 2025-10-24T19:36:19.346Z,1761334579.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.521400 m, bearing: 57.326073 deg, lat: 36.779515 deg, lon: -121.859593 deg, deltaT: 0.508010 s, deltaX: -0.497242 m, approachRate: -0.978804 m/s, posRepo size: 4 2025-10-24T19:36:19.347Z,1761334579.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.52 m. 2025-10-24T19:36:19.354Z,1761334579.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.521400 m, nav range: 32.695248 m, bearing: 56.432314 deg, approach rate: 0.000000 m/s, LOS rate: 0.216461 deg/s, cmd heading: 41.811068 deg, new cmd heading: 42.159541 deg. 2025-10-24T19:36:19.355Z,1761334579.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735823 target range: 32.521400 and range: 32.70 m. 2025-10-24T19:36:19.361Z,1761334579.361 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.293983 2025-10-24T19:36:19.568Z,1761334579.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748042,-0.659733,0.072018],[0.663638,0.744310,-0.074747],[-0.004291,0.103708,0.994599]] 2025-10-24T19:36:19.598Z,1761334579.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:19.604Z,1761334579.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.52 m. 2025-10-24T19:36:19.607Z,1761334579.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.521400 m, nav range: 32.572590 m, bearing: 56.510113 deg, approach rate: -0.470277 m/s, LOS rate: 0.299408 deg/s, cmd heading: 42.159541 deg, new cmd heading: 42.393814 deg. 2025-10-24T19:36:19.614Z,1761334579.614 [DAT](INFO): DAT read: Rx Time:19:36:18.4970 2025-10-24T19:36:19.614Z,1761334579.614 [DAT](INFO): Rx dataTimestamp_ set to:1761334579.613694 2025-10-24T19:36:19.615Z,1761334579.615 [DAT](INFO): DAT read: Bearing 14.5, 4.1 (Local) 2025-10-24T19:36:19.616Z,1761334579.616 [DAT](INFO): Local bearing/azimuth received: Bearing 14.5, 4.1 (Local) 2025-10-24T19:36:19.619Z,1761334579.619 [DAT](INFO): DAT read: Range 10 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 2025-10-24T19:36:19.624Z,1761334579.624 [DAT](INFO): DAT read: 19:36:18.4970 LVL= 20272, 24849, 21266, 28787, AGC= 64, IDX= 504, 0.15, 1.284,-0.274, 0.792, 0.712, PHS= 0.659,-0.939, 0.077, RAW= 128.9, 2.9, CAL= 135.5, -4.1, ROT= 14.5, 4.1 2025-10-24T19:36:19.625Z,1761334579.625 [DAT](INFO): got valid direction response: 19:36:18.4970 LVL= 20272, 24849, 21266, 28787, AGC= 64, IDX= 504, 0.15, 1.284,-0.274, 0.792, 0.712, PHS= 0.659,-0.939, 0.077, RAW= 128.9, 2.9, CAL= 135.5, -4.1, ROT= 14.5, 4.1 2025-10-24T19:36:19.625Z,1761334579.625 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-24T19:36:19.626Z,1761334579.626 [DAT](INFO): direction in FSK: [0.965670,0.249739,-0.071497] 2025-10-24T19:36:19.627Z,1761334579.627 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:19.627Z,1761334579.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.739912 target range: 32.521400 and range: 32.70 m. 2025-10-24T19:36:19.631Z,1761334579.631 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.564159 2025-10-24T19:36:19.865Z,1761334579.865 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.797971 2025-10-24T19:36:19.982Z,1761334579.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748958,-0.658347,0.075106],[0.662594,0.745049,-0.076627],[-0.005510,0.107155,0.994227]] 2025-10-24T19:36:20.006Z,1761334580.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.497553 s, deltaX: -0.100002 m, approachRate: -0.200988 m/s, rangeRepo size: 4 2025-10-24T19:36:20.008Z,1761334580.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.421917 m, bearing: 56.348157 deg, lat: 36.779515 deg, lon: -121.859593 deg, deltaT: 0.497553 s, deltaX: -0.099483 m, approachRate: -0.199946 m/s, posRepo size: 4 2025-10-24T19:36:20.009Z,1761334580.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.42 m. 2025-10-24T19:36:20.012Z,1761334580.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.421917 m, nav range: 32.389915 m, bearing: 56.627603 deg, approach rate: 0.000000 m/s, LOS rate: 0.299408 deg/s, cmd heading: 42.393813 deg, new cmd heading: 42.757724 deg. 2025-10-24T19:36:20.013Z,1761334580.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.746263 target range: 32.421917 and range: 32.60 m. 2025-10-24T19:36:20.123Z,1761334580.123 [DAT](INFO): DAT read: Rx Time:19:36:18.9969 2025-10-24T19:36:20.125Z,1761334580.125 [DAT](INFO): Rx dataTimestamp_ set to:1761334580.124285 2025-10-24T19:36:20.129Z,1761334580.129 [DAT](INFO): DAT read: Bearing 15.4, 3.2 (Local) 2025-10-24T19:36:20.131Z,1761334580.131 [DAT](INFO): Local bearing/azimuth received: Bearing 15.4, 3.2 (Local) 2025-10-24T19:36:20.152Z,1761334580.152 [DAT](INFO): DAT read: Range 10 to 50 : 32.4 m (trip time 21.6 ms) speed 0.4 2025-10-24T19:36:20.179Z,1761334580.179 [DAT](INFO): DAT read: 19:36:18.9969 LVL= 16192, 22865, 17330, 27107, AGC= 62, IDX= 502,-0.46,-0.255,-1.756,-0.757,-0.803, PHS= 0.635,-0.906, 0.043, RAW= 127.6, 3.4, CAL= 134.6, -3.2, ROT= 15.4, 3.2 2025-10-24T19:36:20.197Z,1761334580.197 [DAT](INFO): got valid direction response: 19:36:18.9969 LVL= 16192, 22865, 17330, 27107, AGC= 62, IDX= 502,-0.46,-0.255,-1.756,-0.757,-0.803, PHS= 0.635,-0.906, 0.043, RAW= 127.6, 3.4, CAL= 134.6, -3.2, ROT= 15.4, 3.2 2025-10-24T19:36:20.197Z,1761334580.197 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-24T19:36:20.198Z,1761334580.198 [DAT](INFO): direction in FSK: [0.962592,0.265142,-0.055822] 2025-10-24T19:36:20.198Z,1761334580.198 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:20.211Z,1761334580.211 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.144042 2025-10-24T19:36:20.369Z,1761334580.369 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.302176 2025-10-24T19:36:20.385Z,1761334580.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749966,-0.657013,0.076721],[0.661446,0.745987,-0.077412],[-0.006372,0.108803,0.994043]] 2025-10-24T19:36:20.502Z,1761334580.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.510591 s, deltaX: -0.199997 m, approachRate: -0.391697 m/s, rangeRepo size: 4 2025-10-24T19:36:20.509Z,1761334580.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.223011 m, bearing: 57.062852 deg, lat: 36.779513 deg, lon: -121.859593 deg, deltaT: 0.510591 s, deltaX: -0.198906 m, approachRate: -0.389560 m/s, posRepo size: 4 2025-10-24T19:36:20.510Z,1761334580.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.22 m. 2025-10-24T19:36:20.518Z,1761334580.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.223011 m, nav range: 32.115318 m, bearing: 56.958235 deg, approach rate: 0.000000 m/s, LOS rate: 0.299408 deg/s, cmd heading: 42.757725 deg, new cmd heading: 43.198802 deg. 2025-10-24T19:36:20.519Z,1761334580.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753961 target range: 32.223011 and range: 32.40 m. 2025-10-24T19:36:20.623Z,1761334580.623 [DAT](INFO): DAT read: Rx Time:19:36:19.4967 2025-10-24T19:36:20.624Z,1761334580.624 [DAT](INFO): Rx dataTimestamp_ set to:1761334580.623430 2025-10-24T19:36:20.626Z,1761334580.626 [DAT](INFO): DAT read: Bearing 15.6, 3.1 (Local) 2025-10-24T19:36:20.626Z,1761334580.626 [DAT](INFO): Local bearing/azimuth received: Bearing 15.6, 3.1 (Local) 2025-10-24T19:36:20.629Z,1761334580.629 [DAT](INFO): DAT read: Range 10 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 2025-10-24T19:36:20.633Z,1761334580.633 [DAT](INFO): DAT read: 19:36:19.4967 LVL= 17552, 23537, 21746, 27987, AGC= 64, IDX= 500,-0.12,-0.064,-1.566,-0.573,-0.614, PHS= 0.637,-0.905, 0.037, RAW= 127.3, 3.5, CAL= 134.4, -3.1, ROT= 15.6, 3.1 2025-10-24T19:36:20.635Z,1761334580.635 [DAT](INFO): got valid direction response: 19:36:19.4967 LVL= 17552, 23537, 21746, 27987, AGC= 64, IDX= 500,-0.12,-0.064,-1.566,-0.573,-0.614, PHS= 0.637,-0.905, 0.037, RAW= 127.3, 3.5, CAL= 134.4, -3.1, ROT= 15.6, 3.1 2025-10-24T19:36:20.635Z,1761334580.635 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-24T19:36:20.637Z,1761334580.637 [DAT](INFO): direction in FSK: [0.961753,0.268526,-0.054079] 2025-10-24T19:36:20.637Z,1761334580.637 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:20.641Z,1761334580.641 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.574162 2025-10-24T19:36:20.799Z,1761334580.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750558,-0.656109,0.078642],[0.660766,0.746472,-0.078535],[-0.007177,0.110909,0.993805]] 2025-10-24T19:36:20.863Z,1761334580.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.499145 s, deltaX: -0.300003 m, approachRate: -0.601034 m/s, rangeRepo size: 4 2025-10-24T19:36:20.874Z,1761334580.874 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.806904 2025-10-24T19:36:20.871Z,1761334580.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.924648 m, bearing: 57.202329 deg, lat: 36.779513 deg, lon: -121.859593 deg, deltaT: 0.499145 s, deltaX: -0.298363 m, approachRate: -0.597748 m/s, posRepo size: 4 2025-10-24T19:36:20.877Z,1761334580.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m. 2025-10-24T19:36:20.885Z,1761334580.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.924648 m, nav range: 31.958838 m, bearing: 57.064970 deg, approach rate: 0.000000 m/s, LOS rate: 0.299408 deg/s, cmd heading: 43.198802 deg, new cmd heading: 43.526684 deg. 2025-10-24T19:36:20.887Z,1761334580.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759684 target range: 31.924648 and range: 32.10 m. 2025-10-24T19:36:21.125Z,1761334581.125 [DAT](INFO): DAT read: Rx Time:19:36:19.9964 2025-10-24T19:36:21.126Z,1761334581.126 [DAT](INFO): Rx dataTimestamp_ set to:1761334581.125599 2025-10-24T19:36:21.127Z,1761334581.127 [DAT](INFO): DAT read: Bearing 15.5, 3.8 (Local) 2025-10-24T19:36:21.127Z,1761334581.127 [DAT](INFO): Local bearing/azimuth received: Bearing 15.5, 3.8 (Local) 2025-10-24T19:36:21.134Z,1761334581.134 [DAT](INFO): DAT read: Range 10 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 2025-10-24T19:36:21.219Z,1761334581.219 [DAT](INFO): DAT read: 19:36:19.9964 LVL= 18416, 29553, 18354, 31651, AGC= 62, IDX= 497, 0.17, 0.679,-0.778, 0.193, 0.140, PHS= 0.626,-0.872, 0.050, RAW= 127.6, 3.0, CAL= 134.5, -3.8, ROT= 15.5, 3.8 2025-10-24T19:36:21.231Z,1761334581.231 [DAT](INFO): got valid direction response: 19:36:19.9964 LVL= 18416, 29553, 18354, 31651, AGC= 62, IDX= 497, 0.17, 0.679,-0.778, 0.193, 0.140, PHS= 0.626,-0.872, 0.050, RAW= 127.6, 3.0, CAL= 134.5, -3.8, ROT= 15.5, 3.8 2025-10-24T19:36:21.231Z,1761334581.231 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-24T19:36:21.232Z,1761334581.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750308,-0.656137,0.080768],[0.661046,0.746031,-0.080347],[-0.007537,0.113676,0.993489]] 2025-10-24T19:36:21.245Z,1761334581.245 [DAT](INFO): direction in FSK: [0.961512,0.266651,-0.066274] 2025-10-24T19:36:21.245Z,1761334581.245 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:21.254Z,1761334581.254 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.186962 2025-10-24T19:36:21.353Z,1761334581.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.502169 s, deltaX: -0.399998 m, approachRate: -0.796540 m/s, rangeRepo size: 4 2025-10-24T19:36:21.355Z,1761334581.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.526855 m, bearing: 57.206474 deg, lat: 36.779513 deg, lon: -121.859593 deg, deltaT: 0.502169 s, deltaX: -0.397793 m, approachRate: -0.792149 m/s, posRepo size: 4 2025-10-24T19:36:21.360Z,1761334581.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m. 2025-10-24T19:36:21.363Z,1761334581.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.526855 m, nav range: 31.675135 m, bearing: 57.322645 deg, approach rate: 0.000000 m/s, LOS rate: 0.299408 deg/s, cmd heading: 43.526685 deg, new cmd heading: 43.968055 deg. 2025-10-24T19:36:21.368Z,1761334581.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767387 target range: 31.526855 and range: 31.70 m. 2025-10-24T19:36:21.377Z,1761334581.377 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.309965 2025-10-24T19:36:21.630Z,1761334581.630 [DAT](INFO): DAT read: Rx Time:19:36:20.4964 2025-10-24T19:36:21.631Z,1761334581.631 [DAT](INFO): Rx dataTimestamp_ set to:1761334581.630415 2025-10-24T19:36:21.633Z,1761334581.633 [DAT](INFO): DAT read: Bearing 9.8, -4.0 (Local) 2025-10-24T19:36:21.633Z,1761334581.633 [DAT](INFO): Local bearing/azimuth received: Bearing 9.8, -4.0 (Local) 2025-10-24T19:36:21.637Z,1761334581.637 [DAT](INFO): DAT read: Range 10 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 2025-10-24T19:36:21.641Z,1761334581.641 [DAT](INFO): DAT read: 19:36:20.4964 LVL= 19504, 31441, 20018, 32755, AGC= 62, IDX= 513,-0.43, 1.147,-0.953, 0.694, 0.669, PHS= 0.565,-1.576, 0.022, RAW= 135.9, 10.3, CAL= 140.2, 4.0, ROT= 9.8, -4.0 2025-10-24T19:36:21.642Z,1761334581.642 [DAT](INFO): got valid direction response: 19:36:20.4964 LVL= 19504, 31441, 20018, 32755, AGC= 62, IDX= 513,-0.43, 1.147,-0.953, 0.694, 0.669, PHS= 0.565,-1.576, 0.022, RAW= 135.9, 10.3, CAL= 140.2, 4.0, ROT= 9.8, -4.0 2025-10-24T19:36:21.643Z,1761334581.643 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-24T19:36:21.643Z,1761334581.643 [DAT](INFO): direction in FSK: [0.983007,0.169795,0.069756] 2025-10-24T19:36:21.645Z,1761334581.645 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:21.652Z,1761334581.652 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.585573 2025-10-24T19:36:21.729Z,1761334581.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748407,-0.657755,0.085124],[0.663196,0.743647,-0.084617],[-0.007645,0.119782,0.992771]] 2025-10-24T19:36:21.767Z,1761334581.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.504816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:21.773Z,1761334581.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.526855 m, bearing: 50.796510 deg, lat: 36.779513 deg, lon: -121.859594 deg, deltaT: 0.504816 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:21.774Z,1761334581.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m. 2025-10-24T19:36:21.781Z,1761334581.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.526855 m, nav range: 31.412914 m, bearing: 57.176732 deg, approach rate: 0.000000 m/s, LOS rate: 0.299408 deg/s, cmd heading: 43.968055 deg, new cmd heading: 44.339513 deg. 2025-10-24T19:36:21.782Z,1761334581.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773870 target range: 31.526855 and range: 31.70 m. 2025-10-24T19:36:21.882Z,1761334581.882 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.814676 2025-10-24T19:36:22.091Z,1761334582.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746722,-0.659471,0.086626],[0.665095,0.741760,-0.086259],[-0.007370,0.122026,0.992500]] 2025-10-24T19:36:22.139Z,1761334582.139 [DAT](INFO): DAT read: Rx Time:19:36:20.9961 2025-10-24T19:36:22.140Z,1761334582.140 [DAT](INFO): Rx dataTimestamp_ set to:1761334582.139096 2025-10-24T19:36:22.145Z,1761334582.145 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-24T19:36:22.147Z,1761334582.147 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-24T19:36:22.178Z,1761334582.178 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.110736 2025-10-24T19:36:22.185Z,1761334582.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:22.202Z,1761334582.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.508681 s, deltaX: -0.500000 m, approachRate: -0.982934 m/s, rangeRepo size: 4 2025-10-24T19:36:22.203Z,1761334582.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m. 2025-10-24T19:36:22.210Z,1761334582.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.526855 m, nav range: 31.225365 m, bearing: 57.272369 deg, approach rate: -0.430672 m/s, LOS rate: 0.220930 deg/s, cmd heading: 44.339512 deg, new cmd heading: 44.628142 deg. 2025-10-24T19:36:22.211Z,1761334582.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778908 target range: 31.526855 and range: 31.20 m. 2025-10-24T19:36:22.385Z,1761334582.385 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.318427 2025-10-24T19:36:22.507Z,1761334582.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.744498,-0.661743,0.088428],[0.667590,0.739262,-0.088404],[-0.006871,0.124851,0.992152]] 2025-10-24T19:36:22.570Z,1761334582.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.53 m. 2025-10-24T19:36:22.577Z,1761334582.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.526855 m, nav range: 31.010710 m, bearing: 57.351061 deg, approach rate: -0.583084 m/s, LOS rate: 0.215238 deg/s, cmd heading: 44.628142 deg, new cmd heading: 44.865852 deg. 2025-10-24T19:36:22.578Z,1761334582.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783057 target range: 31.526855 and range: 31.20 m. 2025-10-24T19:36:22.638Z,1761334582.638 [DAT](INFO): DAT read: Rx Time:19:36:21.4961 2025-10-24T19:36:22.639Z,1761334582.639 [DAT](INFO): Rx dataTimestamp_ set to:1761334582.638370 2025-10-24T19:36:22.640Z,1761334582.640 [DAT](INFO): DAT read: Bearing 17.1, 2.7 (Local) 2025-10-24T19:36:22.641Z,1761334582.641 [DAT](INFO): Local bearing/azimuth received: Bearing 17.1, 2.7 (Local) 2025-10-24T19:36:22.643Z,1761334582.643 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-24T19:36:22.648Z,1761334582.648 [DAT](INFO): DAT read: 19:36:21.4961 LVL= 19840, 32753, 19250, 32755, AGC= 61, IDX= 509, 0.32, 0.759,-0.604, 0.259, 0.251, PHS= 0.596,-0.809, 0.005, RAW= 125.2, 3.4, CAL= 132.9, -2.7, ROT= 17.1, 2.7 2025-10-24T19:36:22.650Z,1761334582.650 [DAT](INFO): got valid direction response: 19:36:21.4961 LVL= 19840, 32753, 19250, 32755, AGC= 61, IDX= 509, 0.32, 0.759,-0.604, 0.259, 0.251, PHS= 0.596,-0.809, 0.005, RAW= 125.2, 3.4, CAL= 132.9, -2.7, ROT= 17.1, 2.7 2025-10-24T19:36:22.650Z,1761334582.650 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-24T19:36:22.652Z,1761334582.652 [DAT](INFO): direction in FSK: [0.954732,0.293714,-0.047106] 2025-10-24T19:36:22.653Z,1761334582.653 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:22.659Z,1761334582.659 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.592182 2025-10-24T19:36:22.890Z,1761334582.890 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.823162 2025-10-24T19:36:22.927Z,1761334582.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742042,-0.664277,0.090056],[0.670324,0.736550,-0.090334],[-0.006324,0.127399,0.991831]] 2025-10-24T19:36:22.979Z,1761334582.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.499274 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:22.992Z,1761334582.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.029705 m, bearing: 59.392033 deg, lat: 36.779513 deg, lon: -121.859593 deg, deltaT: 1.007955 s, deltaX: -0.497150 m, approachRate: -0.493227 m/s, posRepo size: 4 2025-10-24T19:36:22.993Z,1761334582.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-24T19:36:22.995Z,1761334582.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.029705 m, nav range: 30.839016 m, bearing: 57.692405 deg, approach rate: 0.000000 m/s, LOS rate: 0.215238 deg/s, cmd heading: 44.865853 deg, new cmd heading: 45.129086 deg. 2025-10-24T19:36:23.001Z,1761334583.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787651 target range: 31.029705 and range: 31.20 m. 2025-10-24T19:36:23.146Z,1761334583.146 [DAT](INFO): DAT read: Rx Time:19:36:21.9958 2025-10-24T19:36:23.146Z,1761334583.146 [DAT](INFO): Rx dataTimestamp_ set to:1761334583.146024 2025-10-24T19:36:23.148Z,1761334583.148 [DAT](INFO): DAT read: Range 10 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 2025-10-24T19:36:23.148Z,1761334583.148 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-24T19:36:23.149Z,1761334583.149 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.082433 2025-10-24T19:36:23.312Z,1761334583.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738121,-0.668329,0.092274],[0.674646,0.732276,-0.092864],[-0.005507,0.130797,0.991394]] 2025-10-24T19:36:23.367Z,1761334583.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 0.507654 s, deltaX: -0.300001 m, approachRate: -0.590956 m/s, rangeRepo size: 4 2025-10-24T19:36:23.368Z,1761334583.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-24T19:36:23.371Z,1761334583.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.029705 m, nav range: 30.624271 m, bearing: 57.747464 deg, approach rate: -0.552671 m/s, LOS rate: 0.142694 deg/s, cmd heading: 45.129085 deg, new cmd heading: 45.295420 deg. 2025-10-24T19:36:23.373Z,1761334583.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790554 target range: 31.029705 and range: 30.90 m. 2025-10-24T19:36:23.393Z,1761334583.393 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.325851 2025-10-24T19:36:23.645Z,1761334583.645 [DAT](INFO): DAT read: Rx Time:19:36:22.4958 2025-10-24T19:36:23.645Z,1761334583.645 [DAT](INFO): Rx dataTimestamp_ set to:1761334583.645076 2025-10-24T19:36:23.647Z,1761334583.647 [DAT](INFO): DAT read: Range 10 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4 2025-10-24T19:36:23.647Z,1761334583.647 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-24T19:36:23.648Z,1761334583.648 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.581290 2025-10-24T19:36:23.716Z,1761334583.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734793,-0.671803,0.093594],[0.678277,0.728628,-0.095083],[-0.004319,0.133349,0.991060]] 2025-10-24T19:36:23.746Z,1761334583.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.499052 s, deltaX: -0.100000 m, approachRate: -0.200381 m/s, rangeRepo size: 4 2025-10-24T19:36:23.747Z,1761334583.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-24T19:36:23.750Z,1761334583.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.029705 m, nav range: 30.417046 m, bearing: 57.799422 deg, approach rate: -0.546254 m/s, LOS rate: 0.137897 deg/s, cmd heading: 45.295421 deg, new cmd heading: 45.452358 deg. 2025-10-24T19:36:23.751Z,1761334583.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.793293 target range: 31.029705 and range: 30.80 m. 2025-10-24T19:36:23.897Z,1761334583.897 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.830474 2025-10-24T19:36:24.120Z,1761334584.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730264,-0.676353,0.096233],[0.683157,0.723656,-0.098073],[-0.003307,0.137361,0.990515]] 2025-10-24T19:36:24.139Z,1761334584.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-24T19:36:24.149Z,1761334584.149 [DAT](INFO): DAT read: Rx Time:19:36:22.9956 2025-10-24T19:36:24.150Z,1761334584.150 [DAT](INFO): Rx dataTimestamp_ set to:1761334584.149566 2025-10-24T19:36:24.152Z,1761334584.152 [DAT](INFO): DAT read: Bearing 15.3, 3.2 (Local) 2025-10-24T19:36:24.152Z,1761334584.152 [DAT](INFO): Local bearing/azimuth received: Bearing 15.3, 3.2 (Local) 2025-10-24T19:36:24.154Z,1761334584.154 [DAT](INFO): DAT read: Range 10 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-24T19:36:24.170Z,1761334584.170 [DAT](INFO): DAT read: 19:36:22.9956 LVL= 17520, 29121, 18994, 30483, AGC= 60, IDX= 503, 0.42,-0.263,-1.613,-0.705,-0.748, PHS= 0.573,-0.818, 0.040, RAW= 127.7, 3.4, CAL= 134.7, -3.2, ROT= 15.3, 3.2 2025-10-24T19:36:24.174Z,1761334584.174 [DAT](INFO): got valid direction response: 19:36:22.9956 LVL= 17520, 29121, 18994, 30483, AGC= 60, IDX= 503, 0.42,-0.263,-1.613,-0.705,-0.748, PHS= 0.573,-0.818, 0.040, RAW= 127.7, 3.4, CAL= 134.7, -3.2, ROT= 15.3, 3.2 2025-10-24T19:36:24.175Z,1761334584.175 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-24T19:36:24.191Z,1761334584.191 [DAT](INFO): direction in FSK: [0.963053,0.263462,-0.055822] 2025-10-24T19:36:24.200Z,1761334584.200 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:24.206Z,1761334584.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.029705 m, nav range: 30.202433 m, bearing: 57.851304 deg, approach rate: -0.544790 m/s, LOS rate: 0.132637 deg/s, cmd heading: 45.452358 deg, new cmd heading: 45.609110 deg. 2025-10-24T19:36:24.215Z,1761334584.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796029 target range: 31.029705 and range: 30.80 m. 2025-10-24T19:36:24.238Z,1761334584.238 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.170686 2025-10-24T19:36:24.402Z,1761334584.402 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.335132 2025-10-24T19:36:24.524Z,1761334584.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725463,-0.681206,0.098294],[0.688258,0.718459,-0.100590],[-0.002098,0.140626,0.990061]] 2025-10-24T19:36:24.586Z,1761334584.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.504490 s, deltaX: -0.299999 m, approachRate: -0.594658 m/s, rangeRepo size: 4 2025-10-24T19:36:24.604Z,1761334584.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.333584 m, bearing: 59.082282 deg, lat: 36.779512 deg, lon: -121.859593 deg, deltaT: 1.511196 s, deltaX: -0.696121 m, approachRate: -0.460643 m/s, posRepo size: 4 2025-10-24T19:36:24.605Z,1761334584.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m. 2025-10-24T19:36:24.607Z,1761334584.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.333584 m, nav range: 29.924816 m, bearing: 57.952549 deg, approach rate: 0.000000 m/s, LOS rate: 0.132637 deg/s, cmd heading: 45.609111 deg, new cmd heading: 45.786050 deg. 2025-10-24T19:36:24.609Z,1761334584.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.799117 target range: 30.333584 and range: 30.50 m. 2025-10-24T19:36:24.654Z,1761334584.654 [DAT](INFO): DAT read: Rx Time:19:36:23.4956 2025-10-24T19:36:24.655Z,1761334584.655 [DAT](INFO): Rx dataTimestamp_ set to:1761334584.654612 2025-10-24T19:36:24.657Z,1761334584.657 [DAT](INFO): DAT read: Range 10 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-24T19:36:24.658Z,1761334584.658 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-24T19:36:24.660Z,1761334584.660 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.592581 2025-10-24T19:36:24.907Z,1761334584.907 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.839491 2025-10-24T19:36:24.949Z,1761334584.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721431,-0.685240,0.099923],[0.692486,0.714120,-0.102450],[-0.001154,0.143106,0.989707]] 2025-10-24T19:36:24.970Z,1761334584.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:24.973Z,1761334584.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.505046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:24.973Z,1761334584.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m. 2025-10-24T19:36:24.976Z,1761334584.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.333584 m, nav range: 29.697624 m, bearing: 57.980720 deg, approach rate: -0.585540 m/s, LOS rate: 0.073159 deg/s, cmd heading: 45.786050 deg, new cmd heading: 45.871208 deg. 2025-10-24T19:36:24.979Z,1761334584.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.800604 target range: 30.333584 and range: 30.50 m. 2025-10-24T19:36:25.157Z,1761334585.157 [DAT](INFO): DAT read: Rx Time:19:36:23.9953 2025-10-24T19:36:25.158Z,1761334585.158 [DAT](INFO): Rx dataTimestamp_ set to:1761334585.157527 2025-10-24T19:36:25.159Z,1761334585.159 [DAT](INFO): DAT read: Range 10 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-24T19:36:25.160Z,1761334585.160 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-24T19:36:25.161Z,1761334585.161 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.093710 2025-10-24T19:36:25.272Z,1761334585.272 [ThrusterServo](FAULT): Invalid EZ Servo response:"\r" 2025-10-24T19:36:25.273Z,1761334585.273 [ThrusterServo] Communications Fault, FailCount= 1 2025-10-24T19:36:25.273Z,1761334585.273 [ThrusterServo](ERROR): Communications Fault 2025-10-24T19:36:25.276Z,1761334585.276 [CBIT](ERROR): Communications Fault in component: ThrusterServo 2025-10-24T19:36:25.366Z,1761334585.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.502915 s, deltaX: -0.500000 m, approachRate: -0.994204 m/s, rangeRepo size: 4 2025-10-24T19:36:25.367Z,1761334585.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m. 2025-10-24T19:36:25.374Z,1761334585.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.333584 m, nav range: 29.469095 m, bearing: 58.009495 deg, approach rate: -0.580871 m/s, LOS rate: 0.073708 deg/s, cmd heading: 45.871209 deg, new cmd heading: 45.958204 deg. 2025-10-24T19:36:25.377Z,1761334585.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802122 target range: 30.333584 and range: 30.00 m. 2025-10-24T19:36:25.411Z,1761334585.411 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.344109 2025-10-24T19:36:25.542Z,1761334585.542 [ThrusterServo](DEBUG): Uninitialize Thruster Servo. 2025-10-24T19:36:25.542Z,1761334585.542 [ThrusterServo](INFO): Powering down 2025-10-24T19:36:25.661Z,1761334585.661 [DAT](INFO): DAT read: Rx Time:19:36:24.4951 2025-10-24T19:36:25.662Z,1761334585.662 [DAT](INFO): Rx dataTimestamp_ set to:1761334585.661499 2025-10-24T19:36:25.663Z,1761334585.663 [DAT](INFO): DAT read: Bearing 11.5, 4.5 (Local) 2025-10-24T19:36:25.663Z,1761334585.663 [DAT](INFO): Local bearing/azimuth received: Bearing 11.5, 4.5 (Local) 2025-10-24T19:36:25.666Z,1761334585.666 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m (trip time 19.8 ms) speed 0.6 2025-10-24T19:36:25.671Z,1761334585.671 [DAT](INFO): DAT read: 19:36:24.4951 LVL= 15328, 28785, 16626, 28979, AGC= 60, IDX= 499, 0.09, 1.749, 0.425, 1.426, 1.306, PHS= 0.531,-0.834, 0.117, RAW= 132.8, 3.1, CAL= 138.5, -4.5, ROT= 11.5, 4.5 2025-10-24T19:36:25.672Z,1761334585.672 [DAT](INFO): got valid direction response: 19:36:24.4951 LVL= 15328, 28785, 16626, 28979, AGC= 60, IDX= 499, 0.09, 1.749, 0.425, 1.426, 1.306, PHS= 0.531,-0.834, 0.117, RAW= 132.8, 3.1, CAL= 138.5, -4.5, ROT= 11.5, 4.5 2025-10-24T19:36:25.672Z,1761334585.672 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-24T19:36:25.673Z,1761334585.673 [DAT](INFO): direction in FSK: [0.976904,0.198753,-0.078459] 2025-10-24T19:36:25.674Z,1761334585.674 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:25.678Z,1761334585.678 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.610581 2025-10-24T19:36:25.736Z,1761334585.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712357,-0.694499,0.101087],[0.701817,0.704747,-0.103847],[0.000881,0.144920,0.989443]] 2025-10-24T19:36:25.809Z,1761334585.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.503972 s, deltaX: -0.299999 m, approachRate: -0.595270 m/s, rangeRepo size: 4 2025-10-24T19:36:25.811Z,1761334585.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.537985 m, bearing: 56.593690 deg, lat: 36.779512 deg, lon: -121.859595 deg, deltaT: 1.511933 s, deltaX: -0.795599 m, approachRate: -0.526213 m/s, posRepo size: 4 2025-10-24T19:36:25.816Z,1761334585.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.54 m. 2025-10-24T19:36:25.824Z,1761334585.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.537985 m, nav range: 29.086060 m, bearing: 57.863196 deg, approach rate: 0.000000 m/s, LOS rate: 0.073708 deg/s, cmd heading: 45.958205 deg, new cmd heading: 46.056216 deg. 2025-10-24T19:36:25.825Z,1761334585.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.803833 target range: 29.537985 and range: 29.70 m. 2025-10-24T19:36:25.917Z,1761334585.917 [DAT](INFO): DAT read: Rx Time:19:36:24.9948 2025-10-24T19:36:25.919Z,1761334585.919 [DAT](INFO): Rx dataTimestamp_ set to:1761334585.918128 2025-10-24T19:36:25.923Z,1761334585.923 [DAT](INFO): DAT read: Bearing 9.3, 6.0 (Local) 2025-10-24T19:36:25.927Z,1761334585.927 [DAT](INFO): Local bearing/azimuth received: Bearing 9.3, 6.0 (Local) 2025-10-24T19:36:25.960Z,1761334585.960 [DAT](INFO): DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed 0.5 2025-10-24T19:36:25.962Z,1761334585.962 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-24T19:36:25.984Z,1761334585.984 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.917222 2025-10-24T19:36:26.171Z,1761334586.171 [DAT](INFO): DAT read: 19:36:24.9948 LVL= 15152, 26849, 16738, 26995, AGC= 59, IDX= 496, 0.11, 1.884, 0.551, 1.622, 1.442, PHS= 0.531,-0.843, 0.177, RAW= 135.6, 2.2, CAL= 140.7, -6.0, ROT= 9.3, 6.0 2025-10-24T19:36:26.177Z,1761334586.177 [DAT](INFO): got valid direction response: 19:36:24.9948 LVL= 15152, 26849, 16738, 26995, AGC= 59, IDX= 496, 0.11, 1.884, 0.551, 1.622, 1.442, PHS= 0.531,-0.843, 0.177, RAW= 135.6, 2.2, CAL= 140.7, -6.0, ROT= 9.3, 6.0 2025-10-24T19:36:26.178Z,1761334586.178 [DAT](INFO): #Rx 23: Read direction message, but no range. 2025-10-24T19:36:26.179Z,1761334586.179 [DAT](INFO): direction in FSK: [0.981450,0.160719,-0.104528] 2025-10-24T19:36:26.182Z,1761334586.182 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.115487 2025-10-24T19:36:26.305Z,1761334586.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706050,-0.700327,0.105055],[0.708152,0.697412,-0.110173],[0.003891,0.152183,0.988345]] 2025-10-24T19:36:26.373Z,1761334586.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.256629 s, deltaX: -0.400002 m, approachRate: -1.558676 m/s, rangeRepo size: 4 2025-10-24T19:36:26.375Z,1761334586.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.140162 m, bearing: 55.178258 deg, lat: 36.779519 deg, lon: -121.859595 deg, deltaT: 0.256629 s, deltaX: -0.397823 m, approachRate: -1.550189 m/s, posRepo size: 4 2025-10-24T19:36:26.375Z,1761334586.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.14 m. 2025-10-24T19:36:26.378Z,1761334586.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.140162 m, nav range: 29.166912 m, bearing: 56.606150 deg, approach rate: 0.000000 m/s, LOS rate: 0.073708 deg/s, cmd heading: 46.056215 deg, new cmd heading: 46.180760 deg. 2025-10-24T19:36:26.379Z,1761334586.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806006 target range: 29.140162 and range: 29.30 m. 2025-10-24T19:36:26.421Z,1761334586.421 [DAT](INFO): DAT read: Rx Time:19:36:25.4948 2025-10-24T19:36:26.422Z,1761334586.422 [DAT](INFO): Rx dataTimestamp_ set to:1761334586.421431 2025-10-24T19:36:26.426Z,1761334586.426 [DAT](INFO): DAT read: Bearing 7.4, 5.9 (Local) 2025-10-24T19:36:26.429Z,1761334586.429 [DAT](INFO): Local bearing/azimuth received: Bearing 7.4, 5.9 (Local) 2025-10-24T19:36:26.434Z,1761334586.434 [DAT](INFO): DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 2025-10-24T19:36:26.455Z,1761334586.455 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-24T19:36:26.481Z,1761334586.481 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.413587 2025-10-24T19:36:26.675Z,1761334586.675 [DAT](INFO): DAT read: 19:36:25.4948 LVL= 14272, 27921, 16082, 27075, AGC= 59, IDX= 511, 0.19, 2.908, 1.563, 2.697, 2.= 0.513,-0.873, 0.211, RAW= 138.0, 2.4, CAL= 142.6, -5.9, ROT= 7.4, 5.9 2025-10-24T19:36:26.677Z,1761334586.677 [DAT](INFO): unknown deviceResponse_: 19:36:25.4948 LVL= 14272, 27921, 16082, 27075, AGC= 59, IDX= 511, 0.19, 2.908, 1.563, 2.697, 2.= 0.513,-0.873, 0.211, RAW= 138.0, 2.4, CAL= 142.6, -5.9, ROT= 7.4, 5.9 2025-10-24T19:36:26.678Z,1761334586.678 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.610739 2025-10-24T19:36:26.837Z,1761334586.837 [ThrusterServo](DEBUG): Initializing EZServoServo. 2025-10-24T19:36:26.925Z,1761334586.925 [DAT](INFO): DAT read: Rx Time:19:36:25.9945 2025-10-24T19:36:26.926Z,1761334586.926 [DAT](INFO): Rx dataTimestamp_ set to:1761334586.925485 2025-10-24T19:36:26.929Z,1761334586.929 [DAT](INFO): DAT read: Bearing 5.9, 6.4 (Local) 2025-10-24T19:36:26.930Z,1761334586.930 [DAT](INFO): Local bearing/azimuth received: Bearing 5.9, 6.4 (Local) 2025-10-24T19:36:26.960Z,1761334586.960 [DAT](INFO): DAT read: Range 10 to 50 : 28.8 m (trip time 19.2 ms) speed 0.5 2025-10-24T19:36:26.962Z,1761334586.962 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-24T19:36:26.967Z,1761334586.967 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2025-10-24T19:36:26.989Z,1761334586.989 [CBIT](INFO): Clearing failed state for component ThrusterServo 2025-10-24T19:36:26.990Z,1761334586.990 [ThrusterServo] No Fault, FailCount= 1 2025-10-24T19:36:26.993Z,1761334586.993 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.925891 2025-10-24T19:36:27.045Z,1761334587.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695097,-0.709551,0.115663],[0.718887,0.684564,-0.120721],[0.006479,0.167062,0.985925]] 2025-10-24T19:36:27.099Z,1761334587.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:27.106Z,1761334587.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 1.007357 s, deltaX: -0.500000 m, approachRate: -0.496348 m/s, rangeRepo size: 4 2025-10-24T19:36:27.107Z,1761334587.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.14 m. 2025-10-24T19:36:27.114Z,1761334587.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.140162 m, nav range: 28.743242 m, bearing: 56.610141 deg, approach rate: -0.577345 m/s, LOS rate: 0.005520 deg/s, cmd heading: 46.180760 deg, new cmd heading: 46.192911 deg. 2025-10-24T19:36:27.115Z,1761334587.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806218 target range: 29.140162 and range: 28.80 m. 2025-10-24T19:36:27.177Z,1761334587.177 [DAT](INFO): DAT read: 19:36:25.9945 LVL= 15856, 29009, 16146, 28051, AGC= 60, IDX= 508, 0.27, 2.302, 0.937, 2.127, 1.877, PHS= 0.513,-0.893, 0.247, RAW= 139.8, 2.1, CAL= 144.1, -6.4, ROT= 5.9, 6.4 2025-10-24T19:36:27.179Z,1761334587.179 [DAT](INFO): got valid direction response: 19:36:25.9945 LVL= 15856, 29009, 16146, 28051, AGC= 60, IDX= 508, 0.27, 2.302, 0.937, 2.127, 1.877, PHS= 0.513,-0.893, 0.247, RAW= 139.8, 2.1, CAL= 144.1, -6.4, ROT= 5.9, 6.4 2025-10-24T19:36:27.179Z,1761334587.179 [DAT](INFO): #Rx 26: Read direction message, but no range. 2025-10-24T19:36:27.180Z,1761334587.180 [DAT](INFO): direction in FSK: [0.988504,0.102152,-0.111469] 2025-10-24T19:36:27.183Z,1761334587.183 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.116268 2025-10-24T19:36:27.430Z,1761334587.430 [DAT](INFO): DAT read: Rx Time:19:36:26.4944 2025-10-24T19:36:27.432Z,1761334587.432 [DAT](INFO): Rx dataTimestamp_ set to:1761334587.430380 2025-10-24T19:36:27.435Z,1761334587.435 [DAT](INFO): DAT read: Bearing 4.4, 6.5 (Local) 2025-10-24T19:36:27.454Z,1761334587.454 [DAT](INFO): Local bearing/azimuth received: Bearing 4.4, 6.5 (Local) 2025-10-24T19:36:27.485Z,1761334587.485 [DAT](INFO): DAT read: Range 10 to 50 : 28.7 m (trip time 19.1 ms) speed 0.7 2025-10-24T19:36:27.499Z,1761334587.499 [DAT](INFO): DAT read: 19:36:26.4944 LVL= 15584, 26945, 16562, 26179, AGC= 60, IDX= 507, 0.36,-2.184, 2.732,-2.311,-2.592, PHS= 0.497,-0.912, 0.278, RAW= 141.7, 2.1, CAL= 145.6, -6.5, ROT= 4.4, 6.5 2025-10-24T19:36:27.508Z,1761334587.508 [DAT](INFO): got valid direction response: 19:36:26.4944 LVL= 15584, 26945, 16562, 26179, AGC= 60, IDX= 507, 0.36,-2.184, 2.732,-2.311,-2.592, PHS= 0.497,-0.912, 0.278, RAW= 141.7, 2.1, CAL= 145.6, -6.5, ROT= 4.4, 6.5 2025-10-24T19:36:27.509Z,1761334587.509 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-24T19:36:27.509Z,1761334587.509 [DAT](INFO): direction in FSK: [0.990644,0.076226,-0.113203] 2025-10-24T19:36:27.510Z,1761334587.510 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:27.517Z,1761334587.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690248,-0.713636,0.119507],[0.723544,0.679253,-0.122882],[0.006518,0.171287,0.985200]] 2025-10-24T19:36:27.521Z,1761334587.521 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.454537 2025-10-24T19:36:27.666Z,1761334587.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504895 s, deltaX: -0.099998 m, approachRate: -0.198058 m/s, rangeRepo size: 4 2025-10-24T19:36:27.677Z,1761334587.677 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.610018 2025-10-24T19:36:27.679Z,1761334587.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.543467 m, bearing: 51.794246 deg, lat: 36.779519 deg, lon: -121.859595 deg, deltaT: 1.512252 s, deltaX: -0.596695 m, approachRate: -0.394574 m/s, posRepo size: 4 2025-10-24T19:36:27.679Z,1761334587.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m. 2025-10-24T19:36:27.687Z,1761334587.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.543467 m, nav range: 28.442692 m, bearing: 56.582905 deg, approach rate: 0.000000 m/s, LOS rate: 0.005520 deg/s, cmd heading: 46.192911 deg, new cmd heading: 46.202187 deg. 2025-10-24T19:36:27.692Z,1761334587.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806380 target range: 28.543467 and range: 28.70 m. 2025-10-24T19:36:27.933Z,1761334587.933 [DAT](INFO): DAT read: Rx Time:19:36:26.9941 2025-10-24T19:36:27.935Z,1761334587.935 [DAT](INFO): Rx dataTimestamp_ set to:1761334587.933591 2025-10-24T19:36:27.988Z,1761334587.988 [DAT](INFO): DAT read: Bearing 3.5, 5.8 (Local) 2025-10-24T19:36:27.988Z,1761334587.988 [DAT](INFO): Local bearing/azimuth received: Bearing 3.5, 5.8 (Local) 2025-10-24T19:36:27.990Z,1761334587.990 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.6 2025-10-24T19:36:27.995Z,1761334587.995 [DAT](INFO): DAT read: 19:36:26.9941 LVL= 14000, 29313, 15954, 27123, AGC= 58, IDX= 505,-0.38, 0.867,-0.427, 0.780, 0.508, PHS= 0.447,-0.888, 0.269, RAW= 142.9, 2.8, CAL= 146.5, -5.8, ROT= 3.5, 5.8 2025-10-24T19:36:28.020Z,1761334588.020 [DAT](INFO): got valid direction response: 19:36:26.9941 LVL= 14000, 29313, 15954, 27123, AGC= 58, IDX= 505,-0.38, 0.867,-0.427, 0.780, 0.508, PHS= 0.447,-0.888, 0.269, RAW= 142.9, 2.8, CAL= 146.5, -5.8, ROT= 3.5, 5.8 2025-10-24T19:36:28.021Z,1761334588.021 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-24T19:36:28.022Z,1761334588.022 [DAT](INFO): direction in FSK: [0.993025,0.060736,-0.101056] 2025-10-24T19:36:28.022Z,1761334588.022 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:28.046Z,1761334588.046 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.978612 2025-10-24T19:36:28.058Z,1761334588.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680625,-0.722042,0.124116],[0.732611,0.669482,-0.122779],[0.005558,0.174496,0.984642]] 2025-10-24T19:36:28.149Z,1761334588.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503211 s, deltaX: -0.500000 m, approachRate: -0.993619 m/s, rangeRepo size: 4 2025-10-24T19:36:28.168Z,1761334588.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.046118 m, bearing: 51.563568 deg, lat: 36.779524 deg, lon: -121.859600 deg, deltaT: 0.503211 s, deltaX: -0.497349 m, approachRate: -0.988350 m/s, posRepo size: 4 2025-10-24T19:36:28.169Z,1761334588.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.05 m. 2025-10-24T19:36:28.181Z,1761334588.181 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.113900 2025-10-24T19:36:28.182Z,1761334588.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.046118 m, nav range: 28.059294 m, bearing: 55.071022 deg, approach rate: 0.000000 m/s, LOS rate: 0.005520 deg/s, cmd heading: 46.202186 deg, new cmd heading: 46.210035 deg. 2025-10-24T19:36:28.183Z,1761334588.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.806517 target range: 28.046118 and range: 28.20 m. 2025-10-24T19:36:28.440Z,1761334588.440 [DAT](INFO): DAT read: Rx Time:19:36:27.4940 2025-10-24T19:36:28.442Z,1761334588.442 [DAT](INFO): Rx dataTimestamp_ set to:1761334588.441278 2025-10-24T19:36:28.447Z,1761334588.447 [DAT](INFO): DAT read: Bearing 2.0, 5.2 (Local) 2025-10-24T19:36:28.449Z,1761334588.449 [DAT](INFO): Local bearing/azimuth received: Bearing 2.0, 5.2 (Local) 2025-10-24T19:36:28.465Z,1761334588.465 [DAT](INFO): DAT read: Range 10 to 50 : 28.1 m (trip time 18.7 ms) speed 0.5 2025-10-24T19:36:28.467Z,1761334588.467 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-24T19:36:28.469Z,1761334588.469 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.402183 2025-10-24T19:36:28.522Z,1761334588.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676338,-0.725480,0.127459],[0.736579,0.665086,-0.122932],[0.004414,0.177027,0.984196]] 2025-10-24T19:36:28.650Z,1761334588.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.507687 s, deltaX: -0.100000 m, approachRate: -0.196973 m/s, rangeRepo size: 4 2025-10-24T19:36:28.651Z,1761334588.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.05 m. 2025-10-24T19:36:28.658Z,1761334588.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.046118 m, nav range: 27.771122 m, bearing: 55.018234 deg, approach rate: -0.565934 m/s, LOS rate: -0.104744 deg/s, cmd heading: 46.210034 deg, new cmd heading: 46.050028 deg. 2025-10-24T19:36:28.659Z,1761334588.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.803725 target range: 28.046118 and range: 28.10 m. 2025-10-24T19:36:28.689Z,1761334588.689 [DAT](INFO): DAT read: 19:36:27.4940 LVL= 14208, 30097, 16882, 27427, AGC= 59, IDX= 504,-0.17, 1.054,-0.228, 1.016, 0.729, PHS= 0.412,-0.911, 0.284, RAW= 145.0, 3.4, CAL= 148.0, -5.2, ROT= 2.0, 5.2 2025-10-24T19:36:28.690Z,1761334588.690 [DAT](INFO): got valid direction response: 19:36:27.4940 LVL= 14208, 30097, 16882, 27427, AGC= 59, IDX= 504,-0.17, 1.054,-0.228, 1.016, 0.729, PHS= 0.412,-0.911, 0.284, RAW= 145.0, 3.4, CAL= 148.0, -5.2, ROT= 2.0, 5.2 2025-10-24T19:36:28.691Z,1761334588.691 [DAT](INFO): #Rx 30: Read direction message, but no range. 2025-10-24T19:36:28.692Z,1761334588.692 [DAT](INFO): direction in FSK: [0.995278,0.034756,-0.090633] 2025-10-24T19:36:28.695Z,1761334588.695 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.627969 2025-10-24T19:36:28.902Z,1761334588.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672187,-0.728886,0.129960],[0.740374,0.660991,-0.122215],[0.003178,0.178371,0.983958]] 2025-10-24T19:36:28.961Z,1761334588.961 [DAT](INFO): DAT read: Rx Time:19:36:27.9938 2025-10-24T19:36:28.963Z,1761334588.963 [DAT](INFO): Rx dataTimestamp_ set to:1761334588.962193 2025-10-24T19:36:28.974Z,1761334588.974 [DAT](INFO): DAT read: Bearing 0.8, 5.4 (Local) 2025-10-24T19:36:28.975Z,1761334588.975 [DAT](INFO): Local bearing/azimuth received: Bearing 0.8, 5.4 (Local) 2025-10-24T19:36:28.981Z,1761334588.981 [DAT](INFO): DAT read: Range 10 to 50 : 27.8 m (trip time 18.5 ms) speed 0.4 2025-10-24T19:36:29.001Z,1761334589.001 [DAT](INFO): DAT read: 19:36:27.9938 LVL= 15088, 29377, 16450, 27459, AGC= 59, IDX= 501, 0.01, 0.673,-0.657, 0.667, 0.345, PHS= 0.416,-0.955, 0.319, RAW= 146.4, 3.3, CAL= 149.2, -5.4, ROT= 0.8, 5.4 2025-10-24T19:36:29.002Z,1761334589.002 [DAT](INFO): got valid direction response: 19:36:27.9938 LVL= 15088, 29377, 16450, 27459, AGC= 59, IDX= 501, 0.01, 0.673,-0.657, 0.667, 0.345, PHS= 0.416,-0.955, 0.319, RAW= 146.4, 3.3, CAL= 149.2, -5.4, ROT= 0.8, 5.4 2025-10-24T19:36:29.002Z,1761334589.002 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-24T19:36:29.003Z,1761334589.003 [DAT](INFO): direction in FSK: [0.995465,0.013900,-0.094108] 2025-10-24T19:36:29.006Z,1761334589.006 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:29.027Z,1761334589.027 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.959782 2025-10-24T19:36:29.069Z,1761334589.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.520915 s, deltaX: -0.300001 m, approachRate: -0.575912 m/s, rangeRepo size: 4 2025-10-24T19:36:29.071Z,1761334589.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.648201 m, bearing: 49.515980 deg, lat: 36.779536 deg, lon: -121.859610 deg, deltaT: 1.028602 s, deltaX: -0.397917 m, approachRate: -0.386852 m/s, posRepo size: 4 2025-10-24T19:36:29.076Z,1761334589.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m. 2025-10-24T19:36:29.092Z,1761334589.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.648201 m, nav range: 27.602343 m, bearing: 51.664951 deg, approach rate: 0.000000 m/s, LOS rate: -0.104744 deg/s, cmd heading: 46.050027 deg, new cmd heading: 45.918173 deg. 2025-10-24T19:36:29.093Z,1761334589.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.801423 target range: 27.648201 and range: 27.80 m. 2025-10-24T19:36:29.194Z,1761334589.194 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.126204 2025-10-24T19:36:29.381Z,1761334589.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668657,-0.731818,0.131681],[0.743569,0.657690,-0.120618],[0.001665,0.178566,0.983927]] 2025-10-24T19:36:29.446Z,1761334589.446 [DAT](INFO): DAT read: Rx Time:19:36:28.4937 2025-10-24T19:36:29.448Z,1761334589.448 [DAT](INFO): Rx dataTimestamp_ set to:1761334589.446803 2025-10-24T19:36:29.454Z,1761334589.454 [DAT](INFO): DAT read: Bearing 359.6, 5.9 (Local) 2025-10-24T19:36:29.455Z,1761334589.455 [DAT](INFO): Local bearing/azimuth received: Bearing 359.6, 5.9 (Local) 2025-10-24T19:36:29.463Z,1761334589.463 [DAT](INFO): DAT read: Range 10 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-24T19:36:29.481Z,1761334589.481 [DAT](INFO): DAT read: 19:36:28.4937 LVL= 14112, 28849, 16114, 26019, AGC= 60, IDX= 499, 0.21, 1.669, 0.285, 1.696, 1.328, PHS= 0.430,-0.996, 0.365, RAW= 147.7, 2.9, CAL= 150.4, -5.9, ROT= 359.6, 5.9 2025-10-24T19:36:29.482Z,1761334589.482 [DAT](INFO): got valid direction response: 19:36:28.4937 LVL= 14112, 28849, 16114, 26019, AGC= 60, IDX= 499, 0.21, 1.669, 0.285, 1.696, 1.328, PHS= 0.430,-0.996, 0.365, RAW= 147.7, 2.9, CAL= 150.4, -5.9, ROT= 359.6, 5.9 2025-10-24T19:36:29.482Z,1761334589.482 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-24T19:36:29.483Z,1761334589.483 [DAT](INFO): direction in FSK: [0.994679,-0.006944,-0.102793] 2025-10-24T19:36:29.483Z,1761334589.483 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:29.507Z,1761334589.507 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.440010 2025-10-24T19:36:29.539Z,1761334589.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.484610 s, deltaX: -0.199999 m, approachRate: -0.412701 m/s, rangeRepo size: 4 2025-10-24T19:36:29.550Z,1761334589.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.449295 m, bearing: 48.700004 deg, lat: 36.779536 deg, lon: -121.859613 deg, deltaT: 0.484610 s, deltaX: -0.198906 m, approachRate: -0.410445 m/s, posRepo size: 4 2025-10-24T19:36:29.551Z,1761334589.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-24T19:36:29.558Z,1761334589.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.449295 m, nav range: 27.253704 m, bearing: 51.224938 deg, approach rate: 0.000000 m/s, LOS rate: -0.104744 deg/s, cmd heading: 45.918173 deg, new cmd heading: 45.770532 deg. 2025-10-24T19:36:29.559Z,1761334589.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.798846 target range: 27.449295 and range: 27.60 m. 2025-10-24T19:36:29.694Z,1761334589.694 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.627417 2025-10-24T19:36:29.743Z,1761334589.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665201,-0.734725,0.132990],[0.746664,0.654600,-0.118290],[-0.000145,0.177985,0.984033]] 2025-10-24T19:36:29.873Z,1761334589.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:29.875Z,1761334589.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-24T19:36:29.889Z,1761334589.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.449295 m, nav range: 27.088467 m, bearing: 51.173745 deg, approach rate: -0.490625 m/s, LOS rate: -0.152928 deg/s, cmd heading: 45.770532 deg, new cmd heading: 45.616019 deg. 2025-10-24T19:36:29.891Z,1761334589.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796150 target range: 27.449295 and range: 27.60 m. 2025-10-24T19:36:29.949Z,1761334589.949 [DAT](INFO): DAT read: Rx Time:19:36:28.9934 2025-10-24T19:36:29.951Z,1761334589.951 [DAT](INFO): Rx dataTimestamp_ set to:1761334589.950069 2025-10-24T19:36:29.956Z,1761334589.956 [DAT](INFO): DAT read: Bearing 358.9, 5.3 (Local) 2025-10-24T19:36:29.956Z,1761334589.956 [DAT](INFO): Local bearing/azimuth received: Bearing 358.9, 5.3 (Local) 2025-10-24T19:36:29.964Z,1761334589.964 [DAT](INFO): DAT read: Range 10 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 2025-10-24T19:36:29.967Z,1761334589.967 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-24T19:36:29.973Z,1761334589.973 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.905643 2025-10-24T19:36:30.201Z,1761334590.201 [DAT](INFO): DAT read: 19:36:28.9934 LVL= 15120, 27249, 16626, 27315, AGC= 60, IDX= 497,-0.35,-1.195,-2.526,-1.136,-1.496, PHS= 0.390,-0.982, 0.357, RAW= 148.8, 3.5, CAL= 151.1, -5.3, ROT= 358.9, 5.3 2025-10-24T19:36:30.202Z,1761334590.202 [DAT](INFO): got valid direction response: 19:36:28.9934 LVL= 15120, 27249, 16626, 27315, AGC= 60, IDX= 497,-0.35,-1.195,-2.526,-1.136,-1.496, PHS= 0.390,-0.982, 0.357, RAW= 148.8, 3.5, CAL= 151.1, -5.3, ROT= 358.9, 5.3 2025-10-24T19:36:30.203Z,1761334590.203 [DAT](INFO): #Rx 34: Read direction message, but no range. 2025-10-24T19:36:30.204Z,1761334590.204 [DAT](INFO): direction in FSK: [0.995541,-0.019115,-0.092371] 2025-10-24T19:36:30.207Z,1761334590.207 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.140142 2025-10-24T19:36:30.326Z,1761334590.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662879,-0.736673,0.133807],[0.748723,0.652745,-0.115489],[-0.002265,0.176740,0.984255]] 2025-10-24T19:36:30.435Z,1761334590.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503266 s, deltaX: -0.400000 m, approachRate: -0.794808 m/s, rangeRepo size: 4 2025-10-24T19:36:30.442Z,1761334590.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.051483 m, bearing: 48.336806 deg, lat: 36.779543 deg, lon: -121.859618 deg, deltaT: 0.503266 s, deltaX: -0.397812 m, approachRate: -0.790460 m/s, posRepo size: 4 2025-10-24T19:36:30.443Z,1761334590.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-24T19:36:30.449Z,1761334590.449 [DAT](INFO): DAT read: Rx Time:19:36:29.4933 2025-10-24T19:36:30.449Z,1761334590.449 [DAT](INFO): Rx dataTimestamp_ set to:1761334590.449229 2025-10-24T19:36:30.451Z,1761334590.451 [DAT](INFO): DAT read: Range 10 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 2025-10-24T19:36:30.453Z,1761334590.453 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-24T19:36:30.453Z,1761334590.453 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.386547 2025-10-24T19:36:30.461Z,1761334590.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.051483 m, nav range: 26.917553 m, bearing: 49.303872 deg, approach rate: 0.000000 m/s, LOS rate: -0.152928 deg/s, cmd heading: 45.616019 deg, new cmd heading: 45.359978 deg. 2025-10-24T19:36:30.462Z,1761334590.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.791681 target range: 27.051483 and range: 27.20 m. 2025-10-24T19:36:30.661Z,1761334590.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659898,-0.739311,0.133995],[0.751344,0.650295,-0.112244],[-0.004153,0.174746,0.984605]] 2025-10-24T19:36:30.702Z,1761334590.702 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.634636 2025-10-24T19:36:30.703Z,1761334590.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.499160 s, deltaX: -0.200001 m, approachRate: -0.400675 m/s, rangeRepo size: 4 2025-10-24T19:36:30.703Z,1761334590.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-24T19:36:30.707Z,1761334590.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.051483 m, nav range: 26.792137 m, bearing: 49.266050 deg, approach rate: -0.477918 m/s, LOS rate: -0.144802 deg/s, cmd heading: 45.359980 deg, new cmd heading: 45.245983 deg. 2025-10-24T19:36:30.708Z,1761334590.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.789691 target range: 27.051483 and range: 27.00 m. 2025-10-24T19:36:30.958Z,1761334590.958 [DAT](INFO): DAT read: Rx Time:19:36:29.9931 2025-10-24T19:36:30.960Z,1761334590.960 [DAT](INFO): Rx dataTimestamp_ set to:1761334590.958645 2025-10-24T19:36:30.965Z,1761334590.965 [DAT](INFO): DAT read: Bearing 357.2, 4.6 (Local) 2025-10-24T19:36:30.966Z,1761334590.966 [DAT](INFO): Local bearing/azimuth received: Bearing 357.2, 4.6 (Local) 2025-10-24T19:36:30.970Z,1761334590.970 [DAT](INFO): DAT read: Range 10 to 50 : 26.7 m (trip time 17.8 ms) speed 0.3 2025-10-24T19:36:30.985Z,1761334590.985 [DAT](INFO): DAT read: 19:36:29.9931 LVL= 15072, 28481, 17522, 27219, AGC= 61, IDX= 510,-0.22,-2.722, 2.193,-2.601,-2.992, PHS= 0.357,-1.051, 0.388, RAW= 151.1, 4.3, CAL= 152.8, -4.6, ROT= 357.2, 4.6 2025-10-24T19:36:30.986Z,1761334590.986 [DAT](INFO): got valid direction response: 19:36:29.9931 LVL= 15072, 28481, 17522, 27219, AGC= 61, IDX= 510,-0.22,-2.722, 2.193,-2.601,-2.992, PHS= 0.357,-1.051, 0.388, RAW= 151.1, 4.3, CAL= 152.8, -4.6, ROT= 357.2, 4.6 2025-10-24T19:36:30.987Z,1761334590.987 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-24T19:36:30.000Z,1761334591.000 [DAT](INFO): direction in FSK: [0.995589,-0.048692,-0.080199] 2025-10-24T19:36:31.000Z,1761334591.000 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:31.033Z,1761334591.033 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.965780 2025-10-24T19:36:31.137Z,1761334591.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.509416 s, deltaX: -0.299999 m, approachRate: -0.588908 m/s, rangeRepo size: 4 2025-10-24T19:36:31.139Z,1761334591.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.554197 m, bearing: 46.754955 deg, lat: 36.779545 deg, lon: -121.859621 deg, deltaT: 1.008576 s, deltaX: -0.497286 m, approachRate: -0.493057 m/s, posRepo size: 4 2025-10-24T19:36:31.139Z,1761334591.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.55 m. 2025-10-24T19:36:31.146Z,1761334591.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.554197 m, nav range: 26.608667 m, bearing: 48.458598 deg, approach rate: 0.000000 m/s, LOS rate: -0.144802 deg/s, cmd heading: 45.245984 deg, new cmd heading: 45.058382 deg. 2025-10-24T19:36:31.147Z,1761334591.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.786417 target range: 26.554197 and range: 26.70 m. 2025-10-24T19:36:31.206Z,1761334591.206 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.138926 2025-10-24T19:36:31.462Z,1761334591.462 [DAT](INFO): DAT read: Rx Time:19:36:30.4931 2025-10-24T19:36:31.464Z,1761334591.464 [DAT](INFO): Rx dataTimestamp_ set to:1761334591.462859 2025-10-24T19:36:31.468Z,1761334591.468 [DAT](INFO): DAT read: Bearing 357.1, 5.2 (Local) 2025-10-24T19:36:31.469Z,1761334591.469 [DAT](INFO): Local bearing/azimuth received: Bearing 357.1, 5.2 (Local) 2025-10-24T19:36:31.471Z,1761334591.471 [DAT](INFO): DAT read: Range 10 to 50 : 26.7 m (trip time 17.8 ms) speed 0.3 2025-10-24T19:36:31.476Z,1761334591.476 [DAT](INFO): DAT read: 19:36:30.4931 LVL= 15536, 28145, 17186, 26803, AGC= 60, IDX= 509, 0.39,-0.670,-2.062,-0.554,-0.964, PHS= 0.382,-1.052, 0.407, RAW= 150.9, 3.7, CAL= 152.9, -5.2, ROT= 357.1, 5.2 2025-10-24T19:36:31.477Z,1761334591.477 [DAT](INFO): got valid direction response: 19:36:30.4931 LVL= 15536, 28145, 17186, 26803, AGC= 60, IDX= 509, 0.39,-0.670,-2.062,-0.554,-0.964, PHS= 0.382,-1.052, 0.407, RAW= 150.9, 3.7, CAL= 152.9, -5.2, ROT= 357.1, 5.2 2025-10-24T19:36:31.478Z,1761334591.478 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-24T19:36:31.479Z,1761334591.479 [DAT](INFO): direction in FSK: [0.994609,-0.050385,-0.090633] 2025-10-24T19:36:31.479Z,1761334591.479 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:31.483Z,1761334591.483 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.415642 2025-10-24T19:36:31.543Z,1761334591.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656465,-0.741892,0.136562],[0.754313,0.647514,-0.108337],[-0.008051,0.174130,0.984690]] 2025-10-24T19:36:31.689Z,1761334591.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.504214 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:31.691Z,1761334591.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.554197 m, bearing: 47.017704 deg, lat: 36.779546 deg, lon: -121.859622 deg, deltaT: 0.504214 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:31.691Z,1761334591.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.55 m. 2025-10-24T19:36:31.698Z,1761334591.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.554197 m, nav range: 26.408207 m, bearing: 48.182690 deg, approach rate: 0.000000 m/s, LOS rate: -0.144802 deg/s, cmd heading: 45.058382 deg, new cmd heading: 44.818627 deg. 2025-10-24T19:36:31.699Z,1761334591.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.782233 target range: 26.554197 and range: 26.70 m. 2025-10-24T19:36:31.709Z,1761334591.709 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.641888 2025-10-24T19:36:31.967Z,1761334591.967 [DAT](INFO): DAT read: Rx Time:19:36:30.9929 2025-10-24T19:36:31.969Z,1761334591.969 [DAT](INFO): Rx dataTimestamp_ set to:1761334591.968247 2025-10-24T19:36:31.970Z,1761334591.970 [DAT](INFO): DAT read: Bearing 356.7, 5.2 (Local) 2025-10-24T19:36:31.970Z,1761334591.970 [DAT](INFO): Local bearing/azimuth received: Bearing 356.7, 5.2 (Local) 2025-10-24T19:36:31.973Z,1761334591.973 [DAT](INFO): DAT read: Range 10 to 50 : 26.4 m (trip time 17.6 ms) speed 0.3 2025-10-24T19:36:31.981Z,1761334591.981 [DAT](INFO): DAT read: 19:36:30.9929 LVL= 16880, 29937, 19570, 30371, AGC= 62, IDX= 507, 0.26, 3.141, 1.729,-3.013, 2.848, PHS= 0.380,-1.072, 0.419, RAW= 151.3, 3.7, CAL= 153.3, -5.2, ROT= 356.7, 5.2 2025-10-24T19:36:31.982Z,1761334591.982 [DAT](INFO): got valid direction response: 19:36:30.9929 LVL= 16880, 29937, 19570, 30371, AGC= 62, IDX= 507, 0.26, 3.141, 1.729,-3.013, 2.848, PHS= 0.380,-1.072, 0.419, RAW= 151.3, 3.7, CAL= 153.3, -5.2, ROT= 356.7, 5.2 2025-10-24T19:36:31.983Z,1761334591.983 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-24T19:36:31.983Z,1761334591.983 [DAT](INFO): direction in FSK: [0.994233,-0.057327,-0.090633] 2025-10-24T19:36:31.996Z,1761334591.996 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:32.016Z,1761334592.016 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.932676 2025-10-24T19:36:32.138Z,1761334592.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.505388 s, deltaX: -0.300001 m, approachRate: -0.593606 m/s, rangeRepo size: 4 2025-10-24T19:36:32.147Z,1761334592.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.255791 m, bearing: 46.623232 deg, lat: 36.779549 deg, lon: -121.859626 deg, deltaT: 0.505388 s, deltaX: -0.298407 m, approachRate: -0.590451 m/s, posRepo size: 4 2025-10-24T19:36:32.153Z,1761334592.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.26 m. 2025-10-24T19:36:32.161Z,1761334592.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.255791 m, nav range: 26.228649 m, bearing: 46.983905 deg, approach rate: 0.000000 m/s, LOS rate: -0.144802 deg/s, cmd heading: 44.818626 deg, new cmd heading: 44.622460 deg. 2025-10-24T19:36:32.163Z,1761334592.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.778809 target range: 26.255791 and range: 26.40 m. 2025-10-24T19:36:32.213Z,1761334592.213 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.146240 2025-10-24T19:36:32.469Z,1761334592.469 [DAT](INFO): DAT read: Rx Time:19:36:31.4929 2025-10-24T19:36:32.469Z,1761334592.469 [DAT](INFO): Rx dataTimestamp_ set to:1761334592.468793 2025-10-24T19:36:32.470Z,1761334592.470 [DAT](INFO): DAT read: Bearing 356.8, 4.7 (Local) 2025-10-24T19:36:32.471Z,1761334592.471 [DAT](INFO): Local bearing/azimuth received: Bearing 356.8, 4.7 (Local) 2025-10-24T19:36:32.473Z,1761334592.473 [DAT](INFO): DAT read: Range 10 to 50 : 26.4 m (trip time 17.6 ms) speed 0.3 2025-10-24T19:36:32.478Z,1761334592.478 [DAT](INFO): DAT read: 19:36:31.4929 LVL= 16944, 28497, 16802, 27427, AGC= 62, IDX= 507, 0.16,-2.358, 2.498,-2.226,-2.642, PHS= 0.372,-1.096, 0.413, RAW= 151.4, 4.2, CAL= 153.2, -4.7, ROT= 356.8, 4.7 2025-10-24T19:36:32.479Z,1761334592.479 [DAT](INFO): got valid direction response: 19:36:31.4929 LVL= 16944, 28497, 16802, 27427, AGC= 62, IDX= 507, 0.16,-2.358, 2.498,-2.226,-2.642, PHS= 0.372,-1.096, 0.413, RAW= 151.4, 4.2, CAL= 153.2, -4.7, ROT= 356.8, 4.7 2025-10-24T19:36:32.479Z,1761334592.479 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-24T19:36:32.480Z,1761334592.480 [DAT](INFO): direction in FSK: [0.995083,-0.055634,-0.081939] 2025-10-24T19:36:32.481Z,1761334592.481 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:32.485Z,1761334592.485 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.418362 2025-10-24T19:36:32.514Z,1761334592.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655948,-0.742867,0.133721],[0.754659,0.648948,-0.096733],[-0.014918,0.164366,0.986287]] 2025-10-24T19:36:32.628Z,1761334592.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.500546 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:32.630Z,1761334592.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.255791 m, bearing: 46.616551 deg, lat: 36.779549 deg, lon: -121.859626 deg, deltaT: 0.500546 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:32.631Z,1761334592.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.26 m. 2025-10-24T19:36:32.642Z,1761334592.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.255791 m, nav range: 26.016607 m, bearing: 46.837286 deg, approach rate: 0.000000 m/s, LOS rate: -0.144802 deg/s, cmd heading: 44.622459 deg, new cmd heading: 44.406902 deg. 2025-10-24T19:36:32.643Z,1761334592.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775047 target range: 26.255791 and range: 26.40 m. 2025-10-24T19:36:32.718Z,1761334592.718 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.650797 2025-10-24T19:36:32.970Z,1761334592.970 [DAT](INFO): DAT read: Rx Time:19:36:31.9927 2025-10-24T19:36:32.971Z,1761334592.971 [DAT](INFO): Rx dataTimestamp_ set to:1761334592.970669 2025-10-24T19:36:32.972Z,1761334592.972 [DAT](INFO): DAT read: Bearing 356.7, 4.6 (Local) 2025-10-24T19:36:32.973Z,1761334592.973 [DAT](INFO): Local bearing/azimuth received: Bearing 356.7, 4.6 (Local) 2025-10-24T19:36:32.975Z,1761334592.975 [DAT](INFO): DAT read: Range 10 to 50 : 26.1 m (trip time 17.4 ms) speed 0.3 2025-10-24T19:36:32.994Z,1761334592.994 [DAT](INFO): DAT read: 19:36:31.9927 LVL= 17104, 30561, 17314, 29827, AGC= 62, IDX= 505, 0.11, 2.380, 0.951, 2.517, 2.100, PHS= 0.368,-1.102, 0.414, RAW= 151.5, 4.3, CAL= 153.3, -4.6, ROT= 356.7, 4.6 2025-10-24T19:36:32.995Z,1761334592.995 [DAT](INFO): got valid direction response: 19:36:31.9927 LVL= 17104, 30561, 17314, 29827, AGC= 62, IDX= 505, 0.11, 2.380, 0.951, 2.517, 2.100, PHS= 0.368,-1.102, 0.414, RAW= 151.5, 4.3, CAL= 153.3, -4.6, ROT= 356.7, 4.6 2025-10-24T19:36:32.995Z,1761334592.995 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-24T19:36:33.005Z,1761334593.005 [DAT](INFO): direction in FSK: [0.995126,-0.057378,-0.080199] 2025-10-24T19:36:33.005Z,1761334593.005 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:33.019Z,1761334593.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656685,-0.742680,0.131117],[0.753967,0.650499,-0.091572],[-0.017283,0.158991,0.987129]] 2025-10-24T19:36:33.025Z,1761334593.025 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.957811 2025-10-24T19:36:33.099Z,1761334593.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.501876 s, deltaX: -0.299999 m, approachRate: -0.597756 m/s, rangeRepo size: 4 2025-10-24T19:36:33.106Z,1761334593.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.957422 m, bearing: 46.415055 deg, lat: 36.779550 deg, lon: -121.859628 deg, deltaT: 0.501876 s, deltaX: -0.298368 m, approachRate: -0.594506 m/s, posRepo size: 4 2025-10-24T19:36:33.106Z,1761334593.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.96 m. 2025-10-24T19:36:33.115Z,1761334593.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.957422 m, nav range: 25.783998 m, bearing: 46.580952 deg, approach rate: 0.000000 m/s, LOS rate: -0.144802 deg/s, cmd heading: 44.406902 deg, new cmd heading: 44.202382 deg. 2025-10-24T19:36:33.125Z,1761334593.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771477 target range: 25.957422 and range: 26.10 m. 2025-10-24T19:36:33.221Z,1761334593.221 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.154001 2025-10-24T19:36:33.462Z,1761334593.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658754,-0.741526,0.127208],[0.752099,0.653485,-0.085464],[-0.019755,0.151973,0.988187]] 2025-10-24T19:36:33.474Z,1761334593.474 [DAT](INFO): DAT read: Rx Time:19:36:32.4925 2025-10-24T19:36:33.474Z,1761334593.474 [DAT](INFO): Rx dataTimestamp_ set to:1761334593.473863 2025-10-24T19:36:33.475Z,1761334593.475 [DAT](INFO): DAT read: Bearing 357.0, 4.2 (Local) 2025-10-24T19:36:33.476Z,1761334593.476 [DAT](INFO): Local bearing/azimuth received: Bearing 357.0, 4.2 (Local) 2025-10-24T19:36:33.478Z,1761334593.478 [DAT](INFO): DAT read: Range 10 to 50 : 25.8 m (trip time 17.2 ms) speed 0.3 2025-10-24T19:36:33.483Z,1761334593.483 [DAT](INFO): DAT read: 19:36:32.4925 LVL= 17360, 28209, 19234, 27971, AGC= 61, IDX= 504, 0.07, 1.542, 0.129, 1.675, 1.276, PHS= 0.354,-1.100, 0.396, RAW= 151.4, 4.8, CAL= 153.0, -4.2, ROT= 357.0, 4.2 2025-10-24T19:36:33.485Z,1761334593.485 [DAT](INFO): got valid direction response: 19:36:32.4925 LVL= 17360, 28209, 19234, 27971, AGC= 61, IDX= 504, 0.07, 1.542, 0.129, 1.675, 1.276, PHS= 0.354,-1.100, 0.396, RAW= 151.4, 4.8, CAL= 153.0, -4.2, ROT= 357.0, 4.2 2025-10-24T19:36:33.486Z,1761334593.486 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-24T19:36:33.487Z,1761334593.487 [DAT](INFO): direction in FSK: [0.995948,-0.052195,-0.073238] 2025-10-24T19:36:33.487Z,1761334593.487 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:33.499Z,1761334593.499 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.431911 2025-10-24T19:36:33.586Z,1761334593.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.503194 s, deltaX: -0.300001 m, approachRate: -0.596194 m/s, rangeRepo size: 4 2025-10-24T19:36:33.595Z,1761334593.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.659061 m, bearing: 46.454991 deg, lat: 36.779550 deg, lon: -121.859628 deg, deltaT: 0.503194 s, deltaX: -0.298361 m, approachRate: -0.592934 m/s, posRepo size: 4 2025-10-24T19:36:33.600Z,1761334593.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-24T19:36:33.603Z,1761334593.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.659061 m, nav range: 25.635996 m, bearing: 46.590629 deg, approach rate: 0.000000 m/s, LOS rate: -0.144802 deg/s, cmd heading: 44.202382 deg, new cmd heading: 43.993092 deg. 2025-10-24T19:36:33.612Z,1761334593.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.767824 target range: 25.659061 and range: 25.80 m. 2025-10-24T19:36:33.726Z,1761334593.726 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.658722 2025-10-24T19:36:33.882Z,1761334593.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660627,-0.740539,0.123179],[0.750386,0.656240,-0.079186],[-0.022195,0.144744,0.989220]] 2025-10-24T19:36:33.903Z,1761334593.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:33.939Z,1761334593.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-24T19:36:33.969Z,1761334593.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.659061 m, nav range: 25.534315 m, bearing: 46.598067 deg, approach rate: -0.288989 m/s, LOS rate: 0.021223 deg/s, cmd heading: 43.993091 deg, new cmd heading: 44.015493 deg. 2025-10-24T19:36:33.970Z,1761334593.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768215 target range: 25.659061 and range: 25.80 m. 2025-10-24T19:36:33.977Z,1761334593.977 [DAT](INFO): DAT read: Rx Time:19:36:32.9923 2025-10-24T19:36:33.978Z,1761334593.978 [DAT](INFO): Rx dataTimestamp_ set to:1761334593.977638 2025-10-24T19:36:33.979Z,1761334593.979 [DAT](INFO): DAT read: Bearing 356.7, 4.1 (Local) 2025-10-24T19:36:33.980Z,1761334593.980 [DAT](INFO): Local bearing/azimuth received: Bearing 356.7, 4.1 (Local) 2025-10-24T19:36:33.982Z,1761334593.982 [DAT](INFO): DAT read: Range 10 to 50 : 25.5 m (trip time 17.0 ms) speed 0.2 2025-10-24T19:36:33.994Z,1761334593.994 [DAT](INFO): DAT read: 19:36:32.9923 LVL= 17120, 24193, 16866, 25843, AGC= 61, IDX= 502, 0.01, 0.297,-1.113, 0.439, 0.037, PHS= 0.348,-1.104, 0.399, RAW= 151.7, 4.9, CAL= 153.3, -4.1, ROT= 356.7, 4.1 2025-10-24T19:36:33.995Z,1761334593.995 [DAT](INFO): got valid direction response: 19:36:32.9923 LVL= 17120, 24193, 16866, 25843, AGC= 61, IDX= 502, 0.01, 0.297,-1.113, 0.439, 0.037, PHS= 0.348,-1.104, 0.399, RAW= 151.7, 4.9, CAL= 153.3, -4.1, ROT= 356.7, 4.1 2025-10-24T19:36:34.004Z,1761334594.004 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-24T19:36:34.005Z,1761334594.005 [DAT](INFO): direction in FSK: [0.995787,-0.057416,-0.071497] 2025-10-24T19:36:34.005Z,1761334594.005 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:34.020Z,1761334594.020 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.953161 2025-10-24T19:36:34.204Z,1761334594.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:36:34.229Z,1761334594.229 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.161734 2025-10-24T19:36:34.407Z,1761334594.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503775 s, deltaX: -0.299999 m, approachRate: -0.595502 m/s, rangeRepo size: 4 2025-10-24T19:36:34.443Z,1761334594.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.360676 m, bearing: 45.963180 deg, lat: 36.779550 deg, lon: -121.859628 deg, deltaT: 0.503775 s, deltaX: -0.298386 m, approachRate: -0.592299 m/s, posRepo size: 4 2025-10-24T19:36:34.455Z,1761334594.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-24T19:36:34.478Z,1761334594.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.360676 m, nav range: 25.439024 m, bearing: 46.438750 deg, approach rate: 0.000000 m/s, LOS rate: 0.021223 deg/s, cmd heading: 44.015494 deg, new cmd heading: 44.045614 deg. 2025-10-24T19:36:34.478Z,1761334594.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768741 target range: 25.360676 and range: 25.50 m. 2025-10-24T19:36:34.482Z,1761334594.482 [DAT](INFO): DAT read: Rx Time:19:36:33.4923 2025-10-24T19:36:34.482Z,1761334594.482 [DAT](INFO): Rx dataTimestamp_ set to:1761334594.481766 2025-10-24T19:36:34.483Z,1761334594.483 [DAT](INFO): DAT read: Bearing 357.5, 3.8 (Local) 2025-10-24T19:36:34.484Z,1761334594.484 [DAT](INFO): Local bearing/azimuth received: Bearing 357.5, 3.8 (Local) 2025-10-24T19:36:34.487Z,1761334594.487 [DAT](INFO): DAT read: Range 10 to 50 : 25.5 m (trip time 17.0 ms) speed 0.3 2025-10-24T19:36:34.492Z,1761334594.492 [DAT](INFO): DAT read: 19:36:33.4923 LVL= 17648, 30705, 18482, 29939, AGC= 61, IDX= 502,-0.04, 0.523,-0.886, 0.642, 0.262, PHS= 0.349,-1.101, 0.377, RAW= 150.9, 5.2, CAL= 152.5, -3.8, ROT= 357.5, 3.8 2025-10-24T19:36:34.493Z,1761334594.493 [DAT](INFO): got valid direction response: 19:36:33.4923 LVL= 17648, 30705, 18482, 29939, AGC= 61, IDX= 502,-0.04, 0.523,-0.886, 0.642, 0.262, PHS= 0.349,-1.101, 0.377, RAW= 150.9, 5.2, CAL= 152.5, -3.8, ROT= 357.5, 3.8 2025-10-24T19:36:34.493Z,1761334594.493 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-24T19:36:34.494Z,1761334594.494 [DAT](INFO): direction in FSK: [0.996852,-0.043524,-0.066274] 2025-10-24T19:36:34.495Z,1761334594.495 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:34.499Z,1761334594.499 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.432280 2025-10-24T19:36:34.734Z,1761334594.734 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.667145 2025-10-24T19:36:34.766Z,1761334594.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668349,-0.734917,0.114921],[0.743359,0.665491,-0.067373],[-0.026965,0.130456,0.991087]] 2025-10-24T19:36:34.859Z,1761334594.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:34.865Z,1761334594.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.360676 m, bearing: 46.054687 deg, lat: 36.779550 deg, lon: -121.859629 deg, deltaT: 0.504128 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:34.866Z,1761334594.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-24T19:36:34.873Z,1761334594.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.360676 m, nav range: 25.221550 m, bearing: 46.325289 deg, approach rate: 0.000000 m/s, LOS rate: 0.021223 deg/s, cmd heading: 44.045616 deg, new cmd heading: 44.074493 deg. 2025-10-24T19:36:34.874Z,1761334594.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769245 target range: 25.360676 and range: 25.50 m. 2025-10-24T19:36:34.987Z,1761334594.987 [DAT](INFO): DAT read: Rx Time:19:36:33.9922 2025-10-24T19:36:34.987Z,1761334594.987 [DAT](INFO): Rx dataTimestamp_ set to:1761334594.986886 2025-10-24T19:36:34.995Z,1761334594.995 [DAT](INFO): DAT read: Bearing 358.3, 3.4 (Local) 2025-10-24T19:36:34.995Z,1761334594.995 [DAT](INFO): Local bearing/azimuth received: Bearing 358.3, 3.4 (Local) 2025-10-24T19:36:34.998Z,1761334594.998 [DAT](INFO): DAT read: Range 10 to 50 : 25.4 m (trip time 16.9 ms) speed 0.3 2025-10-24T19:36:35.004Z,1761334595.004 [DAT](INFO): DAT read: 19:36:33.9922 LVL= 15920, 29153, 18546, 29555, AGC= 60, IDX= 500,-0.17,-0.375,-1.759,-0.279,-0.631, PHS= 0.344,-1.081, 0.349, RAW= 150.2, 5.5, CAL= 151.7, -3.4, ROT= 358.3, 3.4 2025-10-24T19:36:35.005Z,1761334595.005 [DAT](INFO): got valid direction response: 19:36:33.9922 LVL= 15920, 29153, 18546, 29555, AGC= 60, IDX= 500,-0.17,-0.375,-1.759,-0.279,-0.631, PHS= 0.344,-1.081, 0.349, RAW= 150.2, 5.5, CAL= 151.7, -3.4, ROT= 358.3, 3.4 2025-10-24T19:36:35.005Z,1761334595.005 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-24T19:36:35.006Z,1761334595.006 [DAT](INFO): direction in FSK: [0.997800,-0.029614,-0.059306] 2025-10-24T19:36:35.006Z,1761334595.006 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:35.013Z,1761334595.013 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.946156 2025-10-24T19:36:35.166Z,1761334595.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671521,-0.732277,0.113269],[0.740451,0.668956,-0.065039],[-0.028146,0.127545,0.991433]] 2025-10-24T19:36:35.208Z,1761334595.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:36:35.237Z,1761334595.237 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.170057 2025-10-24T19:36:35.251Z,1761334595.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.505120 s, deltaX: -0.100000 m, approachRate: -0.197974 m/s, rangeRepo size: 4 2025-10-24T19:36:35.261Z,1761334595.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.261160 m, bearing: 46.540256 deg, lat: 36.779550 deg, lon: -121.859629 deg, deltaT: 0.505120 s, deltaX: -0.099516 m, approachRate: -0.197014 m/s, posRepo size: 4 2025-10-24T19:36:35.262Z,1761334595.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-24T19:36:35.269Z,1761334595.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.261160 m, nav range: 25.095600 m, bearing: 46.365945 deg, approach rate: 0.000000 m/s, LOS rate: 0.021223 deg/s, cmd heading: 44.074494 deg, new cmd heading: 44.099395 deg. 2025-10-24T19:36:35.270Z,1761334595.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769680 target range: 25.261160 and range: 25.40 m. 2025-10-24T19:36:35.490Z,1761334595.490 [DAT](INFO): DAT read: Rx Time:19:36:34.4922 2025-10-24T19:36:35.490Z,1761334595.490 [DAT](INFO): Rx dataTimestamp_ set to:1761334595.489829 2025-10-24T19:36:35.491Z,1761334595.491 [DAT](INFO): DAT read: Bearing 359.4, 3.1 (Local) 2025-10-24T19:36:35.492Z,1761334595.492 [DAT](INFO): Local bearing/azimuth received: Bearing 359.4, 3.1 (Local) 2025-10-24T19:36:35.494Z,1761334595.494 [DAT](INFO): DAT read: Range 10 to 50 : 25.4 m (trip time 16.9 ms) speed 0.3 2025-10-24T19:36:35.499Z,1761334595.499 [DAT](INFO): DAT read: 19:36:34.4922 LVL= 17040, 29649, 17986, 30787, AGC= 60, IDX= 500,-0.37, 1.375,-0.019, 1.435, 1.109, PHS= 0.354,-1.081, 0.323, RAW= 148.9, 5.7, CAL= 150.6, -3.1, ROT= 359.4, 3.1 2025-10-24T19:36:35.500Z,1761334595.500 [DAT](INFO): got valid direction response: 19:36:34.4922 LVL= 17040, 29649, 17986, 30787, AGC= 60, IDX= 500,-0.37, 1.375,-0.019, 1.435, 1.109, PHS= 0.354,-1.081, 0.323, RAW= 148.9, 5.7, CAL= 150.6, -3.1, ROT= 359.4, 3.1 2025-10-24T19:36:35.501Z,1761334595.501 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-24T19:36:35.502Z,1761334595.502 [DAT](INFO): direction in FSK: [0.998482,-0.010457,-0.054079] 2025-10-24T19:36:35.502Z,1761334595.502 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:35.515Z,1761334595.515 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.448322 2025-10-24T19:36:35.582Z,1761334595.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674221,-0.729969,0.112121],[0.737947,0.671910,-0.063015],[-0.029336,0.125225,0.991695]] 2025-10-24T19:36:35.690Z,1761334595.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.502943 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:35.700Z,1761334595.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.261160 m, bearing: 47.376847 deg, lat: 36.779550 deg, lon: -121.859629 deg, deltaT: 0.502943 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:35.701Z,1761334595.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-24T19:36:35.706Z,1761334595.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.261160 m, nav range: 24.947525 m, bearing: 46.415860 deg, approach rate: 0.000000 m/s, LOS rate: 0.021223 deg/s, cmd heading: 44.099396 deg, new cmd heading: 44.127375 deg. 2025-10-24T19:36:35.707Z,1761334595.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770168 target range: 25.261160 and range: 25.40 m. 2025-10-24T19:36:35.741Z,1761334595.741 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.673962 2025-10-24T19:36:35.993Z,1761334595.993 [DAT](INFO): DAT read: Rx Time:19:36:34.9920 2025-10-24T19:36:35.994Z,1761334595.994 [DAT](INFO): Rx dataTimestamp_ set to:1761334595.993614 2025-10-24T19:36:35.995Z,1761334595.995 [DAT](INFO): DAT read: Bearing 0.0, 3.8 (Local) 2025-10-24T19:36:35.996Z,1761334595.996 [DAT](INFO): Local bearing/azimuth received: Bearing 0.0, 3.8 (Local) 2025-10-24T19:36:35.998Z,1761334595.998 [DAT](INFO): DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.3 2025-10-24T19:36:36.003Z,1761334596.003 [DAT](INFO): DAT read: 19:36:34.9920 LVL= 16672, 28017, 16546, 28371, AGC= 60, IDX= 497, 0.31, 2.719, 1.316, 2.749, 2.421, PHS= 0.386,-1.058, 0.325, RAW= 147.9, 5.0, CAL= 150.0, -3.8, ROT= 0.0, 3.8 2025-10-24T19:36:36.004Z,1761334596.004 [DAT](INFO): got valid direction response: 19:36:34.9920 LVL= 16672, 28017, 16546, 28371, AGC= 60, IDX= 497, 0.31, 2.719, 1.316, 2.749, 2.421, PHS= 0.386,-1.058, 0.325, RAW= 147.9, 5.0, CAL= 150.0, -3.8, ROT= 0.0, 3.8 2025-10-24T19:36:36.005Z,1761334596.005 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-24T19:36:36.005Z,1761334596.005 [DAT](INFO): direction in FSK: [0.997801,0.000000,-0.066274] 2025-10-24T19:36:36.006Z,1761334596.006 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:36.014Z,1761334596.014 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.947401 2025-10-24T19:36:36.022Z,1761334596.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677823,-0.726889,0.110401],[0.734616,0.675694,-0.061457],[-0.029925,0.122760,0.991985]] 2025-10-24T19:36:36.075Z,1761334596.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503785 s, deltaX: -0.299999 m, approachRate: -0.595491 m/s, rangeRepo size: 4 2025-10-24T19:36:36.081Z,1761334596.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.962765 m, bearing: 47.771042 deg, lat: 36.779550 deg, lon: -121.859628 deg, deltaT: 0.503785 s, deltaX: -0.298395 m, approachRate: -0.592307 m/s, posRepo size: 4 2025-10-24T19:36:36.082Z,1761334596.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 25.10 m. 2025-10-24T19:36:36.082Z,1761334596.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-24T19:36:36.095Z,1761334596.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.962765 m, nav range: 24.881954 m, bearing: 46.599842 deg, approach rate: 0.000000 m/s, LOS rate: 0.021223 deg/s, cmd heading: 44.127376 deg, new cmd heading: 44.151902 deg. 2025-10-24T19:36:36.101Z,1761334596.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770596 target range: 24.962765 and range: 25.10 m. 2025-10-24T19:36:36.245Z,1761334596.245 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.178410 2025-10-24T19:36:36.498Z,1761334596.498 [DAT](INFO): DAT read: Rx Time:19:36:35.4920 2025-10-24T19:36:36.498Z,1761334596.498 [DAT](INFO): Rx dataTimestamp_ set to:1761334596.497814 2025-10-24T19:36:36.499Z,1761334596.499 [DAT](INFO): DAT read: Bearing 1.3, 3.8 (Local) 2025-10-24T19:36:36.500Z,1761334596.500 [DAT](INFO): Local bearing/azimuth received: Bearing 1.3, 3.8 (Local) 2025-10-24T19:36:36.503Z,1761334596.503 [DAT](INFO): DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 2025-10-24T19:36:36.508Z,1761334596.508 [DAT](INFO): DAT read: 19:36:35.4920 LVL= 15344, 30529, 18130, 31475, AGC= 60, IDX= 497, 0.12,-1.657,-3.062,-1.672,-1.976, PHS= 0.407,-1.039, 0.301, RAW= 146.2, = 148.7, -3.8, ROT= 1.3, 3.8 2025-10-24T19:36:36.509Z,1761334596.509 [DAT](INFO): unknown deviceResponse_: 19:36:35.4920 LVL= 15344, 30529, 18130, 31475, AGC= 60, IDX= 497, 0.12,-1.657,-3.062,-1.672,-1.976, PHS= 0.407,-1.039, 0.301, RAW= 146.2, = 148.7, -3.8, ROT= 1.3, 3.8 2025-10-24T19:36:36.510Z,1761334596.510 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-24T19:36:36.510Z,1761334596.510 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.443504 2025-10-24T19:36:36.517Z,1761334596.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680477,-0.724520,0.109646],[0.732126,0.678493,-0.060319],[-0.030691,0.121320,0.992139]] 2025-10-24T19:36:36.610Z,1761334596.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:36.622Z,1761334596.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.504200 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:36.622Z,1761334596.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 25.10 m. 2025-10-24T19:36:36.622Z,1761334596.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-24T19:36:36.642Z,1761334596.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.962765 m, nav range: 24.686203 m, bearing: 46.617397 deg, approach rate: -0.358023 m/s, LOS rate: 0.032361 deg/s, cmd heading: 44.151903 deg, new cmd heading: 44.204984 deg. 2025-10-24T19:36:36.643Z,1761334596.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771523 target range: 24.962765 and range: 25.10 m. 2025-10-24T19:36:36.749Z,1761334596.749 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.682150 2025-10-24T19:36:36.982Z,1761334596.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683303,-0.722003,0.108674],[0.729467,0.681440,-0.059311],[-0.031232,0.119801,0.992307]] 2025-10-24T19:36:37.002Z,1761334597.002 [DAT](INFO): DAT read: Rx Time:19:36:35.9917 2025-10-24T19:36:37.003Z,1761334597.003 [DAT](INFO): Rx dataTimestamp_ set to:1761334597.002364 2025-10-24T19:36:37.004Z,1761334597.004 [DAT](INFO): DAT read: Bearing 2.6, 1.9 (Local) 2025-10-24T19:36:37.004Z,1761334597.004 [DAT](INFO): Local bearing/azimuth received: Bearing 2.6, 1.9 (Local) 2025-10-24T19:36:37.006Z,1761334597.006 [DAT](INFO): DAT read: Range 10 to 50 : 24.8 m (trip time 16.5 ms) speed 0.4 2025-10-24T19:36:37.011Z,1761334597.011 [DAT](INFO): DAT read: 19:36:35.9917 LVL= 17632, 32753, 18322, 32755, AGC= 61, IDX= 495,-0.05, 1.740, 0.381, 1.699, 1.461, PHS= 0.367,-1.033, 0.235, RAW= 145.1, 6.5, CAL= 147.4, -1.9, ROT= 2.6, 1.9 2025-10-24T19:36:37.017Z,1761334597.017 [DAT](INFO): got valid direction response: 19:36:35.9917 LVL= 17632, 32753, 18322, 32755, AGC= 61, IDX= 495,-0.05, 1.740, 0.381, 1.699, 1.461, PHS= 0.367,-1.033, 0.235, RAW= 145.1, 6.5, CAL= 147.4, -1.9, ROT= 2.6, 1.9 2025-10-24T19:36:37.018Z,1761334597.018 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-24T19:36:37.019Z,1761334597.019 [DAT](INFO): direction in FSK: [0.998421,0.045338,-0.033155] 2025-10-24T19:36:37.019Z,1761334597.019 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:37.028Z,1761334597.028 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.960691 2025-10-24T19:36:37.035Z,1761334597.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504550 s, deltaX: -0.300001 m, approachRate: -0.594591 m/s, rangeRepo size: 4 2025-10-24T19:36:37.040Z,1761334597.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-24T19:36:37.043Z,1761334597.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.962765 m, nav range: 24.541916 m, bearing: 46.631815 deg, approach rate: -0.349852 m/s, LOS rate: 0.035166 deg/s, cmd heading: 44.204984 deg, new cmd heading: 44.248494 deg. 2025-10-24T19:36:37.053Z,1761334597.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772282 target range: 24.962765 and range: 24.80 m. 2025-10-24T19:36:37.253Z,1761334597.253 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.186295 2025-10-24T19:36:37.383Z,1761334597.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686158,-0.719448,0.107622],[0.726759,0.684419,-0.058237],[-0.031760,0.118176,0.992485]] 2025-10-24T19:36:37.506Z,1761334597.506 [DAT](INFO): DAT read: Rx Time:19:36:36.4916 2025-10-24T19:36:37.506Z,1761334597.506 [DAT](INFO): Rx dataTimestamp_ set to:1761334597.505748 2025-10-24T19:36:37.507Z,1761334597.507 [DAT](INFO): DAT read: Bearing 2.9, 1.9 (Local) 2025-10-24T19:36:37.508Z,1761334597.508 [DAT](INFO): Local bearing/azimuth received: Bearing 2.9, 1.9 (Local) 2025-10-24T19:36:37.510Z,1761334597.510 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.3 2025-10-24T19:36:37.515Z,1761334597.515 [DAT](INFO): DAT read: 19:36:36.4916 LVL= 16736, 31393, 18242, 29427, AGC= 60, IDX= 510,-0.32, 2.453, 1.086, 2.398, 2.165, PHS= 0.376,-1.032, 0.230, RAW= 144.6, 6.4, CAL= 147.1, -1.9, ROT= 2.9, 1.9 2025-10-24T19:36:37.516Z,1761334597.516 [DAT](INFO): got valid direction response: 19:36:36.4916 LVL= 16736, 31393, 18242, 29427, AGC= 60, IDX= 510,-0.32, 2.453, 1.086, 2.398, 2.165, PHS= 0.376,-1.032, 0.230, RAW= 144.6, 6.4, CAL= 147.1, -1.9, ROT= 2.9, 1.9 2025-10-24T19:36:37.516Z,1761334597.516 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-24T19:36:37.518Z,1761334597.518 [DAT](INFO): direction in FSK: [0.998170,0.050565,-0.033155] 2025-10-24T19:36:37.519Z,1761334597.519 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:37.521Z,1761334597.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503384 s, deltaX: -0.199999 m, approachRate: -0.397309 m/s, rangeRepo size: 4 2025-10-24T19:36:37.523Z,1761334597.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.664286 m, bearing: 49.456128 deg, lat: 36.779549 deg, lon: -121.859625 deg, deltaT: 1.008750 s, deltaX: -0.298479 m, approachRate: -0.295890 m/s, posRepo size: 4 2025-10-24T19:36:37.527Z,1761334597.527 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.460014 2025-10-24T19:36:37.528Z,1761334597.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.66 m. 2025-10-24T19:36:37.531Z,1761334597.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.664286 m, nav range: 24.499420 m, bearing: 47.427585 deg, approach rate: 0.000000 m/s, LOS rate: 0.035166 deg/s, cmd heading: 44.248493 deg, new cmd heading: 44.299917 deg. 2025-10-24T19:36:37.536Z,1761334597.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773179 target range: 24.664286 and range: 24.60 m. 2025-10-24T19:36:37.757Z,1761334597.757 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.690289 2025-10-24T19:36:37.832Z,1761334597.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688338,-0.717660,0.105615],[0.724693,0.686729,-0.056771],[-0.031787,0.115616,0.992785]] 2025-10-24T19:36:37.979Z,1761334597.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.66 m. 2025-10-24T19:36:37.990Z,1761334597.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.664286 m, nav range: 24.326307 m, bearing: 47.409213 deg, approach rate: -0.377603 m/s, LOS rate: -0.040359 deg/s, cmd heading: 44.299917 deg, new cmd heading: 44.244410 deg. 2025-10-24T19:36:37.991Z,1761334597.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772211 target range: 24.664286 and range: 24.60 m. 2025-10-24T19:36:38.009Z,1761334598.009 [DAT](INFO): DAT read: Rx Time:19:36:36.9915 2025-10-24T19:36:38.010Z,1761334598.010 [DAT](INFO): Rx dataTimestamp_ set to:1761334598.009618 2025-10-24T19:36:38.011Z,1761334598.011 [DAT](INFO): DAT read: Bearing 3.9, 2.1 (Local) 2025-10-24T19:36:38.011Z,1761334598.011 [DAT](INFO): Local bearing/azimuth received: Bearing 3.9, 2.1 (Local) 2025-10-24T19:36:38.014Z,1761334598.014 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.3 2025-10-24T19:36:38.023Z,1761334598.023 [DAT](INFO): DAT read: 19:36:36.9915 LVL= 16480, 32753, 19250, 32755, AGC= 59, IDX= 507, 0.35, 2.362, 0.990, 2.272, 2.052, PHS= 0.398,-1.015, 0.217, RAW= 143.3, 6.1, CAL= 146.1, -2.1, ROT= 3.9, 2.1 2025-10-24T19:36:38.024Z,1761334598.024 [DAT](INFO): got valid direction response: 19:36:36.9915 LVL= 16480, 32753, 19250, 32755, AGC= 59, IDX= 507, 0.35, 2.362, 0.990, 2.272, 2.052, PHS= 0.398,-1.015, 0.217, RAW= 143.3, 6.1, CAL= 146.1, -2.1, ROT= 3.9, 2.1 2025-10-24T19:36:38.025Z,1761334598.025 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-24T19:36:38.026Z,1761334598.026 [DAT](INFO): direction in FSK: [0.997014,0.067970,-0.036644] 2025-10-24T19:36:38.026Z,1761334598.026 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:38.030Z,1761334598.030 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.962866 2025-10-24T19:36:38.207Z,1761334598.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690883,-0.715349,0.104670],[0.722250,0.689371,-0.055880],[-0.032183,0.114204,0.992936]] 2025-10-24T19:36:38.261Z,1761334598.261 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.193949 2025-10-24T19:36:38.277Z,1761334598.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503870 s, deltaX: -0.300001 m, approachRate: -0.595394 m/s, rangeRepo size: 4 2025-10-24T19:36:38.279Z,1761334598.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.166967 m, bearing: 50.391473 deg, lat: 36.779544 deg, lon: -121.859617 deg, deltaT: 1.007254 s, deltaX: -0.497318 m, approachRate: -0.493737 m/s, posRepo size: 4 2025-10-24T19:36:38.279Z,1761334598.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-24T19:36:38.287Z,1761334598.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.166967 m, nav range: 24.319063 m, bearing: 49.450239 deg, approach rate: 0.000000 m/s, LOS rate: -0.040359 deg/s, cmd heading: 44.244408 deg, new cmd heading: 44.210438 deg. 2025-10-24T19:36:38.292Z,1761334598.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.771618 target range: 24.166967 and range: 24.30 m. 2025-10-24T19:36:38.514Z,1761334598.514 [DAT](INFO): DAT read: Rx Time:19:36:37.4914 2025-10-24T19:36:38.514Z,1761334598.514 [DAT](INFO): Rx dataTimestamp_ set to:1761334598.513724 2025-10-24T19:36:38.515Z,1761334598.515 [DAT](INFO): DAT read: Bearing 5.1, 1.3 (Local) 2025-10-24T19:36:38.517Z,1761334598.517 [DAT](INFO): Local bearing/azimuth received: Bearing 5.1, 1.3 (Local) 2025-10-24T19:36:38.524Z,1761334598.524 [DAT](INFO): DAT read: Range 10 to 50 : 24.2 m (trip time 16.1 ms) speed 0.3 2025-10-24T19:36:38.530Z,1761334598.530 [DAT](INFO): DAT read: 19:36:37.4914 LVL= 16608, 32753, 18322, 32035, AGC= 59, IDX= 507, 0.14, 2.532, 1.193, 2.411, 2.230, PHS= 0.390,-0.991, 0.178, RAW= 141.8, 6.6, CAL= 144.9, -1.3, ROT= 5.1, 1.3 2025-10-24T19:36:38.531Z,1761334598.531 [DAT](INFO): got valid direction response: 19:36:37.4914 LVL= 16608, 32753, 18322, 32035, AGC= 59, IDX= 507, 0.14, 2.532, 1.193, 2.411, 2.230, PHS= 0.390,-0.991, 0.178, RAW= 141.8, 6.6, CAL= 144.9, -1.3, ROT= 5.1, 1.3 2025-10-24T19:36:38.531Z,1761334598.531 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-24T19:36:38.532Z,1761334598.532 [DAT](INFO): direction in FSK: [0.995785,0.088871,-0.022687] 2025-10-24T19:36:38.533Z,1761334598.533 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:38.539Z,1761334598.539 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.471849 2025-10-24T19:36:38.733Z,1761334598.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.504106 s, deltaX: -0.099998 m, approachRate: -0.198368 m/s, rangeRepo size: 4 2025-10-24T19:36:38.741Z,1761334598.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.067516 m, bearing: 51.491065 deg, lat: 36.779543 deg, lon: -121.859617 deg, deltaT: 0.504106 s, deltaX: -0.099451 m, approachRate: -0.197282 m/s, posRepo size: 4 2025-10-24T19:36:38.741Z,1761334598.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.07 m. 2025-10-24T19:36:38.748Z,1761334598.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.067516 m, nav range: 24.080364 m, bearing: 49.542679 deg, approach rate: 0.000000 m/s, LOS rate: -0.040359 deg/s, cmd heading: 44.210438 deg, new cmd heading: 44.153190 deg. 2025-10-24T19:36:38.749Z,1761334598.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.770619 target range: 24.067516 and range: 24.20 m. 2025-10-24T19:36:38.765Z,1761334598.765 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.698099 2025-10-24T19:36:39.018Z,1761334599.018 [DAT](INFO): DAT read: Rx Time:19:36:37.9912 2025-10-24T19:36:39.019Z,1761334599.019 [DAT](INFO): Rx dataTimestamp_ set to:1761334599.018338 2025-10-24T19:36:39.024Z,1761334599.024 [DAT](INFO): DAT read: Bearing 6.6, -0.3 (Local) 2025-10-24T19:36:39.024Z,1761334599.024 [DAT](INFO): Local bearing/azimuth received: Bearing 6.6, -0.3 (Local) 2025-10-24T19:36:39.026Z,1761334599.026 [DAT](INFO): DAT read: Range 10 to 50 : 23.9 m (trip time 15.9 ms) speed 0.4 2025-10-24T19:36:39.031Z,1761334599.031 [DAT](INFO): DAT read: 19:36:37.9912 LVL= 17104, 32753, 19042, 31907, AGC= 58, IDX= 505,-0.07, 0.103,-1.178,-0.053,-0.177, PHS= 0.369,-0.954, 0.121, RAW= 139.9, 7.7, CAL= 143.4, 0.3, ROT= 6.6, -0.3 2025-10-24T19:36:39.033Z,1761334599.033 [DAT](INFO): got valid direction response: 19:36:37.9912 LVL= 17104, 32753, 19042, 31907, AGC= 58, IDX= 505,-0.07, 0.103,-1.178,-0.053,-0.177, PHS= 0.369,-0.954, 0.121, RAW= 139.9, 7.7, CAL= 143.4, 0.3, ROT= 6.6, -0.3 2025-10-24T19:36:39.033Z,1761334599.033 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-24T19:36:39.035Z,1761334599.035 [DAT](INFO): direction in FSK: [0.993359,0.114936,0.005236] 2025-10-24T19:36:39.035Z,1761334599.035 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:39.042Z,1761334599.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694006,-0.712584,0.102857],[0.719249,0.692589,-0.054788],[-0.032196,0.112003,0.993186]] 2025-10-24T19:36:39.047Z,1761334599.047 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.979671 2025-10-24T19:36:39.123Z,1761334599.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.504614 s, deltaX: -0.300001 m, approachRate: -0.594516 m/s, rangeRepo size: 4 2025-10-24T19:36:39.129Z,1761334599.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.769047 m, bearing: 52.548231 deg, lat: 36.779540 deg, lon: -121.859616 deg, deltaT: 0.504614 s, deltaX: -0.298470 m, approachRate: -0.591481 m/s, posRepo size: 4 2025-10-24T19:36:39.130Z,1761334599.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-24T19:36:39.142Z,1761334599.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.769047 m, nav range: 23.749434 m, bearing: 50.345515 deg, approach rate: 0.000000 m/s, LOS rate: -0.040359 deg/s, cmd heading: 44.153191 deg, new cmd heading: 44.106062 deg. 2025-10-24T19:36:39.153Z,1761334599.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.769796 target range: 23.769047 and range: 23.90 m. 2025-10-24T19:36:39.270Z,1761334599.270 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.202669 2025-10-24T19:36:39.521Z,1761334599.521 [DAT](INFO): DAT read: Rx Time:19:36:38.4912 2025-10-24T19:36:39.522Z,1761334599.522 [DAT](INFO): Rx dataTimestamp_ set to:1761334599.521664 2025-10-24T19:36:39.523Z,1761334599.523 [DAT](INFO): DAT read: Bearing 6.0, 0.8 (Local) 2025-10-24T19:36:39.524Z,1761334599.524 [DAT](INFO): Local bearing/azimuth received: Bearing 6.0, 0.8 (Local) 2025-10-24T19:36:39.526Z,1761334599.526 [DAT](INFO): DAT read: Range 10 to 50 : 23.9 m (trip time 15.9 ms) speed 0.3 2025-10-24T19:36:39.531Z,1761334599.531 [DAT](INFO): DAT read: 19:36:38.4912 LVL= 16880, 32753, 19490, 32755, AGC= 59, IDX= 504, 0.50, 2.968, 1.619, 2.815, 2.657, PHS= 0.399,-0.991, 0.156, RAW= 140.5, 6.8, CAL= 144.0, -0.8, ROT= 6.0, 0.8 2025-10-24T19:36:39.532Z,1761334599.532 [DAT](INFO): got valid direction response: 19:36:38.4912 LVL= 16880, 32753, 19490, 32755, AGC= 59, IDX= 504, 0.50, 2.968, 1.619, 2.815, 2.657, PHS= 0.399,-0.991, 0.156, RAW= 140.5, 6.8, CAL= 144.0, -0.8, ROT= 6.0, 0.8 2025-10-24T19:36:39.533Z,1761334599.533 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-24T19:36:39.534Z,1761334599.534 [DAT](INFO): direction in FSK: [0.994425,0.104518,-0.013962] 2025-10-24T19:36:39.534Z,1761334599.534 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:39.539Z,1761334599.539 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.471832 2025-10-24T19:36:39.614Z,1761334599.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503326 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:39.628Z,1761334599.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.769047 m, bearing: 52.078459 deg, lat: 36.779537 deg, lon: -121.859611 deg, deltaT: 0.503326 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:39.629Z,1761334599.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-24T19:36:39.631Z,1761334599.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.769047 m, nav range: 23.643044 m, bearing: 51.419815 deg, approach rate: 0.000000 m/s, LOS rate: -0.040359 deg/s, cmd heading: 44.106063 deg, new cmd heading: 44.046578 deg. 2025-10-24T19:36:39.641Z,1761334599.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768758 target range: 23.769047 and range: 23.90 m. 2025-10-24T19:36:39.773Z,1761334599.773 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.706116 2025-10-24T19:36:39.938Z,1761334599.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695320,-0.711339,0.102597],[0.717990,0.693863,-0.055173],[-0.031942,0.112027,0.993192]] 2025-10-24T19:36:39.988Z,1761334599.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:39.990Z,1761334599.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-24T19:36:39.997Z,1761334599.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.769047 m, nav range: 23.438051 m, bearing: 51.368929 deg, approach rate: -0.543536 m/s, LOS rate: -0.136104 deg/s, cmd heading: 44.046579 deg, new cmd heading: 43.892586 deg. 2025-10-24T19:36:39.998Z,1761334599.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.766070 target range: 23.769047 and range: 23.90 m. 2025-10-24T19:36:40.025Z,1761334600.025 [DAT](INFO): DAT read: Rx Time:19:36:38.9909 2025-10-24T19:36:40.026Z,1761334600.026 [DAT](INFO): Rx dataTimestamp_ set to:1761334600.025610 2025-10-24T19:36:40.027Z,1761334600.027 [DAT](INFO): DAT read: Bearing 6.7, 0.3 (Local) 2025-10-24T19:36:40.027Z,1761334600.027 [DAT](INFO): Local bearing/azimuth received: Bearing 6.7, 0.3 (Local) 2025-10-24T19:36:40.030Z,1761334600.030 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 2025-10-24T19:36:40.037Z,1761334600.037 [DAT](INFO): DAT read: 19:36:38.9909 LVL= 18240, 32753, 21346, 32755, AGC= 58, IDX= 502, 0.17, 0.932,-0.401, 0.763, 0.624, PHS= 0.395,-0.978, 0.135, RAW= 139.7, 7.1, CAL= 143.3, -0.3, ROT= 6.7, 0.3 2025-10-24T19:36:40.040Z,1761334600.040 [DAT](INFO): got valid direction response: 19:36:38.9909 LVL= 18240, 32753, 21346, 32755, AGC= 58, IDX= 502, 0.17, 0.932,-0.401, 0.763, 0.624, PHS= 0.395,-0.978, 0.135, RAW= 139.7, 7.1, CAL= 143.3, -0.3, ROT= 6.7, 0.3 2025-10-24T19:36:40.041Z,1761334600.041 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-24T19:36:40.043Z,1761334600.043 [DAT](INFO): direction in FSK: [0.993157,0.116669,-0.005236] 2025-10-24T19:36:40.043Z,1761334600.043 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:40.059Z,1761334600.059 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.991707 2025-10-24T19:36:40.278Z,1761334600.278 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.210503 2025-10-24T19:36:40.324Z,1761334600.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695251,-0.711515,0.101845],[0.718085,0.693755,-0.055293],[-0.031314,0.111576,0.993262]] 2025-10-24T19:36:40.347Z,1761334600.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503946 s, deltaX: -0.500000 m, approachRate: -0.992170 m/s, rangeRepo size: 4 2025-10-24T19:36:40.350Z,1761334600.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.271830 m, bearing: 52.618992 deg, lat: 36.779536 deg, lon: -121.859609 deg, deltaT: 0.503946 s, deltaX: -0.497217 m, approachRate: -0.986648 m/s, posRepo size: 4 2025-10-24T19:36:40.351Z,1761334600.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-24T19:36:40.366Z,1761334600.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.271830 m, nav range: 23.313377 m, bearing: 51.878528 deg, approach rate: 0.000000 m/s, LOS rate: -0.136104 deg/s, cmd heading: 43.892585 deg, new cmd heading: 43.747034 deg. 2025-10-24T19:36:40.372Z,1761334600.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.763530 target range: 23.271830 and range: 23.40 m. 2025-10-24T19:36:40.529Z,1761334600.529 [DAT](INFO): DAT read: Rx Time:19:36:39.4909 2025-10-24T19:36:40.530Z,1761334600.530 [DAT](INFO): Rx dataTimestamp_ set to:1761334600.529352 2025-10-24T19:36:40.531Z,1761334600.531 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 2025-10-24T19:36:40.531Z,1761334600.531 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-24T19:36:40.532Z,1761334600.532 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.465540 2025-10-24T19:36:40.712Z,1761334600.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695267,-0.711690,0.100504],[0.718086,0.693814,-0.054538],[-0.030917,0.110089,0.993441]] 2025-10-24T19:36:40.771Z,1761334600.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503742 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:40.777Z,1761334600.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-24T19:36:40.781Z,1761334600.781 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.713963 2025-10-24T19:36:40.784Z,1761334600.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.271830 m, nav range: 23.096100 m, bearing: 51.809983 deg, approach rate: -0.512689 m/s, LOS rate: -0.163260 deg/s, cmd heading: 43.747034 deg, new cmd heading: 43.539466 deg. 2025-10-24T19:36:40.785Z,1761334600.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.759907 target range: 23.271830 and range: 23.40 m. 2025-10-24T19:36:41.036Z,1761334601.036 [DAT](INFO): DAT read: Rx Time:19:36:39.9907 2025-10-24T19:36:41.037Z,1761334601.037 [DAT](INFO): Rx dataTimestamp_ set to:1761334601.036593 2025-10-24T19:36:41.038Z,1761334601.038 [DAT](INFO): DAT read: Bearing 6.8, 0.2 (Local) 2025-10-24T19:36:41.038Z,1761334601.038 [DAT](INFO): Local bearing/azimuth received: Bearing 6.8, 0.2 (Local) 2025-10-24T19:36:41.041Z,1761334601.041 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 2025-10-24T19:36:41.058Z,1761334601.058 [DAT](INFO): DAT read: 19:36:39.9907 LVL= 18864, 32753, 20434, 32755, AGC= 58, IDX= 499, 0.10, 0.999,-0.305, 0.832, 0.700, PHS= 0.387,-0.959, 0.129, RAW= 139.6, 7.2, CAL= 143.2, -0.2, ROT= 6.8, 0.2 2025-10-24T19:36:41.059Z,1761334601.059 [DAT](INFO): got valid direction response: 19:36:39.9907 LVL= 18864, 32753, 20434, 32755, AGC= 58, IDX= 499, 0.10, 0.999,-0.305, 0.832, 0.700, PHS= 0.387,-0.959, 0.129, RAW= 139.6, 7.2, CAL= 143.2, -0.2, ROT= 6.8, 0.2 2025-10-24T19:36:41.059Z,1761334601.059 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-24T19:36:41.060Z,1761334601.060 [DAT](INFO): direction in FSK: [0.992959,0.118403,-0.003491] 2025-10-24T19:36:41.061Z,1761334601.061 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:41.064Z,1761334601.064 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.997335 2025-10-24T19:36:41.133Z,1761334601.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694487,-0.712456,0.100470],[0.718856,0.692992,-0.054841],[-0.030554,0.110310,0.993428]] 2025-10-24T19:36:41.215Z,1761334601.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.507241 s, deltaX: -0.299999 m, approachRate: -0.591433 m/s, rangeRepo size: 4 2025-10-24T19:36:41.229Z,1761334601.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.973501 m, bearing: 52.769748 deg, lat: 36.779533 deg, lon: -121.859608 deg, deltaT: 1.010983 s, deltaX: -0.298328 m, approachRate: -0.295087 m/s, posRepo size: 4 2025-10-24T19:36:41.229Z,1761334601.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-24T19:36:41.236Z,1761334601.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.973501 m, nav range: 22.774239 m, bearing: 52.386357 deg, approach rate: 0.000000 m/s, LOS rate: -0.163260 deg/s, cmd heading: 43.539464 deg, new cmd heading: 43.322107 deg. 2025-10-24T19:36:41.237Z,1761334601.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.756113 target range: 22.973501 and range: 23.10 m. 2025-10-24T19:36:41.285Z,1761334601.285 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.218271 2025-10-24T19:36:41.538Z,1761334601.538 [DAT](INFO): DAT read: Rx Time:19:36:40.4906 2025-10-24T19:36:41.538Z,1761334601.538 [DAT](INFO): Rx dataTimestamp_ set to:1761334601.537687 2025-10-24T19:36:41.539Z,1761334601.539 [DAT](INFO): DAT read: Bearing 6.3, 0.7 (Local) 2025-10-24T19:36:41.540Z,1761334601.540 [DAT](INFO): Local bearing/azimuth received: Bearing 6.3, 0.7 (Local) 2025-10-24T19:36:41.542Z,1761334601.542 [DAT](INFO): DAT read: Range 10 to 50 : 23.0 m (trip time 15.3 ms) speed 0.4 2025-10-24T19:36:41.547Z,1761334601.547 [DAT](INFO): DAT read: 19:36:40.4906 LVL= 16880, 32753, 19682, 32755, AGC= 58, IDX= 497, 0.30, 2.331, 0.994, 2.171, 2.021, PHS= 0.397,-0.981, 0.147, RAW= 140.2, 6.9, CAL= 143.7, -0.7, ROT= 6.3, 0.7 2025-10-24T19:36:41.548Z,1761334601.548 [DAT](INFO): got valid direction response: 19:36:40.4906 LVL= 16880, 32753, 19682, 32755, AGC= 58, IDX= 497, 0.30, 2.331, 0.994, 2.171, 2.021, PHS= 0.397,-0.981, 0.147, RAW= 140.2, 6.9, CAL= 143.7, -0.7, ROT= 6.3, 0.7 2025-10-24T19:36:41.548Z,1761334601.548 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-24T19:36:41.549Z,1761334601.549 [DAT](INFO): direction in FSK: [0.993887,0.109726,-0.012217] 2025-10-24T19:36:41.550Z,1761334601.550 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:41.554Z,1761334601.554 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.487442 2025-10-24T19:36:41.686Z,1761334601.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.501094 s, deltaX: -0.100000 m, approachRate: -0.199564 m/s, rangeRepo size: 4 2025-10-24T19:36:41.692Z,1761334601.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.874048 m, bearing: 52.329384 deg, lat: 36.779533 deg, lon: -121.859608 deg, deltaT: 0.501094 s, deltaX: -0.099453 m, approachRate: -0.198472 m/s, posRepo size: 4 2025-10-24T19:36:41.692Z,1761334601.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m. 2025-10-24T19:36:41.695Z,1761334601.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.874048 m, nav range: 22.560944 m, bearing: 52.413436 deg, approach rate: 0.000000 m/s, LOS rate: -0.163260 deg/s, cmd heading: 43.322107 deg, new cmd heading: 43.094086 deg. 2025-10-24T19:36:41.701Z,1761334601.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752134 target range: 22.874048 and range: 23.00 m. 2025-10-24T19:36:41.792Z,1761334601.792 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.724644 2025-10-24T19:36:41.981Z,1761334601.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693750,-0.713209,0.100224],[0.719592,0.692197,-0.055231],[-0.029983,0.110437,0.993431]] 2025-10-24T19:36:41.998Z,1761334601.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:42.012Z,1761334602.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.87 m. 2025-10-24T19:36:42.015Z,1761334602.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.874048 m, nav range: 22.381805 m, bearing: 52.358477 deg, approach rate: -0.538695 m/s, LOS rate: -0.166591 deg/s, cmd heading: 43.094085 deg, new cmd heading: 42.927890 deg. 2025-10-24T19:36:42.020Z,1761334602.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.749233 target range: 22.874048 and range: 23.00 m. 2025-10-24T19:36:42.046Z,1761334602.046 [DAT](INFO): DAT read: Rx Time:19:36:40.9903 2025-10-24T19:36:42.046Z,1761334602.046 [DAT](INFO): Rx dataTimestamp_ set to:1761334602.045869 2025-10-24T19:36:42.047Z,1761334602.047 [DAT](INFO): DAT read: Bearing 6.4, -0.0 (Local) 2025-10-24T19:36:42.048Z,1761334602.048 [DAT](INFO): Local bearing/azimuth received: Bearing 6.4, -0.0 (Local) 2025-10-24T19:36:42.050Z,1761334602.050 [DAT](INFO): DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 2025-10-24T19:36:42.060Z,1761334602.060 [DAT](INFO): DAT read: 19:36:40.9903 LVL= 18896, 32753, 19650, 32755, AGC= 58, IDX= 494, 0.47, 1.560, 0.229, 1.402, 1.264, PHS= 0.384,-0.988, 0.134, RAW= 140.2, 7.5, CAL= 143.6, 0.0, ROT= 6.4, -0.0 2025-10-24T19:36:42.061Z,1761334602.061 [DAT](INFO): got valid direction response: 19:36:40.9903 LVL= 18896, 32753, 19650, 32755, AGC= 58, IDX= 494, 0.47, 1.560, 0.229, 1.402, 1.264, PHS= 0.384,-0.988, 0.134, RAW= 140.2, 7.5, CAL= 143.6, 0.0, ROT= 6.4, -0.0 2025-10-24T19:36:42.061Z,1761334602.061 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-24T19:36:42.062Z,1761334602.062 [DAT](INFO): direction in FSK: [0.993768,0.111469,0.000000] 2025-10-24T19:36:42.062Z,1761334602.062 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:42.066Z,1761334602.066 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.999065 2025-10-24T19:36:42.298Z,1761334602.298 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.231165 2025-10-24T19:36:42.383Z,1761334602.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693809,-0.713318,0.099028],[0.719556,0.692271,-0.054779],[-0.029479,0.109263,0.993576]] 2025-10-24T19:36:42.511Z,1761334602.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.508182 s, deltaX: -0.500000 m, approachRate: -0.983899 m/s, rangeRepo size: 4 2025-10-24T19:36:42.517Z,1761334602.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.376858 m, bearing: 52.406047 deg, lat: 36.779534 deg, lon: -121.859606 deg, deltaT: 0.508182 s, deltaX: -0.497190 m, approachRate: -0.978371 m/s, posRepo size: 4 2025-10-24T19:36:42.518Z,1761334602.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-24T19:36:42.525Z,1761334602.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.376858 m, nav range: 22.347250 m, bearing: 52.353994 deg, approach rate: 0.000000 m/s, LOS rate: -0.166591 deg/s, cmd heading: 42.927889 deg, new cmd heading: 42.679235 deg. 2025-10-24T19:36:42.526Z,1761334602.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.744893 target range: 22.376858 and range: 22.50 m. 2025-10-24T19:36:42.553Z,1761334602.553 [DAT](INFO): DAT read: Rx Time:19:36:41.4902 2025-10-24T19:36:42.553Z,1761334602.553 [DAT](INFO): Rx dataTimestamp_ set to:1761334602.553007 2025-10-24T19:36:42.555Z,1761334602.555 [DAT](INFO): DAT read: Bearing 6.1, -0.2 (Local) 2025-10-24T19:36:42.555Z,1761334602.555 [DAT](INFO): Local bearing/azimuth received: Bearing 6.1, -0.2 (Local) 2025-10-24T19:36:42.557Z,1761334602.557 [DAT](INFO): DAT read: Range 10 to 50 : 22.4 m (trip time 14.9 ms) speed 0.5 2025-10-24T19:36:42.562Z,1761334602.562 [DAT](INFO): DAT read: 19:36:41.4902 LVL= 18416, 32369, 19554, 32755, AGC= 58, IDX= 510,-0.38, 2.071, 0.762, 1.925, 1.790, PHS= 0.369,-0.981, 0.132, RAW= 140.5, 7.7, CAL= 143.9, 0.2, ROT= 6.1, -0.2 2025-10-24T19:36:42.563Z,1761334602.563 [DAT](INFO): got valid direction response: 19:36:41.4902 LVL= 18416, 32369, 19554, 32755, AGC= 58, IDX= 510,-0.38, 2.071, 0.762, 1.925, 1.790, PHS= 0.369,-0.981, 0.132, RAW= 140.5, 7.7, CAL= 143.9, 0.2, ROT= 6.1, -0.2 2025-10-24T19:36:42.563Z,1761334602.563 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-24T19:36:42.573Z,1761334602.573 [DAT](INFO): direction in FSK: [0.994332,0.106263,0.003491] 2025-10-24T19:36:42.573Z,1761334602.573 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:42.586Z,1761334602.586 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.519009 2025-10-24T19:36:42.805Z,1761334602.805 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.738213 2025-10-24T19:36:42.824Z,1761334602.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693619,-0.713510,0.098974],[0.719749,0.692047,-0.055066],[-0.029204,0.109431,0.993565]] 2025-10-24T19:36:42.883Z,1761334602.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.507138 s, deltaX: -0.100000 m, approachRate: -0.197186 m/s, rangeRepo size: 4 2025-10-24T19:36:42.886Z,1761334602.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.277405 m, bearing: 52.100876 deg, lat: 36.779534 deg, lon: -121.859605 deg, deltaT: 0.507138 s, deltaX: -0.099453 m, approachRate: -0.196106 m/s, posRepo size: 4 2025-10-24T19:36:42.887Z,1761334602.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.28 m. 2025-10-24T19:36:42.890Z,1761334602.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.277405 m, nav range: 22.130554 m, bearing: 52.324953 deg, approach rate: 0.000000 m/s, LOS rate: -0.166591 deg/s, cmd heading: 42.679236 deg, new cmd heading: 42.493018 deg. 2025-10-24T19:36:42.891Z,1761334602.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.741643 target range: 22.277405 and range: 22.40 m. 2025-10-24T19:36:43.058Z,1761334603.058 [DAT](INFO): DAT read: Rx Time:19:36:41.9899 2025-10-24T19:36:43.059Z,1761334603.059 [DAT](INFO): Rx dataTimestamp_ set to:1761334603.058621 2025-10-24T19:36:43.060Z,1761334603.060 [DAT](INFO): DAT read: Bearing 6.4, -0.4 (Local) 2025-10-24T19:36:43.061Z,1761334603.061 [DAT](INFO): Local bearing/azimuth received: Bearing 6.4, -0.4 (Local) 2025-10-24T19:36:43.063Z,1761334603.063 [DAT](INFO): DAT read: Range 10 to 50 : 21.9 m (trip time 14.6 ms) speed 0.6 2025-10-24T19:36:43.069Z,1761334603.069 [DAT](INFO): DAT read: 19:36:41.9899 LVL= 18784, 32753, 20850, 32755, AGC= 58, IDX= 507,-0.36, 0.634,-0.645, 0.486, 0.361, PHS= 0.361,-0.959, 0.122, RAW= 140.2, 7.9, CAL= 143.6, 0.4, ROT= 6.4, -0.4 2025-10-24T19:36:43.070Z,1761334603.070 [DAT](INFO): got valid direction response: 19:36:41.9899 LVL= 18784, 32753, 20850, 32755, AGC= 58, IDX= 507,-0.36, 0.634,-0.645, 0.486, 0.361, PHS= 0.361,-0.959, 0.122, RAW= 140.2, 7.9, CAL= 143.6, 0.4, ROT= 6.4, -0.4 2025-10-24T19:36:43.070Z,1761334603.070 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-24T19:36:43.071Z,1761334603.071 [DAT](INFO): direction in FSK: [0.993744,0.111466,0.006981] 2025-10-24T19:36:43.071Z,1761334603.071 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:43.079Z,1761334603.079 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.012257 2025-10-24T19:36:43.234Z,1761334603.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693814,-0.713409,0.098336],[0.719559,0.692298,-0.054391],[-0.029275,0.108496,0.993666]] 2025-10-24T19:36:43.294Z,1761334603.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.505614 s, deltaX: -0.500000 m, approachRate: -0.988897 m/s, rangeRepo size: 4 2025-10-24T19:36:43.300Z,1761334603.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.780001 m, bearing: 52.362039 deg, lat: 36.779534 deg, lon: -121.859605 deg, deltaT: 0.505614 s, deltaX: -0.497404 m, approachRate: -0.983763 m/s, posRepo size: 4 2025-10-24T19:36:43.301Z,1761334603.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-24T19:36:43.309Z,1761334603.309 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.242222 2025-10-24T19:36:43.310Z,1761334603.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.780001 m, nav range: 21.909655 m, bearing: 52.249884 deg, approach rate: 0.000000 m/s, LOS rate: -0.166591 deg/s, cmd heading: 42.493018 deg, new cmd heading: 42.287683 deg. 2025-10-24T19:36:43.316Z,1761334603.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738059 target range: 21.780001 and range: 21.90 m. 2025-10-24T19:36:43.562Z,1761334603.562 [DAT](INFO): DAT read: Rx Time:19:36:42.4898 2025-10-24T19:36:43.562Z,1761334603.562 [DAT](INFO): Rx dataTimestamp_ set to:1761334603.561826 2025-10-24T19:36:43.563Z,1761334603.563 [DAT](INFO): DAT read: Bearing 5.8, -0.4 (Local) 2025-10-24T19:36:43.567Z,1761334603.567 [DAT](INFO): Local bearing/azimuth received: Bearing 5.8, -0.4 (Local) 2025-10-24T19:36:43.570Z,1761334603.570 [DAT](INFO): DAT read: Range 10 to 50 : 21.8 m (trip time 14.5 ms) speed 0.6 2025-10-24T19:36:43.575Z,1761334603.575 [DAT](INFO): DAT read: 19:36:42.4898 LVL= 17776, 32753, 21058, 32755, AGC= 58, IDX= 506,-0.48, 2.793, 1.488, 2.660, 2.522, PHS= 0.358,-0.988, 0.135, RAW= 141.1, 8.0, CAL= 144.2, 0.4, ROT= 5.8, -0.4 2025-10-24T19:36:43.576Z,1761334603.576 [DAT](INFO): got valid direction response: 19:36:42.4898 LVL= 17776, 32753, 21058, 32755, AGC= 58, IDX= 506,-0.48, 2.793, 1.488, 2.660, 2.522, PHS= 0.358,-0.988, 0.135, RAW= 141.1, 8.0, CAL= 144.2, 0.4, ROT= 5.8, -0.4 2025-10-24T19:36:43.576Z,1761334603.576 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-24T19:36:43.577Z,1761334603.577 [DAT](INFO): direction in FSK: [0.994856,0.101054,0.006981] 2025-10-24T19:36:43.577Z,1761334603.577 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:43.594Z,1761334603.594 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.526834 2025-10-24T19:36:43.632Z,1761334603.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694724,-0.712600,0.097777],[0.718645,0.693366,-0.052851],[-0.030133,0.106984,0.993804]] 2025-10-24T19:36:43.760Z,1761334603.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503205 s, deltaX: -0.100000 m, approachRate: -0.198727 m/s, rangeRepo size: 4 2025-10-24T19:36:43.762Z,1761334603.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.680548 m, bearing: 51.693460 deg, lat: 36.779535 deg, lon: -121.859605 deg, deltaT: 0.503205 s, deltaX: -0.099453 m, approachRate: -0.197639 m/s, posRepo size: 4 2025-10-24T19:36:43.763Z,1761334603.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-24T19:36:43.770Z,1761334603.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.680548 m, nav range: 21.731815 m, bearing: 51.958296 deg, approach rate: 0.000000 m/s, LOS rate: -0.166591 deg/s, cmd heading: 42.287682 deg, new cmd heading: 42.057040 deg. 2025-10-24T19:36:43.771Z,1761334603.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.734034 target range: 21.680548 and range: 21.80 m. 2025-10-24T19:36:43.813Z,1761334603.813 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.746016 2025-10-24T19:36:44.043Z,1761334604.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695239,-0.712132,0.097520],[0.718137,0.693926,-0.052402],[-0.030355,0.106464,0.993853]] 2025-10-24T19:36:44.066Z,1761334604.066 [DAT](INFO): DAT read: Rx Time:19:36:42.9895 2025-10-24T19:36:44.066Z,1761334604.066 [DAT](INFO): Rx dataTimestamp_ set to:1761334604.065941 2025-10-24T19:36:44.068Z,1761334604.068 [DAT](INFO): DAT read: Bearing 6.1, -0.3 (Local) 2025-10-24T19:36:44.069Z,1761334604.069 [DAT](INFO): Local bearing/azimuth received: Bearing 6.1, -0.3 (Local) 2025-10-24T19:36:44.071Z,1761334604.071 [DAT](INFO): DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed 0.6 2025-10-24T19:36:44.080Z,1761334604.080 [DAT](INFO): DAT read: 19:36:42.9895 LVL= 18000, 32753, 20930, 32755, AGC= 58, IDX= 502, 0.39, 2.650, 1.322, 2.502, 2.365, PHS= 0.374,-0.996, 0.134, RAW= 140.6, 7.8, CAL= 143.9, 0.3, ROT= 6.1, -0.3 2025-10-24T19:36:44.081Z,1761334604.081 [DAT](INFO): got valid direction response: 19:36:42.9895 LVL= 18000, 32753, 20930, 32755, AGC= 58, IDX= 502, 0.39, 2.650, 1.322, 2.502, 2.365, PHS= 0.374,-0.996, 0.134, RAW= 140.6, 7.8, CAL= 143.9, 0.3, ROT= 6.1, -0.3 2025-10-24T19:36:44.081Z,1761334604.081 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-24T19:36:44.082Z,1761334604.082 [DAT](INFO): direction in FSK: [0.994324,0.106263,0.005236] 2025-10-24T19:36:44.082Z,1761334604.082 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:44.098Z,1761334604.098 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.031300 2025-10-24T19:36:44.118Z,1761334604.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504115 s, deltaX: -0.500000 m, approachRate: -0.991837 m/s, rangeRepo size: 4 2025-10-24T19:36:44.124Z,1761334604.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.183260 m, bearing: 51.961667 deg, lat: 36.779534 deg, lon: -121.859606 deg, deltaT: 0.504115 s, deltaX: -0.497288 m, approachRate: -0.986457 m/s, posRepo size: 4 2025-10-24T19:36:44.125Z,1761334604.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.18 m. 2025-10-24T19:36:44.136Z,1761334604.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.183260 m, nav range: 21.397299 m, bearing: 52.000517 deg, approach rate: 0.000000 m/s, LOS rate: -0.166591 deg/s, cmd heading: 42.057040 deg, new cmd heading: 41.878566 deg. 2025-10-24T19:36:44.137Z,1761334604.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.730919 target range: 21.183260 and range: 21.30 m. 2025-10-24T19:36:44.317Z,1761334604.317 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.250038 2025-10-24T19:36:44.526Z,1761334604.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696590,-0.710898,0.096879],[0.716795,0.695414,-0.051027],[-0.031095,0.104987,0.993987]] 2025-10-24T19:36:44.571Z,1761334604.571 [DAT](INFO): DAT read: Rx Time:19:36:43.4894 2025-10-24T19:36:44.571Z,1761334604.571 [DAT](INFO): Rx dataTimestamp_ set to:1761334604.571207 2025-10-24T19:36:44.574Z,1761334604.574 [DAT](INFO): DAT read: Bearing 5.9, -0.7 (Local) 2025-10-24T19:36:44.575Z,1761334604.575 [DAT](INFO): Local bearing/azimuth received: Bearing 5.9, -0.7 (Local) 2025-10-24T19:36:44.578Z,1761334604.578 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.6 2025-10-24T19:36:44.588Z,1761334604.588 [DAT](INFO): DAT read: 19:36:43.4894 LVL= 18288, 32753, 20210, 32755, AGC= 58, IDX= 501, 0.27,-2.004, 2.960,-2.143,-2.276, PHS= 0.360,-1.001, 0.130, RAW= 140.9, 8.2, CAL= 144.1, 0.7, ROT= 5.9, -0.7 2025-10-24T19:36:44.589Z,1761334604.589 [DAT](INFO): got valid direction response: 19:36:43.4894 LVL= 18288, 32753, 20210, 32755, AGC= 58, IDX= 501, 0.27,-2.004, 2.960,-2.143,-2.276, PHS= 0.360,-1.001, 0.130, RAW= 140.9, 8.2, CAL= 144.1, 0.7, ROT= 5.9, -0.7 2025-10-24T19:36:44.590Z,1761334604.590 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-24T19:36:44.590Z,1761334604.590 [DAT](INFO): direction in FSK: [0.994629,0.102785,0.012217] 2025-10-24T19:36:44.591Z,1761334604.591 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:44.594Z,1761334604.594 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.527302 2025-10-24T19:36:44.666Z,1761334604.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.505266 s, deltaX: -0.099998 m, approachRate: -0.197913 m/s, rangeRepo size: 4 2025-10-24T19:36:44.673Z,1761334604.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.083809 m, bearing: 51.612083 deg, lat: 36.779535 deg, lon: -121.859606 deg, deltaT: 0.505266 s, deltaX: -0.099451 m, approachRate: -0.196829 m/s, posRepo size: 4 2025-10-24T19:36:44.674Z,1761334604.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m. 2025-10-24T19:36:44.681Z,1761334604.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.083809 m, nav range: 21.142756 m, bearing: 51.739914 deg, approach rate: 0.000000 m/s, LOS rate: -0.166591 deg/s, cmd heading: 41.878567 deg, new cmd heading: 41.602143 deg. 2025-10-24T19:36:44.682Z,1761334604.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.726094 target range: 21.083809 and range: 21.20 m. 2025-10-24T19:36:44.821Z,1761334604.821 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.754513 2025-10-24T19:36:44.997Z,1761334604.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699017,-0.708420,0.097554],[0.714326,0.698093,-0.049031],[-0.033368,0.103959,0.994022]] 2025-10-24T19:36:45.027Z,1761334605.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:45.034Z,1761334605.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m. 2025-10-24T19:36:45.045Z,1761334605.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.083809 m, nav range: 20.940466 m, bearing: 51.721784 deg, approach rate: -0.549327 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.602143 deg, new cmd heading: 41.547229 deg. 2025-10-24T19:36:45.046Z,1761334605.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725136 target range: 21.083809 and range: 21.20 m. 2025-10-24T19:36:45.074Z,1761334605.074 [DAT](INFO): DAT read: Rx Time:19:36:43.9890 2025-10-24T19:36:45.074Z,1761334605.074 [DAT](INFO): Rx dataTimestamp_ set to:1761334605.073777 2025-10-24T19:36:45.075Z,1761334605.075 [DAT](INFO): DAT read: Bearing 5.7, -0.6 (Local) 2025-10-24T19:36:45.076Z,1761334605.076 [DAT](INFO): Local bearing/azimuth received: Bearing 5.7, -0.6 (Local) 2025-10-24T19:36:45.078Z,1761334605.078 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.6 2025-10-24T19:36:45.087Z,1761334605.087 [DAT](INFO): DAT read: 19:36:43.9890 LVL= 18160, 32753, 20226, 32755, AGC= 59, IDX= 498, 0.16,-2.582, 2.335,-2.722,-2.864, PHS= 0.370,-1.038, 0.138, RAW= 141.2, 8.1, CAL= 144.3, 0.6, ROT= 5.7, -0.6 2025-10-24T19:36:45.088Z,1761334605.088 [DAT](INFO): got valid direction response: 19:36:43.9890 LVL= 18160, 32753, 20226, 32755, AGC= 59, IDX= 498, 0.16,-2.582, 2.335,-2.722,-2.864, PHS= 0.370,-1.038, 0.138, RAW= 141.2, 8.1, CAL= 144.3, 0.6, ROT= 5.7, -0.6 2025-10-24T19:36:45.089Z,1761334605.089 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-24T19:36:45.090Z,1761334605.090 [DAT](INFO): direction in FSK: [0.995001,0.099314,0.010472] 2025-10-24T19:36:45.090Z,1761334605.090 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:45.094Z,1761334605.094 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.026726 2025-10-24T19:36:45.326Z,1761334605.326 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.258869 2025-10-24T19:36:45.463Z,1761334605.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.502570 s, deltaX: -0.600000 m, approachRate: -1.193864 m/s, rangeRepo size: 4 2025-10-24T19:36:45.469Z,1761334605.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.487112 m, bearing: 51.226976 deg, lat: 36.779535 deg, lon: -121.859607 deg, deltaT: 0.502570 s, deltaX: -0.596697 m, approachRate: -1.187291 m/s, posRepo size: 4 2025-10-24T19:36:45.471Z,1761334605.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-24T19:36:45.478Z,1761334605.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.487112 m, nav range: 20.662380 m, bearing: 51.619771 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.547228 deg, new cmd heading: 41.483256 deg. 2025-10-24T19:36:45.479Z,1761334605.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.724019 target range: 20.487112 and range: 20.60 m. 2025-10-24T19:36:45.577Z,1761334605.577 [DAT](INFO): DAT read: Rx Time:19:36:44.4889 2025-10-24T19:36:45.578Z,1761334605.578 [DAT](INFO): Rx dataTimestamp_ set to:1761334605.577665 2025-10-24T19:36:45.579Z,1761334605.579 [DAT](INFO): DAT read: Bearing 5.6, -0.7 (Local) 2025-10-24T19:36:45.580Z,1761334605.580 [DAT](INFO): Local bearing/azimuth received: Bearing 5.6, -0.7 (Local) 2025-10-24T19:36:45.582Z,1761334605.582 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed 0.5 2025-10-24T19:36:45.589Z,1761334605.589 [DAT](INFO): DAT read: 19:36:44.4889 LVL= 19792, 31601, 21362, 31315, AGC= 59, IDX= 496, 0.13,-2.848, 2.055,-2.987,-3.131, PHS= 0.371,-1.050, 0.141, RAW= 141.3, 8.2, CAL= 144.4, 0.7, ROT= 5.6, -0.7 2025-10-24T19:36:45.591Z,1761334605.591 [DAT](INFO): got valid direction response: 19:36:44.4889 LVL= 19792, 31601, 21362, 31315, AGC= 59, IDX= 496, 0.13,-2.848, 2.055,-2.987,-3.131, PHS= 0.371,-1.050, 0.141, RAW= 141.3, 8.2, CAL= 144.4, 0.7, ROT= 5.6, -0.7 2025-10-24T19:36:45.591Z,1761334605.591 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-24T19:36:45.597Z,1761334605.597 [DAT](INFO): direction in FSK: [0.995153,0.097576,0.012217] 2025-10-24T19:36:45.598Z,1761334605.598 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:45.615Z,1761334605.615 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.548084 2025-10-24T19:36:45.829Z,1761334605.829 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.762035 2025-10-24T19:36:46.035Z,1761334606.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503888 s, deltaX: -0.200001 m, approachRate: -0.396915 m/s, rangeRepo size: 4 2025-10-24T19:36:46.045Z,1761334606.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.288208 m, bearing: 51.116872 deg, lat: 36.779535 deg, lon: -121.859608 deg, deltaT: 0.503888 s, deltaX: -0.198904 m, approachRate: -0.394739 m/s, posRepo size: 4 2025-10-24T19:36:46.052Z,1761334606.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.29 m. 2025-10-24T19:36:46.055Z,1761334606.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.288208 m, nav range: 20.322327 m, bearing: 51.484944 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.483256 deg, new cmd heading: 41.398105 deg. 2025-10-24T19:36:46.060Z,1761334606.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.722533 target range: 20.288208 and range: 20.40 m. 2025-10-24T19:36:46.081Z,1761334606.081 [DAT](INFO): DAT read: Rx Time:19:36:44.9886 2025-10-24T19:36:46.082Z,1761334606.082 [DAT](INFO): Rx dataTimestamp_ set to:1761334606.081611 2025-10-24T19:36:46.083Z,1761334606.083 [DAT](INFO): DAT read: Bearing 4.6, 0.3 (Local) 2025-10-24T19:36:46.089Z,1761334606.089 [DAT](INFO): Local bearing/azimuth received: Bearing 4.6, 0.3 (Local) 2025-10-24T19:36:46.091Z,1761334606.091 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 2025-10-24T19:36:46.097Z,1761334606.097 [DAT](INFO): DAT read: 19:36:44.9886 LVL= 18448, 28081, 19346, 29651, AGC= 60, IDX= 509, 0.23, 2.203, 0.729, 2.085, 1.895, PHS= 0.396,-1.119, 0.188, RAW= 142.7, 7.6, CAL= 145.4, -0.3, ROT= 4.6, 0.3 2025-10-24T19:36:46.098Z,1761334606.098 [DAT](INFO): got valid direction response: 19:36:44.9886 LVL= 18448, 28081, 19346, 29651, AGC= 60, IDX= 509, 0.23, 2.203, 0.729, 2.085, 1.895, PHS= 0.396,-1.119, 0.188, RAW= 142.7, 7.6, CAL= 145.4, -0.3, ROT= 4.6, 0.3 2025-10-24T19:36:46.098Z,1761334606.098 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-24T19:36:46.099Z,1761334606.099 [DAT](INFO): direction in FSK: [0.996765,0.080198,-0.005236] 2025-10-24T19:36:46.099Z,1761334606.099 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:46.104Z,1761334606.104 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.036613 2025-10-24T19:36:46.334Z,1761334606.334 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.267277 2025-10-24T19:36:46.371Z,1761334606.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706086,-0.701405,0.097332],[0.707078,0.705826,-0.043022],[-0.038524,0.099199,0.994322]] 2025-10-24T19:36:46.571Z,1761334606.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503946 s, deltaX: -0.400000 m, approachRate: -0.793735 m/s, rangeRepo size: 4 2025-10-24T19:36:46.577Z,1761334606.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.890366 m, bearing: 49.650181 deg, lat: 36.779535 deg, lon: -121.859609 deg, deltaT: 0.503946 s, deltaX: -0.397842 m, approachRate: -0.789454 m/s, posRepo size: 4 2025-10-24T19:36:46.578Z,1761334606.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m. 2025-10-24T19:36:46.586Z,1761334606.586 [DAT](INFO): DAT read: Rx Time:19:36:45.4885 2025-10-24T19:36:46.586Z,1761334606.586 [DAT](INFO): Rx dataTimestamp_ set to:1761334606.586030 2025-10-24T19:36:46.588Z,1761334606.588 [DAT](INFO): DAT read: Bearing 5.9, -1.5 (Local) 2025-10-24T19:36:46.588Z,1761334606.588 [DAT](INFO): Local bearing/azimuth received: Bearing 5.9, -1.5 (Local) 2025-10-24T19:36:46.590Z,1761334606.590 [DAT](INFO): DAT read: Range 10 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 2025-10-24T19:36:46.599Z,1761334606.599 [DAT](INFO): DAT read: 19:36:45.4885 LVL= 18816, 27633, 18738, 30163, AGC= 58, IDX= 509,-0.35,-0.358,-1.756,-0.510,-0.635, PHS= 0.365,-1.074, 0.122, RAW= 140.9, 8.8, CAL= 144.1, 1.5, ROT= 5.9, -1.5 2025-10-24T19:36:46.602Z,1761334606.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.890366 m, nav range: 20.019627 m, bearing: 51.331250 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.398104 deg, new cmd heading: 41.318044 deg. 2025-10-24T19:36:46.603Z,1761334606.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.721136 target range: 19.890366 and range: 20.00 m. 2025-10-24T19:36:46.604Z,1761334606.604 [DAT](INFO): got valid direction response: 19:36:45.4885 LVL= 18816, 27633, 18738, 30163, AGC= 58, IDX= 509,-0.35,-0.358,-1.756,-0.510,-0.635, PHS= 0.365,-1.074, 0.122, RAW= 140.9, 8.8, CAL= 144.1, 1.5, ROT= 5.9, -1.5 2025-10-24T19:36:46.605Z,1761334606.605 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-24T19:36:46.605Z,1761334606.605 [DAT](INFO): direction in FSK: [0.994362,0.102757,0.026177] 2025-10-24T19:36:46.606Z,1761334606.606 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:46.626Z,1761334606.626 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.559124 2025-10-24T19:36:46.838Z,1761334606.838 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.770786 2025-10-24T19:36:47.047Z,1761334607.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504419 s, deltaX: -0.200001 m, approachRate: -0.396497 m/s, rangeRepo size: 4 2025-10-24T19:36:47.054Z,1761334607.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.691462 m, bearing: 50.759291 deg, lat: 36.779536 deg, lon: -121.859610 deg, deltaT: 0.504419 s, deltaX: -0.198904 m, approachRate: -0.394323 m/s, posRepo size: 4 2025-10-24T19:36:47.055Z,1761334607.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-24T19:36:47.070Z,1761334607.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.691462 m, nav range: 19.733355 m, bearing: 51.133158 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.318044 deg, new cmd heading: 41.247000 deg. 2025-10-24T19:36:47.071Z,1761334607.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719896 target range: 19.691462 and range: 19.80 m. 2025-10-24T19:36:47.089Z,1761334607.089 [DAT](INFO): DAT read: Rx Time:19:36:45.9882 2025-10-24T19:36:47.090Z,1761334607.090 [DAT](INFO): Rx dataTimestamp_ set to:1761334607.089652 2025-10-24T19:36:47.091Z,1761334607.091 [DAT](INFO): DAT read: Bearing 6.3, -2.0 (Local) 2025-10-24T19:36:47.092Z,1761334607.092 [DAT](INFO): Local bearing/azimuth received: Bearing 6.3, -2.0 (Local) 2025-10-24T19:36:47.094Z,1761334607.094 [DAT](INFO): DAT read: Range 10 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 2025-10-24T19:36:47.099Z,1761334607.099 [DAT](INFO): DAT read: 19:36:45.9882 LVL= 18288, 29937, 19586, 32755, AGC= 59, IDX= 506,-0.02,-2.463, 2.394,-2.632,-2.745, PHS= 0.370,-1.098, 0.109, RAW= 140.4, 9.2, CAL= 143.7, 2.0, ROT= 6.3, -2.0 2025-10-24T19:36:47.100Z,1761334607.100 [DAT](INFO): got valid direction response: 19:36:45.9882 LVL= 18288, 29937, 19586, 32755, AGC= 59, IDX= 506,-0.02,-2.463, 2.394,-2.632,-2.745, PHS= 0.370,-1.098, 0.109, RAW= 140.4, 9.2, CAL= 143.7, 2.0, ROT= 6.3, -2.0 2025-10-24T19:36:47.101Z,1761334607.101 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-24T19:36:47.102Z,1761334607.102 [DAT](INFO): direction in FSK: [0.993355,0.109667,0.034899] 2025-10-24T19:36:47.102Z,1761334607.102 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:47.106Z,1761334607.106 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.038803 2025-10-24T19:36:47.287Z,1761334607.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712917,-0.694398,0.097779],[0.699979,0.713062,-0.039656],[-0.042185,0.096715,0.994418]] 2025-10-24T19:36:47.341Z,1761334607.341 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.274055 2025-10-24T19:36:47.386Z,1761334607.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503622 s, deltaX: -0.400000 m, approachRate: -0.794246 m/s, rangeRepo size: 4 2025-10-24T19:36:47.396Z,1761334607.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.293715 m, bearing: 50.547142 deg, lat: 36.779536 deg, lon: -121.859611 deg, deltaT: 0.503622 s, deltaX: -0.397747 m, approachRate: -0.789773 m/s, posRepo size: 4 2025-10-24T19:36:47.397Z,1761334607.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-24T19:36:47.438Z,1761334607.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.293715 m, nav range: 19.496965 m, bearing: 50.953821 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.247000 deg, new cmd heading: 41.198639 deg. 2025-10-24T19:36:47.461Z,1761334607.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.719052 target range: 19.293715 and range: 19.40 m. 2025-10-24T19:36:47.593Z,1761334607.593 [DAT](INFO): DAT read: Rx Time:19:36:46.4882 2025-10-24T19:36:47.594Z,1761334607.594 [DAT](INFO): Rx dataTimestamp_ set to:1761334607.593644 2025-10-24T19:36:47.595Z,1761334607.595 [DAT](INFO): DAT read: Bearing 6.9, -1.6 (Local) 2025-10-24T19:36:47.596Z,1761334607.596 [DAT](INFO): Local bearing/azimuth received: Bearing 6.9, -1.6 (Local) 2025-10-24T19:36:47.598Z,1761334607.598 [DAT](INFO): DAT read: Range 10 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 2025-10-24T19:36:47.603Z,1761334607.603 [DAT](INFO): DAT read: 19:36:46.4882 LVL= 20080, 27601, 17810, 31155, AGC= 59, IDX= 505, 0.25,-0.684,-2.148,-0.883,-0.994, PHS= 0.398,-1.107, 0.108, RAW= 139.5, 8.7, CAL= 143.1, 1.6, ROT= 6.9, -1.6 2025-10-24T19:36:47.604Z,1761334607.604 [DAT](INFO): got valid direction response: 19:36:46.4882 LVL= 20080, 27601, 17810, 31155, AGC= 59, IDX= 505, 0.25,-0.684,-2.148,-0.883,-0.994, PHS= 0.398,-1.107, 0.108, RAW= 139.5, 8.7, CAL= 143.1, 1.6, ROT= 6.9, -1.6 2025-10-24T19:36:47.605Z,1761334607.605 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-24T19:36:47.606Z,1761334607.606 [DAT](INFO): direction in FSK: [0.992370,0.120090,0.027922] 2025-10-24T19:36:47.606Z,1761334607.606 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:47.618Z,1761334607.618 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.551304 2025-10-24T19:36:47.751Z,1761334607.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720041,-0.686849,0.098895],[0.692419,0.720542,-0.037080],[-0.045789,0.095176,0.994407]] 2025-10-24T19:36:47.845Z,1761334607.845 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.777966 2025-10-24T19:36:47.867Z,1761334607.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503992 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:47.878Z,1761334607.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.293715 m, bearing: 50.592092 deg, lat: 36.779537 deg, lon: -121.859612 deg, deltaT: 0.503992 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:47.879Z,1761334607.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-24T19:36:47.886Z,1761334607.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.293715 m, nav range: 19.239140 m, bearing: 50.788850 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.198639 deg, new cmd heading: 41.124822 deg. 2025-10-24T19:36:47.887Z,1761334607.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717764 target range: 19.293715 and range: 19.40 m. 2025-10-24T19:36:48.098Z,1761334608.098 [DAT](INFO): DAT read: Rx Time:19:36:46.9880 2025-10-24T19:36:48.098Z,1761334608.098 [DAT](INFO): Rx dataTimestamp_ set to:1761334608.097863 2025-10-24T19:36:48.099Z,1761334608.099 [DAT](INFO): DAT read: Bearing 9.2, -3.9 (Local) 2025-10-24T19:36:48.100Z,1761334608.100 [DAT](INFO): Local bearing/azimuth received: Bearing 9.2, -3.9 (Local) 2025-10-24T19:36:48.103Z,1761334608.103 [DAT](INFO): DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4 2025-10-24T19:36:48.112Z,1761334608.112 [DAT](INFO): DAT read: 19:36:46.9880 LVL= 20832, 32753, 20802, 32755, AGC= 57, IDX= 503,-0.23, 2.461, 1.074, 2.206, 2.179, PHS= 0.370,-1.058, 0.024, RAW= 136.6, 10.3, CAL= 140.8, 3.9, ROT= 9.2, -3.9 2025-10-24T19:36:48.113Z,1761334608.113 [DAT](INFO): got valid direction response: 19:36:46.9880 LVL= 20832, 32753, 20802, 32755, AGC= 57, IDX= 503,-0.23, 2.461, 1.074, 2.206, 2.179, PHS= 0.370,-1.058, 0.024, RAW= 136.6, 10.3, CAL= 140.8, 3.9, ROT= 9.2, -3.9 2025-10-24T19:36:48.113Z,1761334608.113 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-24T19:36:48.114Z,1761334608.114 [DAT](INFO): direction in FSK: [0.984850,0.159511,0.068015] 2025-10-24T19:36:48.114Z,1761334608.114 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:48.126Z,1761334608.126 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.059540 2025-10-24T19:36:48.207Z,1761334608.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723326,-0.683307,0.099449],[0.688877,0.723984,-0.035997],[-0.047402,0.094545,0.994391]] 2025-10-24T19:36:48.264Z,1761334608.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504219 s, deltaX: -0.299999 m, approachRate: -0.594978 m/s, rangeRepo size: 4 2025-10-24T19:36:48.266Z,1761334608.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.995489 m, bearing: 52.371901 deg, lat: 36.779537 deg, lon: -121.859612 deg, deltaT: 0.504219 s, deltaX: -0.298225 m, approachRate: -0.591460 m/s, posRepo size: 4 2025-10-24T19:36:48.267Z,1761334608.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m. 2025-10-24T19:36:48.274Z,1761334608.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.995489 m, nav range: 19.052204 m, bearing: 50.922450 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.124822 deg, new cmd heading: 41.066819 deg. 2025-10-24T19:36:48.275Z,1761334608.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.716751 target range: 18.995489 and range: 19.10 m. 2025-10-24T19:36:48.350Z,1761334608.350 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.282871 2025-10-24T19:36:48.602Z,1761334608.602 [DAT](INFO): DAT read: Rx Time:19:36:47.4880 2025-10-24T19:36:48.602Z,1761334608.602 [DAT](INFO): Rx dataTimestamp_ set to:1761334608.602082 2025-10-24T19:36:48.604Z,1761334608.604 [DAT](INFO): DAT read: Bearing 9.5, -2.9 (Local) 2025-10-24T19:36:48.604Z,1761334608.604 [DAT](INFO): Local bearing/azimuth received: Bearing 9.5, -2.9 (Local) 2025-10-24T19:36:48.606Z,1761334608.606 [DAT](INFO): DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4 2025-10-24T19:36:48.611Z,1761334608.611 [DAT](INFO): DAT read: 19:36:47.4880 LVL= 19760, 31457, 19394, 32755, AGC= 55, IDX= 502, 0.16,-1.174,-2.561,-1.441,-1.482, PHS= 0.395,-1.032, 0.037, RAW= 136.0, 9.4, CAL= 140.5, 2.9, ROT= 9.5, -2.9 2025-10-24T19:36:48.621Z,1761334608.621 [DAT](INFO): got valid direction response: 19:36:47.4880 LVL= 19760, 31457, 19394, 32755, AGC= 55, IDX= 502, 0.16,-1.174,-2.561,-1.441,-1.482, PHS= 0.395,-1.032, 0.037, RAW= 136.0, 9.4, CAL= 140.5, 2.9, ROT= 9.5, -2.9 2025-10-24T19:36:48.622Z,1761334608.622 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-24T19:36:48.623Z,1761334608.623 [DAT](INFO): direction in FSK: [0.985023,0.164836,0.050593] 2025-10-24T19:36:48.623Z,1761334608.623 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:48.627Z,1761334608.627 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.559612 2025-10-24T19:36:48.631Z,1761334608.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726212,-0.680277,0.099196],[0.685737,0.727041,-0.034292],[-0.048792,0.092926,0.994477]] 2025-10-24T19:36:48.738Z,1761334608.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504219 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:48.744Z,1761334608.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.995489 m, bearing: 52.532357 deg, lat: 36.779536 deg, lon: -121.859611 deg, deltaT: 0.504219 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:48.745Z,1761334608.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m. 2025-10-24T19:36:48.752Z,1761334608.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.995489 m, nav range: 18.835663 m, bearing: 51.485332 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 41.066820 deg, new cmd heading: 40.994923 deg. 2025-10-24T19:36:48.753Z,1761334608.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.715496 target range: 18.995489 and range: 19.10 m. 2025-10-24T19:36:48.853Z,1761334608.853 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.786041 2025-10-24T19:36:49.106Z,1761334609.106 [DAT](INFO): DAT read: Rx Time:19:36:47.9877 2025-10-24T19:36:49.106Z,1761334609.106 [DAT](INFO): Rx dataTimestamp_ set to:1761334609.105705 2025-10-24T19:36:49.107Z,1761334609.107 [DAT](INFO): DAT read: Bearing 11.0, -5.3 (Local) 2025-10-24T19:36:49.108Z,1761334609.108 [DAT](INFO): Local bearing/azimuth received: Bearing 11.0, -5.3 (Local) 2025-10-24T19:36:49.110Z,1761334609.110 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-24T19:36:49.119Z,1761334609.119 [DAT](INFO): DAT read: 19:36:47.9877 LVL= 20560, 32753, 21298, 32755, AGC= 57, IDX= 500,-0.28, 2.352, 0.947, 2.041, 2.066, PHS= 0.375,-1.072,-0.028, RAW= 134.4, 11.2, CAL= 139.0, 5.3, ROT= 11.0, -5.3 2025-10-24T19:36:49.120Z,1761334609.120 [DAT](INFO): got valid direction response: 19:36:47.9877 LVL= 20560, 32753, 21298, 32755, AGC= 57, IDX= 500,-0.28, 2.352, 0.947, 2.041, 2.066, PHS= 0.375,-1.072,-0.028, RAW= 134.4, 11.2, CAL= 139.0, 5.3, ROT= 11.0, -5.3 2025-10-24T19:36:49.121Z,1761334609.121 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-24T19:36:49.122Z,1761334609.122 [DAT](INFO): direction in FSK: [0.977430,0.189993,0.092371] 2025-10-24T19:36:49.122Z,1761334609.122 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:49.135Z,1761334609.135 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.067585 2025-10-24T19:36:49.156Z,1761334609.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503623 s, deltaX: -0.300001 m, approachRate: -0.595686 m/s, rangeRepo size: 4 2025-10-24T19:36:49.159Z,1761334609.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.697104 m, bearing: 53.781462 deg, lat: 36.779534 deg, lon: -121.859609 deg, deltaT: 0.503623 s, deltaX: -0.298386 m, approachRate: -0.592478 m/s, posRepo size: 4 2025-10-24T19:36:49.159Z,1761334609.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-24T19:36:49.162Z,1761334609.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.697104 m, nav range: 18.672720 m, bearing: 52.354850 deg, approach rate: 0.000000 m/s, LOS rate: -0.049707 deg/s, cmd heading: 40.994922 deg, new cmd heading: 40.934350 deg. 2025-10-24T19:36:49.163Z,1761334609.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.714439 target range: 18.697104 and range: 18.80 m. 2025-10-24T19:36:49.358Z,1761334609.358 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.290970 2025-10-24T19:36:49.518Z,1761334609.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730689,-0.675289,0.100393],[0.680812,0.731695,-0.033437],[-0.050878,0.092781,0.994386]] 2025-10-24T19:36:49.613Z,1761334609.613 [DAT](INFO): DAT read: Rx Time:19:36:48.4876 2025-10-24T19:36:49.615Z,1761334609.615 [DAT](INFO): Rx dataTimestamp_ set to:1761334609.613822 2025-10-24T19:36:49.619Z,1761334609.619 [DAT](INFO): DAT read: Bearing 10.9, -3.7 (Local) 2025-10-24T19:36:49.619Z,1761334609.619 [DAT](INFO): Local bearing/azimuth received: Bearing 10.9, -3.7 (Local) 2025-10-24T19:36:49.621Z,1761334609.621 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 2025-10-24T19:36:49.635Z,1761334609.635 [DAT](INFO): DAT read: 19:36:48.4876 LVL= 21600, 27121, 18226, 32755, AGC= 57, IDX= 498, 0.17,-2.628, 2.193,-2.958,-2.962, PHS= 0.422,-1.081, 0.001, RAW= 134.3, 9.8, CAL= 139.1, 3.7, ROT= 10.9, -3.7 2025-10-24T19:36:49.640Z,1761334609.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:49.642Z,1761334609.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-24T19:36:49.644Z,1761334609.644 [DAT](INFO): got valid direction response: 19:36:48.4876 LVL= 21600, 27121, 18226, 32755, AGC= 57, IDX= 498, 0.17,-2.628, 2.193,-2.958,-2.962, PHS= 0.422,-1.081, 0.001, RAW= 134.3, 9.8, CAL= 139.1, 3.7, ROT= 10.9, -3.7 2025-10-24T19:36:49.645Z,1761334609.645 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-24T19:36:49.645Z,1761334609.645 [DAT](INFO): direction in FSK: [0.979912,0.188701,0.064532] 2025-10-24T19:36:49.646Z,1761334609.646 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:49.653Z,1761334609.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.697104 m, nav range: 18.443193 m, bearing: 52.559413 deg, approach rate: -0.460232 m/s, LOS rate: 0.415280 deg/s, cmd heading: 40.934348 deg, new cmd heading: 41.555648 deg. 2025-10-24T19:36:49.654Z,1761334609.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.725283 target range: 18.697104 and range: 18.80 m. 2025-10-24T19:36:49.658Z,1761334609.658 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.590641 2025-10-24T19:36:49.861Z,1761334609.861 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.793983 2025-10-24T19:36:49.995Z,1761334609.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732772,-0.672830,0.101706],[0.678503,0.733810,-0.034011],[-0.051749,0.093931,0.994233]] 2025-10-24T19:36:50.096Z,1761334610.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.508117 s, deltaX: -0.199999 m, approachRate: -0.393608 m/s, rangeRepo size: 4 2025-10-24T19:36:50.098Z,1761334610.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.498198 m, bearing: 53.277318 deg, lat: 36.779534 deg, lon: -121.859607 deg, deltaT: 0.508117 s, deltaX: -0.198906 m, approachRate: -0.391457 m/s, posRepo size: 4 2025-10-24T19:36:50.099Z,1761334610.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m. 2025-10-24T19:36:50.103Z,1761334610.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.498198 m, nav range: 18.363430 m, bearing: 53.075634 deg, approach rate: 0.000000 m/s, LOS rate: 0.415280 deg/s, cmd heading: 41.555650 deg, new cmd heading: 42.115187 deg. 2025-10-24T19:36:50.115Z,1761334610.115 [DAT](INFO): DAT read: Rx Time:19:36:48.9874 2025-10-24T19:36:50.115Z,1761334610.115 [DAT](INFO): Rx dataTimestamp_ set to:1761334610.115221 2025-10-24T19:36:50.121Z,1761334610.121 [DAT](INFO): DAT read: Bearing 12.6, -6.4 (Local) 2025-10-24T19:36:50.121Z,1761334610.121 [DAT](INFO): Local bearing/azimuth received: Bearing 12.6, -6.4 (Local) 2025-10-24T19:36:50.123Z,1761334610.123 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 2025-10-24T19:36:50.128Z,1761334610.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.735049 target range: 18.498198 and range: 18.60 m. 2025-10-24T19:36:50.136Z,1761334610.136 [DAT](INFO): DAT read: 19:36:48.9874 LVL= 26144, 32753, 24530, 32755, AGC= 57, IDX= 496,-0.27, 1.113,-0.250, 0.768, 0.835, PHS= 0.366,-1.038,-0.070, RAW= 132.3, 11.9, CAL= 137.4, 6.4, ROT= 12.6, -6.4 2025-10-24T19:36:50.137Z,1761334610.137 [DAT](INFO): got valid direction response: 19:36:48.9874 LVL= 26144, 32753, 24530, 32755, AGC= 57, IDX= 496,-0.27, 1.113,-0.250, 0.768, 0.835, PHS= 0.366,-1.038,-0.070, RAW= 132.3, 11.9, CAL= 137.4, 6.4, ROT= 12.6, -6.4 2025-10-24T19:36:50.137Z,1761334610.137 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-24T19:36:50.138Z,1761334610.138 [DAT](INFO): direction in FSK: [0.969835,0.216784,0.111469] 2025-10-24T19:36:50.139Z,1761334610.139 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:50.162Z,1761334610.162 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.095470 2025-10-24T19:36:50.339Z,1761334610.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734089,-0.671254,0.102623],[0.677053,0.735111,-0.034795],[-0.052083,0.095024,0.994112]] 2025-10-24T19:36:50.365Z,1761334610.365 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.297977 2025-10-24T19:36:50.450Z,1761334610.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.501399 s, deltaX: -0.400000 m, approachRate: -0.797767 m/s, rangeRepo size: 4 2025-10-24T19:36:50.474Z,1761334610.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.100380 m, bearing: 54.565810 deg, lat: 36.779533 deg, lon: -121.859606 deg, deltaT: 0.501399 s, deltaX: -0.397818 m, approachRate: -0.793415 m/s, posRepo size: 4 2025-10-24T19:36:50.474Z,1761334610.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-24T19:36:50.481Z,1761334610.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.100380 m, nav range: 18.211246 m, bearing: 53.740465 deg, approach rate: 0.000000 m/s, LOS rate: 0.415280 deg/s, cmd heading: 42.115185 deg, new cmd heading: 42.551427 deg. 2025-10-24T19:36:50.482Z,1761334610.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.742662 target range: 18.100380 and range: 18.20 m. 2025-10-24T19:36:50.620Z,1761334610.620 [DAT](INFO): DAT read: Rx Time:19:36:49.4874 2025-10-24T19:36:50.620Z,1761334610.620 [DAT](INFO): Rx dataTimestamp_ set to:1761334610.620137 2025-10-24T19:36:50.622Z,1761334610.622 [DAT](INFO): DAT read: Bearing 12.1, -4.6 (Local) 2025-10-24T19:36:50.622Z,1761334610.622 [DAT](INFO): Local bearing/azimuth received: Bearing 12.1, -4.6 (Local) 2025-10-24T19:36:50.624Z,1761334610.624 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 2025-10-24T19:36:50.629Z,1761334610.629 [DAT](INFO): DAT read: 19:36:49.4874 LVL= 20576, 32145, 19618, 32755, AGC= 58, IDX= 511, 0.15,-2.599, 2.213,-2.968,-2.937, PHS= 0.425,-1.086,-0.034, RAW= 132.7, 10.4, CAL= 137.9, 4.6, ROT= 12.1, -4.6 2025-10-24T19:36:50.630Z,1761334610.630 [DAT](INFO): got valid direction response: 19:36:49.4874 LVL= 20576, 32145, 19618, 32755, AGC= 58, IDX= 511, 0.15,-2.599, 2.213,-2.968,-2.937, PHS= 0.425,-1.086,-0.034, RAW= 132.7, 10.4, CAL= 137.9, 4.6, ROT= 12.1, -4.6 2025-10-24T19:36:50.631Z,1761334610.631 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-24T19:36:50.631Z,1761334610.631 [DAT](INFO): direction in FSK: [0.974634,0.208943,0.080199] 2025-10-24T19:36:50.652Z,1761334610.652 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:50.655Z,1761334610.655 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.588444 2025-10-24T19:36:50.759Z,1761334610.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735986,-0.669097,0.103117],[0.674961,0.737014,-0.035186],[-0.052456,0.095496,0.994047]] 2025-10-24T19:36:50.870Z,1761334610.870 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.802563 2025-10-24T19:36:50.886Z,1761334610.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504916 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:50.893Z,1761334610.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.100380 m, bearing: 54.092748 deg, lat: 36.779533 deg, lon: -121.859606 deg, deltaT: 0.504916 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:50.893Z,1761334610.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-24T19:36:50.902Z,1761334610.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.100380 m, nav range: 18.001881 m, bearing: 53.914688 deg, approach rate: 0.000000 m/s, LOS rate: 0.415280 deg/s, cmd heading: 42.551426 deg, new cmd heading: 43.097770 deg. 2025-10-24T19:36:50.911Z,1761334610.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.752198 target range: 18.100380 and range: 18.20 m. 2025-10-24T19:36:51.123Z,1761334611.123 [DAT](INFO): DAT read: Rx Time:19:36:49.9871 2025-10-24T19:36:51.123Z,1761334611.123 [DAT](INFO): Rx dataTimestamp_ set to:1761334611.123212 2025-10-24T19:36:51.125Z,1761334611.125 [DAT](INFO): DAT read: Bearing 13.9, -6.6 (Local) 2025-10-24T19:36:51.125Z,1761334611.125 [DAT](INFO): Local bearing/azimuth received: Bearing 13.9, -6.6 (Local) 2025-10-24T19:36:51.127Z,1761334611.127 [DAT](INFO): DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 2025-10-24T19:36:51.133Z,1761334611.133 [DAT](INFO): DAT read: 19:36:49.9871 LVL= 27488, 32753, 24498, 32755, AGC= 56, IDX= 509,-0.41, 2.276, 0.882, 1.884, 1.977, PHS= 0.387,-1.048,-0.096, RAW= 130.7, 11.9, CAL= 136.1, 6.6, ROT= 13.9, -6.6 2025-10-24T19:36:51.135Z,1761334611.135 [DAT](INFO): got valid direction response: 19:36:49.9871 LVL= 27488, 32753, 24498, 32755, AGC= 56, IDX= 509,-0.41, 2.276, 0.882, 1.884, 1.977, PHS= 0.387,-1.048,-0.096, RAW= 130.7, 11.9, CAL= 136.1, 6.6, ROT= 13.9, -6.6 2025-10-24T19:36:51.135Z,1761334611.135 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-24T19:36:51.137Z,1761334611.137 [DAT](INFO): direction in FSK: [0.964283,0.238636,0.114937] 2025-10-24T19:36:51.137Z,1761334611.137 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:51.143Z,1761334611.143 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.076153 2025-10-24T19:36:51.313Z,1761334611.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503075 s, deltaX: -0.500000 m, approachRate: -0.993888 m/s, rangeRepo size: 4 2025-10-24T19:36:51.326Z,1761334611.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.603109 m, bearing: 55.667651 deg, lat: 36.779531 deg, lon: -121.859606 deg, deltaT: 0.503075 s, deltaX: -0.497271 m, approachRate: -0.988462 m/s, posRepo size: 4 2025-10-24T19:36:51.327Z,1761334611.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-24T19:36:51.341Z,1761334611.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.603109 m, nav range: 17.675564 m, bearing: 54.769789 deg, approach rate: 0.000000 m/s, LOS rate: 0.415280 deg/s, cmd heading: 43.097770 deg, new cmd heading: 43.630488 deg. 2025-10-24T19:36:51.343Z,1761334611.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.761496 target range: 17.603109 and range: 17.70 m. 2025-10-24T19:36:51.375Z,1761334611.375 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.307438 2025-10-24T19:36:51.631Z,1761334611.631 [DAT](INFO): DAT read: Rx Time:19:36:50.4870 2025-10-24T19:36:51.641Z,1761334611.641 [DAT](INFO): Rx dataTimestamp_ set to:1761334611.640197 2025-10-24T19:36:51.646Z,1761334611.646 [DAT](INFO): DAT read: Bearing 14.2, -6.6 (Local) 2025-10-24T19:36:51.647Z,1761334611.647 [DAT](INFO): Local bearing/azimuth received: Bearing 14.2, -6.6 (Local) 2025-10-24T19:36:51.674Z,1761334611.674 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 2025-10-24T19:36:51.716Z,1761334611.716 [DAT](INFO): DAT read: 19:36:50.4870 LVL= 24624, 30833, 20082, 32755, AGC= 58, IDX= 508,-0.03,-1.879, 2.996,-2.287,-2.187, PHS= 0.396,-1.052,-0.103, RAW= 130.2, 11.9, CAL= 135.8, 6.6, ROT= 14.2, -6.6 2025-10-24T19:36:51.718Z,1761334611.718 [DAT](INFO): got valid direction response: 19:36:50.4870 LVL= 24624, 30833, 20082, 32755, AGC= 58, IDX= 508,-0.03,-1.879, 2.996,-2.287,-2.187, PHS= 0.396,-1.052,-0.103, RAW= 130.2, 11.9, CAL= 135.8, 6.6, ROT= 14.2, -6.6 2025-10-24T19:36:51.718Z,1761334611.718 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-24T19:36:51.719Z,1761334611.719 [DAT](INFO): direction in FSK: [0.963021,0.243682,0.114937] 2025-10-24T19:36:51.719Z,1761334611.719 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:51.743Z,1761334611.743 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.676178 2025-10-24T19:36:51.755Z,1761334611.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737523,-0.666975,0.105852],[0.673350,0.738250,-0.039833],[-0.051578,0.100653,0.993584]] 2025-10-24T19:36:51.859Z,1761334611.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.516985 s, deltaX: -0.100000 m, approachRate: -0.193430 m/s, rangeRepo size: 4 2025-10-24T19:36:51.869Z,1761334611.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.503656 m, bearing: 55.797456 deg, lat: 36.779530 deg, lon: -121.859605 deg, deltaT: 0.516985 s, deltaX: -0.099453 m, approachRate: -0.192371 m/s, posRepo size: 4 2025-10-24T19:36:51.870Z,1761334611.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:36:51.877Z,1761334611.877 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.809971 2025-10-24T19:36:51.878Z,1761334611.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.503656 m, nav range: 17.397369 m, bearing: 55.219493 deg, approach rate: 0.000000 m/s, LOS rate: 0.415280 deg/s, cmd heading: 43.630487 deg, new cmd heading: 44.316045 deg. 2025-10-24T19:36:51.879Z,1761334611.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.773461 target range: 17.503656 and range: 17.60 m. 2025-10-24T19:36:52.131Z,1761334612.131 [DAT](INFO): DAT read: Rx Time:19:36:50.9868 2025-10-24T19:36:52.131Z,1761334612.131 [DAT](INFO): Rx dataTimestamp_ set to:1761334612.131204 2025-10-24T19:36:52.134Z,1761334612.134 [DAT](INFO): DAT read: Bearing 14.3, -7.2 (Local) 2025-10-24T19:36:52.134Z,1761334612.134 [DAT](INFO): Local bearing/azimuth received: Bearing 14.3, -7.2 (Local) 2025-10-24T19:36:52.137Z,1761334612.137 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 2025-10-24T19:36:52.142Z,1761334612.142 [DAT](INFO): DAT read: 19:36:50.9868 LVL= 27040, 32753, 23666, 32755, AGC= 58, IDX= 505, 0.28,-0.826,-2.221,-1.230,-1.121, PHS= 0.383,-1.053,-0.112, RAW= 130.1, 12.3, CAL= 135.7, 7.2, ROT= 14.3, -7.2 2025-10-24T19:36:52.143Z,1761334612.143 [DAT](INFO): got valid direction response: 19:36:50.9868 LVL= 27040, 32753, 23666, 32755, AGC= 58, IDX= 505, 0.28,-0.826,-2.221,-1.230,-1.121, PHS= 0.383,-1.053,-0.112, RAW= 130.1, 12.3, CAL= 135.7, 7.2, ROT= 14.3, -7.2 2025-10-24T19:36:52.143Z,1761334612.143 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-24T19:36:52.144Z,1761334612.144 [DAT](INFO): direction in FSK: [0.961375,0.245051,0.125333] 2025-10-24T19:36:52.144Z,1761334612.144 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:52.153Z,1761334612.153 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.086487 2025-10-24T19:36:52.329Z,1761334612.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.491007 s, deltaX: -0.300001 m, approachRate: -0.610992 m/s, rangeRepo size: 4 2025-10-24T19:36:52.331Z,1761334612.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.205338 m, bearing: 55.829817 deg, lat: 36.779529 deg, lon: -121.859605 deg, deltaT: 0.491007 s, deltaX: -0.298319 m, approachRate: -0.607565 m/s, posRepo size: 4 2025-10-24T19:36:52.331Z,1761334612.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-24T19:36:52.338Z,1761334612.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.205338 m, nav range: 17.126259 m, bearing: 55.723353 deg, approach rate: 0.000000 m/s, LOS rate: 0.415280 deg/s, cmd heading: 44.316043 deg, new cmd heading: 44.896478 deg. 2025-10-24T19:36:52.339Z,1761334612.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.783591 target range: 17.205338 and range: 17.30 m. 2025-10-24T19:36:52.381Z,1761334612.381 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.313911 2025-10-24T19:36:52.638Z,1761334612.638 [DAT](INFO): DAT read: Rx Time:19:36:51.4867 2025-10-24T19:36:52.640Z,1761334612.640 [DAT](INFO): Rx dataTimestamp_ set to:1761334612.638623 2025-10-24T19:36:52.643Z,1761334612.643 [DAT](INFO): DAT read: Bearing 15.3, -8.0 (Local) 2025-10-24T19:36:52.645Z,1761334612.645 [DAT](INFO): Local bearing/azimuth received: Bearing 15.3, -8.0 (Local) 2025-10-24T19:36:52.649Z,1761334612.649 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-24T19:36:52.677Z,1761334612.677 [DAT](INFO): DAT read: 19:36:51.4867 LVL= 25056, 32753, 22994, 32755, AGC= 60, IDX= 505,-0.19,-0.843,-2.227,-1.269,-1.132, PHS= 0.377,-1.048,-0.140, RAW= 129.0, 12.9, CAL= 134.7, 8.0, ROT= 15.3, -8.0 2025-10-24T19:36:52.678Z,1761334612.678 [DAT](INFO): got valid direction response: 19:36:51.4867 LVL= 25056, 32753, 22994, 32755, AGC= 60, IDX= 505,-0.19,-0.843,-2.227,-1.269,-1.132, PHS= 0.377,-1.048,-0.140, RAW= 129.0, 12.9, CAL= 134.7, 8.0, ROT= 15.3, -8.0 2025-10-24T19:36:52.679Z,1761334612.679 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-24T19:36:52.679Z,1761334612.679 [DAT](INFO): direction in FSK: [0.955170,0.261305,0.139173] 2025-10-24T19:36:52.688Z,1761334612.688 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:52.691Z,1761334612.691 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.624531 2025-10-24T19:36:52.844Z,1761334612.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.507419 s, deltaX: -0.199999 m, approachRate: -0.394149 m/s, rangeRepo size: 4 2025-10-24T19:36:52.847Z,1761334612.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.006433 m, bearing: 56.731207 deg, lat: 36.779529 deg, lon: -121.859605 deg, deltaT: 0.507419 s, deltaX: -0.198904 m, approachRate: -0.391992 m/s, posRepo size: 4 2025-10-24T19:36:52.847Z,1761334612.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-24T19:36:52.855Z,1761334612.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.006433 m, nav range: 16.846069 m, bearing: 55.937937 deg, approach rate: 0.000000 m/s, LOS rate: 0.415280 deg/s, cmd heading: 44.896476 deg, new cmd heading: 45.538939 deg. 2025-10-24T19:36:52.855Z,1761334612.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.794804 target range: 17.006433 and range: 17.10 m. 2025-10-24T19:36:52.886Z,1761334612.886 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.819241 2025-10-24T19:36:53.042Z,1761334613.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735323,-0.668550,0.111092],[0.675961,0.735290,-0.049248],[-0.048760,0.111307,0.992589]] 2025-10-24T19:36:53.110Z,1761334613.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:53.131Z,1761334613.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-24T19:36:53.135Z,1761334613.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.006433 m, nav range: 16.696955 m, bearing: 55.996834 deg, approach rate: -0.511783 m/s, LOS rate: 0.203948 deg/s, cmd heading: 45.538937 deg, new cmd heading: 45.717205 deg. 2025-10-24T19:36:53.138Z,1761334613.138 [DAT](INFO): DAT read: Rx Time:19:36:51.9864 2025-10-24T19:36:53.138Z,1761334613.138 [DAT](INFO): Rx dataTimestamp_ set to:1761334613.137708 2025-10-24T19:36:53.139Z,1761334613.139 [DAT](INFO): DAT read: Bearing 15.0, -8.7 (Local) 2025-10-24T19:36:53.140Z,1761334613.140 [DAT](INFO): Local bearing/azimuth received: Bearing 15.0, -8.7 (Local) 2025-10-24T19:36:53.142Z,1761334613.142 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-24T19:36:53.147Z,1761334613.147 [DAT](INFO): DAT read: 19:36:51.9864 LVL= 30960, 32753, 27346, 32755, AGC= 59, IDX= 502, 0.20,-1.083,-2.426,-1.483,-1.341, PHS= 0.346,-1.038,-0.145, RAW= 129.5, 13.7, CAL= 135.0, 8.7, ROT= 15.0, -8.7 2025-10-24T19:36:53.148Z,1761334613.148 [DAT](INFO): got valid direction response: 19:36:51.9864 LVL= 30960, 32753, 27346, 32755, AGC= 59, IDX= 502, 0.20,-1.083,-2.426,-1.483,-1.341, PHS= 0.346,-1.038,-0.145, RAW= 129.5, 13.7, CAL= 135.0, 8.7, ROT= 15.0, -8.7 2025-10-24T19:36:53.148Z,1761334613.148 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-24T19:36:53.149Z,1761334613.149 [DAT](INFO): direction in FSK: [0.954812,0.255841,0.151261] 2025-10-24T19:36:53.150Z,1761334613.150 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:53.159Z,1761334613.159 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.091576 2025-10-24T19:36:53.164Z,1761334613.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.797916 target range: 17.006433 and range: 17.10 m. 2025-10-24T19:36:53.390Z,1761334613.390 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.323338 2025-10-24T19:36:53.495Z,1761334613.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733504,-0.670232,0.112966],[0.678025,0.733146,-0.052721],[-0.047485,0.115265,0.992199]] 2025-10-24T19:36:53.552Z,1761334613.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.499085 s, deltaX: -0.400000 m, approachRate: -0.801466 m/s, rangeRepo size: 4 2025-10-24T19:36:53.554Z,1761334613.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.608618 m, bearing: 56.567218 deg, lat: 36.779528 deg, lon: -121.859604 deg, deltaT: 0.499085 s, deltaX: -0.397816 m, approachRate: -0.797090 m/s, posRepo size: 4 2025-10-24T19:36:53.555Z,1761334613.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.61 m. 2025-10-24T19:36:53.562Z,1761334613.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.608618 m, nav range: 16.487461 m, bearing: 56.413990 deg, approach rate: 0.000000 m/s, LOS rate: 0.203948 deg/s, cmd heading: 45.717205 deg, new cmd heading: 45.971926 deg. 2025-10-24T19:36:53.563Z,1761334613.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.802361 target range: 16.608618 and range: 16.70 m. 2025-10-24T19:36:53.645Z,1761334613.645 [DAT](INFO): DAT read: Rx Time:19:36:52.4863 2025-10-24T19:36:53.647Z,1761334613.647 [DAT](INFO): Rx dataTimestamp_ set to:1761334613.645933 2025-10-24T19:36:53.654Z,1761334613.654 [DAT](INFO): DAT read: Bearing 16.1, -9.3 (Local) 2025-10-24T19:36:53.655Z,1761334613.655 [DAT](INFO): Local bearing/azimuth received: Bearing 16.1, -9.3 (Local) 2025-10-24T19:36:53.663Z,1761334613.663 [DAT](INFO): DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-24T19:36:53.707Z,1761334613.707 [DAT](INFO): DAT read: 19:36:52.4863 LVL= 28704, 32753, 23538, 32755, AGC= 59, IDX= 501,-0.21,-2.996, 1.941, 2.858, 3.025, PHS= 0.350,-1.037,-0.170, RAW= 128.2, 14.0, CAL= 133.9, 9.3, ROT= 16.1, -9.3 2025-10-24T19:36:53.709Z,1761334613.709 [DAT](INFO): got valid direction response: 19:36:52.4863 LVL= 28704, 32753, 23538, 32755, AGC= 59, IDX= 501,-0.21,-2.996, 1.941, 2.858, 3.025, PHS= 0.350,-1.037,-0.170, RAW= 128.2, 14.0, CAL= 133.9, 9.3, ROT= 16.1, -9.3 2025-10-24T19:36:53.710Z,1761334613.710 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-24T19:36:53.711Z,1761334613.711 [DAT](INFO): direction in FSK: [0.948150,0.273670,0.161604] 2025-10-24T19:36:53.720Z,1761334613.720 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:53.725Z,1761334613.725 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.657585 2025-10-24T19:36:53.893Z,1761334613.893 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.826160 2025-10-24T19:36:54.004Z,1761334614.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.508225 s, deltaX: -0.200001 m, approachRate: -0.393528 m/s, rangeRepo size: 4 2025-10-24T19:36:54.006Z,1761334614.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.409710 m, bearing: 57.580199 deg, lat: 36.779528 deg, lon: -121.859604 deg, deltaT: 0.508225 s, deltaX: -0.198908 m, approachRate: -0.391378 m/s, posRepo size: 4 2025-10-24T19:36:54.007Z,1761334614.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-24T19:36:54.018Z,1761334614.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.409710 m, nav range: 16.250732 m, bearing: 56.690954 deg, approach rate: 0.000000 m/s, LOS rate: 0.203948 deg/s, cmd heading: 45.971927 deg, new cmd heading: 46.248386 deg. 2025-10-24T19:36:54.019Z,1761334614.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.807187 target range: 16.409710 and range: 16.50 m. 2025-10-24T19:36:54.146Z,1761334614.146 [DAT](INFO): DAT read: Rx Time:19:36:52.9860 2025-10-24T19:36:54.146Z,1761334614.146 [DAT](INFO): Rx dataTimestamp_ set to:1761334614.145868 2025-10-24T19:36:54.147Z,1761334614.147 [DAT](INFO): DAT read: Bearing 15.4, -10.4 (Local) 2025-10-24T19:36:54.148Z,1761334614.148 [DAT](INFO): Local bearing/azimuth received: Bearing 15.4, -10.4 (Local) 2025-10-24T19:36:54.151Z,1761334614.151 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4 2025-10-24T19:36:54.160Z,1761334614.160 [DAT](INFO): DAT read: 19:36:52.9860 LVL= 25248, 32753, 22242, 32755, AGC= 58, IDX= 498, 0.14,-3.100, 1.836, 2.780, 2.955, PHS= 0.317,-1.072,-0.178, RAW= 129.4, 15.1, CAL= 134.6, 10.4, ROT= 15.4, -10.4 2025-10-24T19:36:54.162Z,1761334614.162 [DAT](INFO): got valid direction response: 19:36:52.9860 LVL= 25248, 32753, 22242, 32755, AGC= 58, IDX= 498, 0.14,-3.100, 1.836, 2.780, 2.955, PHS= 0.317,-1.072,-0.178, RAW= 129.4, 15.1, CAL= 134.6, 10.4, ROT= 15.4, -10.4 2025-10-24T19:36:54.162Z,1761334614.162 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-24T19:36:54.163Z,1761334614.163 [DAT](INFO): direction in FSK: [0.948257,0.261193,0.180519] 2025-10-24T19:36:54.163Z,1761334614.163 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:54.171Z,1761334614.171 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.104153 2025-10-24T19:36:54.283Z,1761334614.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728594,-0.675007,0.116256],[0.683495,0.727541,-0.059311],[-0.044546,0.122674,0.991447]] 2025-10-24T19:36:54.357Z,1761334614.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.499935 s, deltaX: -0.400000 m, approachRate: -0.800103 m/s, rangeRepo size: 4 2025-10-24T19:36:54.359Z,1761334614.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.011793 m, bearing: 57.086771 deg, lat: 36.779527 deg, lon: -121.859604 deg, deltaT: 0.499935 s, deltaX: -0.397917 m, approachRate: -0.795937 m/s, posRepo size: 4 2025-10-24T19:36:54.359Z,1761334614.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-24T19:36:54.366Z,1761334614.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.011793 m, nav range: 16.013641 m, bearing: 56.807866 deg, approach rate: 0.000000 m/s, LOS rate: 0.203948 deg/s, cmd heading: 46.248386 deg, new cmd heading: 46.463867 deg. 2025-10-24T19:36:54.367Z,1761334614.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.810947 target range: 16.011793 and range: 16.10 m. 2025-10-24T19:36:54.397Z,1761334614.397 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.329910 2025-10-24T19:36:54.654Z,1761334614.654 [DAT](INFO): DAT read: Rx Time:19:36:53.4860 2025-10-24T19:36:54.655Z,1761334614.655 [DAT](INFO): Rx dataTimestamp_ set to:1761334614.654433 2025-10-24T19:36:54.660Z,1761334614.660 [DAT](INFO): DAT read: Bearing 14.6, -8.4 (Local) 2025-10-24T19:36:54.661Z,1761334614.661 [DAT](INFO): Local bearing/azimuth received: Bearing 14.6, -8.4 (Local) 2025-10-24T19:36:54.696Z,1761334614.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724926,-0.678703,0.117658],[0.687491,0.723520,-0.062251],[-0.042878,0.126016,0.991101]] 2025-10-24T19:36:54.710Z,1761334614.710 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.4 2025-10-24T19:36:54.742Z,1761334614.742 [DAT](INFO): DAT read: 19:36:53.4860 LVL= 26816, 32753, 23522, 32755, AGC= 58, IDX= 498,-0.41, 2.934, 1.569, 2.537, 2.669, PHS= 0.353,-1.053,-0.135, RAW= 130.0, 13.4, CAL= 135.4, 8.4, ROT= 14.6, -8.4 2025-10-24T19:36:54.743Z,1761334614.743 [DAT](INFO): got valid direction response: 19:36:53.4860 LVL= 26816, 32753, 23522, 32755, AGC= 58, IDX= 498,-0.41, 2.934, 1.569, 2.537, 2.669, PHS= 0.353,-1.053,-0.135, RAW= 130.0, 13.4, CAL= 135.4, 8.4, ROT= 14.6, -8.4 2025-10-24T19:36:54.743Z,1761334614.743 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-24T19:36:54.756Z,1761334614.756 [DAT](INFO): direction in FSK: [0.957328,0.249365,0.146083] 2025-10-24T19:36:54.757Z,1761334614.757 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:54.768Z,1761334614.768 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.701508 2025-10-24T19:36:54.857Z,1761334614.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.508565 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:36:54.859Z,1761334614.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.011793 m, bearing: 56.841717 deg, lat: 36.779527 deg, lon: -121.859603 deg, deltaT: 0.508565 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:36:54.860Z,1761334614.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-24T19:36:54.863Z,1761334614.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.011793 m, nav range: 15.830959 m, bearing: 57.029947 deg, approach rate: 0.000000 m/s, LOS rate: 0.203948 deg/s, cmd heading: 46.463868 deg, new cmd heading: 46.767702 deg. 2025-10-24T19:36:54.864Z,1761334614.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.816250 target range: 16.011793 and range: 16.10 m. 2025-10-24T19:36:54.905Z,1761334614.905 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.837894 2025-10-24T19:36:55.123Z,1761334615.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721281,-0.682437,0.118462],[0.691436,0.719507,-0.065014],[-0.040867,0.128803,0.990828]] 2025-10-24T19:36:55.153Z,1761334615.153 [DAT](INFO): DAT read: Rx Time:19:36:53.9858 2025-10-24T19:36:55.154Z,1761334615.154 [DAT](INFO): Rx dataTimestamp_ set to:1761334615.153613 2025-10-24T19:36:55.155Z,1761334615.155 [DAT](INFO): DAT read: Bearing 15.0, -9.6 (Local) 2025-10-24T19:36:55.155Z,1761334615.155 [DAT](INFO): Local bearing/azimuth received: Bearing 15.0, -9.6 (Local) 2025-10-24T19:36:55.158Z,1761334615.158 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.5 2025-10-24T19:36:55.166Z,1761334615.166 [DAT](INFO): DAT read: 19:36:53.9858 LVL= 25904, 32753, 22930, 32755, AGC= 59, IDX= 495,-0.16, 2.604, 1.258, 2.206, 2.363, PHS= 0.329,-1.058,-0.159, RAW= 129.7, 14.4, CAL= 135.0, 9.6, ROT= 15.0, -9.6 2025-10-24T19:36:55.169Z,1761334615.169 [DAT](INFO): got valid direction response: 19:36:53.9858 LVL= 25904, 32753, 22930, 32755, AGC= 59, IDX= 495,-0.16, 2.604, 1.258, 2.206, 2.363, PHS= 0.329,-1.058,-0.159, RAW= 129.7, 14.4, CAL= 135.0, 9.6, ROT= 15.0, -9.6 2025-10-24T19:36:55.169Z,1761334615.169 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-24T19:36:55.170Z,1761334615.170 [DAT](INFO): direction in FSK: [0.952399,0.255195,0.166769] 2025-10-24T19:36:55.170Z,1761334615.170 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:55.174Z,1761334615.174 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.106918 2025-10-24T19:36:55.198Z,1761334615.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.499180 s, deltaX: -0.300000 m, approachRate: -0.600986 m/s, rangeRepo size: 4 2025-10-24T19:36:55.205Z,1761334615.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.713429 m, bearing: 57.355305 deg, lat: 36.779526 deg, lon: -121.859604 deg, deltaT: 0.499180 s, deltaX: -0.298364 m, approachRate: -0.597708 m/s, posRepo size: 4 2025-10-24T19:36:55.206Z,1761334615.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-24T19:36:55.213Z,1761334615.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.713429 m, nav range: 15.513052 m, bearing: 57.355248 deg, approach rate: 0.000000 m/s, LOS rate: 0.203948 deg/s, cmd heading: 46.767702 deg, new cmd heading: 46.981603 deg. 2025-10-24T19:36:55.214Z,1761334615.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819984 target range: 15.713429 and range: 15.80 m. 2025-10-24T19:36:55.410Z,1761334615.410 [DAT](INFO): DAT read: Rx Time:19:36:54.4857 2025-10-24T19:36:55.412Z,1761334615.412 [DAT](INFO): Rx dataTimestamp_ set to:1761334615.410329 2025-10-24T19:36:55.415Z,1761334615.415 [DAT](INFO): DAT read: Bearing 13.2, -7.9 (Local) 2025-10-24T19:36:55.418Z,1761334615.418 [DAT](INFO): Local bearing/azimuth received: Bearing 13.2, -7.9 (Local) 2025-10-24T19:36:55.421Z,1761334615.421 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.353313 2025-10-24T19:36:55.543Z,1761334615.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716667,-0.686916,0.120560],[0.696365,0.714300,-0.069652],[-0.038271,0.133871,0.990260]] 2025-10-24T19:36:55.591Z,1761334615.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:55.598Z,1761334615.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-24T19:36:55.605Z,1761334615.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.713429 m, nav range: 15.275228 m, bearing: 57.395197 deg, approach rate: -0.594173 m/s, LOS rate: 0.101363 deg/s, cmd heading: 46.981603 deg, new cmd heading: 47.103318 deg. 2025-10-24T19:36:55.606Z,1761334615.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822108 target range: 15.713429 and range: 15.80 m. 2025-10-24T19:36:55.666Z,1761334615.666 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.5 2025-10-24T19:36:55.707Z,1761334615.707 [DAT](INFO): DAT read: 19:36:54.4857 LVL= 26768, 32753, 23874, 32755, AGC= 58, IDX= 510,-0.01,-1.244,-2.622,-1.607,-1.503, PHS= 0.347,-1.072,-0.107, RAW= 131.7, 13.2, CAL= 136.8, 7.9, ROT= 13.2, -7.9 2025-10-24T19:36:55.713Z,1761334615.713 [DAT](INFO): got valid direction response: 19:36:54.4857 LVL= 26768, 32753, 23874, 32755, AGC= 58, IDX= 510,-0.01,-1.244,-2.622,-1.607,-1.503, PHS= 0.347,-1.072,-0.107, RAW= 131.7, 13.2, CAL= 136.8, 7.9, ROT= 13.2, -7.9 2025-10-24T19:36:55.714Z,1761334615.714 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-24T19:36:55.715Z,1761334615.715 [DAT](INFO): direction in FSK: [0.964339,0.226184,0.137445] 2025-10-24T19:36:55.715Z,1761334615.715 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:55.727Z,1761334615.727 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.660286 2025-10-24T19:36:55.916Z,1761334615.916 [DAT](INFO): DAT read: Rx Time:19:36:54.9854 2025-10-24T19:36:55.918Z,1761334615.918 [DAT](INFO): Rx dataTimestamp_ set to:1761334615.916732 2025-10-24T19:36:55.929Z,1761334615.929 [DAT](INFO): DAT read: Bearing 10.8, -6.9 (Local) 2025-10-24T19:36:55.930Z,1761334615.930 [DAT](INFO): Local bearing/azimuth received: Bearing 10.8, -6.9 (Local) 2025-10-24T19:36:55.955Z,1761334615.955 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 2025-10-24T19:36:55.970Z,1761334615.970 [DAT](INFO): DAT read: 19:36:54.9854 LVL= 23248, 32753, 22098, 32755, AGC= 57, IDX= 507, 0.04,-0.685,-2.081,-0.982,-0.932, PHS= 0.335,-1.102,-0.053, RAW= 134.9, 12.7, CAL= 139.2, 6.9, ROT= 10.8, -6.9 2025-10-24T19:36:55.971Z,1761334615.971 [DAT](INFO): got valid direction response: 19:36:54.9854 LVL= 23248, 32753, 22098, 32755, AGC= 57, IDX= 507, 0.04,-0.685,-2.081,-0.982,-0.932, PHS= 0.335,-1.102,-0.053, RAW= 134.9, 12.7, CAL= 139.2, 6.9, ROT= 10.8, -6.9 2025-10-24T19:36:55.972Z,1761334615.972 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-24T19:36:55.981Z,1761334615.981 [DAT](INFO): direction in FSK: [0.975173,0.186024,0.120137] 2025-10-24T19:36:55.981Z,1761334615.981 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:55.993Z,1761334615.993 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.926025 2025-10-24T19:36:56.003Z,1761334616.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712522,-0.691031,0.121612],[0.700739,0.709655,-0.073176],[-0.035735,0.137358,0.989877]] 2025-10-24T19:36:56.121Z,1761334616.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.763119 s, deltaX: -0.600000 m, approachRate: -0.786247 m/s, rangeRepo size: 4 2025-10-24T19:36:56.123Z,1761334616.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.116716 m, bearing: 54.238260 deg, lat: 36.779526 deg, lon: -121.859604 deg, deltaT: 0.763119 s, deltaX: -0.596713 m, approachRate: -0.781940 m/s, posRepo size: 4 2025-10-24T19:36:56.128Z,1761334616.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-24T19:36:56.131Z,1761334616.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.116716 m, nav range: 14.992532 m, bearing: 57.424581 deg, approach rate: 0.000000 m/s, LOS rate: 0.101363 deg/s, cmd heading: 47.103317 deg, new cmd heading: 47.260923 deg. 2025-10-24T19:36:56.140Z,1761334616.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824859 target range: 15.116716 and range: 15.20 m. 2025-10-24T19:36:56.161Z,1761334616.161 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.093929 2025-10-24T19:36:56.417Z,1761334616.417 [DAT](INFO): DAT read: Rx Time:19:36:55.4853 2025-10-24T19:36:56.419Z,1761334616.419 [DAT](INFO): Rx dataTimestamp_ set to:1761334616.417559 2025-10-24T19:36:56.422Z,1761334616.422 [DAT](INFO): DAT read: Bearing 8.2, -4.2 (Local) 2025-10-24T19:36:56.427Z,1761334616.427 [DAT](INFO): Local bearing/azimuth received: Bearing 8.2, -4.2 (Local) 2025-10-24T19:36:56.446Z,1761334616.446 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5 2025-10-24T19:36:56.454Z,1761334616.454 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-24T19:36:56.468Z,1761334616.468 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.391735 2025-10-24T19:36:56.603Z,1761334616.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.500827 s, deltaX: -0.200000 m, approachRate: -0.399339 m/s, rangeRepo size: 4 2025-10-24T19:36:56.604Z,1761334616.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-24T19:36:56.607Z,1761334616.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.116716 m, nav range: 14.736032 m, bearing: 57.452218 deg, approach rate: -0.527170 m/s, LOS rate: 0.057789 deg/s, cmd heading: 47.260924 deg, new cmd heading: 47.345277 deg. 2025-10-24T19:36:56.616Z,1761334616.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826331 target range: 15.116716 and range: 15.00 m. 2025-10-24T19:36:56.687Z,1761334616.687 [DAT](INFO): DAT read: 19:36:55.4853 LVL= 22880, 32753, 21186, 32755, AGC= 57, IDX= 505, 0.26,-2.228, 2.598,-2.465,-2.505, PHS= 0.365,-1.133, 0.038, RAW= 138.0, 10.7, CAL= 141.8, 4.2, ROT= 8.2, -4.2 2025-10-24T19:36:56.691Z,1761334616.691 [DAT](INFO): got valid direction response: 19:36:55.4853 LVL= 22880, 32753, 21186, 32755, AGC= 57, IDX= 505, 0.26,-2.228, 2.598,-2.465,-2.505, PHS= 0.365,-1.133, 0.038, RAW= 138.0, 10.7, CAL= 141.8, 4.2, ROT= 8.2, -4.2 2025-10-24T19:36:56.720Z,1761334616.720 [DAT](INFO): #Rx 88: Read direction message, but no range. 2025-10-24T19:36:56.721Z,1761334616.721 [DAT](INFO): direction in FSK: [0.987118,0.142246,0.073238] 2025-10-24T19:36:56.728Z,1761334616.728 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.661472 2025-10-24T19:36:56.921Z,1761334616.921 [DAT](INFO): DAT read: Rx Time:19:36:55.9850 2025-10-24T19:36:56.923Z,1761334616.923 [DAT](INFO): Rx dataTimestamp_ set to:1761334616.921980 2025-10-24T19:36:56.926Z,1761334616.926 [DAT](INFO): DAT read: Bearing 6.5, -3.4 (Local) 2025-10-24T19:36:56.927Z,1761334616.927 [DAT](INFO): Local bearing/azimuth received: Bearing 6.5, -3.4 (Local) 2025-10-24T19:36:56.940Z,1761334616.940 [DAT](INFO): DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.5 2025-10-24T19:36:56.943Z,1761334616.943 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-24T19:36:56.961Z,1761334616.961 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.894001 2025-10-24T19:36:57.026Z,1761334617.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697062,-0.706257,0.123711],[0.716484,0.692717,-0.082431],[-0.027479,0.146096,0.988889]] 2025-10-24T19:36:57.119Z,1761334617.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504421 s, deltaX: -0.400000 m, approachRate: -0.792988 m/s, rangeRepo size: 4 2025-10-24T19:36:57.126Z,1761334617.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.520103 m, bearing: 53.274053 deg, lat: 36.779528 deg, lon: -121.859606 deg, deltaT: 1.005248 s, deltaX: -0.596613 m, approachRate: -0.593498 m/s, posRepo size: 4 2025-10-24T19:36:57.126Z,1761334617.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-24T19:36:57.133Z,1761334617.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.520103 m, nav range: 14.403653 m, bearing: 56.431023 deg, approach rate: 0.000000 m/s, LOS rate: 0.057789 deg/s, cmd heading: 47.345276 deg, new cmd heading: 47.434768 deg. 2025-10-24T19:36:57.135Z,1761334617.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827893 target range: 14.520103 and range: 14.60 m. 2025-10-24T19:36:57.173Z,1761334617.173 [DAT](INFO): DAT read: 19:36:55.9850 LVL= 21712, 32753, 22178, 32755, AGC= 56, IDX= 502, 0.39, 2.290, 0.851, 2.113, 2.030, PHS= 0.348,-1.132, 0.080, RAW= 140.2, 10.3, CAL= 143.5, 3.4, ROT= 6.5, -3.4 2025-10-24T19:36:57.174Z,1761334617.174 [DAT](INFO): got valid direction response: 19:36:55.9850 LVL= 21712, 32753, 22178, 32755, AGC= 56, IDX= 502, 0.39, 2.290, 0.851, 2.113, 2.030, PHS= 0.348,-1.132, 0.080, RAW= 140.2, 10.3, CAL= 143.5, 3.4, ROT= 6.5, -3.4 2025-10-24T19:36:57.175Z,1761334617.175 [DAT](INFO): #Rx 90: Read direction message, but no range. 2025-10-24T19:36:57.175Z,1761334617.175 [DAT](INFO): direction in FSK: [0.991823,0.113004,0.059306] 2025-10-24T19:36:57.179Z,1761334617.179 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.111801 2025-10-24T19:36:57.425Z,1761334617.425 [DAT](INFO): DAT read: Rx Time:19:36:56.4849 2025-10-24T19:36:57.427Z,1761334617.427 [DAT](INFO): Rx dataTimestamp_ set to:1761334617.426027 2025-10-24T19:36:57.431Z,1761334617.431 [DAT](INFO): DAT read: Bearing 4.9, -3.6 (Local) 2025-10-24T19:36:57.447Z,1761334617.447 [DAT](INFO): Local bearing/azimuth received: Bearing 4.9, -3.6 (Local) 2025-10-24T19:36:57.461Z,1761334617.461 [DAT](INFO): DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed 0.6 2025-10-24T19:36:57.482Z,1761334617.482 [DAT](INFO): DAT read: 19:36:56.4849 LVL= 21920, 32753, 21202, 32755, AGC= 57, IDX= 502,-0.48, 2.192, 0.758, 2.072, 1.965, PHS= 0.315,-1.160, 0.104, RAW= 142.4, 10.7, CAL= 145.1, 3.6, ROT= 4.9, -3.6 2025-10-24T19:36:57.483Z,1761334617.483 [DAT](INFO): got valid direction response: 19:36:56.4849 LVL= 21920, 32753, 21202, 32755, AGC= 57, IDX= 502,-0.48, 2.192, 0.758, 2.072, 1.965, PHS= 0.315,-1.160, 0.104, RAW= 142.4, 10.7, CAL= 145.1, 3.6, ROT= 4.9, -3.6 2025-10-24T19:36:57.483Z,1761334617.483 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-24T19:36:57.493Z,1761334617.493 [DAT](INFO): direction in FSK: [0.994379,0.085248,0.062791] 2025-10-24T19:36:57.493Z,1761334617.493 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:57.507Z,1761334617.507 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.440075 2025-10-24T19:36:57.534Z,1761334617.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692333,-0.710805,0.124224],[0.721135,0.687607,-0.084617],[-0.025271,0.148166,0.988640]] 2025-10-24T19:36:57.613Z,1761334617.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504047 s, deltaX: -0.200001 m, approachRate: -0.396790 m/s, rangeRepo size: 4 2025-10-24T19:36:57.615Z,1761334617.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.321280 m, bearing: 50.473921 deg, lat: 36.779532 deg, lon: -121.859609 deg, deltaT: 0.504047 s, deltaX: -0.198823 m, approachRate: -0.394453 m/s, posRepo size: 4 2025-10-24T19:36:57.621Z,1761334617.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-24T19:36:57.623Z,1761334617.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.321280 m, nav range: 14.214552 m, bearing: 54.123924 deg, approach rate: 0.000000 m/s, LOS rate: 0.057789 deg/s, cmd heading: 47.434769 deg, new cmd heading: 47.519405 deg. 2025-10-24T19:36:57.637Z,1761334617.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829370 target range: 14.321280 and range: 14.40 m. 2025-10-24T19:36:57.676Z,1761334617.676 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.608303 2025-10-24T19:36:57.888Z,1761334617.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687306,-0.715652,0.124309],[0.726000,0.682269,-0.086214],[-0.023113,0.149504,0.988491]] 2025-10-24T19:36:57.929Z,1761334617.929 [DAT](INFO): DAT read: Rx Time:19:36:56.9846 2025-10-24T19:36:57.931Z,1761334617.931 [DAT](INFO): Rx dataTimestamp_ set to:1761334617.929889 2025-10-24T19:36:57.935Z,1761334617.935 [DAT](INFO): DAT read: Bearing 2.8, -2.7 (Local) 2025-10-24T19:36:57.939Z,1761334617.939 [DAT](INFO): Local bearing/azimuth received: Bearing 2.8, -2.7 (Local) 2025-10-24T19:36:57.969Z,1761334617.969 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4 2025-10-24T19:36:57.982Z,1761334617.982 [DAT](INFO): DAT read: 19:36:56.9846 LVL= 22960, 31025, 23282, 32755, AGC= 58, IDX= 499,-0.36, 0.676,-0.764, 0.630, 0.469, PHS= 0.295,-1.186, 0.158, RAW= 145.2, 10.4, CAL= 147.2, 2.7, ROT= 2.8, -2.7 2025-10-24T19:36:57.983Z,1761334617.983 [DAT](INFO): got valid direction response: 19:36:56.9846 LVL= 22960, 31025, 23282, 32755, AGC= 58, IDX= 499,-0.36, 0.676,-0.764, 0.630, 0.469, PHS= 0.295,-1.186, 0.158, RAW= 145.2, 10.4, CAL= 147.2, 2.7, ROT= 2.8, -2.7 2025-10-24T19:36:57.983Z,1761334617.983 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-24T19:36:57.997Z,1761334617.997 [DAT](INFO): direction in FSK: [0.997697,0.048796,0.047106] 2025-10-24T19:36:57.997Z,1761334617.997 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:58.009Z,1761334618.009 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.942001 2025-10-24T19:36:58.056Z,1761334618.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503862 s, deltaX: -0.400000 m, approachRate: -0.793867 m/s, rangeRepo size: 4 2025-10-24T19:36:58.058Z,1761334618.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.923467 m, bearing: 48.930816 deg, lat: 36.779534 deg, lon: -121.859610 deg, deltaT: 0.503862 s, deltaX: -0.397814 m, approachRate: -0.789529 m/s, posRepo size: 4 2025-10-24T19:36:58.059Z,1761334618.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m. 2025-10-24T19:36:58.066Z,1761334618.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.923467 m, nav range: 13.976315 m, bearing: 53.187793 deg, approach rate: 0.000000 m/s, LOS rate: 0.057789 deg/s, cmd heading: 47.519405 deg, new cmd heading: 47.595741 deg. 2025-10-24T19:36:58.092Z,1761334618.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830702 target range: 13.923467 and range: 14.00 m. 2025-10-24T19:36:58.178Z,1761334618.178 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.110302 2025-10-24T19:36:58.381Z,1761334618.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682770,-0.719934,0.124581],[0.730329,0.677416,-0.087906],[-0.021107,0.151004,0.988308]] 2025-10-24T19:36:58.406Z,1761334618.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:36:58.416Z,1761334618.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m. 2025-10-24T19:36:58.433Z,1761334618.433 [DAT](INFO): DAT read: Rx Time:19:36:57.4845 2025-10-24T19:36:58.435Z,1761334618.435 [DAT](INFO): Rx dataTimestamp_ set to:1761334618.434170 2025-10-24T19:36:58.458Z,1761334618.458 [DAT](INFO): DAT read: Bearing 1.3, -1.8 (Local) 2025-10-24T19:36:58.459Z,1761334618.459 [DAT](INFO): Local bearing/azimuth received: Bearing 1.3, -1.8 (Local) 2025-10-24T19:36:58.462Z,1761334618.462 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 2025-10-24T19:36:58.467Z,1761334618.467 [DAT](INFO): DAT read: 19:36:57.4845 LVL= 21728, 32753, 21874, 32755, AGC= 57, IDX= 498,-0.25, 2.222, 0.785, 2.237, 2.030, PHS= 0.280,-1.198, 0.203, RAW= 147.4, 10.0, CAL= 148.7, 1.8, ROT= 1.3, -1.8 2025-10-24T19:36:58.468Z,1761334618.468 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:36:58.470Z,1761334618.470 [DAT](INFO): got valid direction response: 19:36:57.4845 LVL= 21728, 32753, 21874, 32755, AGC= 57, IDX= 498,-0.25, 2.222, 0.785, 2.237, 2.030, PHS= 0.280,-1.198, 0.203, RAW= 147.4, 10.0, CAL= 148.7, 1.8, ROT= 1.3, -1.8 2025-10-24T19:36:58.470Z,1761334618.470 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-24T19:36:58.471Z,1761334618.471 [DAT](INFO): direction in FSK: [0.999249,0.022676,0.031411] 2025-10-24T19:36:58.471Z,1761334618.471 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:58.475Z,1761334618.475 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.407787 2025-10-24T19:36:58.482Z,1761334618.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.923467 m, nav range: 13.774638 m, bearing: 53.162212 deg, approach rate: -0.549804 m/s, LOS rate: -0.070759 deg/s, cmd heading: 47.595740 deg, new cmd heading: 47.517872 deg. 2025-10-24T19:36:58.483Z,1761334618.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.829343 target range: 13.923467 and range: 14.00 m. 2025-10-24T19:36:58.685Z,1761334618.685 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.616482 2025-10-24T19:36:58.867Z,1761334618.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504281 s, deltaX: -0.200000 m, approachRate: -0.396604 m/s, rangeRepo size: 4 2025-10-24T19:36:58.870Z,1761334618.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.724574 m, bearing: 47.940282 deg, lat: 36.779539 deg, lon: -121.859614 deg, deltaT: 0.504281 s, deltaX: -0.198893 m, approachRate: -0.394408 m/s, posRepo size: 4 2025-10-24T19:36:58.870Z,1761334618.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-24T19:36:58.877Z,1761334618.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.724574 m, nav range: 13.606602 m, bearing: 50.268293 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 47.517872 deg, new cmd heading: 47.421943 deg. 2025-10-24T19:36:58.878Z,1761334618.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.827669 target range: 13.724574 and range: 13.80 m. 2025-10-24T19:36:58.937Z,1761334618.937 [DAT](INFO): DAT read: Rx Time:19:36:57.9842 2025-10-24T19:36:58.939Z,1761334618.939 [DAT](INFO): Rx dataTimestamp_ set to:1761334618.938253 2025-10-24T19:36:58.958Z,1761334618.958 [DAT](INFO): DAT read: Bearing 359.6, -1.1 (Local) 2025-10-24T19:36:58.959Z,1761334618.959 [DAT](INFO): Local bearing/azimuth received: Bearing 359.6, -1.1 (Local) 2025-10-24T19:36:58.966Z,1761334618.966 [DAT](INFO): DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 2025-10-24T19:36:58.982Z,1761334618.982 [DAT](INFO): DAT read: 19:36:57.9842 LVL= 22704, 32753, 20898, 32755, AGC= 56, IDX= 495,-0.09, 0.827,-0.595, 0.911, 0.661, PHS= 0.254,-1.210, 0.247, RAW= 149.7, 9.7, CAL= 150.4, 1.1, ROT= 359.6, -1.1 2025-10-24T19:36:58.983Z,1761334618.983 [DAT](INFO): got valid direction response: 19:36:57.9842 LVL= 22704, 32753, 20898, 32755, AGC= 56, IDX= 495,-0.09, 0.827,-0.595, 0.911, 0.661, PHS= 0.254,-1.210, 0.247, RAW= 149.7, 9.7, CAL= 150.4, 1.1, ROT= 359.6, -1.1 2025-10-24T19:36:58.983Z,1761334618.983 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-24T19:36:58.989Z,1761334618.989 [DAT](INFO): direction in FSK: [0.999791,-0.006980,0.019197] 2025-10-24T19:36:58.989Z,1761334618.989 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:58.997Z,1761334618.997 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.929714 2025-10-24T19:36:59.179Z,1761334619.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674362,-0.728268,0.121907],[0.738182,0.668934,-0.087265],[-0.017995,0.148837,0.988698]] 2025-10-24T19:36:59.185Z,1761334619.185 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.118359 2025-10-24T19:36:59.264Z,1761334619.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504083 s, deltaX: -0.400001 m, approachRate: -0.793521 m/s, rangeRepo size: 4 2025-10-24T19:36:59.266Z,1761334619.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.326765 m, bearing: 47.027695 deg, lat: 36.779541 deg, lon: -121.859617 deg, deltaT: 0.504083 s, deltaX: -0.397809 m, approachRate: -0.789174 m/s, posRepo size: 4 2025-10-24T19:36:59.270Z,1761334619.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m. 2025-10-24T19:36:59.281Z,1761334619.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.326765 m, nav range: 13.318751 m, bearing: 48.834676 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 47.421942 deg, new cmd heading: 47.338459 deg. 2025-10-24T19:36:59.282Z,1761334619.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.826212 target range: 13.326765 and range: 13.40 m. 2025-10-24T19:36:59.441Z,1761334619.441 [DAT](INFO): DAT read: Rx Time:19:36:58.4841 2025-10-24T19:36:59.443Z,1761334619.443 [DAT](INFO): Rx dataTimestamp_ set to:1761334619.442262 2025-10-24T19:36:59.462Z,1761334619.462 [DAT](INFO): DAT read: Bearing 357.6, 0.8 (Local) 2025-10-24T19:36:59.462Z,1761334619.462 [DAT](INFO): Local bearing/azimuth received: Bearing 357.6, 0.8 (Local) 2025-10-24T19:36:59.464Z,1761334619.464 [DAT](INFO): DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-24T19:36:59.477Z,1761334619.477 [DAT](INFO): DAT read: 19:36:58.4841 LVL= 22736, 32337, 21154, 32755, AGC= 58, IDX= 510, 0.06,-2.851, 1.988,-2.701,-3.030, PHS= 0.267,-1.218, 0.326, RAW= 151.9, 8.3, CAL= 152.4, -0.8, ROT= 357.6, 0.8 2025-10-24T19:36:59.478Z,1761334619.478 [DAT](INFO): got valid direction response: 19:36:58.4841 LVL= 22736, 32337, 21154, 32755, AGC= 58, IDX= 510, 0.06,-2.851, 1.988,-2.701,-3.030, PHS= 0.267,-1.218, 0.326, RAW= 151.9, 8.3, CAL= 152.4, -0.8, ROT= 357.6, 0.8 2025-10-24T19:36:59.479Z,1761334619.479 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-24T19:36:59.479Z,1761334619.479 [DAT](INFO): direction in FSK: [0.999025,-0.041871,-0.013962] 2025-10-24T19:36:59.488Z,1761334619.488 [DAT](INFO): publishing direction and range info 2025-10-24T19:36:59.491Z,1761334619.491 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.424553 2025-10-24T19:36:59.591Z,1761334619.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667044,-0.735668,0.117663],[0.744864,0.661751,-0.085226],[-0.015166,0.144492,0.989390]] 2025-10-24T19:36:59.667Z,1761334619.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504009 s, deltaX: -0.200000 m, approachRate: -0.396818 m/s, rangeRepo size: 4 2025-10-24T19:36:59.674Z,1761334619.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.127858 m, bearing: 45.894505 deg, lat: 36.779544 deg, lon: -121.859618 deg, deltaT: 0.504009 s, deltaX: -0.198907 m, approachRate: -0.394650 m/s, posRepo size: 4 2025-10-24T19:36:59.674Z,1761334619.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-24T19:36:59.686Z,1761334619.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.127858 m, nav range: 13.269178 m, bearing: 47.544345 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 47.338460 deg, new cmd heading: 47.252107 deg. 2025-10-24T19:36:59.687Z,1761334619.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.824705 target range: 13.127858 and range: 13.20 m. 2025-10-24T19:36:59.689Z,1761334619.689 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.621986 2025-10-24T19:36:59.945Z,1761334619.945 [DAT](INFO): DAT read: Rx Time:19:36:58.9839 2025-10-24T19:36:59.946Z,1761334619.946 [DAT](INFO): Rx dataTimestamp_ set to:1761334619.945440 2025-10-24T19:36:59.959Z,1761334619.959 [DAT](INFO): DAT read: Bearing 356.3, 0.8 (Local) 2025-10-24T19:36:59.964Z,1761334619.964 [DAT](INFO): Local bearing/azimuth received: Bearing 356.3, 0.8 (Local) 2025-10-24T19:36:59.966Z,1761334619.966 [DAT](INFO): DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed 0.4 2025-10-24T19:36:59.993Z,1761334619.993 [DAT](INFO): DAT read: 19:36:58.9839 LVL= 23392, 32753, 23330, 32755, AGC= 57, IDX= 507, 0.27, 2.069, 0.640, 2.266, 1.914, PHS= 0.243,-1.227, 0.349, RAW= 153.5, 8.4, CAL= 153.7, -0.8, ROT= 356.3, 0.8 2025-10-24T19:36:59.994Z,1761334619.994 [DAT](INFO): got valid direction response: 19:36:58.9839 LVL= 23392, 32753, 23330, 32755, AGC= 57, IDX= 507, 0.27, 2.069, 0.640, 2.266, 1.914, PHS= 0.243,-1.227, 0.349, RAW= 153.5, 8.4, CAL= 153.7, -0.8, ROT= 356.3, 0.8 2025-10-24T19:36:59.995Z,1761334619.995 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-24T19:36:59.995Z,1761334619.995 [DAT](INFO): direction in FSK: [0.997818,-0.064526,-0.013962] 2025-10-24T19:37:00.004Z,1761334620.004 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:00.007Z,1761334620.007 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.940449 2025-10-24T19:37:00.024Z,1761334620.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663677,-0.738897,0.116467],[0.747888,0.658386,-0.084804],[-0.014019,0.143387,0.989567]] 2025-10-24T19:37:00.147Z,1761334620.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503178 s, deltaX: -0.300000 m, approachRate: -0.596211 m/s, rangeRepo size: 4 2025-10-24T19:37:00.153Z,1761334620.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.829498 m, bearing: 44.865256 deg, lat: 36.779544 deg, lon: -121.859621 deg, deltaT: 0.503178 s, deltaX: -0.298360 m, approachRate: -0.592951 m/s, posRepo size: 4 2025-10-24T19:37:00.154Z,1761334620.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-24T19:37:00.161Z,1761334620.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.829498 m, nav range: 12.867286 m, bearing: 46.817422 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 47.252106 deg, new cmd heading: 47.150188 deg. 2025-10-24T19:37:00.162Z,1761334620.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.822926 target range: 12.829498 and range: 12.90 m. 2025-10-24T19:37:00.193Z,1761334620.193 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.125938 2025-10-24T19:37:00.438Z,1761334620.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660900,-0.741612,0.114994],[0.750358,0.655690,-0.083868],[-0.013203,0.141715,0.989819]] 2025-10-24T19:37:00.450Z,1761334620.450 [DAT](INFO): DAT read: Rx Time:19:36:59.4837 2025-10-24T19:37:00.452Z,1761334620.452 [DAT](INFO): Rx dataTimestamp_ set to:1761334620.450413 2025-10-24T19:37:00.461Z,1761334620.461 [DAT](INFO): DAT read: Bearing 354.8, 0.7 (Local) 2025-10-24T19:37:00.462Z,1761334620.462 [DAT](INFO): Local bearing/azimuth received: Bearing 354.8, 0.7 (Local) 2025-10-24T19:37:00.464Z,1761334620.464 [DAT](INFO): DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 2025-10-24T19:37:00.481Z,1761334620.481 [DAT](INFO): DAT read: 19:36:59.4837 LVL= 25200, 32449, 21650, 32755, AGC= 56, IDX= 506,-0.34, 0.306,-1.099, 0.561, 0.189, PHS= 0.206,-1.241, 0.369, RAW= 155.3, 8.7, CAL= 155.2, -0.7, ROT= 354.8, 0.7 2025-10-24T19:37:00.482Z,1761334620.482 [DAT](INFO): got valid direction response: 19:36:59.4837 LVL= 25200, 32449, 21650, 32755, AGC= 56, IDX= 506,-0.34, 0.306,-1.099, 0.561, 0.189, PHS= 0.206,-1.241, 0.369, RAW= 155.3, 8.7, CAL= 155.2, -0.7, ROT= 354.8, 0.7 2025-10-24T19:37:00.482Z,1761334620.482 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-24T19:37:00.483Z,1761334620.483 [DAT](INFO): direction in FSK: [0.995810,-0.090626,-0.012217] 2025-10-24T19:37:00.483Z,1761334620.483 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:00.499Z,1761334620.499 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.432243 2025-10-24T19:37:00.514Z,1761334620.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504973 s, deltaX: -0.299999 m, approachRate: -0.594090 m/s, rangeRepo size: 4 2025-10-24T19:37:00.522Z,1761334620.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.531142 m, bearing: 43.576015 deg, lat: 36.779545 deg, lon: -121.859622 deg, deltaT: 0.504973 s, deltaX: -0.298356 m, approachRate: -0.590836 m/s, posRepo size: 4 2025-10-24T19:37:00.528Z,1761334620.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T19:37:00.531Z,1761334620.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.531142 m, nav range: 12.663056 m, bearing: 45.710243 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 47.150189 deg, new cmd heading: 47.072138 deg. 2025-10-24T19:37:00.538Z,1761334620.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821564 target range: 12.531142 and range: 12.60 m. 2025-10-24T19:37:00.697Z,1761334620.697 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.630009 2025-10-24T19:37:00.954Z,1761334620.954 [DAT](INFO): DAT read: Rx Time:19:36:59.9835 2025-10-24T19:37:00.955Z,1761334620.955 [DAT](INFO): Rx dataTimestamp_ set to:1761334620.954492 2025-10-24T19:37:00.957Z,1761334620.957 [DAT](INFO): DAT read: Bearing 353.4, 0.7 (Local) 2025-10-24T19:37:00.957Z,1761334620.957 [DAT](INFO): Local bearing/azimuth received: Bearing 353.4, 0.7 (Local) 2025-10-24T19:37:00.959Z,1761334620.959 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-24T19:37:00.965Z,1761334620.965 [DAT](INFO): DAT read: 19:36:59.9835 LVL= 24944, 31473, 22834, 32755, AGC= 58, IDX= 503,-0.06,-0.983,-2.390,-0.676,-1.077, PHS= 0.183,-1.265, 0.399, RAW= 156.9, 8.8, CAL= 156.6, -0.7, ROT= 353.4, 0.7 2025-10-24T19:37:00.966Z,1761334620.966 [DAT](INFO): got valid direction response: 19:36:59.9835 LVL= 24944, 31473, 22834, 32755, AGC= 58, IDX= 503,-0.06,-0.983,-2.390,-0.676,-1.077, PHS= 0.183,-1.265, 0.399, RAW= 156.9, 8.8, CAL= 156.6, -0.7, ROT= 353.4, 0.7 2025-10-24T19:37:00.966Z,1761334620.966 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-24T19:37:00.969Z,1761334620.969 [DAT](INFO): direction in FSK: [0.993299,-0.114929,-0.012217] 2025-10-24T19:37:00.969Z,1761334620.969 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:00.977Z,1761334620.977 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.910366 2025-10-24T19:37:01.143Z,1761334621.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504079 s, deltaX: -0.100000 m, approachRate: -0.198382 m/s, rangeRepo size: 4 2025-10-24T19:37:01.149Z,1761334621.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.431688 m, bearing: 42.188753 deg, lat: 36.779546 deg, lon: -121.859624 deg, deltaT: 0.504079 s, deltaX: -0.099454 m, approachRate: -0.197298 m/s, posRepo size: 4 2025-10-24T19:37:01.150Z,1761334621.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-24T19:37:01.158Z,1761334621.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.431688 m, nav range: 12.297043 m, bearing: 44.657239 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 47.072137 deg, new cmd heading: 46.938759 deg. 2025-10-24T19:37:01.159Z,1761334621.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.819236 target range: 12.431688 and range: 12.50 m. 2025-10-24T19:37:01.202Z,1761334621.202 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.134708 2025-10-24T19:37:01.456Z,1761334621.456 [DAT](INFO): DAT read: Rx Time:19:37:00.4834 2025-10-24T19:37:01.456Z,1761334621.456 [DAT](INFO): Rx dataTimestamp_ set to:1761334621.456143 2025-10-24T19:37:01.458Z,1761334621.458 [DAT](INFO): DAT read: Bearing 352.4, 1.5 (Local) 2025-10-24T19:37:01.458Z,1761334621.458 [DAT](INFO): Local bearing/azimuth received: Bearing 352.4, 1.5 (Local) 2025-10-24T19:37:01.471Z,1761334621.471 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 2025-10-24T19:37:01.527Z,1761334621.527 [DAT](INFO): DAT read: 19:37:00.4834 LVL= 23520, 31905, 22866, 32755, AGC= 57, IDX= 502, 0.22, 1.945, 0.514, 2.285, 1.837, PHS= 0.196,-1.276, 0.445, RAW= 157.7, 7.9, CAL= 157.6, -1.5, ROT= 352.4, 1.5 2025-10-24T19:37:01.541Z,1761334621.541 [DAT](INFO): got valid direction response: 19:37:00.4834 LVL= 23520, 31905, 22866, 32755, AGC= 57, IDX= 502, 0.22, 1.945, 0.514, 2.285, 1.837, PHS= 0.196,-1.276, 0.445, RAW= 157.7, 7.9, CAL= 157.6, -1.5, ROT= 352.4, 1.5 2025-10-24T19:37:01.542Z,1761334621.542 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-24T19:37:01.548Z,1761334621.548 [DAT](INFO): direction in FSK: [0.990876,-0.132211,-0.026177] 2025-10-24T19:37:01.549Z,1761334621.549 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:01.602Z,1761334621.602 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.534836 2025-10-24T19:37:01.607Z,1761334621.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656328,-0.746839,0.107076],[0.754367,0.651996,-0.076362],[-0.012782,0.130893,0.991314]] 2025-10-24T19:37:01.668Z,1761334621.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.501651 s, deltaX: -0.200000 m, approachRate: -0.398683 m/s, rangeRepo size: 4 2025-10-24T19:37:01.670Z,1761334621.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.232697 m, bearing: 41.630305 deg, lat: 36.779547 deg, lon: -121.859627 deg, deltaT: 0.501651 s, deltaX: -0.198992 m, approachRate: -0.396674 m/s, posRepo size: 4 2025-10-24T19:37:01.671Z,1761334621.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-24T19:37:01.680Z,1761334621.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.232697 m, nav range: 11.942406 m, bearing: 43.312551 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 46.938757 deg, new cmd heading: 46.828146 deg. 2025-10-24T19:37:01.681Z,1761334621.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.817305 target range: 12.232697 and range: 12.30 m. 2025-10-24T19:37:01.705Z,1761334621.705 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.637981 2025-10-24T19:37:01.958Z,1761334621.958 [DAT](INFO): DAT read: Rx Time:19:37:00.9833 2025-10-24T19:37:01.958Z,1761334621.958 [DAT](INFO): Rx dataTimestamp_ set to:1761334621.958125 2025-10-24T19:37:01.960Z,1761334621.960 [DAT](INFO): DAT read: Bearing 351.9, 1.0 (Local) 2025-10-24T19:37:01.960Z,1761334621.960 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 1.0 (Local) 2025-10-24T19:37:01.962Z,1761334621.962 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 2025-10-24T19:37:01.971Z,1761334621.971 [DAT](INFO): DAT read: 19:37:00.9833 LVL= 29984, 32721, 25154, 32755, AGC= 57, IDX= 500,-0.34,-0.888,-2.295,-0.522,-0.962, PHS= 0.162,-1.286, 0.437, RAW= 158.5, 8.6, CAL= 158.1, -1.0, ROT= 351.9, 1.0 2025-10-24T19:37:01.973Z,1761334621.973 [DAT](INFO): got valid direction response: 19:37:00.9833 LVL= 29984, 32721, 25154, 32755, AGC= 57, IDX= 500,-0.34,-0.888,-2.295,-0.522,-0.962, PHS= 0.162,-1.286, 0.437, RAW= 158.5, 8.6, CAL= 158.1, -1.0, ROT= 351.9, 1.0 2025-10-24T19:37:01.973Z,1761334621.973 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-24T19:37:01.974Z,1761334621.974 [DAT](INFO): direction in FSK: [0.989873,-0.140880,-0.017452] 2025-10-24T19:37:01.974Z,1761334621.974 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:01.978Z,1761334621.978 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.911339 2025-10-24T19:37:02.062Z,1761334622.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656208,-0.747388,0.103930],[0.754459,0.652316,-0.072636],[-0.013508,0.126076,0.991929]] 2025-10-24T19:37:02.190Z,1761334622.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.501982 s, deltaX: -0.300000 m, approachRate: -0.597631 m/s, rangeRepo size: 4 2025-10-24T19:37:02.205Z,1761334622.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.934338 m, bearing: 41.068379 deg, lat: 36.779550 deg, lon: -121.859628 deg, deltaT: 0.501982 s, deltaX: -0.298359 m, approachRate: -0.594362 m/s, posRepo size: 4 2025-10-24T19:37:02.206Z,1761334622.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-24T19:37:02.209Z,1761334622.209 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.142117 2025-10-24T19:37:02.212Z,1761334622.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.934338 m, nav range: 11.892879 m, bearing: 41.892152 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 46.828146 deg, new cmd heading: 46.716376 deg. 2025-10-24T19:37:02.213Z,1761334622.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.815355 target range: 11.934338 and range: 12.00 m. 2025-10-24T19:37:02.461Z,1761334622.461 [DAT](INFO): DAT read: Rx Time:19:37:01.4832 2025-10-24T19:37:02.462Z,1761334622.462 [DAT](INFO): Rx dataTimestamp_ set to:1761334622.461537 2025-10-24T19:37:02.463Z,1761334622.463 [DAT](INFO): DAT read: Bearing 352.0, 1.3 (Local) 2025-10-24T19:37:02.463Z,1761334622.463 [DAT](INFO): Local bearing/azimuth received: Bearing 352.0, 1.3 (Local) 2025-10-24T19:37:02.466Z,1761334622.466 [DAT](INFO): DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 2025-10-24T19:37:02.471Z,1761334622.471 [DAT](INFO): DAT read: 19:37:01.4832 LVL= 28336, 32753, 22066, 32755, AGC= 58, IDX= 499,-0.02, 0.817,-0.593, 1.175, 0.731, PHS= 0.174,-1.277, 0.441, RAW= 158.3, 8.3, CAL= 158.0, -1.3, ROT= 352.0, 1.3 2025-10-24T19:37:02.473Z,1761334622.473 [DAT](INFO): got valid direction response: 19:37:01.4832 LVL= 28336, 32753, 22066, 32755, AGC= 58, IDX= 499,-0.02, 0.817,-0.593, 1.175, 0.731, PHS= 0.174,-1.277, 0.441, RAW= 158.3, 8.3, CAL= 158.0, -1.3, ROT= 352.0, 1.3 2025-10-24T19:37:02.474Z,1761334622.474 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-24T19:37:02.474Z,1761334622.474 [DAT](INFO): direction in FSK: [0.990013,-0.139137,-0.022687] 2025-10-24T19:37:02.475Z,1761334622.475 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:02.495Z,1761334622.495 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.427837 2025-10-24T19:37:02.522Z,1761334622.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655714,-0.748213,0.101074],[0.754867,0.652290,-0.068510],[-0.014670,0.121220,0.992517]] 2025-10-24T19:37:02.595Z,1761334622.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503412 s, deltaX: -0.100000 m, approachRate: -0.198645 m/s, rangeRepo size: 4 2025-10-24T19:37:02.614Z,1761334622.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.834805 m, bearing: 41.229967 deg, lat: 36.779551 deg, lon: -121.859628 deg, deltaT: 0.503412 s, deltaX: -0.099533 m, approachRate: -0.197717 m/s, posRepo size: 4 2025-10-24T19:37:02.624Z,1761334622.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m. 2025-10-24T19:37:02.638Z,1761334622.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.834805 m, nav range: 11.773096 m, bearing: 41.419981 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 46.716377 deg, new cmd heading: 46.630842 deg. 2025-10-24T19:37:02.639Z,1761334622.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.813862 target range: 11.834805 and range: 11.90 m. 2025-10-24T19:37:02.716Z,1761334622.716 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.648636 2025-10-24T19:37:02.966Z,1761334622.966 [DAT](INFO): DAT read: Rx Time:19:37:01.9830 2025-10-24T19:37:02.966Z,1761334622.966 [DAT](INFO): Rx dataTimestamp_ set to:1761334622.965926 2025-10-24T19:37:02.969Z,1761334622.969 [DAT](INFO): DAT read: Bearing 351.6, 1.7 (Local) 2025-10-24T19:37:02.970Z,1761334622.970 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 1.7 (Local) 2025-10-24T19:37:02.972Z,1761334622.972 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 2025-10-24T19:37:02.979Z,1761334622.979 [DAT](INFO): DAT read: 19:37:01.9830 LVL= 27856, 32753, 22402, 32755, AGC= 58, IDX= 496, 0.24, 1.681, 0.239, 2.053, 1.580, PHS= 0.189,-1.295, 0.470, RAW= 158.5, 7.8, CAL= 158.4, -1.7, ROT= 351.6, 1.7 2025-10-24T19:37:02.981Z,1761334622.981 [DAT](INFO): got valid direction response: 19:37:01.9830 LVL= 27856, 32753, 22402, 32755, AGC= 58, IDX= 496, 0.24, 1.681, 0.239, 2.053, 1.580, PHS= 0.189,-1.295, 0.470, RAW= 158.5, 7.8, CAL= 158.4, -1.7, ROT= 351.6, 1.7 2025-10-24T19:37:02.981Z,1761334622.981 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-24T19:37:02.982Z,1761334622.982 [DAT](INFO): direction in FSK: [0.988837,-0.146019,-0.029666] 2025-10-24T19:37:02.982Z,1761334622.982 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:02.987Z,1761334622.987 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.919945 2025-10-24T19:37:03.186Z,1761334623.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504389 s, deltaX: -0.299999 m, approachRate: -0.594778 m/s, rangeRepo size: 4 2025-10-24T19:37:03.197Z,1761334623.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.536448 m, bearing: 40.879548 deg, lat: 36.779552 deg, lon: -121.859628 deg, deltaT: 0.504389 s, deltaX: -0.298356 m, approachRate: -0.591520 m/s, posRepo size: 4 2025-10-24T19:37:03.197Z,1761334623.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-24T19:37:03.212Z,1761334623.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.536448 m, nav range: 11.494250 m, bearing: 41.077224 deg, approach rate: 0.000000 m/s, LOS rate: -0.070759 deg/s, cmd heading: 46.630842 deg, new cmd heading: 46.504967 deg. 2025-10-24T19:37:03.213Z,1761334623.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.811665 target range: 11.536448 and range: 11.60 m. 2025-10-24T19:37:03.218Z,1761334623.218 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.150719 2025-10-24T19:37:03.469Z,1761334623.469 [DAT](INFO): DAT read: Rx Time:19:37:02.4829 2025-10-24T19:37:03.470Z,1761334623.470 [DAT](INFO): Rx dataTimestamp_ set to:1761334623.469627 2025-10-24T19:37:03.471Z,1761334623.471 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4 2025-10-24T19:37:03.472Z,1761334623.472 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-24T19:37:03.473Z,1761334623.473 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.405964 2025-10-24T19:37:03.518Z,1761334623.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655872,-0.748463,0.098157],[0.754671,0.653133,-0.062362],[-0.017434,0.114977,0.993215]] 2025-10-24T19:37:03.587Z,1761334623.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:03.594Z,1761334623.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503701 s, deltaX: -0.200001 m, approachRate: -0.397062 m/s, rangeRepo size: 4 2025-10-24T19:37:03.595Z,1761334623.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-24T19:37:03.606Z,1761334623.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.536448 m, nav range: 11.286505 m, bearing: 40.946742 deg, approach rate: -0.509059 m/s, LOS rate: -0.325617 deg/s, cmd heading: 46.504965 deg, new cmd heading: 46.106322 deg. 2025-10-24T19:37:03.607Z,1761334623.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804707 target range: 11.536448 and range: 11.40 m. 2025-10-24T19:37:03.723Z,1761334623.723 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.654949 2025-10-24T19:37:03.958Z,1761334623.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657051,-0.747607,0.096789],[0.753553,0.654938,-0.056696],[-0.021004,0.110188,0.993689]] 2025-10-24T19:37:03.974Z,1761334623.974 [DAT](INFO): DAT read: Rx Time:19:37:02.9826 2025-10-24T19:37:03.974Z,1761334623.974 [DAT](INFO): Rx dataTimestamp_ set to:1761334623.973776 2025-10-24T19:37:03.975Z,1761334623.975 [DAT](INFO): DAT read: Bearing 352.1, 0.6 (Local) 2025-10-24T19:37:03.976Z,1761334623.976 [DAT](INFO): Local bearing/azimuth received: Bearing 352.1, 0.6 (Local) 2025-10-24T19:37:03.978Z,1761334623.978 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 2025-10-24T19:37:03.983Z,1761334623.983 [DAT](INFO): DAT read: 19:37:02.9826 LVL= 30576, 32753, 24514, 32755, AGC= 59, IDX= 509,-0.10, 0.805,-0.641, 1.177, 0.739, PHS= 0.154,-1.333, 0.435, RAW= 158.5, 9.1, CAL= 157.9, -0.6, ROT= 352.1, 0.6 2025-10-24T19:37:03.987Z,1761334623.987 [DAT](INFO): got valid direction response: 19:37:02.9826 LVL= 30576, 32753, 24514, 32755, AGC= 59, IDX= 509,-0.10, 0.805,-0.641, 1.177, 0.739, PHS= 0.154,-1.333, 0.435, RAW= 158.5, 9.1, CAL= 157.9, -0.6, ROT= 352.1, 0.6 2025-10-24T19:37:03.988Z,1761334623.988 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-24T19:37:03.989Z,1761334623.989 [DAT](INFO): direction in FSK: [0.990455,-0.137437,-0.010472] 2025-10-24T19:37:03.989Z,1761334623.989 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:03.998Z,1761334623.998 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.930592 2025-10-24T19:37:04.089Z,1761334624.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504149 s, deltaX: -0.400000 m, approachRate: -0.793415 m/s, rangeRepo size: 4 2025-10-24T19:37:04.091Z,1761334624.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.939735 m, bearing: 41.120782 deg, lat: 36.779552 deg, lon: -121.859628 deg, deltaT: 1.007850 s, deltaX: -0.596713 m, approachRate: -0.592065 m/s, posRepo size: 4 2025-10-24T19:37:04.096Z,1761334624.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:04.099Z,1761334624.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.939735 m, nav range: 11.031041 m, bearing: 40.714271 deg, approach rate: 0.000000 m/s, LOS rate: -0.325617 deg/s, cmd heading: 46.106321 deg, new cmd heading: 45.631768 deg. 2025-10-24T19:37:04.099Z,1761334624.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.796425 target range: 10.939735 and range: 11.00 m. 2025-10-24T19:37:04.225Z,1761334624.225 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.157993 2025-10-24T19:37:04.378Z,1761334624.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658164,-0.746588,0.097087],[0.752526,0.656288,-0.054679],[-0.022895,0.109048,0.993773]] 2025-10-24T19:37:04.453Z,1761334624.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:04.461Z,1761334624.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.939735 m, nav range: 10.865935 m, bearing: 40.597596 deg, approach rate: -0.441527 m/s, LOS rate: -0.316754 deg/s, cmd heading: 45.631766 deg, new cmd heading: 45.276427 deg. 2025-10-24T19:37:04.462Z,1761334624.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.790223 target range: 10.939735 and range: 11.00 m. 2025-10-24T19:37:04.478Z,1761334624.478 [DAT](INFO): DAT read: Rx Time:19:37:03.4824 2025-10-24T19:37:04.478Z,1761334624.478 [DAT](INFO): Rx dataTimestamp_ set to:1761334624.477940 2025-10-24T19:37:04.480Z,1761334624.480 [DAT](INFO): DAT read: Bearing 352.2, 1.2 (Local) 2025-10-24T19:37:04.480Z,1761334624.480 [DAT](INFO): Local bearing/azimuth received: Bearing 352.2, 1.2 (Local) 2025-10-24T19:37:04.482Z,1761334624.482 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4 2025-10-24T19:37:04.489Z,1761334624.489 [DAT](INFO): DAT read: 19:37:03.4824 LVL= 32752, 32753, 25490, 32755, AGC= 58, IDX= 507, 0.12,-3.127, 1.692,-2.766, 3.063, PHS= 0.181,-1.325, 0.451, RAW= 158.1, 8.4, CAL= 157.8, -1.2, ROT= 352.2, 1.2 2025-10-24T19:37:04.490Z,1761334624.490 [DAT](INFO): got valid direction response: 19:37:03.4824 LVL= 32752, 32753, 25490, 32755, AGC= 58, IDX= 507, 0.12,-3.127, 1.692,-2.766, 3.063, PHS= 0.181,-1.325, 0.451, RAW= 158.1, 8.4, CAL= 157.8, -1.2, ROT= 352.2, 1.2 2025-10-24T19:37:04.490Z,1761334624.490 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-24T19:37:04.491Z,1761334624.491 [DAT](INFO): direction in FSK: [0.990531,-0.135686,-0.020942] 2025-10-24T19:37:04.491Z,1761334624.491 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:04.495Z,1761334624.495 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.428078 2025-10-24T19:37:04.729Z,1761334624.729 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.661919 2025-10-24T19:37:04.834Z,1761334624.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660241,-0.744770,0.096947],[0.750661,0.658551,-0.053100],[-0.024297,0.107833,0.993872]] 2025-10-24T19:37:04.963Z,1761334624.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504164 s, deltaX: -0.300000 m, approachRate: -0.595045 m/s, rangeRepo size: 4 2025-10-24T19:37:04.976Z,1761334624.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.641397 m, bearing: 41.031360 deg, lat: 36.779552 deg, lon: -121.859628 deg, deltaT: 0.504164 s, deltaX: -0.298338 m, approachRate: -0.591748 m/s, posRepo size: 4 2025-10-24T19:37:04.976Z,1761334624.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-24T19:37:04.979Z,1761334624.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.641397 m, nav range: 10.619157 m, bearing: 40.387697 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 45.276426 deg, new cmd heading: 44.793109 deg. 2025-10-24T19:37:04.981Z,1761334624.981 [DAT](INFO): DAT read: Rx Time:19:37:03.9822 2025-10-24T19:37:04.982Z,1761334624.982 [DAT](INFO): Rx dataTimestamp_ set to:1761334624.981661 2025-10-24T19:37:04.983Z,1761334624.983 [DAT](INFO): DAT read: Bearing 352.9, 0.8 (Local) 2025-10-24T19:37:04.984Z,1761334624.984 [DAT](INFO): Local bearing/azimuth received: Bearing 352.9, 0.8 (Local) 2025-10-24T19:37:04.986Z,1761334624.986 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 2025-10-24T19:37:04.991Z,1761334624.991 [DAT](INFO): DAT read: 19:37:03.9822 LVL= 26928, 32753, 23250, 32755, AGC= 58, IDX= 504, 0.47, 1.601, 0.140, 1.936, 1.508, PHS= 0.181,-1.320, 0.425, RAW= 157.4, 8.8, CAL= 157.1, -0.8, ROT= 352.9, 0.8 2025-10-24T19:37:04.995Z,1761334624.995 [DAT](INFO): got valid direction response: 19:37:03.9822 LVL= 26928, 32753, 23250, 32755, AGC= 58, IDX= 504, 0.47, 1.601, 0.140, 1.936, 1.508, PHS= 0.181,-1.320, 0.425, RAW= 157.4, 8.8, CAL= 157.1, -0.8, ROT= 352.9, 0.8 2025-10-24T19:37:04.996Z,1761334624.996 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-24T19:37:04.997Z,1761334624.997 [DAT](INFO): direction in FSK: [0.992235,-0.123589,-0.013962] 2025-10-24T19:37:04.997Z,1761334624.997 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:05.001Z,1761334625.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.781787 target range: 10.641397 and range: 10.70 m. 2025-10-24T19:37:05.017Z,1761334625.017 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.949760 2025-10-24T19:37:05.233Z,1761334625.233 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.166142 2025-10-24T19:37:05.281Z,1761334625.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661798,-0.743408,0.096790],[0.749238,0.660313,-0.051267],[-0.025800,0.106447,0.993984]] 2025-10-24T19:37:05.328Z,1761334625.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:37:05.330Z,1761334625.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503721 s, deltaX: -0.300000 m, approachRate: -0.595568 m/s, rangeRepo size: 4 2025-10-24T19:37:05.336Z,1761334625.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.343048 m, bearing: 41.563385 deg, lat: 36.779551 deg, lon: -121.859628 deg, deltaT: 0.503721 s, deltaX: -0.298349 m, approachRate: -0.592291 m/s, posRepo size: 4 2025-10-24T19:37:05.337Z,1761334625.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-24T19:37:05.344Z,1761334625.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.343048 m, nav range: 10.369307 m, bearing: 40.602933 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 44.793108 deg, new cmd heading: 44.444039 deg. 2025-10-24T19:37:05.345Z,1761334625.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.775695 target range: 10.343048 and range: 10.40 m. 2025-10-24T19:37:05.486Z,1761334625.486 [DAT](INFO): DAT read: Rx Time:19:37:04.4821 2025-10-24T19:37:05.486Z,1761334625.486 [DAT](INFO): Rx dataTimestamp_ set to:1761334625.486092 2025-10-24T19:37:05.488Z,1761334625.488 [DAT](INFO): DAT read: Bearing 352.9, -0.3 (Local) 2025-10-24T19:37:05.488Z,1761334625.488 [DAT](INFO): Local bearing/azimuth received: Bearing 352.9, -0.3 (Local) 2025-10-24T19:37:05.490Z,1761334625.490 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4 2025-10-24T19:37:05.496Z,1761334625.496 [DAT](INFO): DAT read: 19:37:04.4821 LVL= 32752, 32753, 25570, 32755, AGC= 58, IDX= 504,-0.14, 1.922, 0.468, 2.266, 1.865, PHS= 0.145,-1.350, 0.398, RAW= 157.7, 9.9, CAL= 157.1, 0.3, ROT= 352.9, -0.3 2025-10-24T19:37:05.497Z,1761334625.497 [DAT](INFO): got valid direction response: 19:37:04.4821 LVL= 32752, 32753, 25570, 32755, AGC= 58, IDX= 504,-0.14, 1.922, 0.468, 2.266, 1.865, PHS= 0.145,-1.350, 0.398, RAW= 157.7, 9.9, CAL= 157.1, 0.3, ROT= 352.9, -0.3 2025-10-24T19:37:05.498Z,1761334625.498 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-24T19:37:05.499Z,1761334625.499 [DAT](INFO): direction in FSK: [0.992318,-0.123600,0.005236] 2025-10-24T19:37:05.499Z,1761334625.499 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:05.516Z,1761334625.516 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.449329 2025-10-24T19:37:05.673Z,1761334625.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663821,-0.741740,0.095732],[0.747385,0.662627,-0.048390],[-0.027542,0.103671,0.994230]] 2025-10-24T19:37:05.735Z,1761334625.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504431 s, deltaX: -0.200000 m, approachRate: -0.396486 m/s, rangeRepo size: 4 2025-10-24T19:37:05.737Z,1761334625.737 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.669991 2025-10-24T19:37:05.741Z,1761334625.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.144144 m, bearing: 41.291672 deg, lat: 36.779550 deg, lon: -121.859627 deg, deltaT: 0.504431 s, deltaX: -0.198904 m, approachRate: -0.394314 m/s, posRepo size: 4 2025-10-24T19:37:05.742Z,1761334625.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-24T19:37:05.748Z,1761334625.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.144144 m, nav range: 10.162254 m, bearing: 40.883512 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 44.444038 deg, new cmd heading: 44.060409 deg. 2025-10-24T19:37:05.749Z,1761334625.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.768999 target range: 10.144144 and range: 10.20 m. 2025-10-24T19:37:05.991Z,1761334625.991 [DAT](INFO): DAT read: Rx Time:19:37:04.9819 2025-10-24T19:37:05.993Z,1761334625.993 [DAT](INFO): Rx dataTimestamp_ set to:1761334625.992306 2025-10-24T19:37:05.995Z,1761334625.995 [DAT](INFO): DAT read: Bearing 353.0, 0.3 (Local) 2025-10-24T19:37:05.995Z,1761334625.995 [DAT](INFO): Local bearing/azimuth received: Bearing 353.0, 0.3 (Local) 2025-10-24T19:37:05.999Z,1761334625.999 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-24T19:37:06.011Z,1761334626.011 [DAT](INFO): DAT read: 19:37:04.9819 LVL= 28608, 32753, 23314, 32755, AGC= 59, IDX= 501, 0.12, 2.824, 1.353,-3.117, 2.747, PHS= 0.165,-1.347, 0.416, RAW= 157.6, 9.3, CAL= 157.0, -0.3, ROT= 353.0, 0.3 2025-10-24T19:37:06.012Z,1761334626.012 [DAT](INFO): got valid direction response: 19:37:04.9819 LVL= 28608, 32753, 23314, 32755, AGC= 59, IDX= 501, 0.12, 2.824, 1.353,-3.117, 2.747, PHS= 0.165,-1.347, 0.416, RAW= 157.6, 9.3, CAL= 157.0, -0.3, ROT= 353.0, 0.3 2025-10-24T19:37:06.012Z,1761334626.012 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-24T19:37:06.013Z,1761334626.013 [DAT](INFO): direction in FSK: [0.992533,-0.121868,-0.005236] 2025-10-24T19:37:06.014Z,1761334626.014 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:06.020Z,1761334626.020 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.952950 2025-10-24T19:37:06.241Z,1761334626.241 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.173908 2025-10-24T19:37:06.259Z,1761334626.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.506214 s, deltaX: -0.300000 m, approachRate: -0.592635 m/s, rangeRepo size: 4 2025-10-24T19:37:06.265Z,1761334626.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.845754 m, bearing: 41.451049 deg, lat: 36.779550 deg, lon: -121.859627 deg, deltaT: 0.506214 s, deltaX: -0.298390 m, approachRate: -0.589455 m/s, posRepo size: 4 2025-10-24T19:37:06.266Z,1761334626.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-24T19:37:06.267Z,1761334626.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-24T19:37:06.267Z,1761334626.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-24T19:37:06.274Z,1761334626.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 9.860435 m, bearing: 40.976039 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 44.060410 deg, new cmd heading: 43.561334 deg. 2025-10-24T19:37:06.275Z,1761334626.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.760289 target range: 9.845754 and range: 9.90 m. 2025-10-24T19:37:06.333Z,1761334626.333 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:37:06.497Z,1761334626.497 [DAT](INFO): DAT read: Rx Time:19:37:05.4818 2025-10-24T19:37:06.498Z,1761334626.498 [DAT](INFO): Rx dataTimestamp_ set to:1761334626.497678 2025-10-24T19:37:06.499Z,1761334626.499 [DAT](INFO): DAT read: Bearing 353.4, -0.4 (Local) 2025-10-24T19:37:06.501Z,1761334626.501 [DAT](INFO): Local bearing/azimuth received: Bearing 353.4, -0.4 (Local) 2025-10-24T19:37:06.503Z,1761334626.503 [DAT](INFO): DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 2025-10-24T19:37:06.509Z,1761334626.509 [DAT](INFO): DAT read: 19:37:05.4818 LVL= 25328, 31937, 20946, 32755, AGC= 58, IDX= 501,-0.47, 2.732, 1.265, 3.059, 2.666, PHS= 0.154,-1.354, 0.390, RAW= 157.2, 9.9, CAL= 156.6, 0.4, ROT= 353.4, -0.4 2025-10-24T19:37:06.510Z,1761334626.510 [DAT](INFO): got valid direction response: 19:37:05.4818 LVL= 25328, 31937, 20946, 32755, AGC= 58, IDX= 501,-0.47, 2.732, 1.265, 3.059, 2.666, PHS= 0.154,-1.354, 0.390, RAW= 157.2, 9.9, CAL= 156.6, 0.4, ROT= 353.4, -0.4 2025-10-24T19:37:06.510Z,1761334626.510 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-24T19:37:06.511Z,1761334626.511 [DAT](INFO): direction in FSK: [0.993349,-0.114934,0.006981] 2025-10-24T19:37:06.511Z,1761334626.511 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:06.515Z,1761334626.515 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.447845 2025-10-24T19:37:06.561Z,1761334626.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667821,-0.738361,0.094011],[0.743688,0.667120,-0.043355],[-0.030705,0.098869,0.994627]] 2025-10-24T19:37:06.685Z,1761334626.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.505372 s, deltaX: -0.099999 m, approachRate: -0.197873 m/s, rangeRepo size: 4 2025-10-24T19:37:06.702Z,1761334626.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.746302 m, bearing: 41.465390 deg, lat: 36.779550 deg, lon: -121.859627 deg, deltaT: 0.505372 s, deltaX: -0.099452 m, approachRate: -0.196790 m/s, posRepo size: 4 2025-10-24T19:37:06.703Z,1761334626.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.85 m. 2025-10-24T19:37:06.722Z,1761334626.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 9.674279 m, bearing: 40.760141 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 43.561335 deg, new cmd heading: 43.156099 deg. 2025-10-24T19:37:06.723Z,1761334626.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753216 target range: 9.845754 and range: 9.80 m. 2025-10-24T19:37:06.749Z,1761334626.749 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.681988 2025-10-24T19:37:07.003Z,1761334627.003 [DAT](INFO): DAT read: Rx Time:19:37:05.9816 2025-10-24T19:37:07.003Z,1761334627.003 [DAT](INFO): Rx dataTimestamp_ set to:1761334627.002791 2025-10-24T19:37:07.005Z,1761334627.005 [DAT](INFO): DAT read: Bearing 353.3, -0.8 (Local) 2025-10-24T19:37:07.005Z,1761334627.005 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, -0.8 (Local) 2025-10-24T19:37:07.007Z,1761334627.007 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-24T19:37:07.013Z,1761334627.013 [DAT](INFO): DAT read: 19:37:05.9816 LVL= 25296, 32017, 20002, 32755, AGC= 58, IDX= 498,-0.07, 1.781, 0.322, 2.107, 1.723, PHS= 0.146,-1.353, 0.381, RAW= 157.2, 10.2, CAL= 156.7, 0.8, ROT= 353.3, -0.8 2025-10-24T19:37:07.014Z,1761334627.014 [DAT](INFO): got valid direction response: 19:37:05.9816 LVL= 25296, 32017, 20002, 32755, AGC= 58, IDX= 498,-0.07, 1.781, 0.322, 2.107, 1.723, PHS= 0.146,-1.353, 0.381, RAW= 157.2, 10.2, CAL= 156.7, 0.8, ROT= 353.3, -0.8 2025-10-24T19:37:07.014Z,1761334627.014 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-24T19:37:07.015Z,1761334627.015 [DAT](INFO): direction in FSK: [0.993074,-0.116660,0.013962] 2025-10-24T19:37:07.015Z,1761334627.015 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:07.021Z,1761334627.021 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.954063 2025-10-24T19:37:07.041Z,1761334627.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669770,-0.736602,0.093949],[0.741843,0.669330,-0.040818],[-0.032816,0.097034,0.994740]] 2025-10-24T19:37:07.165Z,1761334627.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.505113 s, deltaX: -0.300000 m, approachRate: -0.593927 m/s, rangeRepo size: 4 2025-10-24T19:37:07.167Z,1761334627.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.447946 m, bearing: 41.174007 deg, lat: 36.779550 deg, lon: -121.859626 deg, deltaT: 1.010485 s, deltaX: -0.397808 m, approachRate: -0.393680 m/s, posRepo size: 4 2025-10-24T19:37:07.173Z,1761334627.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.85 m. 2025-10-24T19:37:07.175Z,1761334627.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 9.376255 m, bearing: 40.312019 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 43.156099 deg, new cmd heading: 42.704906 deg. 2025-10-24T19:37:07.192Z,1761334627.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.745341 target range: 9.845754 and range: 9.50 m. 2025-10-24T19:37:07.254Z,1761334627.254 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.186874 2025-10-24T19:37:07.492Z,1761334627.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672123,-0.734389,0.094462],[0.739611,0.671919,-0.038741],[-0.035020,0.095904,0.994774]] 2025-10-24T19:37:07.505Z,1761334627.505 [DAT](INFO): DAT read: Rx Time:19:37:06.4816 2025-10-24T19:37:07.506Z,1761334627.506 [DAT](INFO): Rx dataTimestamp_ set to:1761334627.505598 2025-10-24T19:37:07.507Z,1761334627.507 [DAT](INFO): DAT read: Bearing 353.1, -0.3 (Local) 2025-10-24T19:37:07.507Z,1761334627.507 [DAT](INFO): Local bearing/azimuth received: Bearing 353.1, -0.3 (Local) 2025-10-24T19:37:07.510Z,1761334627.510 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-24T19:37:07.520Z,1761334627.520 [DAT](INFO): DAT read: 19:37:06.4816 LVL= 25184, 32753, 18770, 32755, AGC= 58, IDX= 497, 0.19,-1.776, 3.055,-1.440,-1.837, PHS= 0.148,-1.345, 0.393, RAW= 157.5, 9.9, CAL= 156.9, 0.3, ROT= 353.1, -0.3 2025-10-24T19:37:07.521Z,1761334627.521 [DAT](INFO): got valid direction response: 19:37:06.4816 LVL= 25184, 32753, 18770, 32755, AGC= 58, IDX= 497, 0.19,-1.776, 3.055,-1.440,-1.837, PHS= 0.148,-1.345, 0.393, RAW= 157.5, 9.9, CAL= 156.9, 0.3, ROT= 353.1, -0.3 2025-10-24T19:37:07.521Z,1761334627.521 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-24T19:37:07.522Z,1761334627.522 [DAT](INFO): direction in FSK: [0.992744,-0.120135,0.005236] 2025-10-24T19:37:07.522Z,1761334627.522 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:07.526Z,1761334627.526 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.459358 2025-10-24T19:37:07.569Z,1761334627.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.502807 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:07.571Z,1761334627.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.447923 m, bearing: 40.834167 deg, lat: 36.779550 deg, lon: -121.859625 deg, deltaT: 1.513292 s, deltaX: -0.397831 m, approachRate: -0.262891 m/s, posRepo size: 4 2025-10-24T19:37:07.577Z,1761334627.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.85 m. 2025-10-24T19:37:07.585Z,1761334627.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 9.148282 m, bearing: 39.953766 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 42.704907 deg, new cmd heading: 42.321118 deg. 2025-10-24T19:37:07.586Z,1761334627.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.738643 target range: 9.845754 and range: 9.50 m. 2025-10-24T19:37:07.759Z,1761334627.759 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.691429 2025-10-24T19:37:08.009Z,1761334628.009 [DAT](INFO): DAT read: Rx Time:19:37:06.9813 2025-10-24T19:37:08.010Z,1761334628.010 [DAT](INFO): Rx dataTimestamp_ set to:1761334628.009616 2025-10-24T19:37:08.011Z,1761334628.011 [DAT](INFO): DAT read: Bearing 352.8, -1.8 (Local) 2025-10-24T19:37:08.011Z,1761334628.011 [DAT](INFO): Local bearing/azimuth received: Bearing 352.8, -1.8 (Local) 2025-10-24T19:37:08.014Z,1761334628.014 [DAT](INFO): DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 2025-10-24T19:37:08.020Z,1761334628.020 [DAT](INFO): DAT read: 19:37:06.9813 LVL= 29888, 32753, 16370, 32755, AGC= 56, IDX= 495,-0.32, 1.864, 0.421, 2.203, 1.835, PHS= 0.117,-1.367, 0.365, RAW= 157.6, 10.9, CAL= 157.2, 1.8, ROT= 352.8, -1.8 2025-10-24T19:37:08.021Z,1761334628.021 [DAT](INFO): got valid direction response: 19:37:06.9813 LVL= 29888, 32753, 16370, 32755, AGC= 56, IDX= 495,-0.32, 1.864, 0.421, 2.203, 1.835, PHS= 0.117,-1.367, 0.365, RAW= 157.6, 10.9, CAL= 157.2, 1.8, ROT= 352.8, -1.8 2025-10-24T19:37:08.021Z,1761334628.021 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-24T19:37:08.022Z,1761334628.022 [DAT](INFO): direction in FSK: [0.991625,-0.125272,0.031411] 2025-10-24T19:37:08.023Z,1761334628.023 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:08.031Z,1761334628.030 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.963554 2025-10-24T19:37:08.131Z,1761334628.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504018 s, deltaX: -0.500000 m, approachRate: -0.992028 m/s, rangeRepo size: 4 2025-10-24T19:37:08.145Z,1761334628.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.950665 m, bearing: 40.398866 deg, lat: 36.779550 deg, lon: -121.859625 deg, deltaT: 2.017310 s, deltaX: -0.895089 m, approachRate: -0.443704 m/s, posRepo size: 4 2025-10-24T19:37:08.146Z,1761334628.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.95 m. 9.85 m. 2025-10-24T19:37:08.157Z,1761334628.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 8.833867 m, bearing: 39.322840 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 42.321119 deg, new cmd heading: 41.782929 deg. 2025-10-24T19:37:08.158Z,1761334628.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.729250 target range: 9.845754 and range: 9.00 m. 2025-10-24T19:37:08.263Z,1761334628.263 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.195229 2025-10-24T19:37:08.477Z,1761334628.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678974,-0.728373,0.092022],[0.733008,0.679586,-0.029357],[-0.041155,0.087386,0.995324]] 2025-10-24T19:37:08.507Z,1761334628.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:08.514Z,1761334628.514 [DAT](INFO): DAT read: Rx Time:19:37:07.4812 2025-10-24T19:37:08.514Z,1761334628.514 [DAT](INFO): Rx dataTimestamp_ set to:1761334628.513732 2025-10-24T19:37:08.515Z,1761334628.515 [DAT](INFO): DAT read: Bearing 352.2, -1.7 (Local) 2025-10-24T19:37:08.516Z,1761334628.516 [DAT](INFO): Local bearing/azimuth received: Bearing 352.2, -1.7 (Local) 2025-10-24T19:37:08.519Z,1761334628.519 [DAT](INFO): DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-24T19:37:08.527Z,1761334628.527 [DAT](INFO): DAT read: 19:37:07.4812 LVL= 25568, 32753, 17794, 32755, AGC= 58, IDX= 509,-0.04, 2.201, 0.758, 2.565, 2.183, PHS= 0.105,-1.378, 0.379, RAW= 158.3, 10.9, CAL= 157.8, 1.7, ROT= 352.2, -1.7 2025-10-24T19:37:08.530Z,1761334628.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:08.533Z,1761334628.533 [DAT](INFO): got valid direction response: 19:37:07.4812 LVL= 25568, 32753, 17794, 32755, AGC= 58, IDX= 509,-0.04, 2.201, 0.758, 2.565, 2.183, PHS= 0.105,-1.378, 0.379, RAW= 158.3, 10.9, CAL= 157.8, 1.7, ROT= 352.2, -1.7 2025-10-24T19:37:08.533Z,1761334628.533 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-24T19:37:08.535Z,1761334628.535 [DAT](INFO): direction in FSK: [0.990312,-0.135656,0.029666] 2025-10-24T19:37:08.540Z,1761334628.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 8.595217 m, bearing: 38.827755 deg, approach rate: -0.597657 m/s, LOS rate: -1.274260 deg/s, cmd heading: 41.782928 deg, new cmd heading: 40.256814 deg. 2025-10-24T19:37:08.541Z,1761334628.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702614 target range: 9.845754 and range: 9.00 m. 2025-10-24T19:37:08.544Z,1761334628.544 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:08.547Z,1761334628.547 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.480282 2025-10-24T19:37:08.766Z,1761334628.766 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.699326 2025-10-24T19:37:08.938Z,1761334628.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681656,-0.725924,0.091540],[0.730401,0.682499,-0.026655],[-0.043126,0.085030,0.995445]] 2025-10-24T19:37:09.018Z,1761334629.018 [DAT](INFO): DAT read: Rx Time:19:37:07.9809 2025-10-24T19:37:09.019Z,1761334629.019 [DAT](INFO): Rx dataTimestamp_ set to:1761334629.018646 2025-10-24T19:37:09.021Z,1761334629.021 [DAT](INFO): DAT read: Bearing 350.7, -0.8 (Local) 2025-10-24T19:37:09.021Z,1761334629.021 [DAT](INFO): Local bearing/azimuth received: Bearing 350.7, -0.8 (Local) 2025-10-24T19:37:09.023Z,1761334629.023 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-24T19:37:09.028Z,1761334629.028 [DAT](INFO): DAT read: 19:37:07.9809 LVL= 25472, 32753, 17698, 32755, AGC= 57, IDX= 506, 0.18, 2.908, 1.494,-2.946, 2.911, PHS= 0.084,-1.371, 0.423, RAW= 160.2, 10.5, CAL= 159.3, 0.8, ROT= 350.7, -0.8 2025-10-24T19:37:09.029Z,1761334629.029 [DAT](INFO): got valid direction response: 19:37:07.9809 LVL= 25472, 32753, 17698, 32755, AGC= 57, IDX= 506, 0.18, 2.908, 1.494,-2.946, 2.911, PHS= 0.084,-1.371, 0.423, RAW= 160.2, 10.5, CAL= 159.3, 0.8, ROT= 350.7, -0.8 2025-10-24T19:37:09.030Z,1761334629.030 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-24T19:37:09.031Z,1761334629.031 [DAT](INFO): direction in FSK: [0.986760,-0.161588,0.013962] 2025-10-24T19:37:09.031Z,1761334629.031 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:09.036Z,1761334629.036 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.969166 2025-10-24T19:37:09.088Z,1761334629.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 1.009030 s, deltaX: -0.600000 m, approachRate: -0.594631 m/s, rangeRepo size: 4 2025-10-24T19:37:09.090Z,1761334629.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.354001 m, bearing: 37.634575 deg, lat: 36.779550 deg, lon: -121.859625 deg, deltaT: 3.026340 s, deltaX: -1.491753 m, approachRate: -0.492923 m/s, posRepo size: 4 2025-10-24T19:37:09.091Z,1761334629.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.85 m. 2025-10-24T19:37:09.098Z,1761334629.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 8.284734 m, bearing: 38.074782 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 40.256814 deg, new cmd heading: 39.734365 deg. 2025-10-24T19:37:09.099Z,1761334629.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.693496 target range: 9.845754 and range: 8.40 m. 2025-10-24T19:37:09.269Z,1761334629.269 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.202339 2025-10-24T19:37:09.473Z,1761334629.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:09.480Z,1761334629.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 8.081573 m, bearing: 37.548640 deg, approach rate: -0.515914 m/s, LOS rate: -1.369671 deg/s, cmd heading: 39.734366 deg, new cmd heading: 38.116711 deg. 2025-10-24T19:37:09.481Z,1761334629.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.665262 target range: 9.845754 and range: 8.40 m. 2025-10-24T19:37:09.523Z,1761334629.523 [DAT](INFO): DAT read: Rx Time:19:37:08.4808 2025-10-24T19:37:09.523Z,1761334629.523 [DAT](INFO): Rx dataTimestamp_ set to:1761334629.523095 2025-10-24T19:37:09.526Z,1761334629.526 [DAT](INFO): DAT read: Bearing 350.3, -1.6 (Local) 2025-10-24T19:37:09.526Z,1761334629.526 [DAT](INFO): Local bearing/azimuth received: Bearing 350.3, -1.6 (Local) 2025-10-24T19:37:09.537Z,1761334629.537 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed 0.5 2025-10-24T19:37:09.544Z,1761334629.544 [DAT](INFO): DAT read: 19:37:08.4808 LVL= 25840, 32753, 22162, 32755, AGC= 57, IDX= 505, 0.47,-3.019, 1.878,-2.583,-2.993, PHS= 0.062,-1.365, 0.407, RAW= 160.6, 11.0, CAL= 159.7, 1.6, ROT= 350.3, -1.6 2025-10-24T19:37:09.546Z,1761334629.546 [DAT](INFO): got valid direction response: 19:37:08.4808 LVL= 25840, 32753, 22162, 32755, AGC= 57, IDX= 505, 0.47,-3.019, 1.878,-2.583,-2.993, PHS= 0.062,-1.365, 0.407, RAW= 160.6, 11.0, CAL= 159.7, 1.6, ROT= 350.3, -1.6 2025-10-24T19:37:09.547Z,1761334629.547 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-24T19:37:09.548Z,1761334629.548 [DAT](INFO): direction in FSK: [0.985319,-0.168424,0.027922] 2025-10-24T19:37:09.548Z,1761334629.548 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:09.569Z,1761334629.569 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.502464 2025-10-24T19:37:09.764Z,1761334629.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687557,-0.720672,0.088868],[0.724621,0.688857,-0.020007],[-0.046799,0.078152,0.995842]] 2025-10-24T19:37:09.773Z,1761334629.773 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.705723 2025-10-24T19:37:09.825Z,1761334629.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504449 s, deltaX: -0.099999 m, approachRate: -0.198235 m/s, rangeRepo size: 4 2025-10-24T19:37:09.827Z,1761334629.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.254519 m, bearing: 36.705361 deg, lat: 36.779551 deg, lon: -121.859625 deg, deltaT: 3.530789 s, deltaX: -1.591234 m, approachRate: -0.450674 m/s, posRepo size: 4 2025-10-24T19:37:09.835Z,1761334629.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.85 m. 2025-10-24T19:37:09.842Z,1761334629.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 7.874215 m, bearing: 36.995576 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 38.116711 deg, new cmd heading: 37.782218 deg. 2025-10-24T19:37:09.843Z,1761334629.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.659424 target range: 9.845754 and range: 8.30 m. 2025-10-24T19:37:10.026Z,1761334630.026 [DAT](INFO): DAT read: Rx Time:19:37:08.9806 2025-10-24T19:37:10.026Z,1761334630.026 [DAT](INFO): Rx dataTimestamp_ set to:1761334630.025764 2025-10-24T19:37:10.027Z,1761334630.027 [DAT](INFO): DAT read: Bearing 350.0, -2.9 (Local) 2025-10-24T19:37:10.028Z,1761334630.028 [DAT](INFO): Local bearing/azimuth received: Bearing 350.0, -2.9 (Local) 2025-10-24T19:37:10.030Z,1761334630.030 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.5 2025-10-24T19:37:10.040Z,1761334630.040 [DAT](INFO): DAT read: 19:37:08.9806 LVL= 26272, 32753, 21058, 32755, AGC= 56, IDX= 503,-0.25,-0.217,-1.598, 0.220,-0.164, PHS= 0.035,-1.387, 0.381, RAW= 160.7, 11.9, CAL= 160.0, 2.9, ROT= 350.0, -2.9 2025-10-24T19:37:10.042Z,1761334630.042 [DAT](INFO): got valid direction response: 19:37:08.9806 LVL= 26272, 32753, 21058, 32755, AGC= 56, IDX= 503,-0.25,-0.217,-1.598, 0.220,-0.164, PHS= 0.035,-1.387, 0.381, RAW= 160.7, 11.9, CAL= 160.0, 2.9, ROT= 350.0, -2.9 2025-10-24T19:37:10.042Z,1761334630.042 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-24T19:37:10.043Z,1761334630.043 [DAT](INFO): direction in FSK: [0.983547,-0.173426,0.050593] 2025-10-24T19:37:10.044Z,1761334630.044 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:10.047Z,1761334630.047 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.980350 2025-10-24T19:37:10.215Z,1761334630.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690987,-0.717457,0.088271],[0.721242,0.692457,-0.017685],[-0.048436,0.075885,0.995940]] 2025-10-24T19:37:10.277Z,1761334630.277 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.210091 2025-10-24T19:37:10.282Z,1761334630.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.502669 s, deltaX: -0.300000 m, approachRate: -0.596815 m/s, rangeRepo size: 4 2025-10-24T19:37:10.301Z,1761334630.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.956128 m, bearing: 36.045171 deg, lat: 36.779551 deg, lon: -121.859625 deg, deltaT: 4.033458 s, deltaX: -1.889626 m, approachRate: -0.468488 m/s, posRepo size: 4 2025-10-24T19:37:10.302Z,1761334630.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.85 m. 2025-10-24T19:37:10.309Z,1761334630.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 7.603820 m, bearing: 36.189130 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 37.782219 deg, new cmd heading: 37.348318 deg. 2025-10-24T19:37:10.310Z,1761334630.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.651851 target range: 9.845754 and range: 8.00 m. 2025-10-24T19:37:10.529Z,1761334630.529 [DAT](INFO): DAT read: Rx Time:19:37:09.4805 2025-10-24T19:37:10.530Z,1761334630.530 [DAT](INFO): Rx dataTimestamp_ set to:1761334630.529631 2025-10-24T19:37:10.531Z,1761334630.531 [DAT](INFO): DAT read: Bearing 349.0, -3.2 (Local) 2025-10-24T19:37:10.531Z,1761334630.531 [DAT](INFO): Local bearing/azimuth received: Bearing 349.0, -3.2 (Local) 2025-10-24T19:37:10.534Z,1761334630.534 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-24T19:37:10.543Z,1761334630.543 [DAT](INFO): DAT read: 19:37:09.4805 LVL= 27024, 32673, 20242, 32755, AGC= 55, IDX= 502,-0.10, 1.048,-0.314, 1.517, 1.125, PHS= 0.011,-1.392, 0.389, RAW= 161.6, 12.2, CAL= 161.0, 3.2, ROT= 349.0, -3.2 2025-10-24T19:37:10.544Z,1761334630.544 [DAT](INFO): got valid direction response: 19:37:09.4805 LVL= 27024, 32673, 20242, 32755, AGC= 55, IDX= 502,-0.10, 1.048,-0.314, 1.517, 1.125, PHS= 0.011,-1.392, 0.389, RAW= 161.6, 12.2, CAL= 161.0, 3.2, ROT= 349.0, -3.2 2025-10-24T19:37:10.544Z,1761334630.544 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-24T19:37:10.546Z,1761334630.546 [DAT](INFO): direction in FSK: [0.980097,-0.190512,0.055822] 2025-10-24T19:37:10.546Z,1761334630.546 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:10.561Z,1761334630.561 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.494411 2025-10-24T19:37:10.608Z,1761334630.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693918,-0.714700,0.087652],[0.718346,0.695503,-0.015943],[-0.049567,0.074028,0.996024]] 2025-10-24T19:37:10.655Z,1761334630.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503867 s, deltaX: -0.200000 m, approachRate: -0.396930 m/s, rangeRepo size: 4 2025-10-24T19:37:10.662Z,1761334630.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.757225 m, bearing: 34.797066 deg, lat: 36.779552 deg, lon: -121.859625 deg, deltaT: 4.537325 s, deltaX: -2.088529 m, approachRate: -0.460300 m/s, posRepo size: 4 2025-10-24T19:37:10.663Z,1761334630.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.85 m. 2025-10-24T19:37:10.696Z,1761334630.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 7.402601 m, bearing: 35.554957 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 37.348318 deg, new cmd heading: 36.993844 deg. 2025-10-24T19:37:10.701Z,1761334630.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.645664 target range: 9.845754 and range: 7.80 m. 2025-10-24T19:37:10.786Z,1761334630.786 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.718910 2025-10-24T19:37:11.037Z,1761334631.037 [DAT](INFO): DAT read: Rx Time:19:37:09.9802 2025-10-24T19:37:11.038Z,1761334631.038 [DAT](INFO): Rx dataTimestamp_ set to:1761334631.037507 2025-10-24T19:37:11.039Z,1761334631.039 [DAT](INFO): DAT read: Bearing 348.0, -3.2 (Local) 2025-10-24T19:37:11.039Z,1761334631.039 [DAT](INFO): Local bearing/azimuth received: Bearing 348.0, -3.2 (Local) 2025-10-24T19:37:11.042Z,1761334631.042 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.5 2025-10-24T19:37:11.047Z,1761334631.047 [DAT](INFO): DAT read: 19:37:09.9802 LVL= 25056, 32753, 17154, 32755, AGC= 54, IDX= 499,-0.01, 0.510,-0.817, 1.011, 0.606, PHS=-0.007,-1.376, 0.402, RAW= 162.7, 12.1, CAL= 162.0, 3.2, ROT= 348.0, -3.2 2025-10-24T19:37:11.048Z,1761334631.048 [DAT](INFO): got valid direction response: 19:37:09.9802 LVL= 25056, 32753, 17154, 32755, AGC= 54, IDX= 499,-0.01, 0.510,-0.817, 1.011, 0.606, PHS=-0.007,-1.376, 0.402, RAW= 162.7, 12.1, CAL= 162.0, 3.2, ROT= 348.0, -3.2 2025-10-24T19:37:11.048Z,1761334631.048 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-24T19:37:11.049Z,1761334631.049 [DAT](INFO): direction in FSK: [0.976622,-0.207588,0.055822] 2025-10-24T19:37:11.049Z,1761334631.049 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:11.054Z,1761334631.054 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.987152 2025-10-24T19:37:11.185Z,1761334631.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.507876 s, deltaX: -0.400000 m, approachRate: -0.787594 m/s, rangeRepo size: 4 2025-10-24T19:37:11.187Z,1761334631.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.359418 m, bearing: 33.800564 deg, lat: 36.779552 deg, lon: -121.859625 deg, deltaT: 5.045201 s, deltaX: -2.486336 m, approachRate: -0.492812 m/s, posRepo size: 4 2025-10-24T19:37:11.192Z,1761334631.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.85 m. 2025-10-24T19:37:11.194Z,1761334631.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 7.120284 m, bearing: 34.662618 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 36.993845 deg, new cmd heading: 36.495320 deg. 2025-10-24T19:37:11.195Z,1761334631.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.636963 target range: 9.845754 and range: 7.40 m. 2025-10-24T19:37:11.289Z,1761334631.289 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.221992 2025-10-24T19:37:11.482Z,1761334631.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707115,-0.702043,0.084407],[0.705109,0.709032,-0.009735],[-0.053013,0.066400,0.996384]] 2025-10-24T19:37:11.542Z,1761334631.542 [DAT](INFO): DAT read: Rx Time:19:37:10.4801 2025-10-24T19:37:11.542Z,1761334631.542 [DAT](INFO): Rx dataTimestamp_ set to:1761334631.541877 2025-10-24T19:37:11.543Z,1761334631.543 [DAT](INFO): DAT read: Bearing 347.4, -4.4 (Local) 2025-10-24T19:37:11.545Z,1761334631.545 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, -4.4 (Local) 2025-10-24T19:37:11.547Z,1761334631.547 [DAT](INFO): DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.5 2025-10-24T19:37:11.553Z,1761334631.553 [DAT](INFO): DAT read: 19:37:10.4801 LVL= 26304, 32753, 16130, 32755, AGC= 56, IDX= 498, 0.06, 2.112, 0.816, 2.619, 2.235, PHS=-0.035,-1.372, 0.381, RAW= 163.1, 12.9, CAL= 162.6, 4.4, ROT= 347.4, -4.4 2025-10-24T19:37:11.554Z,1761334631.554 [DAT](INFO): got valid direction response: 19:37:10.4801 LVL= 26304, 32753, 16130, 32755, AGC= 56, IDX= 498, 0.06, 2.112, 0.816, 2.619, 2.235, PHS=-0.035,-1.372, 0.381, RAW= 163.1, 12.9, CAL= 162.6, 4.4, ROT= 347.4, -4.4 2025-10-24T19:37:11.554Z,1761334631.554 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-24T19:37:11.555Z,1761334631.555 [DAT](INFO): direction in FSK: [0.973041,-0.217500,0.076719] 2025-10-24T19:37:11.556Z,1761334631.556 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:11.559Z,1761334631.559 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.492290 2025-10-24T19:37:11.578Z,1761334631.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.504370 s, deltaX: -0.200000 m, approachRate: -0.396535 m/s, rangeRepo size: 4 2025-10-24T19:37:11.585Z,1761334631.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.160513 m, bearing: 32.084324 deg, lat: 36.779553 deg, lon: -121.859625 deg, deltaT: 5.549571 s, deltaX: -2.685241 m, approachRate: -0.483865 m/s, posRepo size: 4 2025-10-24T19:37:11.586Z,1761334631.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.85 m. 2025-10-24T19:37:11.605Z,1761334631.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 6.918783 m, bearing: 34.013942 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 36.495319 deg, new cmd heading: 36.116623 deg. 2025-10-24T19:37:11.606Z,1761334631.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.630354 target range: 9.845754 and range: 7.20 m. 2025-10-24T19:37:11.793Z,1761334631.793 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.726048 2025-10-24T19:37:11.978Z,1761334631.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:11.985Z,1761334631.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:11.987Z,1761334631.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 6.685464 m, bearing: 33.209899 deg, approach rate: -0.579902 m/s, LOS rate: -2.068085 deg/s, cmd heading: 36.116623 deg, new cmd heading: 33.621969 deg. 2025-10-24T19:37:11.993Z,1761334631.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586814 target range: 9.845754 and range: 7.20 m. 2025-10-24T19:37:12.047Z,1761334632.047 [DAT](INFO): DAT read: Rx Time:19:37:10.9798 2025-10-24T19:37:12.053Z,1761334632.053 [DAT](INFO): Rx dataTimestamp_ set to:1761334632.047362 2025-10-24T19:37:12.055Z,1761334632.055 [DAT](INFO): DAT read: Bearing 347.3, -4.8 (Local) 2025-10-24T19:37:12.055Z,1761334632.055 [DAT](INFO): Local bearing/azimuth received: Bearing 347.3, -4.8 (Local) 2025-10-24T19:37:12.059Z,1761334632.059 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.5 2025-10-24T19:37:12.066Z,1761334632.066 [DAT](INFO): DAT read: 19:37:10.9798 LVL= 26096, 32753, 15090, 32755, AGC= 56, IDX= 495, 0.17, 1.577, 0.296, 2.079, 1.707, PHS=-0.042,-1.364, 0.370, RAW= 163.1, 13.1, CAL= 162.7, 4.8, ROT= 347.3, -4.8 2025-10-24T19:37:12.069Z,1761334632.069 [DAT](INFO): got valid direction response: 19:37:10.9798 LVL= 26096, 32753, 15090, 32755, AGC= 56, IDX= 495, 0.17, 1.577, 0.296, 2.079, 1.707, PHS=-0.042,-1.364, 0.370, RAW= 163.1, 13.1, CAL= 162.7, 4.8, ROT= 347.3, -4.8 2025-10-24T19:37:12.070Z,1761334632.070 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-24T19:37:12.071Z,1761334632.071 [DAT](INFO): direction in FSK: [0.972113,-0.219075,0.083678] 2025-10-24T19:37:12.071Z,1761334632.071 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:12.091Z,1761334632.091 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:37:12.091Z,1761334632.091 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:37:12.091Z,1761334632.091 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:37:12.277Z,1761334632.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719075,-0.689882,0.083631],[0.692700,0.721194,-0.006754],[-0.055655,0.062788,0.996474]] 2025-10-24T19:37:12.297Z,1761334632.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:12.340Z,1761334632.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.505485 s, deltaX: -0.400000 m, approachRate: -0.791318 m/s, rangeRepo size: 4 2025-10-24T19:37:12.342Z,1761334632.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.762715 m, bearing: 30.989689 deg, lat: 36.779553 deg, lon: -121.859626 deg, deltaT: 6.055056 s, deltaX: -3.083039 m, approachRate: -0.509168 m/s, posRepo size: 4 2025-10-24T19:37:12.343Z,1761334632.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.85 m. 2025-10-24T19:37:12.346Z,1761334632.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 6.492982 m, bearing: 32.575862 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 33.621968 deg, new cmd heading: 33.280820 deg. 2025-10-24T19:37:12.347Z,1761334632.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580860 target range: 9.845754 and range: 6.80 m. 2025-10-24T19:37:12.549Z,1761334632.549 [DAT](INFO): DAT read: Rx Time:19:37:11.4796 2025-10-24T19:37:12.550Z,1761334632.550 [DAT](INFO): Rx dataTimestamp_ set to:1761334632.549564 2025-10-24T19:37:12.553Z,1761334632.553 [DAT](INFO): DAT read: Bearing 347.6, -5.0 (Local) 2025-10-24T19:37:12.553Z,1761334632.553 [DAT](INFO): Local bearing/azimuth received: Bearing 347.6, -5.0 (Local) 2025-10-24T19:37:12.555Z,1761334632.555 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.5 2025-10-24T19:37:12.561Z,1761334632.561 [DAT](INFO): DAT read: 19:37:11.4796 LVL= 29072, 32753, 16658, 32755, AGC= 56, IDX= 509, 0.33, 1.080,-0.209, 1.571, 1.208, PHS=-0.040,-1.370, 0.360, RAW= 162.8, 13.3, CAL= 162.4, 5.0, ROT= 347.6, -5.0 2025-10-24T19:37:12.562Z,1761334632.562 [DAT](INFO): got valid direction response: 19:37:11.4796 LVL= 29072, 32753, 16658, 32755, AGC= 56, IDX= 509, 0.33, 1.080,-0.209, 1.571, 1.208, PHS=-0.040,-1.370, 0.360, RAW= 162.8, 13.3, CAL= 162.4, 5.0, ROT= 347.6, -5.0 2025-10-24T19:37:12.562Z,1761334632.562 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:37:12.563Z,1761334632.563 [DAT](INFO): direction in FSK: [0.972956,-0.213918,0.087156] 2025-10-24T19:37:12.563Z,1761334632.563 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:12.567Z,1761334632.567 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:12.568Z,1761334632.568 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:37:12.688Z,1761334632.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725935,-0.682613,0.084018],[0.685415,0.728125,-0.006415],[-0.056796,0.062244,0.996444]] 2025-10-24T19:37:12.711Z,1761334632.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.502202 s, deltaX: -0.300000 m, approachRate: -0.597370 m/s, rangeRepo size: 4 2025-10-24T19:37:12.713Z,1761334632.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.464359 m, bearing: 30.706802 deg, lat: 36.779553 deg, lon: -121.859627 deg, deltaT: 6.557258 s, deltaX: -3.381394 m, approachRate: -0.515672 m/s, posRepo size: 4 2025-10-24T19:37:12.714Z,1761334632.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.85 m. 2025-10-24T19:37:12.717Z,1761334632.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 6.295719 m, bearing: 31.903496 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 33.280821 deg, new cmd heading: 32.928085 deg. 2025-10-24T19:37:12.720Z,1761334632.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574704 target range: 9.845754 and range: 6.50 m. 2025-10-24T19:37:12.802Z,1761334632.802 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:13.054Z,1761334633.054 [DAT](INFO): DAT read: Rx Time:19:37:11.9793 2025-10-24T19:37:13.055Z,1761334633.055 [DAT](INFO): Rx dataTimestamp_ set to:1761334633.054250 2025-10-24T19:37:13.059Z,1761334633.059 [DAT](INFO): DAT read: Bearing 353.4, -9.5 (Local) 2025-10-24T19:37:13.059Z,1761334633.059 [DAT](INFO): Local bearing/azimuth received: Bearing 353.4, -9.5 (Local) 2025-10-24T19:37:13.061Z,1761334633.061 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-24T19:37:13.080Z,1761334633.080 [DAT](INFO): DAT read: 19:37:11.9793 LVL= 28272, 32753, 12962, 32755, AGC= 54, IDX= 507,-0.28,-2.708, 2.271,-2.450,-2.616, PHS=-0.003,-1.349, 0.163, RAW= 155.8, 16.3, CAL= 156.6, 9.5, ROT= 353.4, -9.5 2025-10-24T19:37:13.081Z,1761334633.081 [DAT](INFO): got valid direction response: 19:37:11.9793 LVL= 28272, 32753, 12962, 32755, AGC= 54, IDX= 507,-0.28,-2.708, 2.271,-2.450,-2.616, PHS=-0.003,-1.349, 0.163, RAW= 155.8, 16.3, CAL= 156.6, 9.5, ROT= 353.4, -9.5 2025-10-24T19:37:13.081Z,1761334633.081 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:37:13.082Z,1761334633.082 [DAT](INFO): direction in FSK: [0.979749,-0.113361,0.165048] 2025-10-24T19:37:13.083Z,1761334633.083 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:13.087Z,1761334633.087 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:13.087Z,1761334633.087 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:37:13.191Z,1761334633.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732537,-0.675433,0.084734],[0.678271,0.734781,-0.006646],[-0.057772,0.062341,0.996382]] 2025-10-24T19:37:13.286Z,1761334633.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504686 s, deltaX: -0.300000 m, approachRate: -0.594429 m/s, rangeRepo size: 4 2025-10-24T19:37:13.292Z,1761334633.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.166000 m, bearing: 35.669748 deg, lat: 36.779552 deg, lon: -121.859627 deg, deltaT: 7.061944 s, deltaX: -3.679753 m, approachRate: -0.521068 m/s, posRepo size: 4 2025-10-24T19:37:13.295Z,1761334633.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.85 m. 2025-10-24T19:37:13.305Z,1761334633.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:13.308Z,1761334633.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 6.018012 m, bearing: 31.038750 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 32.928086 deg, new cmd heading: 32.381898 deg. 2025-10-24T19:37:13.309Z,1761334633.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565171 target range: 9.845754 and range: 6.20 m. 2025-10-24T19:37:13.558Z,1761334633.558 [DAT](INFO): DAT read: Rx Time:19:37:12.4793 2025-10-24T19:37:13.558Z,1761334633.558 [DAT](INFO): Rx dataTimestamp_ set to:1761334633.557791 2025-10-24T19:37:13.559Z,1761334633.559 [DAT](INFO): DAT read: Bearing 5.4, -18.6 (Local) 2025-10-24T19:37:13.560Z,1761334633.560 [DAT](INFO): Local bearing/azimuth received: Bearing 5.4, -18.6 (Local) 2025-10-24T19:37:13.563Z,1761334633.563 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-24T19:37:13.568Z,1761334633.568 [DAT](INFO): DAT read: 19:37:12.4793 LVL= 30304, 32753, 10290, 32755, AGC= 52, IDX= 506,-0.03,-1.278,-2.553,-1.381,-1.198, PHS= 0.008,-1.308,-0.186, RAW= 142.1, 23.1, CAL= 144.6, 18.6, ROT= 5.4, -18.6 2025-10-24T19:37:13.569Z,1761334633.569 [DAT](INFO): got valid direction response: 19:37:12.4793 LVL= 30304, 32753, 10290, 32755, AGC= 52, IDX= 506,-0.03,-1.278,-2.553,-1.381,-1.198, PHS= 0.008,-1.308,-0.186, RAW= 142.1, 23.1, CAL= 144.6, 18.6, ROT= 5.4, -18.6 2025-10-24T19:37:13.569Z,1761334633.569 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:37:13.570Z,1761334633.570 [DAT](INFO): direction in FSK: [0.943562,0.089193,0.318959] 2025-10-24T19:37:13.571Z,1761334633.571 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:13.575Z,1761334633.575 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:13.576Z,1761334633.576 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:37:13.729Z,1761334633.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740287,-0.666906,0.084924],[0.669716,0.742590,-0.006403],[-0.058793,0.061615,0.996367]] 2025-10-24T19:37:13.779Z,1761334633.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503541 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:13.787Z,1761334633.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.166000 m, bearing: 46.261587 deg, lat: 36.779552 deg, lon: -121.859627 deg, deltaT: 7.565485 s, deltaX: -3.679753 m, approachRate: -0.486387 m/s, posRepo size: 4 2025-10-24T19:37:13.795Z,1761334633.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.85 m. 2025-10-24T19:37:13.802Z,1761334633.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 5.774580 m, bearing: 30.239494 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 32.381900 deg, new cmd heading: 31.912575 deg. 2025-10-24T19:37:13.803Z,1761334633.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556980 target range: 9.845754 and range: 6.20 m. 2025-10-24T19:37:13.809Z,1761334633.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:14.062Z,1761334634.062 [DAT](INFO): DAT read: Rx Time:19:37:12.9791 2025-10-24T19:37:14.063Z,1761334634.063 [DAT](INFO): Rx dataTimestamp_ set to:1761334634.062576 2025-10-24T19:37:14.069Z,1761334634.069 [DAT](INFO): DAT read: Bearing 14.4, -39.8 (Local) 2025-10-24T19:37:14.069Z,1761334634.069 [DAT](INFO): Local bearing/azimuth received: Bearing 14.4, -39.8 (Local) 2025-10-24T19:37:14.071Z,1761334634.071 [DAT](INFO): DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-24T19:37:14.085Z,1761334634.085 [DAT](INFO): DAT read: 19:37:12.9791 LVL= 25664, 32753, 10802, 32755, AGC= 50, IDX= 503, 0.28,-1.221,-2.537,-1.766,-1.192, PHS= 0.059,-1.298,-0.577, RAW= 122.1, 28.6, CAL= 135.6, 39.8, ROT= 14.4, -39.8 2025-10-24T19:37:14.086Z,1761334634.086 [DAT](INFO): got valid direction response: 19:37:12.9791 LVL= 25664, 32753, 10802, 32755, AGC= 50, IDX= 503, 0.28,-1.221,-2.537,-1.766,-1.192, PHS= 0.059,-1.298,-0.577, RAW= 122.1, 28.6, CAL= 135.6, 39.8, ROT= 14.4, -39.8 2025-10-24T19:37:14.087Z,1761334634.087 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:37:14.088Z,1761334634.088 [DAT](INFO): direction in FSK: [0.744146,0.191064,0.640110] 2025-10-24T19:37:14.088Z,1761334634.088 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:14.091Z,1761334634.091 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:14.091Z,1761334634.091 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:37:14.235Z,1761334634.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755558,-0.649609,0.084498],[0.652307,0.757932,-0.005870],[-0.060230,0.059553,0.996406]] 2025-10-24T19:37:14.311Z,1761334634.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504785 s, deltaX: -0.300000 m, approachRate: -0.594312 m/s, rangeRepo size: 4 2025-10-24T19:37:14.313Z,1761334634.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:14.319Z,1761334634.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.867661 m, bearing: 51.843255 deg, lat: 36.779548 deg, lon: -121.859621 deg, deltaT: 8.070270 s, deltaX: -3.978092 m, approachRate: -0.492932 m/s, posRepo size: 4 2025-10-24T19:37:14.319Z,1761334634.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.85 m. 2025-10-24T19:37:14.326Z,1761334634.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 5.516709 m, bearing: 29.605366 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 31.912577 deg, new cmd heading: 31.407113 deg. 2025-10-24T19:37:14.327Z,1761334634.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548158 target range: 9.845754 and range: 5.90 m. 2025-10-24T19:37:14.566Z,1761334634.566 [DAT](INFO): DAT read: Rx Time:19:37:13.4791 2025-10-24T19:37:14.567Z,1761334634.567 [DAT](INFO): Rx dataTimestamp_ set to:1761334634.566768 2025-10-24T19:37:14.570Z,1761334634.570 [DAT](INFO): DAT read: Bearing 44.4, -41.5 (Local) 2025-10-24T19:37:14.570Z,1761334634.570 [DAT](INFO): Local bearing/azimuth received: Bearing 44.4, -41.5 (Local) 2025-10-24T19:37:14.572Z,1761334634.572 [DAT](INFO): DAT read: Range 10 to 50 : 5.7 m (trip time 3.8 ms) speed 0.4 2025-10-24T19:37:14.577Z,1761334634.577 [DAT](INFO): DAT read: 19:37:13.4791 LVL= 26320, 32753, 10994, 32755, AGC= 48, IDX= 503,-0.14,-2.062, 2.842,-3.075,-2.092, PHS= 0.118,-1.303,-0.986, RAW= 102.3, 30.7, CAL= 105.6, 41.5, ROT= 44.4, -41.5 2025-10-24T19:37:14.578Z,1761334634.578 [DAT](INFO): got valid direction response: 19:37:13.4791 LVL= 26320, 32753, 10994, 32755, AGC= 48, IDX= 503,-0.14,-2.062, 2.842,-3.075,-2.092, PHS= 0.118,-1.303,-0.986, RAW= 102.3, 30.7, CAL= 105.6, 41.5, ROT= 44.4, -41.5 2025-10-24T19:37:14.578Z,1761334634.578 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:37:14.579Z,1761334634.579 [DAT](INFO): direction in FSK: [0.535108,0.524017,0.662620] 2025-10-24T19:37:14.579Z,1761334634.579 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:14.594Z,1761334634.594 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:14.595Z,1761334634.595 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:37:14.665Z,1761334634.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763723,-0.640054,0.084011],[0.642684,0.766110,-0.005712],[-0.060705,0.058355,0.996449]] 2025-10-24T19:37:14.725Z,1761334634.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.504192 s, deltaX: -0.200000 m, approachRate: -0.396675 m/s, rangeRepo size: 4 2025-10-24T19:37:14.727Z,1761334634.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.668757 m, bearing: 80.136241 deg, lat: 36.779542 deg, lon: -121.859616 deg, deltaT: 8.574462 s, deltaX: -4.176996 m, approachRate: -0.487144 m/s, posRepo size: 4 2025-10-24T19:37:14.732Z,1761334634.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.85 m. 2025-10-24T19:37:14.734Z,1761334634.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 5.322360 m, bearing: 29.113767 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 31.407112 deg, new cmd heading: 31.014735 deg. 2025-10-24T19:37:14.735Z,1761334634.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541309 target range: 9.845754 and range: 5.70 m. 2025-10-24T19:37:14.817Z,1761334634.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:15.070Z,1761334635.070 [DAT](INFO): DAT read: Rx Time:19:37:13.9789 2025-10-24T19:37:15.070Z,1761334635.070 [DAT](INFO): Rx dataTimestamp_ set to:1761334635.069769 2025-10-24T19:37:15.071Z,1761334635.071 [DAT](INFO): DAT read: Bearing 61.8, -40.2 (Local) 2025-10-24T19:37:15.074Z,1761334635.074 [DAT](INFO): Local bearing/azimuth received: Bearing 61.8, -40.2 (Local) 2025-10-24T19:37:15.077Z,1761334635.077 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-24T19:37:15.081Z,1761334635.081 [DAT](INFO): DAT read: 19:37:13.9789 LVL= 25840, 32753, 10018, 32723, AGC= 48, IDX= 500, 0.31,-1.582,-3.005,-2.995,-1.632, PHS= 0.138,-1.327,-1.366, RAW= 88.7, 31.3, CAL= 88.2, 40.2, ROT= 61.8, -40.2 2025-10-24T19:37:15.082Z,1761334635.082 [DAT](INFO): got valid direction response: 19:37:13.9789 LVL= 25840, 32753, 10018, 32723, AGC= 48, IDX= 500, 0.31,-1.582,-3.005,-2.995,-1.632, PHS= 0.138,-1.327,-1.366, RAW= 88.7, 31.3, CAL= 88.2, 40.2, ROT= 61.8, -40.2 2025-10-24T19:37:15.083Z,1761334635.083 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:37:15.085Z,1761334635.085 [DAT](INFO): direction in FSK: [0.360932,0.673136,0.645458] 2025-10-24T19:37:15.085Z,1761334635.085 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:15.092Z,1761334635.092 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:15.093Z,1761334635.093 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:37:15.169Z,1761334635.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503001 s, deltaX: -0.300000 m, approachRate: -0.596420 m/s, rangeRepo size: 4 2025-10-24T19:37:15.171Z,1761334635.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.370402 m, bearing: 97.728501 deg, lat: 36.779533 deg, lon: -121.859611 deg, deltaT: 9.077463 s, deltaX: -4.475352 m, approachRate: -0.493018 m/s, posRepo size: 4 2025-10-24T19:37:15.177Z,1761334635.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.85 m. 2025-10-24T19:37:15.179Z,1761334635.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 5.109149 m, bearing: 28.623126 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 31.014735 deg, new cmd heading: 30.591897 deg. 2025-10-24T19:37:15.185Z,1761334635.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533929 target range: 9.845754 and range: 5.40 m. 2025-10-24T19:37:15.321Z,1761334635.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:37:15.465Z,1761334635.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780119,-0.619725,0.085758],[0.622568,0.782519,-0.008514],[-0.061830,0.060032,0.996280]] 2025-10-24T19:37:15.503Z,1761334635.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:15.506Z,1761334635.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:15.509Z,1761334635.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 4.949566 m, bearing: 28.277510 deg, approach rate: -0.473625 m/s, LOS rate: -1.058818 deg/s, cmd heading: 30.591898 deg, new cmd heading: 29.521752 deg. 2025-10-24T19:37:15.510Z,1761334635.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515252 target range: 9.845754 and range: 5.40 m. 2025-10-24T19:37:15.573Z,1761334635.573 [DAT](INFO): DAT read: user:112> 2025-10-24T19:37:15.573Z,1761334635.573 [DAT](INFO): DAT read: 120 2025-10-24T19:37:15.574Z,1761334635.574 [DAT](INFO): unknown deviceResponse_: 120 2025-10-24T19:37:15.574Z,1761334635.574 [DAT](INFO): DAT read: Ok 2025-10-24T19:37:15.574Z,1761334635.574 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-24T19:37:15.575Z,1761334635.575 [DAT](INFO): DAT read: user:113> 2025-10-24T19:37:15.575Z,1761334635.575 [DAT](INFO): DAT read: Tx time:19:37:14.9239 2025-10-24T19:37:15.577Z,1761334635.577 [DAT](INFO): Ping request sent. 2025-10-24T19:37:15.577Z,1761334635.577 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:37:15.577Z,1761334635.577 [DAT](INFO): publishing transmit ping time 2025-10-24T19:37:15.577Z,1761334635.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000791 2025-10-24T19:37:15.826Z,1761334635.826 [DAT](INFO): DAT read: TxSync time:19:37:14.9231 2025-10-24T19:37:15.827Z,1761334635.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250021 2025-10-24T19:37:15.867Z,1761334635.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787785,-0.609890,0.086197],[0.612797,0.790182,-0.009609],[-0.062251,0.060391,0.996232]] 2025-10-24T19:37:16.001Z,1761334636.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:16.010Z,1761334636.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 4.738636 m, bearing: 27.817145 deg, approach rate: -0.438112 m/s, LOS rate: -0.998750 deg/s, cmd heading: 29.521751 deg, new cmd heading: 28.079499 deg. 2025-10-24T19:37:16.013Z,1761334636.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490080 target range: 9.845754 and range: 5.40 m. 2025-10-24T19:37:16.078Z,1761334636.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500998 2025-10-24T19:37:16.297Z,1761334636.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794019,-0.602229,0.082785],[0.604932,0.796215,-0.009955],[-0.059919,0.057984,0.996518]] 2025-10-24T19:37:16.329Z,1761334636.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752179 2025-10-24T19:37:16.348Z,1761334636.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:16.352Z,1761334636.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 4.545629 m, bearing: 27.454370 deg, approach rate: -0.535233 m/s, LOS rate: -1.048731 deg/s, cmd heading: 28.079498 deg, new cmd heading: 26.945120 deg. 2025-10-24T19:37:16.353Z,1761334636.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470281 target range: 9.845754 and range: 5.40 m. 2025-10-24T19:37:16.581Z,1761334636.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004059 2025-10-24T19:37:16.696Z,1761334636.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800682,-0.593229,0.083593],[0.595976,0.802936,-0.010309],[-0.061004,0.058073,0.996447]] 2025-10-24T19:37:16.727Z,1761334636.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:16.729Z,1761334636.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 4.370674 m, bearing: 27.123750 deg, approach rate: -0.462192 m/s, LOS rate: -0.908381 deg/s, cmd heading: 26.945120 deg, new cmd heading: 25.913673 deg. 2025-10-24T19:37:16.730Z,1761334636.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452279 target range: 9.845754 and range: 5.40 m. 2025-10-24T19:37:16.833Z,1761334636.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256279 2025-10-24T19:37:17.086Z,1761334637.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509190 2025-10-24T19:37:17.217Z,1761334637.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:17.221Z,1761334637.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 4.128570 m, bearing: 26.607103 deg, approach rate: -0.494323 m/s, LOS rate: -1.116723 deg/s, cmd heading: 25.913673 deg, new cmd heading: 24.273312 deg. 2025-10-24T19:37:17.222Z,1761334637.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423649 target range: 9.845754 and range: 5.40 m. 2025-10-24T19:37:17.337Z,1761334637.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760233 2025-10-24T19:37:17.560Z,1761334637.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815489,-0.572600,0.084295],[0.575370,0.817820,-0.010959],[-0.062663,0.057438,0.996381]] 2025-10-24T19:37:17.577Z,1761334637.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:17.579Z,1761334637.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:17.582Z,1761334637.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 3.950416 m, bearing: 26.253206 deg, approach rate: -0.490603 m/s, LOS rate: -1.018507 deg/s, cmd heading: 24.273312 deg, new cmd heading: 23.163890 deg. 2025-10-24T19:37:17.583Z,1761334637.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.404286 target range: 9.845754 and range: 5.40 m. 2025-10-24T19:37:17.589Z,1761334637.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012334 2025-10-24T19:37:17.841Z,1761334637.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264075 2025-10-24T19:37:18.041Z,1761334638.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822700,-0.562139,0.084641],[0.564882,0.825102,-0.010717],[-0.063813,0.056629,0.996354]] 2025-10-24T19:37:18.079Z,1761334638.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:18.082Z,1761334638.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 3.700859 m, bearing: 25.609888 deg, approach rate: -0.499344 m/s, LOS rate: -1.374003 deg/s, cmd heading: 23.163890 deg, new cmd heading: 21.104724 deg. 2025-10-24T19:37:18.083Z,1761334638.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368347 target range: 9.845754 and range: 5.40 m. 2025-10-24T19:37:18.093Z,1761334638.093 [DAT](INFO): DAT read: Rx Time:19:37:17.0586 2025-10-24T19:37:18.094Z,1761334638.094 [DAT](INFO): Rx dataTimestamp_ set to:1761334638.093280 2025-10-24T19:37:18.095Z,1761334638.095 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 2025-10-24T19:37:18.095Z,1761334638.095 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:37:18.097Z,1761334638.097 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.520339 2025-10-24T19:37:18.345Z,1761334638.345 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768168 2025-10-24T19:37:18.379Z,1761334638.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830538,-0.550483,0.084704],[0.553213,0.832968,-0.010978],[-0.064513,0.055977,0.996346]] 2025-10-24T19:37:18.431Z,1761334638.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 3.023511 s, deltaX: -1.200000 m, approachRate: -0.396890 m/s, rangeRepo size: 4 2025-10-24T19:37:18.436Z,1761334638.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:18.439Z,1761334638.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 3.535418 m, bearing: 25.171454 deg, approach rate: -0.470820 m/s, LOS rate: -1.306089 deg/s, cmd heading: 21.104724 deg, new cmd heading: 19.728150 deg. 2025-10-24T19:37:18.440Z,1761334638.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.344321 target range: 9.845754 and range: 4.20 m. 2025-10-24T19:37:18.599Z,1761334638.599 [DAT](INFO): DAT read: Rx Time:19:37:17.5583 2025-10-24T19:37:18.599Z,1761334638.599 [DAT](INFO): Rx dataTimestamp_ set to:1761334638.598904 2025-10-24T19:37:18.605Z,1761334638.605 [DAT](INFO): DAT read: Bearing 187.5, -35.4 (Local) 2025-10-24T19:37:18.605Z,1761334638.605 [DAT](INFO): Local bearing/azimuth received: Bearing 187.5, -35.4 (Local) 2025-10-24T19:37:18.608Z,1761334638.608 [DAT](INFO): DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-24T19:37:18.615Z,1761334638.615 [DAT](INFO): DAT read: 19:37:17.5583 LVL= 14960, 32753, 21698, 23235, AGC= 45, IDX= 499, 0.03,-0.935, 0.839,-0.468, 0.871, PHS=-1.719, 0.015,-1.343, RAW= 318.1, 34.3, CAL= 322.5, 35.4, ROT= 187.5, -35.4 2025-10-24T19:37:18.621Z,1761334638.621 [DAT](INFO): got valid direction response: 19:37:17.5583 LVL= 14960, 32753, 21698, 23235, AGC= 45, IDX= 499, 0.03,-0.935, 0.839,-0.468, 0.871, PHS=-1.719, 0.015,-1.343, RAW= 318.1, 34.3, CAL= 322.5, 35.4, ROT= 187.5, -35.4 2025-10-24T19:37:18.621Z,1761334638.621 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-24T19:37:18.622Z,1761334638.622 [DAT](INFO): direction in FSK: [-0.808154,-0.106396,0.579281] 2025-10-24T19:37:18.622Z,1761334638.622 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:18.627Z,1761334638.627 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.050343 2025-10-24T19:37:18.783Z,1761334638.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838099,-0.539103,0.083418],[0.541638,0.840557,-0.009580],[-0.064953,0.053211,0.996469]] 2025-10-24T19:37:18.828Z,1761334638.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.505624 s, deltaX: -0.400000 m, approachRate: -0.791101 m/s, rangeRepo size: 4 2025-10-24T19:37:18.831Z,1761334638.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.779136 m, bearing: 222.981328 deg, lat: 36.779515 deg, lon: -121.859611 deg, deltaT: 12.606598 s, deltaX: -6.066618 m, approachRate: -0.481226 m/s, posRepo size: 4 2025-10-24T19:37:18.831Z,1761334638.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.85 m. 2025-10-24T19:37:18.835Z,1761334638.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 3.340564 m, bearing: 24.646108 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 19.728149 deg, new cmd heading: 19.354911 deg. 2025-10-24T19:37:18.837Z,1761334638.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337807 target range: 9.845754 and range: 3.80 m. 2025-10-24T19:37:18.849Z,1761334638.849 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.272138 2025-10-24T19:37:19.102Z,1761334639.102 [DAT](INFO): DAT read: Rx Time:19:37:18.0581 2025-10-24T19:37:19.103Z,1761334639.103 [DAT](INFO): Rx dataTimestamp_ set to:1761334639.102382 2025-10-24T19:37:19.105Z,1761334639.105 [DAT](INFO): DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed 0.3 2025-10-24T19:37:19.105Z,1761334639.105 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-24T19:37:19.106Z,1761334639.106 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.529514 2025-10-24T19:37:19.188Z,1761334639.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845719,-0.527176,0.082736],[0.529634,0.848173,-0.009477],[-0.065179,0.051834,0.996526]] 2025-10-24T19:37:19.248Z,1761334639.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503478 s, deltaX: -0.500000 m, approachRate: -0.993092 m/s, rangeRepo size: 4 2025-10-24T19:37:19.249Z,1761334639.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:19.252Z,1761334639.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 3.109983 m, bearing: 23.902698 deg, approach rate: -0.543849 m/s, LOS rate: -1.883353 deg/s, cmd heading: 19.354910 deg, new cmd heading: 16.960787 deg. 2025-10-24T19:37:19.253Z,1761334639.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296022 target range: 9.845754 and range: 3.30 m. 2025-10-24T19:37:19.353Z,1761334639.353 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.776505 2025-10-24T19:37:19.594Z,1761334639.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853081,-0.515059,0.083465],[0.517699,0.855476,-0.012209],[-0.065114,0.053625,0.996436]] 2025-10-24T19:37:19.605Z,1761334639.605 [DAT](INFO): DAT read: Rx Time:19:37:18.5583 2025-10-24T19:37:19.606Z,1761334639.606 [DAT](INFO): Rx dataTimestamp_ set to:1761334639.605280 2025-10-24T19:37:19.607Z,1761334639.607 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.3 2025-10-24T19:37:19.607Z,1761334639.607 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-24T19:37:19.612Z,1761334639.612 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.035572 2025-10-24T19:37:19.621Z,1761334639.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:19.624Z,1761334639.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.502898 s, deltaX: 0.300000 m, approachRate: 0.596542 m/s, rangeRepo size: 4 2025-10-24T19:37:19.625Z,1761334639.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:19.628Z,1761334639.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 2.916255 m, bearing: 23.240971 deg, approach rate: -0.515010 m/s, LOS rate: -1.875973 deg/s, cmd heading: 16.960787 deg, new cmd heading: 14.844741 deg. 2025-10-24T19:37:19.629Z,1761334639.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259090 target range: 9.845754 and range: 3.60 m. 2025-10-24T19:37:19.857Z,1761334639.857 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.280654 2025-10-24T19:37:20.106Z,1761334640.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T19:37:20.125Z,1761334640.125 [DAT](INFO): DAT read: Rx Time:19:37:19.0580 2025-10-24T19:37:20.125Z,1761334640.125 [DAT](INFO): Rx dataTimestamp_ set to:1761334640.124922 2025-10-24T19:37:20.126Z,1761334640.126 [DAT](INFO): DAT read: Bearing 189.2, -34.0 (Local) 2025-10-24T19:37:20.127Z,1761334640.127 [DAT](INFO): Local bearing/azimuth received: Bearing 189.2, -34.0 (Local) 2025-10-24T19:37:20.129Z,1761334640.129 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3 2025-10-24T19:37:20.146Z,1761334640.146 [DAT](INFO): DAT read: 19:37:19.0580 LVL= 11568, 15569, 15554, 16931, AGC= 45, IDX= 495,-0.40,-0.983, 0.352,-0.563, 0.346, PHS=-1.241, 0.054,-0.912, RAW= 315.8, 32.5, CAL= 320.8, 34.0, ROT= 189.2, -34.0 2025-10-24T19:37:20.147Z,1761334640.147 [DAT](INFO): got valid direction response: 19:37:19.0580 LVL= 11568, 15569, 15554, 16931, AGC= 45, IDX= 495,-0.40,-0.983, 0.352,-0.563, 0.346, PHS=-1.241, 0.054,-0.912, RAW= 315.8, 32.5, CAL= 320.8, 34.0, ROT= 189.2, -34.0 2025-10-24T19:37:20.147Z,1761334640.147 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-24T19:37:20.150Z,1761334640.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 2.661391 m, bearing: 21.964939 deg, approach rate: -0.528595 m/s, LOS rate: -2.899719 deg/s, cmd heading: 14.844742 deg, new cmd heading: 10.657868 deg. 2025-10-24T19:37:20.164Z,1761334640.164 [DAT](INFO): direction in FSK: [-0.818373,-0.132547,0.559193] 2025-10-24T19:37:20.165Z,1761334640.165 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:20.169Z,1761334640.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186015 target range: 9.845754 and range: 3.60 m. 2025-10-24T19:37:20.189Z,1761334640.189 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.612584 2025-10-24T19:37:20.361Z,1761334640.361 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.784163 2025-10-24T19:37:20.401Z,1761334640.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868333,-0.489142,0.082088],[0.491729,0.870642,-0.013597],[-0.064818,0.052172,0.996532]] 2025-10-24T19:37:20.548Z,1761334640.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.519642 s, deltaX: -0.400000 m, approachRate: -0.769760 m/s, rangeRepo size: 4 2025-10-24T19:37:20.551Z,1761334640.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.182449 m, bearing: 221.214325 deg, lat: 36.779512 deg, lon: -121.859616 deg, deltaT: 14.132616 s, deltaX: -6.663304 m, approachRate: -0.471484 m/s, posRepo size: 4 2025-10-24T19:37:20.561Z,1761334640.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.85 m. 2025-10-24T19:37:20.563Z,1761334640.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.845754 m, nav range: 2.483966 m, bearing: 21.048092 deg, approach rate: 0.000000 m/s, LOS rate: -0.316754 deg/s, cmd heading: 10.657868 deg, new cmd heading: 10.245548 deg. 2025-10-24T19:37:20.573Z,1761334640.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178819 target range: 9.845754 and range: 3.20 m. 2025-10-24T19:37:20.613Z,1761334640.613 [DAT](INFO): DAT read: Rx Time:19:37:19.5578 2025-10-24T19:37:20.614Z,1761334640.614 [DAT](INFO): Rx dataTimestamp_ set to:1761334640.613568 2025-10-24T19:37:20.615Z,1761334640.615 [DAT](INFO): DAT read: Bearing 193.5, -41.1 (Local) 2025-10-24T19:37:20.615Z,1761334640.615 [DAT](INFO): Local bearing/azimuth received: Bearing 193.5, -41.1 (Local) 2025-10-24T19:37:20.619Z,1761334640.619 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 2025-10-24T19:37:20.624Z,1761334640.624 [DAT](INFO): DAT read: 19:37:19.5578 LVL= 11248, 19441, 15826, 19315, AGC= 48, IDX= 509, 0.02,-2.105,-0.847,-1.586,-0.582, PHS=-1.435,-0.218,-1.007, RAW= 309.7, 41.3, CAL= 316.5, 41.1, ROT= 193.5, -41.1 2025-10-24T19:37:20.625Z,1761334640.625 [DAT](INFO): got valid direction response: 19:37:19.5578 LVL= 11248, 19441, 15826, 19315, AGC= 48, IDX= 509, 0.02,-2.105,-0.847,-1.586,-0.582, PHS=-1.435,-0.218,-1.007, RAW= 309.7, 41.3, CAL= 316.5, 41.1, ROT= 193.5, -41.1 2025-10-24T19:37:20.626Z,1761334640.626 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-24T19:37:20.627Z,1761334640.627 [DAT](INFO): direction in FSK: [-0.732742,-0.175916,0.657375] 2025-10-24T19:37:20.627Z,1761334640.627 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:20.631Z,1761334640.631 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.054485 2025-10-24T19:37:20.865Z,1761334640.865 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.288196 2025-10-24T19:37:20.894Z,1761334640.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875998,-0.475757,0.079268],[0.478009,0.878284,-0.011175],[-0.064303,0.047679,0.996791]] 2025-10-24T19:37:21.090Z,1761334641.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.488646 s, deltaX: -0.300000 m, approachRate: -0.613941 m/s, rangeRepo size: 4 2025-10-24T19:37:21.096Z,1761334641.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.884095 m, bearing: 225.339239 deg, lat: 36.779512 deg, lon: -121.859652 deg, deltaT: 14.621262 s, deltaX: -6.961659 m, approachRate: -0.476133 m/s, posRepo size: 4 2025-10-24T19:37:21.097Z,1761334641.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-24T19:37:21.097Z,1761334641.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-24T19:37:21.119Z,1761334641.119 [DAT](INFO): DAT read: Rx Time:19:37:20.0576 2025-10-24T19:37:21.119Z,1761334641.119 [DAT](INFO): Rx dataTimestamp_ set to:1761334641.118926 2025-10-24T19:37:21.121Z,1761334641.121 [DAT](INFO): DAT read: Bearing 174.1, -38.5 (Local) 2025-10-24T19:37:21.122Z,1761334641.122 [DAT](INFO): Local bearing/azimuth received: Bearing 174.1, -38.5 (Local) 2025-10-24T19:37:21.127Z,1761334641.127 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.3 2025-10-24T19:37:21.132Z,1761334641.132 [DAT](INFO): DAT read: 19:37:20.0576 LVL= 10832, 14945, 11842, 15443, AGC= 45, IDX= 507,-0.09, 2.786,-2.358, 2.732,-2.218, PHS=-1.192,-0.094,-1.336, RAW= 336.1, 38.2, CAL= 335.9, 38.5, ROT= 174.1, -38.5 2025-10-24T19:37:21.133Z,1761334641.133 [DAT](INFO): got valid direction response: 19:37:20.0576 LVL= 10832, 14945, 11842, 15443, AGC= 45, IDX= 507,-0.09, 2.786,-2.358, 2.732,-2.218, PHS=-1.192,-0.094,-1.336, RAW= 336.1, 38.2, CAL= 335.9, 38.5, ROT= 174.1, -38.5 2025-10-24T19:37:21.134Z,1761334641.134 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-24T19:37:21.135Z,1761334641.135 [DAT](INFO): direction in FSK: [-0.778463,0.080446,0.622515] 2025-10-24T19:37:21.135Z,1761334641.135 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:21.143Z,1761334641.143 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.566523 2025-10-24T19:37:21.369Z,1761334641.369 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792382 2025-10-24T19:37:21.498Z,1761334641.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505358 s, deltaX: -0.300000 m, approachRate: -0.593639 m/s, rangeRepo size: 4 2025-10-24T19:37:21.519Z,1761334641.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585744 m, bearing: 204.689667 deg, lat: 36.779512 deg, lon: -121.859652 deg, deltaT: 0.505358 s, deltaX: -0.298351 m, approachRate: -0.590375 m/s, posRepo size: 4 2025-10-24T19:37:21.621Z,1761334641.621 [DAT](INFO): DAT read: Rx Time:19:37:20.5576 2025-10-24T19:37:21.622Z,1761334641.622 [DAT](INFO): Rx dataTimestamp_ set to:1761334641.621312 2025-10-24T19:37:21.623Z,1761334641.623 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.3 2025-10-24T19:37:21.624Z,1761334641.624 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-24T19:37:21.626Z,1761334641.626 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.048693 2025-10-24T19:37:21.810Z,1761334641.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898987,-0.431442,0.075360],[0.433288,0.901207,-0.009308],[-0.063900,0.041020,0.997113]] 2025-10-24T19:37:21.829Z,1761334641.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:21.832Z,1761334641.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.502386 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:21.874Z,1761334641.874 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297328 2025-10-24T19:37:22.125Z,1761334642.125 [DAT](INFO): DAT read: Rx Time:19:37:21.0576 2025-10-24T19:37:22.125Z,1761334642.125 [DAT](INFO): Rx dataTimestamp_ set to:1761334642.125212 2025-10-24T19:37:22.127Z,1761334642.127 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.2 2025-10-24T19:37:22.127Z,1761334642.127 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-24T19:37:22.128Z,1761334642.128 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.551643 2025-10-24T19:37:22.314Z,1761334642.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503900 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:22.378Z,1761334642.378 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801104 2025-10-24T19:37:22.629Z,1761334642.629 [DAT](INFO): DAT read: Rx Time:19:37:21.5576 2025-10-24T19:37:22.630Z,1761334642.630 [DAT](INFO): Rx dataTimestamp_ set to:1761334642.629558 2025-10-24T19:37:22.631Z,1761334642.631 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 2025-10-24T19:37:22.632Z,1761334642.632 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-24T19:37:22.633Z,1761334642.633 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.056109 2025-10-24T19:37:22.669Z,1761334642.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504346 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:22.670Z,1761334642.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-24T19:37:22.881Z,1761334642.881 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.304266 2025-10-24T19:37:23.018Z,1761334643.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918405,-0.387261,0.080996],[0.390419,0.920241,-0.027028],[-0.064069,0.056445,0.996348]] 2025-10-24T19:37:23.133Z,1761334643.133 [DAT](INFO): DAT read: Rx Time:19:37:22.0577 2025-10-24T19:37:23.134Z,1761334643.134 [DAT](INFO): Rx dataTimestamp_ set to:1761334643.133402 2025-10-24T19:37:23.135Z,1761334643.135 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.1 2025-10-24T19:37:23.137Z,1761334643.137 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-24T19:37:23.138Z,1761334643.138 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.561548 2025-10-24T19:37:23.385Z,1761334643.385 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808701 2025-10-24T19:37:23.409Z,1761334643.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924599,-0.371976,0.082162],[0.375499,0.926267,-0.032084],[-0.064169,0.060517,0.996102]] 2025-10-24T19:37:23.472Z,1761334643.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503844 s, deltaX: 0.100000 m, approachRate: 0.198474 m/s, rangeRepo size: 4 2025-10-24T19:37:23.475Z,1761334643.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m. 2025-10-24T19:37:23.637Z,1761334643.637 [DAT](INFO): DAT read: Rx Time:19:37:22.5575 2025-10-24T19:37:23.637Z,1761334643.637 [DAT](INFO): Rx dataTimestamp_ set to:1761334643.637214 2025-10-24T19:37:23.639Z,1761334643.639 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 2025-10-24T19:37:23.639Z,1761334643.639 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-24T19:37:23.640Z,1761334643.640 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.063645 2025-10-24T19:37:23.846Z,1761334643.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:23.849Z,1761334643.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.503812 s, deltaX: -0.300000 m, approachRate: -0.595460 m/s, rangeRepo size: 4 2025-10-24T19:37:23.849Z,1761334643.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m. 2025-10-24T19:37:23.889Z,1761334643.889 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.312261 2025-10-24T19:37:24.142Z,1761334644.142 [DAT](INFO): DAT read: Rx Time:19:37:23.0575 2025-10-24T19:37:24.142Z,1761334644.142 [DAT](INFO): Rx dataTimestamp_ set to:1761334644.141844 2025-10-24T19:37:24.143Z,1761334644.143 [DAT](INFO): DAT read: Bearing 53.7, -46.4 (Local) 2025-10-24T19:37:24.144Z,1761334644.144 [DAT](INFO): Local bearing/azimuth received: Bearing 53.7, -46.4 (Local) 2025-10-24T19:37:24.146Z,1761334644.146 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 2025-10-24T19:37:24.155Z,1761334644.155 [DAT](INFO): DAT read: 19:37:23.0575 LVL= 23168, 18337, 16562, 24371, AGC= 51, IDX= 506,-0.37, 0.400,-0.965,-0.767, 0.584, PHS=-0.096,-1.502,-1.354, RAW= 95.5, 38.0, CAL= 96.3, 46.4, ROT= 53.7, -46.4 2025-10-24T19:37:24.156Z,1761334644.156 [DAT](INFO): got valid direction response: 19:37:23.0575 LVL= 23168, 18337, 16562, 24371, AGC= 51, IDX= 506,-0.37, 0.400,-0.965,-0.767, 0.584, PHS=-0.096,-1.502,-1.354, RAW= 95.5, 38.0, CAL= 96.3, 46.4, ROT= 53.7, -46.4 2025-10-24T19:37:24.156Z,1761334644.156 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-24T19:37:24.157Z,1761334644.157 [DAT](INFO): direction in FSK: [0.408264,0.555784,0.724172] 2025-10-24T19:37:24.157Z,1761334644.157 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:24.161Z,1761334644.161 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.584353 2025-10-24T19:37:24.224Z,1761334644.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936036,-0.341671,0.084249],[0.345946,0.937297,-0.042384],[-0.064485,0.068819,0.995543]] 2025-10-24T19:37:24.358Z,1761334644.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.504630 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:24.369Z,1761334644.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.386834 m, bearing: 68.145899 deg, lat: 36.779518 deg, lon: -121.859652 deg, deltaT: 3.022918 s, deltaX: -0.198910 m, approachRate: -0.065801 m/s, posRepo size: 4 2025-10-24T19:37:24.370Z,1761334644.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m. 2025-10-24T19:37:24.395Z,1761334644.395 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818483 2025-10-24T19:37:24.643Z,1761334644.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941196,-0.327115,0.084531],[0.331657,0.942255,-0.046475],[-0.064447,0.071778,0.995336]] 2025-10-24T19:37:24.649Z,1761334644.649 [DAT](INFO): DAT read: Rx Time:19:37:23.5576 2025-10-24T19:37:24.650Z,1761334644.650 [DAT](INFO): Rx dataTimestamp_ set to:1761334644.649609 2025-10-24T19:37:24.652Z,1761334644.652 [DAT](INFO): DAT read: Bearing 293.3, -55.5 (Local) 2025-10-24T19:37:24.653Z,1761334644.653 [DAT](INFO): Local bearing/azimuth received: Bearing 293.3, -55.5 (Local) 2025-10-24T19:37:24.655Z,1761334644.655 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed -0.1 2025-10-24T19:37:24.660Z,1761334644.660 [DAT](INFO): DAT read: 19:37:23.5576 LVL= 15760, 20721, 12706, 18883, AGC= 50, IDX= 505,-0.06, 1.948, 2.170,-2.975,-2.554, PHS=-1.694,-1.512,-0.425, RAW= 217.6, 47.2, CAL= 216.7, 55.5, ROT= 293.3, -55.5 2025-10-24T19:37:24.661Z,1761334644.661 [DAT](INFO): got valid direction response: 19:37:23.5576 LVL= 15760, 20721, 12706, 18883, AGC= 50, IDX= 505,-0.06, 1.948, 2.170,-2.975,-2.554, PHS=-1.694,-1.512,-0.425, RAW= 217.6, 47.2, CAL= 216.7, 55.5, ROT= 293.3, -55.5 2025-10-24T19:37:24.662Z,1761334644.662 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-24T19:37:24.663Z,1761334644.663 [DAT](INFO): direction in FSK: [0.224039,-0.520214,0.824126] 2025-10-24T19:37:24.663Z,1761334644.663 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:24.676Z,1761334644.676 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.094960 2025-10-24T19:37:24.752Z,1761334644.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.507765 s, deltaX: 0.200000 m, approachRate: 0.393883 m/s, rangeRepo size: 4 2025-10-24T19:37:24.758Z,1761334644.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585737 m, bearing: 314.780109 deg, lat: 36.779518 deg, lon: -121.859642 deg, deltaT: 0.507765 s, deltaX: 0.198903 m, approachRate: 0.391722 m/s, posRepo size: 4 2025-10-24T19:37:24.758Z,1761334644.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-24T19:37:24.902Z,1761334644.902 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.324941 2025-10-24T19:37:25.054Z,1761334645.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946383,-0.312227,0.082905],[0.316559,0.947492,-0.045277],[-0.064415,0.069093,0.995528]] 2025-10-24T19:37:25.155Z,1761334645.155 [DAT](INFO): DAT read: Rx Time:19:37:24.0576 2025-10-24T19:37:25.156Z,1761334645.156 [DAT](INFO): Rx dataTimestamp_ set to:1761334645.155658 2025-10-24T19:37:25.159Z,1761334645.159 [DAT](INFO): DAT read: Bearing 251.0, -42.5 (Local) 2025-10-24T19:37:25.161Z,1761334645.161 [DAT](INFO): Local bearing/azimuth received: Bearing 251.0, -42.5 (Local) 2025-10-24T19:37:25.165Z,1761334645.165 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed -0.1 2025-10-24T19:37:25.187Z,1761334645.187 [DAT](INFO): DAT read: 19:37:24.0576 LVL= 25440, 20625, 26738, 32755, AGC= 54, IDX= 504, 0.01,-0.597, 0.678, 1.573, 1.830, PHS=-2.339,-1.106,-0.261, RAW= 246.2, 35.9, CAL= 259.0, 42.5, ROT= 251.0, -42.5 2025-10-24T19:37:25.198Z,1761334645.198 [DAT](INFO): got valid direction response: 19:37:24.0576 LVL= 25440, 20625, 26738, 32755, AGC= 54, IDX= 504, 0.01,-0.597, 0.678, 1.573, 1.830, PHS=-2.339,-1.106,-0.261, RAW= 246.2, 35.9, CAL= 259.0, 42.5, ROT= 251.0, -42.5 2025-10-24T19:37:25.198Z,1761334645.198 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-24T19:37:25.199Z,1761334645.199 [DAT](INFO): direction in FSK: [-0.240034,-0.697109,0.675590] 2025-10-24T19:37:25.199Z,1761334645.199 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:25.233Z,1761334645.233 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.655678 2025-10-24T19:37:25.405Z,1761334645.405 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.828178 2025-10-24T19:37:25.446Z,1761334645.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951390,-0.297086,0.081221],[0.301207,0.952540,-0.044070],[-0.064274,0.066392,0.995721]] 2025-10-24T19:37:25.522Z,1761334645.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.506049 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:25.524Z,1761334645.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585732 m, bearing: 272.511871 deg, lat: 36.779550 deg, lon: -121.859642 deg, deltaT: 0.506049 s, deltaX: -0.000005 m, approachRate: -0.000009 m/s, posRepo size: 4 2025-10-24T19:37:25.524Z,1761334645.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m. 2025-10-24T19:37:25.657Z,1761334645.657 [DAT](INFO): DAT read: Rx Time:19:37:24.5579 2025-10-24T19:37:25.657Z,1761334645.657 [DAT](INFO): Rx dataTimestamp_ set to:1761334645.657225 2025-10-24T19:37:25.659Z,1761334645.659 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.3 2025-10-24T19:37:25.659Z,1761334645.659 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-24T19:37:25.660Z,1761334645.660 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.083702 2025-10-24T19:37:25.845Z,1761334645.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955672,-0.283364,0.079974],[0.287348,0.956839,-0.043478],[-0.064202,0.064531,0.995848]] 2025-10-24T19:37:25.879Z,1761334645.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:25.882Z,1761334645.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.501567 s, deltaX: 0.400000 m, approachRate: 0.797501 m/s, rangeRepo size: 4 2025-10-24T19:37:25.918Z,1761334645.918 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.341659 2025-10-24T19:37:26.169Z,1761334646.169 [DAT](INFO): DAT read: Rx Time:19:37:25.0578 2025-10-24T19:37:26.170Z,1761334646.170 [DAT](INFO): Rx dataTimestamp_ set to:1761334646.169498 2025-10-24T19:37:26.171Z,1761334646.171 [DAT](INFO): DAT read: Bearing 222.1, -46.2 (Local) 2025-10-24T19:37:26.171Z,1761334646.171 [DAT](INFO): Local bearing/azimuth received: Bearing 222.1, -46.2 (Local) 2025-10-24T19:37:26.174Z,1761334646.174 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.3 2025-10-24T19:37:26.178Z,1761334646.178 [DAT](INFO): DAT read: 19:37:25.0578 LVL= 13536, 12689, 10258, 19267, AGC= 48, IDX= 506,-0.28, 2.514,-2.449,-2.547,-1.806, PHS=-1.876,-0.596,-0.744, RAW= 276.1, 43.2, CAL= 287.9, 46.2, ROT= 222.1, -46.2 2025-10-24T19:37:26.179Z,1761334646.179 [DAT](INFO): got valid direction response: 19:37:25.0578 LVL= 13536, 12689, 10258, 19267, AGC= 48, IDX= 506,-0.28, 2.514,-2.449,-2.547,-1.806, PHS=-1.876,-0.596,-0.744, RAW= 276.1, 43.2, CAL= 287.9, 46.2, ROT= 222.1, -46.2 2025-10-24T19:37:26.180Z,1761334646.180 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-24T19:37:26.181Z,1761334646.181 [DAT](INFO): direction in FSK: [-0.513553,-0.464031,0.721760] 2025-10-24T19:37:26.181Z,1761334646.181 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:26.185Z,1761334646.185 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.608495 2025-10-24T19:37:26.248Z,1761334646.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960010,-0.268470,0.079399],[0.272561,0.961039,-0.045980],[-0.063962,0.065782,0.995782]] 2025-10-24T19:37:26.421Z,1761334646.421 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.844626 2025-10-24T19:37:26.431Z,1761334646.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.512273 s, deltaX: -0.100000 m, approachRate: -0.195208 m/s, rangeRepo size: 4 2025-10-24T19:37:26.434Z,1761334646.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.884083 m, bearing: 243.318498 deg, lat: 36.779550 deg, lon: -121.859639 deg, deltaT: 1.013840 s, deltaX: 0.298350 m, approachRate: 0.294278 m/s, posRepo size: 4 2025-10-24T19:37:26.674Z,1761334646.674 [DAT](INFO): DAT read: Rx Time:19:37:25.5580 2025-10-24T19:37:26.674Z,1761334646.674 [DAT](INFO): Rx dataTimestamp_ set to:1761334646.673819 2025-10-24T19:37:26.676Z,1761334646.676 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 2025-10-24T19:37:26.677Z,1761334646.677 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-24T19:37:26.678Z,1761334646.678 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.101709 2025-10-24T19:37:26.743Z,1761334646.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963699,-0.254968,0.079216],[0.259291,0.964504,-0.050001],[-0.063656,0.068726,0.995603]] 2025-10-24T19:37:26.779Z,1761334646.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504321 s, deltaX: 0.300000 m, approachRate: 0.594859 m/s, rangeRepo size: 4 2025-10-24T19:37:26.925Z,1761334646.925 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.348440 2025-10-24T19:37:27.147Z,1761334647.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967459,-0.240555,0.078462],[0.245037,0.968037,-0.053497],[-0.063086,0.070982,0.995481]] 2025-10-24T19:37:27.178Z,1761334647.178 [DAT](INFO): DAT read: Rx Time:19:37:26.0578 2025-10-24T19:37:27.178Z,1761334647.178 [DAT](INFO): Rx dataTimestamp_ set to:1761334647.177903 2025-10-24T19:37:27.179Z,1761334647.179 [DAT](INFO): DAT read: Bearing 222.1, -39.5 (Local) 2025-10-24T19:37:27.188Z,1761334647.188 [DAT](INFO): Local bearing/azimuth received: Bearing 222.1, -39.5 (Local) 2025-10-24T19:37:27.190Z,1761334647.190 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.3 2025-10-24T19:37:27.199Z,1761334647.199 [DAT](INFO): DAT read: 19:37:26.0578 LVL= 32752, 32753, 22642, 32755, AGC= 48, IDX= 507, 0.38, 0.838, 2.774, 2.656,-2.904, PHS=-2.454,-0.558,-0.727, RAW= 274.6, 36.0, CAL= 287.9, 39.5, ROT= 222.1, -39.5 2025-10-24T19:37:27.202Z,1761334647.202 [DAT](INFO): got valid direction response: 19:37:26.0578 LVL= 32752, 32753, 22642, 32755, AGC= 48, IDX= 507, 0.38, 0.838, 2.774, 2.656,-2.904, PHS=-2.454,-0.558,-0.727, RAW= 274.6, 36.0, CAL= 287.9, 39.5, ROT= 222.1, -39.5 2025-10-24T19:37:27.202Z,1761334647.202 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-24T19:37:27.203Z,1761334647.203 [DAT](INFO): direction in FSK: [-0.572527,-0.517318,0.636078] 2025-10-24T19:37:27.203Z,1761334647.203 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:27.223Z,1761334647.223 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.646450 2025-10-24T19:37:27.283Z,1761334647.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504084 s, deltaX: -0.300000 m, approachRate: -0.595139 m/s, rangeRepo size: 4 2025-10-24T19:37:27.305Z,1761334647.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.884083 m, bearing: 240.655132 deg, lat: 36.779550 deg, lon: -121.859639 deg, deltaT: 1.008405 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:37:27.430Z,1761334647.430 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.852962 2025-10-24T19:37:27.570Z,1761334647.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970545,-0.228137,0.077436],[0.232660,0.970978,-0.055412],[-0.062547,0.071797,0.995456]] 2025-10-24T19:37:27.590Z,1761334647.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m. 2025-10-24T19:37:27.682Z,1761334647.682 [DAT](INFO): DAT read: Rx Time:19:37:26.5580 2025-10-24T19:37:27.683Z,1761334647.683 [DAT](INFO): Rx dataTimestamp_ set to:1761334647.682577 2025-10-24T19:37:27.686Z,1761334647.686 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 2025-10-24T19:37:27.686Z,1761334647.686 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-24T19:37:27.687Z,1761334647.687 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.110467 2025-10-24T19:37:27.933Z,1761334647.933 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.356788 2025-10-24T19:37:28.012Z,1761334648.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:28.015Z,1761334648.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504674 s, deltaX: 0.300000 m, approachRate: 0.594443 m/s, rangeRepo size: 4 2025-10-24T19:37:28.188Z,1761334648.188 [DAT](INFO): DAT read: Rx Time:19:37:27.0580 2025-10-24T19:37:28.189Z,1761334648.189 [DAT](INFO): Rx dataTimestamp_ set to:1761334648.188642 2025-10-24T19:37:28.190Z,1761334648.190 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.4 2025-10-24T19:37:28.191Z,1761334648.191 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-24T19:37:28.192Z,1761334648.192 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.614994 2025-10-24T19:37:28.373Z,1761334648.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976049,-0.204025,0.075512],[0.208842,0.975948,-0.062534],[-0.060937,0.076806,0.995182]] 2025-10-24T19:37:28.433Z,1761334648.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.506065 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:28.434Z,1761334648.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.20 m. 2025-10-24T19:37:28.437Z,1761334648.437 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.860240 2025-10-24T19:37:28.689Z,1761334648.689 [DAT](INFO): DAT read: Rx Time:19:37:27.5582 2025-10-24T19:37:28.690Z,1761334648.690 [DAT](INFO): Rx dataTimestamp_ set to:1761334648.689595 2025-10-24T19:37:28.691Z,1761334648.691 [DAT](INFO): DAT read: Bearing 217.7, -16.6 (Local) 2025-10-24T19:37:28.691Z,1761334648.691 [DAT](INFO): Local bearing/azimuth received: Bearing 217.7, -16.6 (Local) 2025-10-24T19:37:28.694Z,1761334648.694 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 2025-10-24T19:37:28.698Z,1761334648.698 [DAT](INFO): DAT read: 19:37:27.5582 LVL= 16288, 17601, 10306, 15283, AGC= 39, IDX= 512, 0.23, 2.683,-1.512,-2.108,-2.044, PHS=-1.468, 0.579,-0.067, RAW= 288.0, 10.6, CAL= 292.3, 16.6, ROT= 217.7, -16.6 2025-10-24T19:37:28.699Z,1761334648.699 [DAT](INFO): got valid direction response: 19:37:27.5582 LVL= 16288, 17601, 10306, 15283, AGC= 39, IDX= 512, 0.23, 2.683,-1.512,-2.108,-2.044, PHS=-1.468, 0.579,-0.067, RAW= 288.0, 10.6, CAL= 292.3, 16.6, ROT= 217.7, -16.6 2025-10-24T19:37:28.701Z,1761334648.701 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-24T19:37:28.702Z,1761334648.702 [DAT](INFO): direction in FSK: [-0.758247,-0.586040,0.285688] 2025-10-24T19:37:28.702Z,1761334648.702 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:28.718Z,1761334648.718 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.141097 2025-10-24T19:37:28.816Z,1761334648.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980206,-0.183877,0.073385],[0.188963,0.979509,-0.069679],[-0.059069,0.082167,0.994866]] 2025-10-24T19:37:28.877Z,1761334648.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.500953 s, deltaX: 0.300000 m, approachRate: 0.598858 m/s, rangeRepo size: 4 2025-10-24T19:37:28.879Z,1761334648.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.480771 m, bearing: 230.186885 deg, lat: 36.779547 deg, lon: -121.859640 deg, deltaT: 1.511692 s, deltaX: 0.596688 m, approachRate: 0.394715 m/s, posRepo size: 4 2025-10-24T19:37:28.879Z,1761334648.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m. 2025-10-24T19:37:28.941Z,1761334648.941 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.364322 2025-10-24T19:37:29.193Z,1761334649.193 [DAT](INFO): DAT read: Rx Time:19:37:28.0583 2025-10-24T19:37:29.194Z,1761334649.194 [DAT](INFO): Rx dataTimestamp_ set to:1761334649.193686 2025-10-24T19:37:29.195Z,1761334649.195 [DAT](INFO): DAT read: Bearing 222.1, -23.4 (Local) 2025-10-24T19:37:29.196Z,1761334649.196 [DAT](INFO): Local bearing/azimuth received: Bearing 222.1, -23.4 (Local) 2025-10-24T19:37:29.198Z,1761334649.198 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.4 2025-10-24T19:37:29.204Z,1761334649.204 [DAT](INFO): DAT read: 19:37:28.0583 LVL= 17904, 21073, 11826, 21283, AGC= 43, IDX= 513, 0.01, 0.859, 2.808, 2.473, 2.591, PHS=-1.644, 0.265,-0.121, RAW= 281.0, 16.9, CAL= 287.9, 23.4, ROT= 222.1, -23.4 2025-10-24T19:37:29.205Z,1761334649.205 [DAT](INFO): got valid direction response: 19:37:28.0583 LVL= 17904, 21073, 11826, 21283, AGC= 43, IDX= 513, 0.01, 0.859, 2.808, 2.473, 2.591, PHS=-1.644, 0.265,-0.121, RAW= 281.0, 16.9, CAL= 287.9, 23.4, ROT= 222.1, -23.4 2025-10-24T19:37:29.205Z,1761334649.205 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-24T19:37:29.206Z,1761334649.206 [DAT](INFO): direction in FSK: [-0.680952,-0.615287,0.397148] 2025-10-24T19:37:29.206Z,1761334649.206 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:29.212Z,1761334649.212 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.634995 2025-10-24T19:37:29.370Z,1761334649.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.504091 s, deltaX: 0.100000 m, approachRate: 0.198377 m/s, rangeRepo size: 4 2025-10-24T19:37:29.380Z,1761334649.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.580207 m, bearing: 235.319631 deg, lat: 36.779547 deg, lon: -121.859644 deg, deltaT: 0.504091 s, deltaX: 0.099437 m, approachRate: 0.197260 m/s, posRepo size: 4 2025-10-24T19:37:29.381Z,1761334649.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m. 2025-10-24T19:37:29.446Z,1761334649.446 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.868924 2025-10-24T19:37:29.596Z,1761334649.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983551,-0.167197,0.068360],[0.171738,0.982859,-0.067033],[-0.055981,0.077670,0.995406]] 2025-10-24T19:37:29.699Z,1761334649.699 [DAT](INFO): DAT read: Rx Time:19:37:28.5584 2025-10-24T19:37:29.701Z,1761334649.701 [DAT](INFO): Rx dataTimestamp_ set to:1761334649.700008 2025-10-24T19:37:29.702Z,1761334649.702 [DAT](INFO): DAT read: Bearing 218.3, -3.6 (Local) 2025-10-24T19:37:29.703Z,1761334649.703 [DAT](INFO): Local bearing/azimuth received: Bearing 218.3, -3.6 (Local) 2025-10-24T19:37:29.706Z,1761334649.706 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 2025-10-24T19:37:29.721Z,1761334649.721 [DAT](INFO): DAT read: 19:37:28.5584 LVL= 6896, 11953, 6114, 7827, AGC= 44, IDX= 3, 0.45, 3.109,-0.794,-1.511,-1.686, PHS=-1.400, 0.939, 0.172, RAW= 288.8, 2.8, CAL= 291.7, 3.6, ROT= 218.3, -3.6 2025-10-24T19:37:29.722Z,1761334649.722 [DAT](INFO): got valid direction response: 19:37:28.5584 LVL= 6896, 11953, 6114, 7827, AGC= 44, IDX= 3, 0.45, 3.109,-0.794,-1.511,-1.686, PHS=-1.400, 0.939, 0.172, RAW= 288.8, 2.8, CAL= 291.7, 3.6, ROT= 218.3, -3.6 2025-10-24T19:37:29.722Z,1761334649.722 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-24T19:37:29.723Z,1761334649.723 [DAT](INFO): direction in FSK: [-0.783228,-0.618556,0.062791] 2025-10-24T19:37:29.724Z,1761334649.724 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:29.730Z,1761334649.730 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.153227 2025-10-24T19:37:29.949Z,1761334649.949 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.372090 2025-10-24T19:37:29.998Z,1761334649.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984764,-0.160843,0.066094],[0.165200,0.983997,-0.066777],[-0.054296,0.076678,0.995576]] 2025-10-24T19:37:30.038Z,1761334650.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.506322 s, deltaX: 0.300000 m, approachRate: 0.592509 m/s, rangeRepo size: 4 2025-10-24T19:37:30.040Z,1761334650.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.878558 m, bearing: 228.028183 deg, lat: 36.779546 deg, lon: -121.859645 deg, deltaT: 0.506322 s, deltaX: 0.298351 m, approachRate: 0.589251 m/s, posRepo size: 4 2025-10-24T19:37:30.205Z,1761334650.205 [DAT](INFO): DAT read: Rx Time:19:37:29.0585 2025-10-24T19:37:30.207Z,1761334650.207 [DAT](INFO): Rx dataTimestamp_ set to:1761334650.205525 2025-10-24T19:37:30.211Z,1761334650.211 [DAT](INFO): DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 2025-10-24T19:37:30.214Z,1761334650.214 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-24T19:37:30.219Z,1761334650.219 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.642048 2025-10-24T19:37:30.399Z,1761334650.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985759,-0.155428,0.064195],[0.159759,0.984743,-0.068976],[-0.052495,0.078249,0.995551]] 2025-10-24T19:37:30.453Z,1761334650.453 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.876292 2025-10-24T19:37:30.462Z,1761334650.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:30.471Z,1761334650.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505517 s, deltaX: 0.200000 m, approachRate: 0.395634 m/s, rangeRepo size: 4 2025-10-24T19:37:30.706Z,1761334650.706 [DAT](INFO): DAT read: Rx Time:19:37:29.5588 2025-10-24T19:37:30.706Z,1761334650.706 [DAT](INFO): Rx dataTimestamp_ set to:1761334650.705740 2025-10-24T19:37:30.707Z,1761334650.707 [DAT](INFO): DAT read: Bearing 279.7, 5.9 (Local) 2025-10-24T19:37:30.708Z,1761334650.708 [DAT](INFO): Local bearing/azimuth received: Bearing 279.7, 5.9 (Local) 2025-10-24T19:37:30.710Z,1761334650.710 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 2025-10-24T19:37:30.715Z,1761334650.715 [DAT](INFO): DAT read: 19:37:29.5588 LVL= 12832, 10609, 8914, 9811, AGC= 44, IDX= 503, 0.38, 2.811,-2.872,-1.800,-2.707, PHS=-0.677,-0.117, 0.904, RAW= 230.4, -1.6, CAL= 230.3, -5.9, ROT= 279.7, 5.9 2025-10-24T19:37:30.716Z,1761334650.716 [DAT](INFO): got valid direction response: 19:37:29.5588 LVL= 12832, 10609, 8914, 9811, AGC= 44, IDX= 503, 0.38, 2.811,-2.872,-1.800,-2.707, PHS=-0.677,-0.117, 0.904, RAW= 230.4, -1.6, CAL= 230.3, -5.9, ROT= 279.7, 5.9 2025-10-24T19:37:30.718Z,1761334650.718 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-24T19:37:30.735Z,1761334650.735 [DAT](INFO): direction in FSK: [0.167597,-0.980482,-0.102793] 2025-10-24T19:37:30.735Z,1761334650.735 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:30.766Z,1761334650.766 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.188771 2025-10-24T19:37:30.836Z,1761334650.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986481,-0.151574,0.062286],[0.155956,0.985076,-0.072825],[-0.050318,0.081554,0.995398]] 2025-10-24T19:37:30.899Z,1761334650.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.500215 s, deltaX: 0.400000 m, approachRate: 0.799656 m/s, rangeRepo size: 4 2025-10-24T19:37:30.907Z,1761334650.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.475242 m, bearing: 288.257935 deg, lat: 36.779547 deg, lon: -121.859646 deg, deltaT: 1.005732 s, deltaX: 0.596684 m, approachRate: 0.593284 m/s, posRepo size: 4 2025-10-24T19:37:30.957Z,1761334650.957 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.380304 2025-10-24T19:37:31.214Z,1761334651.214 [DAT](INFO): DAT read: Rx Time:19:37:30.0588 2025-10-24T19:37:31.220Z,1761334651.220 [DAT](INFO): Rx dataTimestamp_ set to:1761334651.214660 2025-10-24T19:37:31.221Z,1761334651.221 [DAT](INFO): DAT read: Bearing 190.0, -21.6 (Local) 2025-10-24T19:37:31.221Z,1761334651.221 [DAT](INFO): Local bearing/azimuth received: Bearing 190.0, -21.6 (Local) 2025-10-24T19:37:31.223Z,1761334651.223 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed -0.4 2025-10-24T19:37:31.255Z,1761334651.255 [DAT](INFO): DAT read: 19:37:30.0588 LVL= 12032, 24625, 13810, 16627, AGC= 45, IDX= 503,-0.41, 0.628, 3.010, 1.287, 2.247, PHS=-1.531, 0.810,-0.963, RAW= 316.6, 15.7, CAL= 320.0, 21.6, ROT= 190.0, -21.6 2025-10-24T19:37:31.261Z,1761334651.261 [DAT](INFO): got valid direction response: 19:37:30.0588 LVL= 12032, 24625, 13810, 16627, AGC= 45, IDX= 503,-0.41, 0.628, 3.010, 1.287, 2.247, PHS=-1.531, 0.810,-0.963, RAW= 316.6, 15.7, CAL= 320.0, 21.6, ROT= 190.0, -21.6 2025-10-24T19:37:31.262Z,1761334651.262 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-24T19:37:31.263Z,1761334651.263 [DAT](INFO): direction in FSK: [-0.915651,-0.161454,0.368125] 2025-10-24T19:37:31.263Z,1761334651.263 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:31.275Z,1761334651.275 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.698467 2025-10-24T19:37:31.453Z,1761334651.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.508920 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:31.455Z,1761334651.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.475255 m, bearing: 201.006798 deg, lat: 36.779546 deg, lon: -121.859646 deg, deltaT: 0.508920 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 2025-10-24T19:37:31.461Z,1761334651.461 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.884204 2025-10-24T19:37:31.714Z,1761334651.714 [DAT](INFO): DAT read: Rx Time:19:37:30.5589 2025-10-24T19:37:31.715Z,1761334651.715 [DAT](INFO): Rx dataTimestamp_ set to:1761334651.714528 2025-10-24T19:37:31.717Z,1761334651.717 [DAT](INFO): DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed -0.4 2025-10-24T19:37:31.718Z,1761334651.718 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-24T19:37:31.724Z,1761334651.724 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.142527 2025-10-24T19:37:31.906Z,1761334651.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987259,-0.147822,0.058890],[0.152493,0.984656,-0.084841],[-0.045445,0.092740,0.994653]] 2025-10-24T19:37:31.965Z,1761334651.965 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.388393 2025-10-24T19:37:31.986Z,1761334651.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.499868 s, deltaX: 0.200000 m, approachRate: 0.400105 m/s, rangeRepo size: 4 2025-10-24T19:37:32.221Z,1761334652.221 [DAT](INFO): DAT read: Rx Time:19:37:31.0590 2025-10-24T19:37:32.222Z,1761334652.222 [DAT](INFO): Rx dataTimestamp_ set to:1761334652.221257 2025-10-24T19:37:32.226Z,1761334652.226 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 2025-10-24T19:37:32.230Z,1761334652.230 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-24T19:37:32.255Z,1761334652.255 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.678307 2025-10-24T19:37:32.393Z,1761334652.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987598,-0.147388,0.054095],[0.152116,0.983560,-0.097315],[-0.038863,0.104337,0.993782]] 2025-10-24T19:37:32.446Z,1761334652.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.506729 s, deltaX: 0.100000 m, approachRate: 0.197345 m/s, rangeRepo size: 4 2025-10-24T19:37:32.472Z,1761334652.472 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.894436 2025-10-24T19:37:32.721Z,1761334652.721 [DAT](INFO): DAT read: Rx Time:19:37:31.5592 2025-10-24T19:37:32.721Z,1761334652.721 [DAT](INFO): Rx dataTimestamp_ set to:1761334652.721189 2025-10-24T19:37:32.723Z,1761334652.723 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed -0.4 2025-10-24T19:37:32.723Z,1761334652.723 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-24T19:37:32.724Z,1761334652.724 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.147684 2025-10-24T19:37:32.793Z,1761334652.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987463,-0.149216,0.051498],[0.153902,0.982606,-0.103925],[-0.035095,0.110548,0.993251]] 2025-10-24T19:37:32.810Z,1761334652.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:32.813Z,1761334652.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.499932 s, deltaX: 0.300000 m, approachRate: 0.600081 m/s, rangeRepo size: 4 2025-10-24T19:37:32.977Z,1761334652.977 [DAT](INFO): DAT read: Rx Time:19:37:32.0593 2025-10-24T19:37:32.979Z,1761334652.979 [DAT](INFO): Rx dataTimestamp_ set to:1761334652.977588 2025-10-24T19:37:32.982Z,1761334652.982 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.404205 2025-10-24T19:37:33.230Z,1761334653.230 [DAT](INFO): DAT read: Range 10 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 2025-10-24T19:37:33.233Z,1761334653.233 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-24T19:37:33.237Z,1761334653.237 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.659897 2025-10-24T19:37:33.253Z,1761334653.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987404,-0.150629,0.048416],[0.155129,0.981860,-0.109019],[-0.031117,0.115157,0.992860]] 2025-10-24T19:37:33.331Z,1761334653.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504717 s, deltaX: 0.200000 m, approachRate: 0.396262 m/s, rangeRepo size: 4 2025-10-24T19:37:33.480Z,1761334653.480 [DAT](INFO): DAT read: Rx Time:19:37:32.5595 2025-10-24T19:37:33.482Z,1761334653.482 [DAT](INFO): Rx dataTimestamp_ set to:1761334653.480973 2025-10-24T19:37:33.485Z,1761334653.485 [DAT](INFO): DAT read: Bearing 170.7, -14.3 (Local) 2025-10-24T19:37:33.487Z,1761334653.487 [DAT](INFO): Local bearing/azimuth received: Bearing 170.7, -14.3 (Local) 2025-10-24T19:37:33.490Z,1761334653.490 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.912174 2025-10-24T19:37:33.605Z,1761334653.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987124,-0.153365,0.045450],[0.157630,0.980963,-0.113423],[-0.027189,0.119127,0.992507]] 2025-10-24T19:37:33.731Z,1761334653.731 [DAT](INFO): DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed -0.4 2025-10-24T19:37:33.738Z,1761334653.738 [DAT](INFO): DAT read: 19:37:32.5595 LVL= 17472, 32753, 32754, 28771, AGC= 49, IDX= 509, 0.11, 0.488, 2.525, 0.236, 1.491, PHS=-0.915, 1.081,-1.259, RAW= 337.8, 10.0, CAL= 339.3, 14.3, ROT= 170.7, -14.3 2025-10-24T19:37:33.739Z,1761334653.739 [DAT](INFO): got valid direction response: 19:37:32.5595 LVL= 17472, 32753, 32754, 28771, AGC= 49, IDX= 509, 0.11, 0.488, 2.525, 0.236, 1.491, PHS=-0.915, 1.081,-1.259, RAW= 337.8, 10.0, CAL= 339.3, 14.3, ROT= 170.7, -14.3 2025-10-24T19:37:33.740Z,1761334653.740 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-24T19:37:33.741Z,1761334653.741 [DAT](INFO): direction in FSK: [-0.956279,0.156597,0.246999] 2025-10-24T19:37:33.741Z,1761334653.741 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:33.749Z,1761334653.749 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.172478 2025-10-24T19:37:33.984Z,1761334653.984 [DAT](INFO): DAT read: Rx Time:19:37:33.0601 2025-10-24T19:37:33.985Z,1761334653.985 [DAT](INFO): Rx dataTimestamp_ set to:1761334653.984612 2025-10-24T19:37:33.986Z,1761334653.986 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-24T19:37:33.987Z,1761334653.987 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-24T19:37:33.992Z,1761334653.992 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.410961 2025-10-24T19:37:34.022Z,1761334654.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986934,-0.155599,0.041833],[0.159494,0.980287,-0.116613],[-0.022863,0.121761,0.992296]] 2025-10-24T19:37:34.090Z,1761334654.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.758706 s, deltaX: 1.000000 m, approachRate: 1.318034 m/s, rangeRepo size: 4 2025-10-24T19:37:34.096Z,1761334654.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.265456 m, bearing: 181.663365 deg, lat: 36.779546 deg, lon: -121.859646 deg, deltaT: 2.769952 s, deltaX: 1.790201 m, approachRate: 0.646293 m/s, posRepo size: 4 2025-10-24T19:37:34.237Z,1761334654.237 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.659538 2025-10-24T19:37:34.411Z,1761334654.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986642,-0.158325,0.038346],[0.161820,0.979641,-0.118819],[-0.018753,0.123437,0.992175]] 2025-10-24T19:37:34.486Z,1761334654.486 [DAT](INFO): DAT read: Rx Time:19:37:33.5598 2025-10-24T19:37:34.487Z,1761334654.487 [DAT](INFO): Rx dataTimestamp_ set to:1761334654.486384 2025-10-24T19:37:34.488Z,1761334654.488 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-24T19:37:34.489Z,1761334654.489 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-24T19:37:34.490Z,1761334654.490 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.912861 2025-10-24T19:37:34.737Z,1761334654.737 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.160522 2025-10-24T19:37:34.814Z,1761334654.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986338,-0.161129,0.034280],[0.164108,0.979211,-0.119221],[-0.014358,0.123218,0.992276]] 2025-10-24T19:37:34.841Z,1761334654.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:34.843Z,1761334654.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.501772 s, deltaX: -0.300000 m, approachRate: -0.597881 m/s, rangeRepo size: 4 2025-10-24T19:37:34.993Z,1761334654.993 [DAT](INFO): DAT read: Rx Time:19:37:34.0599 2025-10-24T19:37:34.995Z,1761334654.995 [DAT](INFO): Rx dataTimestamp_ set to:1761334654.993970 2025-10-24T19:37:34.998Z,1761334654.998 [DAT](INFO): DAT read: Bearing 165.7, -75.7 (Local) 2025-10-24T19:37:34.999Z,1761334654.999 [DAT](INFO): Local bearing/azimuth received: Bearing 165.7, -75.7 (Local) 2025-10-24T19:37:35.006Z,1761334655.006 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-24T19:37:35.012Z,1761334655.012 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-24T19:37:35.015Z,1761334655.015 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.438227 2025-10-24T19:37:35.258Z,1761334655.258 [DAT](INFO): DAT read: 19:37:34.0599 LVL= 15200, 19009, 21842, 18211, AGC= 53, IDX= 515, 0.12,-2.873,-2.569,-2.879,-1.547, PHS=-1.238,-0.975,-1.335, RAW= 345.2, 75.6, CAL= 344.3, 75.7, ROT= 165.7, -75.7 2025-10-24T19:37:35.267Z,1761334655.267 [DAT](INFO): got valid direction response: 19:37:34.0599 LVL= 15200, 19009, 21842, 18211, AGC= 53, IDX= 515, 0.12,-2.873,-2.569,-2.879,-1.547, PHS=-1.238,-0.975,-1.335, RAW= 345.2, 75.6, CAL= 344.3, 75.7, ROT= 165.7, -75.7 2025-10-24T19:37:35.273Z,1761334655.273 [DAT](INFO): #Rx 36: Read direction message, but no range. 2025-10-24T19:37:35.296Z,1761334655.296 [DAT](INFO): direction in FSK: [-0.239346,0.061009,0.969016] 2025-10-24T19:37:35.299Z,1761334655.299 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.722593 2025-10-24T19:37:35.310Z,1761334655.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985908,-0.164400,0.030956],[0.166952,0.978673,-0.119696],[-0.010618,0.123178,0.992328]] 2025-10-24T19:37:35.429Z,1761334655.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.507586 s, deltaX: 0.200000 m, approachRate: 0.394022 m/s, rangeRepo size: 4 2025-10-24T19:37:35.431Z,1761334655.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.166076 m, bearing: 204.014909 deg, lat: 36.779546 deg, lon: -121.859632 deg, deltaT: 1.009358 s, deltaX: -0.099380 m, approachRate: -0.098459 m/s, posRepo size: 4 2025-10-24T19:37:35.493Z,1761334655.493 [DAT](INFO): DAT read: Rx Time:19:37:34.5603 2025-10-24T19:37:35.494Z,1761334655.494 [DAT](INFO): Rx dataTimestamp_ set to:1761334655.493371 2025-10-24T19:37:35.495Z,1761334655.495 [DAT](INFO): DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-24T19:37:35.496Z,1761334655.496 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-24T19:37:35.497Z,1761334655.497 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.919985 2025-10-24T19:37:35.745Z,1761334655.745 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.168205 2025-10-24T19:37:35.830Z,1761334655.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985431,-0.167855,0.027393],[0.169948,0.978070,-0.120400],[-0.006582,0.123301,0.992348]] 2025-10-24T19:37:35.871Z,1761334655.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.499401 s, deltaX: 0.400000 m, approachRate: 0.800960 m/s, rangeRepo size: 4 2025-10-24T19:37:36.000Z,1761334656.000 [DAT](INFO): DAT read: Rx Time:19:37:35.0601 2025-10-24T19:37:36.002Z,1761334656.002 [DAT](INFO): Rx dataTimestamp_ set to:1761334656.001230 2025-10-24T19:37:36.005Z,1761334656.005 [DAT](INFO): DAT read: Bearing 14.3, -51.4 (Local) 2025-10-24T19:37:36.006Z,1761334656.006 [DAT](INFO): Local bearing/azimuth received: Bearing 14.3, -51.4 (Local) 2025-10-24T19:37:36.021Z,1761334656.021 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-24T19:37:36.023Z,1761334656.023 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-24T19:37:36.026Z,1761334656.026 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.448608 2025-10-24T19:37:36.279Z,1761334656.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984970,-0.171084,0.023748],[0.172705,0.977610,-0.120219],[-0.002649,0.122513,0.992463]] 2025-10-24T19:37:36.280Z,1761334656.280 [DAT](INFO): DAT read: 19:37:35.0601 LVL= 19184, 15345, 19442, 25715, AGC= 53, IDX= 501, 0.46,-2.652, 1.807, 2.934,-2.037, PHS=-0.526,-2.392,-1.315, RAW= 125.1, 42.7, CAL= 135.7, 51.4, ROT= 14.3, -51.4 2025-10-24T19:37:36.285Z,1761334656.285 [DAT](INFO): got valid direction response: 19:37:35.0601 LVL= 19184, 15345, 19442, 25715, AGC= 53, IDX= 501, 0.46,-2.652, 1.807, 2.934,-2.037, PHS=-0.526,-2.392,-1.315, RAW= 125.1, 42.7, CAL= 135.7, 51.4, ROT= 14.3, -51.4 2025-10-24T19:37:36.286Z,1761334656.286 [DAT](INFO): #Rx 39: Read direction message, but no range. 2025-10-24T19:37:36.312Z,1761334656.312 [DAT](INFO): direction in FSK: [0.604549,0.154098,0.781520] 2025-10-24T19:37:36.320Z,1761334656.320 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.738888 2025-10-24T19:37:36.442Z,1761334656.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.507859 s, deltaX: -0.300000 m, approachRate: -0.590715 m/s, rangeRepo size: 4 2025-10-24T19:37:36.461Z,1761334656.461 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:37:36.463Z,1761334656.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.265565 m, bearing: 15.330574 deg, lat: 36.779581 deg, lon: -121.859619 deg, deltaT: 1.007260 s, deltaX: 0.099489 m, approachRate: 0.098772 m/s, posRepo size: 4 2025-10-24T19:37:36.505Z,1761334656.505 [DAT](INFO): DAT read: Rx Time:19:37:35.5604 2025-10-24T19:37:36.506Z,1761334656.506 [DAT](INFO): Rx dataTimestamp_ set to:1761334656.505554 2025-10-24T19:37:36.543Z,1761334656.543 [DAT](INFO): DAT read: Bearing 43.0, -60.5 (Local) 2025-10-24T19:37:36.560Z,1761334656.560 [DAT](INFO): Local bearing/azimuth received: Bearing 43.0, -60.5 (Local) 2025-10-24T19:37:36.563Z,1761334656.563 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4 2025-10-24T19:37:36.579Z,1761334656.579 [DAT](INFO): DAT read: 19:37:35.5604 LVL= 22240, 15409, 20242, 25827, AGC= 54, IDX= 504,-0.16, 0.417,-0.512,-0.206, 1.068, PHS=-0.563,-1.532,-1.277, RAW= 104.7, 53.9, CAL= 107.0, 60.5, ROT= 43.0, -60.5 2025-10-24T19:37:36.585Z,1761334656.585 [DAT](INFO): got valid direction response: 19:37:35.5604 LVL= 22240, 15409, 20242, 25827, AGC= 54, IDX= 504,-0.16, 0.417,-0.512,-0.206, 1.068, PHS=-0.563,-1.532,-1.277, RAW= 104.7, 53.9, CAL= 107.0, 60.5, ROT= 43.0, -60.5 2025-10-24T19:37:36.585Z,1761334656.585 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-24T19:37:36.586Z,1761334656.586 [DAT](INFO): direction in FSK: [0.360136,0.335832,0.870356] 2025-10-24T19:37:36.587Z,1761334656.587 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:36.595Z,1761334656.595 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.018028 2025-10-24T19:37:36.754Z,1761334656.754 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.177299 2025-10-24T19:37:36.947Z,1761334656.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984140,-0.176547,0.017335],[0.177344,0.976770,-0.120286],[0.004303,0.121453,0.992588]] 2025-10-24T19:37:37.005Z,1761334657.005 [DAT](INFO): DAT read: Rx Time:19:37:36.0605 2025-10-24T19:37:37.006Z,1761334657.006 [DAT](INFO): Rx dataTimestamp_ set to:1761334657.005265 2025-10-24T19:37:37.007Z,1761334657.007 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4 2025-10-24T19:37:37.007Z,1761334657.007 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-24T19:37:37.008Z,1761334657.008 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.431772 2025-10-24T19:37:37.011Z,1761334657.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 1.004035 s, deltaX: 0.600000 m, approachRate: 0.597589 m/s, rangeRepo size: 4 2025-10-24T19:37:37.018Z,1761334657.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.762833 m, bearing: 42.793872 deg, lat: 36.779581 deg, lon: -121.859616 deg, deltaT: 0.504324 s, deltaX: 0.497267 m, approachRate: 0.986008 m/s, posRepo size: 4 2025-10-24T19:37:37.261Z,1761334657.261 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.683039 2025-10-24T19:37:37.345Z,1761334657.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983500,-0.180315,0.014606],[0.180758,0.976233,-0.119562],[0.007300,0.120230,0.992719]] 2025-10-24T19:37:37.407Z,1761334657.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:37:37.464Z,1761334657.464 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:37:37.511Z,1761334657.511 [DAT](INFO): DAT read: Rx Time:19:37:36.5608 2025-10-24T19:37:37.511Z,1761334657.511 [DAT](INFO): Rx dataTimestamp_ set to:1761334657.510816 2025-10-24T19:37:37.541Z,1761334657.541 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed -0.4 2025-10-24T19:37:37.542Z,1761334657.542 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-24T19:37:37.543Z,1761334657.543 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.966686 2025-10-24T19:37:37.747Z,1761334657.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983112,-0.182622,0.011858],[0.182722,0.975918,-0.119151],[0.010187,0.119305,0.992805]] 2025-10-24T19:37:37.761Z,1761334657.761 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.184160 2025-10-24T19:37:37.817Z,1761334657.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.505551 s, deltaX: 0.500000 m, approachRate: 0.989020 m/s, rangeRepo size: 4 2025-10-24T19:37:38.013Z,1761334658.013 [DAT](INFO): DAT read: Rx Time:19:37:37.0612 2025-10-24T19:37:38.013Z,1761334658.013 [DAT](INFO): Rx dataTimestamp_ set to:1761334658.013213 2025-10-24T19:37:38.015Z,1761334658.015 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 2025-10-24T19:37:38.015Z,1761334658.015 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-24T19:37:38.017Z,1761334658.017 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.439678 2025-10-24T19:37:38.161Z,1761334658.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982416,-0.186471,0.009353],[0.186244,0.975241,-0.119236],[0.013112,0.118881,0.992822]] 2025-10-24T19:37:38.180Z,1761334658.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.502397 s, deltaX: 0.600000 m, approachRate: 1.194274 m/s, rangeRepo size: 4 2025-10-24T19:37:38.270Z,1761334658.270 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.692432 2025-10-24T19:37:38.518Z,1761334658.518 [DAT](INFO): DAT read: Rx Time:19:37:37.5615 2025-10-24T19:37:38.518Z,1761334658.518 [DAT](INFO): Rx dataTimestamp_ set to:1761334658.517783 2025-10-24T19:37:38.519Z,1761334658.519 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-24T19:37:38.520Z,1761334658.520 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-24T19:37:38.521Z,1761334658.521 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.944262 2025-10-24T19:37:38.555Z,1761334658.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982038,-0.188573,0.006509],[0.188023,0.975119,-0.117436],[0.015798,0.116551,0.993059]] 2025-10-24T19:37:38.634Z,1761334658.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504570 s, deltaX: 0.400000 m, approachRate: 0.792753 m/s, rangeRepo size: 4 2025-10-24T19:37:38.635Z,1761334658.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 8.40 m. Rolling out. 2025-10-24T19:37:38.635Z,1761334658.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-24T19:37:38.649Z,1761334658.649 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T19:37:38.769Z,1761334658.769 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.192354 2025-10-24T19:37:38.963Z,1761334658.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981578,-0.191008,0.004509],[0.190203,0.974661,-0.117725],[0.018092,0.116414,0.993036]] 2025-10-24T19:37:38.994Z,1761334658.994 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-24T19:37:38.994Z,1761334658.994 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T19:37:38.994Z,1761334658.994 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-24T19:37:38.995Z,1761334658.995 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 8.400000 m (mode 5.000000 count ). 2025-10-24T19:37:38.996Z,1761334658.996 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-24T19:37:38.996Z,1761334658.996 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-24T19:37:38.997Z,1761334658.997 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-24T19:37:38.997Z,1761334658.997 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T19:37:38.997Z,1761334658.997 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-24T19:37:38.998Z,1761334658.998 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 8.400000 m (mode 5.000000 count ). 2025-10-24T19:37:38.998Z,1761334658.998 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-24T19:37:38.998Z,1761334658.998 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-24T19:37:39.001Z,1761334659.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:39.003Z,1761334659.003 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-24T19:37:39.003Z,1761334659.003 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-24T19:37:39.003Z,1761334659.003 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-24T19:37:39.003Z,1761334659.003 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-24T19:37:39.021Z,1761334659.021 [DAT](INFO): DAT read: Rx Time:19:37:38.0615 2025-10-24T19:37:39.021Z,1761334659.021 [DAT](INFO): Rx dataTimestamp_ set to:1761334659.021075 2025-10-24T19:37:39.023Z,1761334659.023 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-24T19:37:39.023Z,1761334659.023 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-24T19:37:39.024Z,1761334659.024 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.447557 2025-10-24T19:37:39.277Z,1761334659.277 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.699024 2025-10-24T19:37:39.365Z,1761334659.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981315,-0.192392,0.002654],[0.191356,0.974402,-0.118002],[0.020117,0.116305,0.993010]] 2025-10-24T19:37:39.415Z,1761334659.415 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-24T19:37:39.415Z,1761334659.415 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-24T19:37:39.415Z,1761334659.415 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-24T19:37:39.416Z,1761334659.416 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-24T19:37:39.419Z,1761334659.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503292 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:39.420Z,1761334659.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:39.525Z,1761334659.525 [DAT](INFO): DAT read: Rx Time:19:37:38.5614 2025-10-24T19:37:39.526Z,1761334659.526 [DAT](INFO): Rx dataTimestamp_ set to:1761334659.525230 2025-10-24T19:37:39.527Z,1761334659.527 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed -3.5 2025-10-24T19:37:39.527Z,1761334659.527 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-24T19:37:39.529Z,1761334659.529 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.952070 2025-10-24T19:37:39.777Z,1761334659.777 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.200817 2025-10-24T19:37:39.804Z,1761334659.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981310,-0.192431,-0.000247],[0.191069,0.974516,-0.117524],[0.022856,0.115280,0.993070]] 2025-10-24T19:37:39.846Z,1761334659.846 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-24T19:37:39.847Z,1761334659.847 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-24T19:37:39.853Z,1761334659.853 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-24T19:37:39.853Z,1761334659.853 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-24T19:37:39.860Z,1761334659.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.504155 s, deltaX: -0.099999 m, approachRate: -0.198351 m/s, rangeRepo size: 4 2025-10-24T19:37:39.860Z,1761334659.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:40.030Z,1761334660.030 [DAT](INFO): DAT read: Rx Time:19:37:39.0615 2025-10-24T19:37:40.030Z,1761334660.030 [DAT](INFO): Rx dataTimestamp_ set to:1761334660.029745 2025-10-24T19:37:40.032Z,1761334660.032 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-24T19:37:40.033Z,1761334660.033 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-24T19:37:40.035Z,1761334660.035 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.458002 2025-10-24T19:37:40.228Z,1761334660.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981261,-0.192675,-0.001633],[0.190932,0.973456,-0.126205],[0.025906,0.123528,0.992003]] 2025-10-24T19:37:40.267Z,1761334660.267 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-24T19:37:40.267Z,1761334660.267 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T19:37:40.267Z,1761334660.267 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-24T19:37:40.272Z,1761334660.272 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T19:37:40.273Z,1761334660.273 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-24T19:37:40.273Z,1761334660.273 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T19:37:40.273Z,1761334660.273 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-24T19:37:40.273Z,1761334660.273 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T19:37:40.285Z,1761334660.285 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.707888 2025-10-24T19:37:40.287Z,1761334660.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504515 s, deltaX: 0.099999 m, approachRate: 0.198209 m/s, rangeRepo size: 4 2025-10-24T19:37:40.292Z,1761334660.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:40.533Z,1761334660.533 [DAT](INFO): DAT read: Rx Time:19:37:39.5617 2025-10-24T19:37:40.534Z,1761334660.534 [DAT](INFO): Rx dataTimestamp_ set to:1761334660.533908 2025-10-24T19:37:40.536Z,1761334660.536 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4 2025-10-24T19:37:40.536Z,1761334660.536 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-24T19:37:40.537Z,1761334660.537 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.960720 2025-10-24T19:37:40.628Z,1761334660.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981134,-0.193319,-0.002148],[0.191278,0.972269,-0.134560],[0.028102,0.131610,0.990903]] 2025-10-24T19:37:40.682Z,1761334660.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504163 s, deltaX: 0.300000 m, approachRate: 0.595046 m/s, rangeRepo size: 4 2025-10-24T19:37:40.683Z,1761334660.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:40.786Z,1761334660.786 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.209095 2025-10-24T19:37:41.037Z,1761334661.037 [DAT](INFO): DAT read: Rx Time:19:37:40.0617 2025-10-24T19:37:41.038Z,1761334661.038 [DAT](INFO): Rx dataTimestamp_ set to:1761334661.037337 2025-10-24T19:37:41.039Z,1761334661.039 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 4.2 2025-10-24T19:37:41.039Z,1761334661.039 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-24T19:37:41.040Z,1761334661.040 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.463776 2025-10-24T19:37:41.045Z,1761334661.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980729,-0.195367,-0.001755],[0.192997,0.970151,-0.146829],[0.030388,0.143660,0.989160]] 2025-10-24T19:37:41.066Z,1761334661.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503429 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:41.067Z,1761334661.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:41.289Z,1761334661.289 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.712065 2025-10-24T19:37:41.441Z,1761334661.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980549,-0.196269,-0.001172],[0.193832,0.969274,-0.151450],[0.030861,0.148277,0.988464]] 2025-10-24T19:37:41.504Z,1761334661.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:41.541Z,1761334661.541 [DAT](INFO): DAT read: Rx Time:19:37:40.5620 2025-10-24T19:37:41.542Z,1761334661.542 [DAT](INFO): Rx dataTimestamp_ set to:1761334661.541582 2025-10-24T19:37:41.543Z,1761334661.543 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed -3.4 2025-10-24T19:37:41.544Z,1761334661.544 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-24T19:37:41.545Z,1761334661.545 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.968222 2025-10-24T19:37:41.793Z,1761334661.793 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.216246 2025-10-24T19:37:41.839Z,1761334661.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980552,-0.196254,-0.000985],[0.193763,0.968879,-0.154042],[0.031186,0.150855,0.988064]] 2025-10-24T19:37:41.879Z,1761334661.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504245 s, deltaX: 0.500000 m, approachRate: 0.991581 m/s, rangeRepo size: 4 2025-10-24T19:37:41.880Z,1761334661.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:42.050Z,1761334662.050 [DAT](INFO): DAT read: Rx Time:19:37:41.0620 2025-10-24T19:37:42.051Z,1761334662.051 [DAT](INFO): Rx dataTimestamp_ set to:1761334662.050148 2025-10-24T19:37:42.052Z,1761334662.052 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed -0.3 2025-10-24T19:37:42.053Z,1761334662.053 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-24T19:37:42.054Z,1761334662.054 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.477013 2025-10-24T19:37:42.244Z,1761334662.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980492,-0.196559,-0.000749],[0.194032,0.968482,-0.156184],[0.031425,0.152992,0.987728]] 2025-10-24T19:37:42.267Z,1761334662.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.508566 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:42.267Z,1761334662.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:42.297Z,1761334662.297 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.720661 2025-10-24T19:37:42.549Z,1761334662.549 [DAT](INFO): DAT read: Rx Time:19:37:41.5622 2025-10-24T19:37:42.549Z,1761334662.549 [DAT](INFO): Rx dataTimestamp_ set to:1761334662.549137 2025-10-24T19:37:42.551Z,1761334662.551 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed -0.3 2025-10-24T19:37:42.552Z,1761334662.552 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-24T19:37:42.553Z,1761334662.553 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.976360 2025-10-24T19:37:42.648Z,1761334662.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980571,-0.196164,-0.000680],[0.193631,0.968455,-0.156851],[0.031427,0.153672,0.987622]] 2025-10-24T19:37:42.697Z,1761334662.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.498989 s, deltaX: 0.300000 m, approachRate: 0.601216 m/s, rangeRepo size: 4 2025-10-24T19:37:42.698Z,1761334662.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:42.801Z,1761334662.801 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.224689 2025-10-24T19:37:43.053Z,1761334663.053 [DAT](INFO): DAT read: Rx Time:19:37:42.0623 2025-10-24T19:37:43.054Z,1761334663.054 [DAT](INFO): Rx dataTimestamp_ set to:1761334663.053272 2025-10-24T19:37:43.055Z,1761334663.055 [DAT](INFO): DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed -3.3 2025-10-24T19:37:43.055Z,1761334663.055 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-24T19:37:43.056Z,1761334663.056 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.479769 2025-10-24T19:37:43.058Z,1761334663.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980489,-0.196575,-0.000457],[0.194032,0.968176,-0.158073],[0.031516,0.154901,0.987427]] 2025-10-24T19:37:43.078Z,1761334663.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504135 s, deltaX: 0.100000 m, approachRate: 0.198360 m/s, rangeRepo size: 4 2025-10-24T19:37:43.078Z,1761334663.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:43.305Z,1761334663.305 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.728243 2025-10-24T19:37:43.455Z,1761334663.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980562,-0.196208,-0.000283],[0.193685,0.968185,-0.158442],[0.031362,0.155308,0.987368]] 2025-10-24T19:37:43.533Z,1761334663.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:43.557Z,1761334663.557 [DAT](INFO): DAT read: Rx Time:19:37:42.5625 2025-10-24T19:37:43.558Z,1761334663.558 [DAT](INFO): Rx dataTimestamp_ set to:1761334663.557229 2025-10-24T19:37:43.559Z,1761334663.559 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -3.3 2025-10-24T19:37:43.559Z,1761334663.559 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-24T19:37:43.563Z,1761334663.563 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.986406 2025-10-24T19:37:43.809Z,1761334663.809 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.232170 2025-10-24T19:37:43.860Z,1761334663.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980529,-0.196372,0.000079],[0.193853,0.967884,-0.160064],[0.031356,0.156963,0.987107]] 2025-10-24T19:37:43.912Z,1761334663.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503957 s, deltaX: 0.299999 m, approachRate: 0.595287 m/s, rangeRepo size: 4 2025-10-24T19:37:43.913Z,1761334663.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:44.061Z,1761334664.061 [DAT](INFO): DAT read: Rx Time:19:37:43.0625 2025-10-24T19:37:44.062Z,1761334664.062 [DAT](INFO): Rx dataTimestamp_ set to:1761334664.061408 2025-10-24T19:37:44.063Z,1761334664.063 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.3 2025-10-24T19:37:44.064Z,1761334664.064 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-24T19:37:44.065Z,1761334664.065 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.487881 2025-10-24T19:37:44.267Z,1761334664.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980569,-0.196175,0.000485],[0.193650,0.967550,-0.162318],[0.031373,0.159258,0.986738]] 2025-10-24T19:37:44.287Z,1761334664.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504179 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:44.287Z,1761334664.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:44.326Z,1761334664.326 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.749050 2025-10-24T19:37:44.577Z,1761334664.577 [DAT](INFO): DAT read: Rx Time:19:37:43.5626 2025-10-24T19:37:44.577Z,1761334664.577 [DAT](INFO): Rx dataTimestamp_ set to:1761334664.577162 2025-10-24T19:37:44.579Z,1761334664.579 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.3 2025-10-24T19:37:44.587Z,1761334664.587 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-24T19:37:44.588Z,1761334664.588 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.011292 2025-10-24T19:37:44.668Z,1761334664.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980535,-0.196343,0.000755],[0.193824,0.967331,-0.163409],[0.031354,0.160374,0.986558]] 2025-10-24T19:37:44.713Z,1761334664.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.515754 s, deltaX: 0.300000 m, approachRate: 0.581673 m/s, rangeRepo size: 4 2025-10-24T19:37:44.714Z,1761334664.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:44.830Z,1761334664.830 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.253275 2025-10-24T19:37:45.071Z,1761334665.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980562,-0.196209,0.000932],[0.193681,0.967148,-0.164656],[0.031406,0.161636,0.986351]] 2025-10-24T19:37:45.081Z,1761334665.081 [DAT](INFO): DAT read: Rx Time:19:37:44.0627 2025-10-24T19:37:45.081Z,1761334665.081 [DAT](INFO): Rx dataTimestamp_ set to:1761334665.081226 2025-10-24T19:37:45.083Z,1761334665.083 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed -0.4 2025-10-24T19:37:45.084Z,1761334665.084 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-24T19:37:45.085Z,1761334665.085 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.508369 2025-10-24T19:37:45.129Z,1761334665.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504064 s, deltaX: 0.200000 m, approachRate: 0.396775 m/s, rangeRepo size: 4 2025-10-24T19:37:45.129Z,1761334665.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:45.336Z,1761334665.336 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.759027 2025-10-24T19:37:45.502Z,1761334665.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980678,-0.195626,0.001031],[0.193119,0.967244,-0.164756],[0.031234,0.161772,0.986334]] 2025-10-24T19:37:45.548Z,1761334665.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:45.586Z,1761334665.586 [DAT](INFO): DAT read: Rx Time:19:37:44.5629 2025-10-24T19:37:45.586Z,1761334665.586 [DAT](INFO): Rx dataTimestamp_ set to:1761334665.586157 2025-10-24T19:37:45.596Z,1761334665.596 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.8 2025-10-24T19:37:45.597Z,1761334665.597 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-24T19:37:45.598Z,1761334665.598 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.021141 2025-10-24T19:37:45.837Z,1761334665.837 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.260096 2025-10-24T19:37:45.880Z,1761334665.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980623,-0.195903,0.000536],[0.193282,0.967050,-0.165702],[0.031943,0.162595,0.986176]] 2025-10-24T19:37:45.942Z,1761334665.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504931 s, deltaX: 0.300000 m, approachRate: 0.594141 m/s, rangeRepo size: 4 2025-10-24T19:37:45.942Z,1761334665.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:46.089Z,1761334666.089 [DAT](INFO): DAT read: Rx Time:19:37:45.0629 2025-10-24T19:37:46.090Z,1761334666.090 [DAT](INFO): Rx dataTimestamp_ set to:1761334666.089457 2025-10-24T19:37:46.091Z,1761334666.091 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4 2025-10-24T19:37:46.092Z,1761334666.092 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-24T19:37:46.093Z,1761334666.093 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.515940 2025-10-24T19:37:46.292Z,1761334666.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980824,-0.194896,0.000900],[0.192325,0.967117,-0.166423],[0.031565,0.163405,0.986054]] 2025-10-24T19:37:46.311Z,1761334666.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503300 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:46.311Z,1761334666.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-24T19:37:46.341Z,1761334666.341 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.764273 2025-10-24T19:37:46.595Z,1761334666.595 [DAT](INFO): DAT read: Rx Time:19:37:45.5631 2025-10-24T19:37:46.595Z,1761334666.595 [DAT](INFO): Rx dataTimestamp_ set to:1761334666.594731 2025-10-24T19:37:46.599Z,1761334666.599 [DAT](INFO): DAT read: Bearing 156.3, -33.0 (Local) 2025-10-24T19:37:46.600Z,1761334666.600 [DAT](INFO): Local bearing/azimuth received: Bearing 156.3, -33.0 (Local) 2025-10-24T19:37:46.603Z,1761334666.603 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 2025-10-24T19:37:46.611Z,1761334666.611 [DAT](INFO): DAT read: 19:37:45.5631 LVL= 15568, 27121, 19618, 23539, AGC= 59, IDX= 513, 0.14, 0.945, 1.721, 0.412, 1.703, PHS=-0.669, 0.065,-1.293, RAW= 357.3, 29.7, CAL= 353.7, 33.0, ROT= 156.3, -33.0 2025-10-24T19:37:46.628Z,1761334666.628 [DAT](INFO): got valid direction response: 19:37:45.5631 LVL= 15568, 27121, 19618, 23539, AGC= 59, IDX= 513, 0.14, 0.945, 1.721, 0.412, 1.703, PHS=-0.669, 0.065,-1.293, RAW= 357.3, 29.7, CAL= 353.7, 33.0, ROT= 156.3, -33.0 2025-10-24T19:37:46.629Z,1761334666.629 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-24T19:37:46.630Z,1761334666.630 [DAT](INFO): direction in FSK: [-0.767939,0.337102,0.544639] 2025-10-24T19:37:46.630Z,1761334666.630 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:46.638Z,1761334666.638 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.061033 2025-10-24T19:37:46.786Z,1761334666.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.505274 s, deltaX: 0.300000 m, approachRate: 0.593738 m/s, rangeRepo size: 4 2025-10-24T19:37:46.792Z,1761334666.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.939572 m, bearing: 173.884882 deg, lat: 36.779581 deg, lon: -121.859600 deg, deltaT: 10.089177 s, deltaX: 4.176740 m, approachRate: 0.413982 m/s, posRepo size: 4 2025-10-24T19:37:46.793Z,1761334666.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:46.845Z,1761334666.845 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.268551 2025-10-24T19:37:47.093Z,1761334667.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981046,-0.193775,0.000634],[0.191113,0.967019,-0.168372],[0.032013,0.165302,0.985723]] 2025-10-24T19:37:47.098Z,1761334667.098 [DAT](INFO): DAT read: Rx Time:19:37:46.0631 2025-10-24T19:37:47.098Z,1761334667.098 [DAT](INFO): Rx dataTimestamp_ set to:1761334667.097777 2025-10-24T19:37:47.099Z,1761334667.099 [DAT](INFO): DAT read: Bearing 177.0, -18.6 (Local) 2025-10-24T19:37:47.100Z,1761334667.100 [DAT](INFO): Local bearing/azimuth received: Bearing 177.0, -18.6 (Local) 2025-10-24T19:37:47.103Z,1761334667.103 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed -0.2 2025-10-24T19:37:47.108Z,1761334667.108 [DAT](INFO): DAT read: 19:37:46.0631 LVL= 16368, 27009, 19122, 30963, AGC= 59, IDX= 513, 0.30,-0.516, 1.519,-0.431, 0.661, PHS=-1.089, 0.905,-1.095, RAW= 330.2, 12.7, CAL= 333.0, 18.6, ROT= 177.0, -18.6 2025-10-24T19:37:47.109Z,1761334667.109 [DAT](INFO): got valid direction response: 19:37:46.0631 LVL= 16368, 27009, 19122, 30963, AGC= 59, IDX= 513, 0.30,-0.516, 1.519,-0.431, 0.661, PHS=-1.089, 0.905,-1.095, RAW= 330.2, 12.7, CAL= 333.0, 18.6, ROT= 177.0, -18.6 2025-10-24T19:37:47.109Z,1761334667.109 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-24T19:37:47.110Z,1761334667.110 [DAT](INFO): direction in FSK: [-0.946470,0.049602,0.318959] 2025-10-24T19:37:47.111Z,1761334667.111 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:47.142Z,1761334667.142 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.565636 2025-10-24T19:37:47.188Z,1761334667.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:47.190Z,1761334667.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.939572 m, bearing: 191.253082 deg, lat: 36.779581 deg, lon: -121.859600 deg, deltaT: 0.503046 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T19:37:47.191Z,1761334667.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:47.349Z,1761334667.349 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.772362 2025-10-24T19:37:47.504Z,1761334667.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981163,-0.193182,0.000184],[0.190422,0.966981,-0.169372],[0.032542,0.166217,0.985552]] 2025-10-24T19:37:47.551Z,1761334667.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:47.602Z,1761334667.602 [DAT](INFO): DAT read: Rx Time:19:37:46.5632 2025-10-24T19:37:47.602Z,1761334667.602 [DAT](INFO): Rx dataTimestamp_ set to:1761334667.602207 2025-10-24T19:37:47.604Z,1761334667.604 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4 2025-10-24T19:37:47.605Z,1761334667.605 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-24T19:37:47.607Z,1761334667.607 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.030247 2025-10-24T19:37:47.853Z,1761334667.853 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.276093 2025-10-24T19:37:47.903Z,1761334667.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981322,-0.192371,-0.000356],[0.189487,0.966927,-0.170726],[0.033187,0.167470,0.985319]] 2025-10-24T19:37:47.949Z,1761334667.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504430 s, deltaX: 0.100000 m, approachRate: 0.198244 m/s, rangeRepo size: 4 2025-10-24T19:37:47.949Z,1761334667.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:48.105Z,1761334668.105 [DAT](INFO): DAT read: Rx Time:19:37:47.0632 2025-10-24T19:37:48.105Z,1761334668.105 [DAT](INFO): Rx dataTimestamp_ set to:1761334668.105207 2025-10-24T19:37:48.107Z,1761334668.107 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 2025-10-24T19:37:48.107Z,1761334668.107 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-24T19:37:48.109Z,1761334668.109 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.531921 2025-10-24T19:37:48.310Z,1761334668.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981285,-0.192558,-0.000836],[0.189515,0.966526,-0.172951],[0.034111,0.169556,0.984930]] 2025-10-24T19:37:48.333Z,1761334668.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503000 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:48.334Z,1761334668.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:48.358Z,1761334668.358 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.781776 2025-10-24T19:37:48.609Z,1761334668.609 [DAT](INFO): DAT read: Rx Time:19:37:47.5635 2025-10-24T19:37:48.609Z,1761334668.609 [DAT](INFO): Rx dataTimestamp_ set to:1761334668.609149 2025-10-24T19:37:48.611Z,1761334668.611 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed -0.3 2025-10-24T19:37:48.611Z,1761334668.611 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-24T19:37:48.612Z,1761334668.612 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.035629 2025-10-24T19:37:48.707Z,1761334668.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981600,-0.190945,-0.001434],[0.187818,0.966822,-0.173145],[0.034448,0.169690,0.984895]] 2025-10-24T19:37:48.759Z,1761334668.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503942 s, deltaX: 0.500000 m, approachRate: 0.992178 m/s, rangeRepo size: 4 2025-10-24T19:37:48.760Z,1761334668.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:48.862Z,1761334668.862 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.285198 2025-10-24T19:37:49.113Z,1761334669.113 [DAT](INFO): DAT read: Rx Time:19:37:48.0635 2025-10-24T19:37:49.113Z,1761334669.113 [DAT](INFO): Rx dataTimestamp_ set to:1761334669.113159 2025-10-24T19:37:49.115Z,1761334669.115 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed -0.2 2025-10-24T19:37:49.115Z,1761334669.115 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-10-24T19:37:49.117Z,1761334669.117 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.539616 2025-10-24T19:37:49.118Z,1761334669.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981734,-0.190251,-0.001940],[0.187010,0.966784,-0.174228],[0.035022,0.170683,0.984703]] 2025-10-24T19:37:49.138Z,1761334669.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504010 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:49.139Z,1761334669.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:49.365Z,1761334669.365 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.788116 2025-10-24T19:37:49.517Z,1761334669.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981892,-0.189429,-0.002028],[0.186156,0.966802,-0.175042],[0.035119,0.171495,0.984559]] 2025-10-24T19:37:49.558Z,1761334669.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:49.618Z,1761334669.618 [DAT](INFO): DAT read: Rx Time:19:37:48.5637 2025-10-24T19:37:49.618Z,1761334669.618 [DAT](INFO): Rx dataTimestamp_ set to:1761334669.617944 2025-10-24T19:37:49.620Z,1761334669.620 [DAT](INFO): DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3 2025-10-24T19:37:49.621Z,1761334669.621 [DAT](ERROR): #Rx 66: Read range message, but no direction. 2025-10-24T19:37:49.623Z,1761334669.623 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.045689 2025-10-24T19:37:49.869Z,1761334669.869 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.292088 2025-10-24T19:37:49.927Z,1761334669.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982091,-0.188392,-0.002265],[0.185026,0.966668,-0.176972],[0.035529,0.173384,0.984213]] 2025-10-24T19:37:49.951Z,1761334669.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504785 s, deltaX: 0.299999 m, approachRate: 0.594311 m/s, rangeRepo size: 4 2025-10-24T19:37:49.951Z,1761334669.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:50.121Z,1761334670.121 [DAT](INFO): DAT read: Rx Time:19:37:49.0638 2025-10-24T19:37:50.122Z,1761334670.122 [DAT](INFO): Rx dataTimestamp_ set to:1761334670.121253 2025-10-24T19:37:50.123Z,1761334670.123 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed -0.3 2025-10-24T19:37:50.123Z,1761334670.123 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-24T19:37:50.124Z,1761334670.124 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.547707 2025-10-24T19:37:50.325Z,1761334670.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982433,-0.186594,-0.002707],[0.183133,0.966796,-0.178235],[0.035875,0.174608,0.983984]] 2025-10-24T19:37:50.355Z,1761334670.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.503309 s, deltaX: 0.100000 m, approachRate: 0.198686 m/s, rangeRepo size: 4 2025-10-24T19:37:50.357Z,1761334670.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:50.373Z,1761334670.373 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.796185 2025-10-24T19:37:50.625Z,1761334670.625 [DAT](INFO): DAT read: Rx Time:19:37:49.5640 2025-10-24T19:37:50.625Z,1761334670.625 [DAT](INFO): Rx dataTimestamp_ set to:1761334670.625150 2025-10-24T19:37:50.627Z,1761334670.627 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed -0.2 2025-10-24T19:37:50.627Z,1761334670.627 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-10-24T19:37:50.628Z,1761334670.628 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.051647 2025-10-24T19:37:50.727Z,1761334670.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982648,-0.185458,-0.002837],[0.181946,0.966786,-0.179498],[0.036032,0.175868,0.983754]] 2025-10-24T19:37:50.787Z,1761334670.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503897 s, deltaX: 0.300000 m, approachRate: 0.595360 m/s, rangeRepo size: 4 2025-10-24T19:37:50.788Z,1761334670.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:50.877Z,1761334670.877 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.300327 2025-10-24T19:37:51.130Z,1761334671.130 [DAT](INFO): DAT read: Rx Time:19:37:50.0639 2025-10-24T19:37:51.131Z,1761334671.131 [DAT](INFO): Rx dataTimestamp_ set to:1761334671.130359 2025-10-24T19:37:51.132Z,1761334671.132 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed -0.3 2025-10-24T19:37:51.133Z,1761334671.133 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-24T19:37:51.134Z,1761334671.134 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.556988 2025-10-24T19:37:51.144Z,1761334671.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982926,-0.183971,-0.003401],[0.180384,0.967076,-0.179514],[0.036315,0.175835,0.983750]] 2025-10-24T19:37:51.165Z,1761334671.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.505209 s, deltaX: -0.100000 m, approachRate: -0.197939 m/s, rangeRepo size: 4 2025-10-24T19:37:51.166Z,1761334671.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:51.384Z,1761334671.384 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.806995 2025-10-24T19:37:51.561Z,1761334671.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983221,-0.182373,-0.004072],[0.178694,0.967391,-0.179509],[0.036677,0.175769,0.983748]] 2025-10-24T19:37:51.625Z,1761334671.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:51.634Z,1761334671.634 [DAT](INFO): DAT read: Rx Time:19:37:50.5640 2025-10-24T19:37:51.634Z,1761334671.634 [DAT](INFO): Rx dataTimestamp_ set to:1761334671.633935 2025-10-24T19:37:51.635Z,1761334671.635 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.0 2025-10-24T19:37:51.636Z,1761334671.636 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-24T19:37:51.637Z,1761334671.637 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.060402 2025-10-24T19:37:51.885Z,1761334671.885 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.308266 2025-10-24T19:37:51.942Z,1761334671.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983473,-0.180999,-0.004551],[0.177218,0.967470,-0.180541],[0.037081,0.176751,0.983557]] 2025-10-24T19:37:51.962Z,1761334671.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503576 s, deltaX: 0.100000 m, approachRate: 0.198581 m/s, rangeRepo size: 4 2025-10-24T19:37:51.963Z,1761334671.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:52.137Z,1761334672.137 [DAT](INFO): DAT read: Rx Time:19:37:51.0640 2025-10-24T19:37:52.138Z,1761334672.138 [DAT](INFO): Rx dataTimestamp_ set to:1761334672.137225 2025-10-24T19:37:52.139Z,1761334672.139 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed -0.2 2025-10-24T19:37:52.139Z,1761334672.139 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-24T19:37:52.140Z,1761334672.140 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.563728 2025-10-24T19:37:52.343Z,1761334672.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983598,-0.180317,-0.004593],[0.176475,0.967285,-0.182254],[0.037306,0.178455,0.983241]] 2025-10-24T19:37:52.362Z,1761334672.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503290 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:52.362Z,1761334672.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:52.390Z,1761334672.390 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.813198 2025-10-24T19:37:52.641Z,1761334672.641 [DAT](INFO): DAT read: Rx Time:19:37:51.5642 2025-10-24T19:37:52.642Z,1761334672.642 [DAT](INFO): Rx dataTimestamp_ set to:1761334672.641236 2025-10-24T19:37:52.643Z,1761334672.643 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.2 2025-10-24T19:37:52.645Z,1761334672.645 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-24T19:37:52.646Z,1761334672.646 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.069527 2025-10-24T19:37:52.807Z,1761334672.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504011 s, deltaX: 0.200000 m, approachRate: 0.396816 m/s, rangeRepo size: 4 2025-10-24T19:37:52.808Z,1761334672.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:52.893Z,1761334672.893 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.316269 2025-10-24T19:37:53.145Z,1761334673.145 [DAT](INFO): DAT read: Rx Time:19:37:52.0642 2025-10-24T19:37:53.146Z,1761334673.146 [DAT](INFO): Rx dataTimestamp_ set to:1761334673.145288 2025-10-24T19:37:53.147Z,1761334673.147 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.2 2025-10-24T19:37:53.147Z,1761334673.147 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-24T19:37:53.148Z,1761334673.148 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.571754 2025-10-24T19:37:53.178Z,1761334673.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983846,-0.178938,-0.005323],[0.174927,0.967258,-0.183881],[0.038052,0.179979,0.982934]] 2025-10-24T19:37:53.219Z,1761334673.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504052 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:53.219Z,1761334673.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:53.397Z,1761334673.397 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.820164 2025-10-24T19:37:53.562Z,1761334673.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984037,-0.177874,-0.005738],[0.173807,0.967467,-0.183844],[0.038252,0.179912,0.982939]] 2025-10-24T19:37:53.611Z,1761334673.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:53.652Z,1761334673.652 [DAT](INFO): DAT read: Rx Time:19:37:52.5644 2025-10-24T19:37:53.652Z,1761334673.652 [DAT](INFO): Rx dataTimestamp_ set to:1761334673.651794 2025-10-24T19:37:53.653Z,1761334673.653 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.2 2025-10-24T19:37:53.654Z,1761334673.654 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-10-24T19:37:53.655Z,1761334673.655 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.078159 2025-10-24T19:37:53.902Z,1761334673.902 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.325130 2025-10-24T19:37:53.960Z,1761334673.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984022,-0.177950,-0.005935],[0.173818,0.967330,-0.184551],[0.038582,0.180570,0.982805]] 2025-10-24T19:37:54.021Z,1761334674.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.506506 s, deltaX: 0.300000 m, approachRate: 0.592293 m/s, rangeRepo size: 4 2025-10-24T19:37:54.022Z,1761334674.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:54.157Z,1761334674.157 [DAT](INFO): DAT read: Rx Time:19:37:53.0644 2025-10-24T19:37:54.158Z,1761334674.158 [DAT](INFO): Rx dataTimestamp_ set to:1761334674.157298 2025-10-24T19:37:54.159Z,1761334674.159 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 2025-10-24T19:37:54.159Z,1761334674.159 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-24T19:37:54.160Z,1761334674.160 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.583778 2025-10-24T19:37:54.366Z,1761334674.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984203,-0.176922,-0.006587],[0.172691,0.967538,-0.184518],[0.039019,0.180466,0.982807]] 2025-10-24T19:37:54.389Z,1761334674.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.505504 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:54.389Z,1761334674.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:54.422Z,1761334674.422 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.845177 2025-10-24T19:37:54.661Z,1761334674.661 [DAT](INFO): DAT read: Rx Time:19:37:53.5645 2025-10-24T19:37:54.661Z,1761334674.661 [DAT](INFO): Rx dataTimestamp_ set to:1761334674.661187 2025-10-24T19:37:54.663Z,1761334674.663 [DAT](INFO): DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed 0.0 2025-10-24T19:37:54.663Z,1761334674.663 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-24T19:37:54.668Z,1761334674.668 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.091640 2025-10-24T19:37:54.767Z,1761334674.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984095,-0.177526,-0.006467],[0.173230,0.967073,-0.186442],[0.039352,0.182357,0.982445]] 2025-10-24T19:37:54.852Z,1761334674.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.503889 s, deltaX: 0.099999 m, approachRate: 0.198455 m/s, rangeRepo size: 4 2025-10-24T19:37:54.853Z,1761334674.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:54.913Z,1761334674.913 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.336681 2025-10-24T19:37:55.165Z,1761334675.165 [DAT](INFO): DAT read: Rx Time:19:37:54.0645 2025-10-24T19:37:55.166Z,1761334675.166 [DAT](INFO): Rx dataTimestamp_ set to:1761334675.165251 2025-10-24T19:37:55.167Z,1761334675.167 [DAT](INFO): DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed -0.3 2025-10-24T19:37:55.168Z,1761334675.168 [DAT](ERROR): #Rx 77: Read range message, but no direction. 2025-10-24T19:37:55.169Z,1761334675.169 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.592377 2025-10-24T19:37:55.177Z,1761334675.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984180,-0.177053,-0.006489],[0.172722,0.966973,-0.187429],[0.039459,0.183343,0.982257]] 2025-10-24T19:37:55.255Z,1761334675.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504064 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:55.255Z,1761334675.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:55.418Z,1761334675.418 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.840889 2025-10-24T19:37:55.589Z,1761334675.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984080,-0.177608,-0.006483],[0.173254,0.966810,-0.187782],[0.039619,0.183669,0.982189]] 2025-10-24T19:37:55.653Z,1761334675.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:55.673Z,1761334675.673 [DAT](INFO): DAT read: Rx Time:19:37:54.5646 2025-10-24T19:37:55.674Z,1761334675.674 [DAT](INFO): Rx dataTimestamp_ set to:1761334675.673622 2025-10-24T19:37:55.675Z,1761334675.675 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-24T19:37:55.676Z,1761334675.676 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-24T19:37:55.677Z,1761334675.677 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.100086 2025-10-24T19:37:55.925Z,1761334675.925 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.348618 2025-10-24T19:37:56.005Z,1761334676.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984157,-0.177173,-0.006630],[0.172826,0.967010,-0.187146],[0.039569,0.183035,0.982310]] 2025-10-24T19:37:56.035Z,1761334676.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.508371 s, deltaX: 0.200001 m, approachRate: 0.393415 m/s, rangeRepo size: 4 2025-10-24T19:37:56.035Z,1761334676.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:56.177Z,1761334676.177 [DAT](INFO): DAT read: Rx Time:19:37:55.0646 2025-10-24T19:37:56.177Z,1761334676.177 [DAT](INFO): Rx dataTimestamp_ set to:1761334676.177135 2025-10-24T19:37:56.179Z,1761334676.179 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.0 2025-10-24T19:37:56.179Z,1761334676.179 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-10-24T19:37:56.180Z,1761334676.180 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.603622 2025-10-24T19:37:56.386Z,1761334676.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984064,-0.177696,-0.006469],[0.173350,0.966827,-0.187602],[0.039590,0.183491,0.982224]] 2025-10-24T19:37:56.405Z,1761334676.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503513 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:56.406Z,1761334676.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:56.429Z,1761334676.429 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.852699 2025-10-24T19:37:56.681Z,1761334676.681 [DAT](INFO): DAT read: Rx Time:19:37:55.5648 2025-10-24T19:37:56.681Z,1761334676.681 [DAT](INFO): Rx dataTimestamp_ set to:1761334676.681160 2025-10-24T19:37:56.683Z,1761334676.683 [DAT](INFO): DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 2025-10-24T19:37:56.684Z,1761334676.684 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-24T19:37:56.685Z,1761334676.685 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.108295 2025-10-24T19:37:56.791Z,1761334676.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984100,-0.177499,-0.006467],[0.173155,0.966852,-0.187654],[0.039561,0.183551,0.982214]] 2025-10-24T19:37:56.811Z,1761334676.811 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 96.94, 77.21, 87.08 2025-10-24T19:37:56.834Z,1761334676.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504025 s, deltaX: 0.299999 m, approachRate: 0.595207 m/s, rangeRepo size: 4 2025-10-24T19:37:56.835Z,1761334676.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:56.934Z,1761334676.934 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.356831 2025-10-24T19:37:57.186Z,1761334677.186 [DAT](INFO): DAT read: Rx Time:19:37:56.0648 2025-10-24T19:37:57.186Z,1761334677.186 [DAT](INFO): Rx dataTimestamp_ set to:1761334677.185776 2025-10-24T19:37:57.187Z,1761334677.187 [DAT](INFO): DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed -0.1 2025-10-24T19:37:57.188Z,1761334677.188 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-24T19:37:57.189Z,1761334677.189 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.612240 2025-10-24T19:37:57.197Z,1761334677.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984019,-0.177960,-0.006064],[0.173619,0.966468,-0.189198],[0.039530,0.185122,0.981920]] 2025-10-24T19:37:57.251Z,1761334677.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504616 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:57.251Z,1761334677.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:57.437Z,1761334677.437 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.860062 2025-10-24T19:37:57.621Z,1761334677.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984043,-0.177845,-0.005506],[0.173544,0.966154,-0.190865],[0.039264,0.186864,0.981601]] 2025-10-24T19:37:57.682Z,1761334677.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:57.689Z,1761334677.689 [DAT](INFO): DAT read: Rx Time:19:37:56.5650 2025-10-24T19:37:57.690Z,1761334677.690 [DAT](INFO): Rx dataTimestamp_ set to:1761334677.689340 2025-10-24T19:37:57.691Z,1761334677.691 [DAT](INFO): DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed -0.2 2025-10-24T19:37:57.691Z,1761334677.691 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-24T19:37:57.693Z,1761334677.693 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.116302 2025-10-24T19:37:57.941Z,1761334677.941 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.364128 2025-10-24T19:37:58.043Z,1761334678.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984093,-0.177575,-0.005318],[0.173315,0.966200,-0.190837],[0.039026,0.186880,0.981607]] 2025-10-24T19:37:58.063Z,1761334678.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503564 s, deltaX: 0.300000 m, approachRate: 0.595754 m/s, rangeRepo size: 4 2025-10-24T19:37:58.065Z,1761334678.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:37:58.193Z,1761334678.193 [DAT](INFO): DAT read: Rx Time:19:37:57.0649 2025-10-24T19:37:58.194Z,1761334678.194 [DAT](INFO): Rx dataTimestamp_ set to:1761334678.193500 2025-10-24T19:37:58.195Z,1761334678.195 [DAT](INFO): DAT read: Bearing 212.0, 6.2 (Local) 2025-10-24T19:37:58.195Z,1761334678.195 [DAT](INFO): Local bearing/azimuth received: Bearing 212.0, 6.2 (Local) 2025-10-24T19:37:58.198Z,1761334678.198 [DAT](INFO): DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed 0.0 2025-10-24T19:37:58.203Z,1761334678.203 [DAT](INFO): DAT read: 19:37:57.0649 LVL= 25136, 19697, 27410, 32755, AGC= 62, IDX= 513, 0.12, 2.789,-1.245,-2.111,-2.369, PHS=-1.037, 1.170, 0.254, RAW= 294.4, -4.1, CAL= 298.0, -6.2, ROT= 212.0, 6.2 2025-10-24T19:37:58.204Z,1761334678.204 [DAT](INFO): got valid direction response: 19:37:57.0649 LVL= 25136, 19697, 27410, 32755, AGC= 62, IDX= 513, 0.12, 2.789,-1.245,-2.111,-2.369, PHS=-1.037, 1.170, 0.254, RAW= 294.4, -4.1, CAL= 298.0, -6.2, ROT= 212.0, 6.2 2025-10-24T19:37:58.204Z,1761334678.204 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-24T19:37:58.205Z,1761334678.205 [DAT](INFO): direction in FSK: [-0.843088,-0.526820,-0.107999] 2025-10-24T19:37:58.206Z,1761334678.206 [DAT](INFO): publishing direction and range info 2025-10-24T19:37:58.231Z,1761334678.231 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.653957 2025-10-24T19:37:58.410Z,1761334678.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984162,-0.177199,-0.005130],[0.172984,0.966276,-0.190755],[0.038759,0.186847,0.981624]] 2025-10-24T19:37:58.445Z,1761334678.445 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.868195 2025-10-24T19:37:58.455Z,1761334678.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504160 s, deltaX: -0.200000 m, approachRate: -0.396699 m/s, rangeRepo size: 4 2025-10-24T19:37:58.462Z,1761334678.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.425579 m, bearing: 220.761698 deg, lat: 36.779575 deg, lon: -121.859600 deg, deltaT: 11.095723 s, deltaX: 2.486007 m, approachRate: 0.224051 m/s, posRepo size: 4 2025-10-24T19:37:58.462Z,1761334678.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:37:58.698Z,1761334678.698 [DAT](INFO): DAT read: Rx Time:19:37:57.5651 2025-10-24T19:37:58.698Z,1761334678.698 [DAT](INFO): Rx dataTimestamp_ set to:1761334678.698130 2025-10-24T19:37:58.701Z,1761334678.701 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed -0.3 2025-10-24T19:37:58.701Z,1761334678.701 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-24T19:37:58.703Z,1761334678.703 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.125862 2025-10-24T19:37:58.817Z,1761334678.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984148,-0.177285,-0.004762],[0.173122,0.966174,-0.191147],[0.038489,0.187293,0.981550]] 2025-10-24T19:37:58.878Z,1761334678.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504630 s, deltaX: 0.300000 m, approachRate: 0.594495 m/s, rangeRepo size: 4 2025-10-24T19:37:58.879Z,1761334678.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:37:58.950Z,1761334678.950 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.372936 2025-10-24T19:37:59.202Z,1761334679.202 [DAT](INFO): DAT read: Rx Time:19:37:58.0651 2025-10-24T19:37:59.202Z,1761334679.202 [DAT](INFO): Rx dataTimestamp_ set to:1761334679.202061 2025-10-24T19:37:59.204Z,1761334679.204 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed -0.2 2025-10-24T19:37:59.204Z,1761334679.204 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-24T19:37:59.205Z,1761334679.205 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.628658 2025-10-24T19:37:59.271Z,1761334679.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503931 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:37:59.276Z,1761334679.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:37:59.453Z,1761334679.453 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.876236 2025-10-24T19:37:59.644Z,1761334679.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984239,-0.176799,-0.003900],[0.172749,0.965945,-0.192636],[0.037825,0.188926,0.981263]] 2025-10-24T19:37:59.705Z,1761334679.705 [DAT](INFO): DAT read: Rx Time:19:37:58.5652 2025-10-24T19:37:59.706Z,1761334679.706 [DAT](INFO): Rx dataTimestamp_ set to:1761334679.705284 2025-10-24T19:37:59.707Z,1761334679.707 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0 2025-10-24T19:37:59.707Z,1761334679.707 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-24T19:37:59.708Z,1761334679.708 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.131702 2025-10-24T19:37:59.712Z,1761334679.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:37:59.957Z,1761334679.957 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.380272 2025-10-24T19:38:00.020Z,1761334680.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984422,-0.175784,-0.003551],[0.171807,0.966047,-0.192964],[0.037350,0.189348,0.981199]] 2025-10-24T19:38:00.040Z,1761334680.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503223 s, deltaX: 0.200000 m, approachRate: 0.397438 m/s, rangeRepo size: 4 2025-10-24T19:38:00.041Z,1761334680.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:00.209Z,1761334680.209 [DAT](INFO): DAT read: Rx Time:19:37:59.0652 2025-10-24T19:38:00.209Z,1761334680.209 [DAT](INFO): Rx dataTimestamp_ set to:1761334680.209193 2025-10-24T19:38:00.211Z,1761334680.211 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.0 2025-10-24T19:38:00.211Z,1761334680.211 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-24T19:38:00.212Z,1761334680.212 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.635757 2025-10-24T19:38:00.423Z,1761334680.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984383,-0.176017,-0.002950],[0.172114,0.965806,-0.193898],[0.036978,0.190362,0.981017]] 2025-10-24T19:38:00.450Z,1761334680.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503909 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:00.451Z,1761334680.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:00.461Z,1761334680.461 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.884499 2025-10-24T19:38:00.713Z,1761334680.713 [DAT](INFO): DAT read: Rx Time:19:37:59.5654 2025-10-24T19:38:00.713Z,1761334680.713 [DAT](INFO): Rx dataTimestamp_ set to:1761334680.713135 2025-10-24T19:38:00.715Z,1761334680.715 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.1 2025-10-24T19:38:00.715Z,1761334680.715 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-24T19:38:00.717Z,1761334680.717 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.139618 2025-10-24T19:38:00.829Z,1761334680.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984472,-0.175524,-0.002466],[0.171718,0.965849,-0.194035],[0.036440,0.190598,0.980992]] 2025-10-24T19:38:00.901Z,1761334680.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503942 s, deltaX: 0.300000 m, approachRate: 0.595307 m/s, rangeRepo size: 4 2025-10-24T19:38:00.902Z,1761334680.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:00.966Z,1761334680.966 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.389065 2025-10-24T19:38:01.217Z,1761334681.217 [DAT](INFO): DAT read: Rx Time:19:38:00.0653 2025-10-24T19:38:01.218Z,1761334681.218 [DAT](INFO): Rx dataTimestamp_ set to:1761334681.217671 2025-10-24T19:38:01.219Z,1761334681.219 [DAT](INFO): DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed 0.0 2025-10-24T19:38:01.220Z,1761334681.220 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-24T19:38:01.221Z,1761334681.221 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.644131 2025-10-24T19:38:01.238Z,1761334681.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984551,-0.175085,-0.001987],[0.171389,0.965965,-0.193744],[0.035841,0.190410,0.981050]] 2025-10-24T19:38:01.283Z,1761334681.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504536 s, deltaX: -0.200000 m, approachRate: -0.396403 m/s, rangeRepo size: 4 2025-10-24T19:38:01.283Z,1761334681.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:01.469Z,1761334681.469 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.892178 2025-10-24T19:38:01.673Z,1761334681.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984599,-0.174821,-0.001606],[0.171186,0.965910,-0.194198],[0.035501,0.190933,0.980961]] 2025-10-24T19:38:01.721Z,1761334681.721 [DAT](INFO): DAT read: Rx Time:19:38:00.5655 2025-10-24T19:38:01.722Z,1761334681.722 [DAT](INFO): Rx dataTimestamp_ set to:1761334681.721287 2025-10-24T19:38:01.723Z,1761334681.723 [DAT](INFO): DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed -0.3 2025-10-24T19:38:01.723Z,1761334681.723 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-24T19:38:01.725Z,1761334681.725 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.147995 2025-10-24T19:38:01.733Z,1761334681.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503616 s, deltaX: 0.299999 m, approachRate: 0.595690 m/s, rangeRepo size: 4 2025-10-24T19:38:01.734Z,1761334681.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:01.973Z,1761334681.973 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.396408 2025-10-24T19:38:02.043Z,1761334682.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984709,-0.174204,-0.001255],[0.170645,0.965991,-0.194274],[0.035055,0.191090,0.980946]] 2025-10-24T19:38:02.062Z,1761334682.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:02.226Z,1761334682.226 [DAT](INFO): DAT read: Rx Time:19:38:01.0654 2025-10-24T19:38:02.226Z,1761334682.226 [DAT](INFO): Rx dataTimestamp_ set to:1761334682.226065 2025-10-24T19:38:02.228Z,1761334682.228 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-24T19:38:02.228Z,1761334682.228 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-24T19:38:02.229Z,1761334682.229 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.652538 2025-10-24T19:38:02.449Z,1761334682.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984763,-0.173898,-0.000738],[0.170420,0.965892,-0.194960],[0.034616,0.191864,0.980811]] 2025-10-24T19:38:02.471Z,1761334682.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504778 s, deltaX: -0.099999 m, approachRate: -0.198106 m/s, rangeRepo size: 4 2025-10-24T19:38:02.474Z,1761334682.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:02.500Z,1761334682.500 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.902824 2025-10-24T19:38:02.732Z,1761334682.732 [DAT](INFO): DAT read: Rx Time:19:38:01.5655 2025-10-24T19:38:02.732Z,1761334682.732 [DAT](INFO): Rx dataTimestamp_ set to:1761334682.732150 2025-10-24T19:38:02.734Z,1761334682.734 [DAT](INFO): DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed -0.3 2025-10-24T19:38:02.735Z,1761334682.735 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-24T19:38:02.739Z,1761334682.739 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.161175 2025-10-24T19:38:02.851Z,1761334682.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984960,-0.172784,-0.000330],[0.169397,0.966025,-0.195195],[0.034046,0.192203,0.980764]] 2025-10-24T19:38:02.917Z,1761334682.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.506085 s, deltaX: 0.099999 m, approachRate: 0.197594 m/s, rangeRepo size: 4 2025-10-24T19:38:02.918Z,1761334682.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:02.987Z,1761334682.987 [DAT](INFO): DAT read: Rx Time:19:38:02.0655 2025-10-24T19:38:02.998Z,1761334682.998 [DAT](INFO): Rx dataTimestamp_ set to:1761334682.997525 2025-10-24T19:38:03.001Z,1761334683.001 [DAT](INFO): DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed -0.1 2025-10-24T19:38:03.002Z,1761334683.002 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-24T19:38:03.003Z,1761334683.003 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.426350 2025-10-24T19:38:03.233Z,1761334683.233 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.656055 2025-10-24T19:38:03.256Z,1761334683.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984999,-0.172560,0.000310],[0.169273,0.965882,-0.196005],[0.033524,0.193117,0.980603]] 2025-10-24T19:38:03.276Z,1761334683.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.265375 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:03.277Z,1761334683.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:03.497Z,1761334683.497 [DAT](INFO): DAT read: Rx Time:19:38:02.5657 2025-10-24T19:38:03.498Z,1761334683.498 [DAT](INFO): Rx dataTimestamp_ set to:1761334683.497297 2025-10-24T19:38:03.499Z,1761334683.499 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-24T19:38:03.500Z,1761334683.500 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-24T19:38:03.502Z,1761334683.502 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.924953 2025-10-24T19:38:03.702Z,1761334683.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985166,-0.171605,0.000720],[0.168424,0.966086,-0.195731],[0.032893,0.192949,0.980657]] 2025-10-24T19:38:03.737Z,1761334683.737 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.160259 2025-10-24T19:38:03.749Z,1761334683.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.499772 s, deltaX: 0.300000 m, approachRate: 0.600274 m/s, rangeRepo size: 4 2025-10-24T19:38:03.750Z,1761334683.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:03.996Z,1761334683.996 [DAT](INFO): DAT read: Rx Time:19:38:03.0656 2025-10-24T19:38:03.996Z,1761334683.996 [DAT](INFO): Rx dataTimestamp_ set to:1761334683.996213 2025-10-24T19:38:03.998Z,1761334683.998 [DAT](INFO): DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed 0.0 2025-10-24T19:38:03.998Z,1761334683.998 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-24T19:38:03.999Z,1761334683.999 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.422520 2025-10-24T19:38:04.065Z,1761334684.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985193,-0.171442,0.001106],[0.168340,0.966100,-0.195737],[0.032489,0.193025,0.980656]] 2025-10-24T19:38:04.090Z,1761334684.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.498916 s, deltaX: -0.099999 m, approachRate: -0.200433 m/s, rangeRepo size: 4 2025-10-24T19:38:04.091Z,1761334684.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:04.241Z,1761334684.241 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.664085 2025-10-24T19:38:04.468Z,1761334684.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985348,-0.170551,0.001485],[0.167534,0.966211,-0.195879],[0.031973,0.193257,0.980627]] 2025-10-24T19:38:04.494Z,1761334684.494 [DAT](INFO): DAT read: Rx Time:19:38:03.5658 2025-10-24T19:38:04.494Z,1761334684.494 [DAT](INFO): Rx dataTimestamp_ set to:1761334684.493805 2025-10-24T19:38:04.495Z,1761334684.495 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 2025-10-24T19:38:04.502Z,1761334684.502 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-24T19:38:04.503Z,1761334684.503 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.926205 2025-10-24T19:38:04.530Z,1761334684.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.497592 s, deltaX: 0.299999 m, approachRate: 0.602902 m/s, rangeRepo size: 4 2025-10-24T19:38:04.531Z,1761334684.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:04.745Z,1761334684.745 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.168591 2025-10-24T19:38:04.942Z,1761334684.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:04.997Z,1761334684.997 [DAT](INFO): DAT read: Rx Time:19:38:04.0658 2025-10-24T19:38:04.998Z,1761334684.998 [DAT](INFO): Rx dataTimestamp_ set to:1761334684.997340 2025-10-24T19:38:04.999Z,1761334684.999 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.0 2025-10-24T19:38:04.000Z,1761334685.000 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-24T19:38:05.001Z,1761334685.001 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.424667 2025-10-24T19:38:05.249Z,1761334685.249 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.672173 2025-10-24T19:38:05.275Z,1761334685.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985544,-0.169406,0.002078],[0.166505,0.966254,-0.196542],[0.031288,0.194047,0.980493]] 2025-10-24T19:38:05.303Z,1761334685.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503535 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:05.304Z,1761334685.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:05.506Z,1761334685.506 [DAT](INFO): DAT read: Rx Time:19:38:04.5659 2025-10-24T19:38:05.506Z,1761334685.506 [DAT](INFO): Rx dataTimestamp_ set to:1761334685.505753 2025-10-24T19:38:05.507Z,1761334685.507 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-24T19:38:05.508Z,1761334685.508 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-24T19:38:05.509Z,1761334685.509 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.932201 2025-10-24T19:38:05.726Z,1761334685.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985624,-0.168940,0.002363],[0.166100,0.966304,-0.196639],[0.030937,0.194205,0.980473]] 2025-10-24T19:38:05.753Z,1761334685.753 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.176189 2025-10-24T19:38:05.796Z,1761334685.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.508413 s, deltaX: 0.100000 m, approachRate: 0.196691 m/s, rangeRepo size: 4 2025-10-24T19:38:05.797Z,1761334685.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:06.005Z,1761334686.005 [DAT](INFO): DAT read: Rx Time:19:38:05.0659 2025-10-24T19:38:06.006Z,1761334686.006 [DAT](INFO): Rx dataTimestamp_ set to:1761334686.005479 2025-10-24T19:38:06.007Z,1761334686.007 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-24T19:38:06.012Z,1761334686.012 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-24T19:38:06.013Z,1761334686.013 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.436314 2025-10-24T19:38:06.087Z,1761334686.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985805,-0.167878,0.002325],[0.165053,0.966491,-0.196603],[0.030759,0.194196,0.980480]] 2025-10-24T19:38:06.115Z,1761334686.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.499726 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:06.116Z,1761334686.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:06.257Z,1761334686.257 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.680351 2025-10-24T19:38:06.509Z,1761334686.509 [DAT](INFO): DAT read: Rx Time:19:38:05.5659 2025-10-24T19:38:06.510Z,1761334686.510 [DAT](INFO): Rx dataTimestamp_ set to:1761334686.509603 2025-10-24T19:38:06.511Z,1761334686.511 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-24T19:38:06.518Z,1761334686.518 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-24T19:38:06.519Z,1761334686.519 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.942638 2025-10-24T19:38:06.626Z,1761334686.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.504124 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:06.626Z,1761334686.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:06.761Z,1761334686.761 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.184258 2025-10-24T19:38:06.888Z,1761334686.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986045,-0.166458,0.002478],[0.163668,0.966586,-0.197294],[0.030446,0.194946,0.980341]] 2025-10-24T19:38:06.958Z,1761334686.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:07.013Z,1761334687.013 [DAT](INFO): DAT read: Rx Time:19:38:06.0658 2025-10-24T19:38:07.014Z,1761334687.014 [DAT](INFO): Rx dataTimestamp_ set to:1761334687.013415 2025-10-24T19:38:07.015Z,1761334687.015 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed -0.2 2025-10-24T19:38:07.016Z,1761334687.016 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-24T19:38:07.017Z,1761334687.017 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.440186 2025-10-24T19:38:07.265Z,1761334687.265 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.688065 2025-10-24T19:38:07.293Z,1761334687.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986188,-0.165612,0.002261],[0.162782,0.966636,-0.197779],[0.030569,0.195416,0.980244]] 2025-10-24T19:38:07.327Z,1761334687.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503812 s, deltaX: -0.100000 m, approachRate: -0.198487 m/s, rangeRepo size: 4 2025-10-24T19:38:07.328Z,1761334687.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:07.518Z,1761334687.518 [DAT](INFO): DAT read: Rx Time:19:38:06.5660 2025-10-24T19:38:07.518Z,1761334687.518 [DAT](INFO): Rx dataTimestamp_ set to:1761334687.518057 2025-10-24T19:38:07.520Z,1761334687.520 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 2025-10-24T19:38:07.520Z,1761334687.520 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-24T19:38:07.521Z,1761334687.521 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.944576 2025-10-24T19:38:07.596Z,1761334687.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:38:07.730Z,1761334687.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986203,-0.165525,0.002072],[0.162653,0.966611,-0.198006],[0.030772,0.195612,0.980199]] 2025-10-24T19:38:07.777Z,1761334687.777 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.200188 2025-10-24T19:38:07.787Z,1761334687.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504642 s, deltaX: 0.300000 m, approachRate: 0.594481 m/s, rangeRepo size: 4 2025-10-24T19:38:07.808Z,1761334687.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:08.030Z,1761334688.030 [DAT](INFO): DAT read: Rx Time:19:38:07.0659 2025-10-24T19:38:08.031Z,1761334688.031 [DAT](INFO): Rx dataTimestamp_ set to:1761334688.030153 2025-10-24T19:38:08.034Z,1761334688.034 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 2025-10-24T19:38:08.035Z,1761334688.035 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-24T19:38:08.037Z,1761334688.037 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.459984 2025-10-24T19:38:08.099Z,1761334688.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986363,-0.164576,0.001698],[0.161657,0.966828,-0.197763],[0.030905,0.195341,0.980248]] 2025-10-24T19:38:08.168Z,1761334688.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.512096 s, deltaX: -0.200000 m, approachRate: -0.390551 m/s, rangeRepo size: 4 2025-10-24T19:38:08.169Z,1761334688.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:08.281Z,1761334688.281 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.704208 2025-10-24T19:38:08.507Z,1761334688.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986425,-0.164206,0.001470],[0.161242,0.966842,-0.198032],[0.031097,0.195581,0.980194]] 2025-10-24T19:38:08.537Z,1761334688.537 [DAT](INFO): DAT read: Rx Time:19:38:07.5661 2025-10-24T19:38:08.537Z,1761334688.537 [DAT](INFO): Rx dataTimestamp_ set to:1761334688.537051 2025-10-24T19:38:08.539Z,1761334688.539 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4 2025-10-24T19:38:08.539Z,1761334688.539 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-24T19:38:08.542Z,1761334688.542 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.965210 2025-10-24T19:38:08.547Z,1761334688.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.506898 s, deltaX: 0.300000 m, approachRate: 0.591835 m/s, rangeRepo size: 4 2025-10-24T19:38:08.553Z,1761334688.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:08.600Z,1761334688.600 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:38:08.789Z,1761334688.789 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.212376 2025-10-24T19:38:08.914Z,1761334688.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986515,-0.163664,0.001136],[0.160633,0.966867,-0.198406],[0.031374,0.195914,0.980119]] 2025-10-24T19:38:08.998Z,1761334688.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:09.041Z,1761334689.041 [DAT](INFO): DAT read: Rx Time:19:38:08.0661 2025-10-24T19:38:09.042Z,1761334689.042 [DAT](INFO): Rx dataTimestamp_ set to:1761334689.041824 2025-10-24T19:38:09.045Z,1761334689.045 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-24T19:38:09.046Z,1761334689.046 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-24T19:38:09.047Z,1761334689.047 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.470654 2025-10-24T19:38:09.293Z,1761334689.293 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.715969 2025-10-24T19:38:09.311Z,1761334689.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986509,-0.163706,0.000866],[0.160607,0.966782,-0.198843],[0.031714,0.196299,0.980031]] 2025-10-24T19:38:09.342Z,1761334689.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504773 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:09.343Z,1761334689.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:09.545Z,1761334689.545 [DAT](INFO): DAT read: Rx Time:19:38:08.5663 2025-10-24T19:38:09.546Z,1761334689.546 [DAT](INFO): Rx dataTimestamp_ set to:1761334689.545402 2025-10-24T19:38:09.547Z,1761334689.547 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-24T19:38:09.552Z,1761334689.552 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-24T19:38:09.553Z,1761334689.553 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.976513 2025-10-24T19:38:09.727Z,1761334689.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986541,-0.163511,0.000421],[0.160328,0.966827,-0.198848],[0.032107,0.196239,0.980030]] 2025-10-24T19:38:09.797Z,1761334689.797 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.220310 2025-10-24T19:38:09.811Z,1761334689.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503578 s, deltaX: 0.300000 m, approachRate: 0.595737 m/s, rangeRepo size: 4 2025-10-24T19:38:09.816Z,1761334689.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:10.049Z,1761334690.049 [DAT](INFO): DAT read: Rx Time:19:38:09.0663 2025-10-24T19:38:10.050Z,1761334690.050 [DAT](INFO): Rx dataTimestamp_ set to:1761334690.049144 2025-10-24T19:38:10.051Z,1761334690.051 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-24T19:38:10.053Z,1761334690.053 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-24T19:38:10.054Z,1761334690.054 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.477219 2025-10-24T19:38:10.121Z,1761334690.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986578,-0.163292,0.000134],[0.160039,0.966765,-0.199383],[0.032428,0.196728,0.979922]] 2025-10-24T19:38:10.170Z,1761334690.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503742 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:10.171Z,1761334690.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:10.302Z,1761334690.302 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.725433 2025-10-24T19:38:10.525Z,1761334690.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986545,-0.163489,0.000069],[0.160198,0.966601,-0.200047],[0.032639,0.197367,0.979786]] 2025-10-24T19:38:10.561Z,1761334690.561 [DAT](INFO): DAT read: Rx Time:19:38:09.5663 2025-10-24T19:38:10.561Z,1761334690.561 [DAT](INFO): Rx dataTimestamp_ set to:1761334690.560736 2025-10-24T19:38:10.562Z,1761334690.562 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-24T19:38:10.563Z,1761334690.563 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-24T19:38:10.564Z,1761334690.564 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.987682 2025-10-24T19:38:10.576Z,1761334690.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:10.815Z,1761334690.815 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.238224 2025-10-24T19:38:10.934Z,1761334690.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986578,-0.163291,-0.000201],[0.159953,0.966655,-0.199982],[0.032849,0.197266,0.979800]] 2025-10-24T19:38:11.022Z,1761334691.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.511592 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:11.023Z,1761334691.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:11.066Z,1761334691.066 [DAT](INFO): DAT read: Rx Time:19:38:10.0663 2025-10-24T19:38:11.066Z,1761334691.066 [DAT](INFO): Rx dataTimestamp_ set to:1761334691.065855 2025-10-24T19:38:11.082Z,1761334691.082 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-24T19:38:11.083Z,1761334691.083 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-24T19:38:11.093Z,1761334691.093 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.516155 2025-10-24T19:38:11.317Z,1761334691.317 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.740753 2025-10-24T19:38:11.339Z,1761334691.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986440,-0.164121,-0.000371],[0.160730,0.966510,-0.200061],[0.033193,0.197289,0.979783]] 2025-10-24T19:38:11.360Z,1761334691.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.505119 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:11.361Z,1761334691.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:11.569Z,1761334691.569 [DAT](INFO): DAT read: Rx Time:19:38:10.5664 2025-10-24T19:38:11.570Z,1761334691.570 [DAT](INFO): Rx dataTimestamp_ set to:1761334691.569268 2025-10-24T19:38:11.571Z,1761334691.571 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-24T19:38:11.571Z,1761334691.571 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-24T19:38:11.573Z,1761334691.573 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.995876 2025-10-24T19:38:11.742Z,1761334691.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986459,-0.164004,-0.000671],[0.160553,0.966516,-0.200175],[0.033478,0.197356,0.979760]] 2025-10-24T19:38:11.821Z,1761334691.821 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.244621 2025-10-24T19:38:11.862Z,1761334691.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503413 s, deltaX: 0.200000 m, approachRate: 0.397288 m/s, rangeRepo size: 4 2025-10-24T19:38:11.862Z,1761334691.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:12.073Z,1761334692.073 [DAT](INFO): DAT read: Rx Time:19:38:11.0664 2025-10-24T19:38:12.073Z,1761334692.073 [DAT](INFO): Rx dataTimestamp_ set to:1761334692.073212 2025-10-24T19:38:12.075Z,1761334692.075 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.0 2025-10-24T19:38:12.075Z,1761334692.075 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-24T19:38:12.076Z,1761334692.076 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.499725 2025-10-24T19:38:12.147Z,1761334692.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986285,-0.165049,-0.000407],[0.161593,0.966125,-0.201222],[0.033605,0.198397,0.979546]] 2025-10-24T19:38:12.187Z,1761334692.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503944 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:12.189Z,1761334692.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:12.325Z,1761334692.325 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.748077 2025-10-24T19:38:12.563Z,1761334692.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986299,-0.164968,-0.000543],[0.161478,0.966095,-0.201460],[0.033759,0.198612,0.979497]] 2025-10-24T19:38:12.577Z,1761334692.577 [DAT](INFO): DAT read: Rx Time:19:38:11.5665 2025-10-24T19:38:12.578Z,1761334692.578 [DAT](INFO): Rx dataTimestamp_ set to:1761334692.577491 2025-10-24T19:38:12.579Z,1761334692.579 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-24T19:38:12.580Z,1761334692.580 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-24T19:38:12.581Z,1761334692.581 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.003963 2025-10-24T19:38:12.621Z,1761334692.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504279 s, deltaX: 0.099999 m, approachRate: 0.198302 m/s, rangeRepo size: 4 2025-10-24T19:38:12.622Z,1761334692.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:12.832Z,1761334692.832 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.254395 2025-10-24T19:38:12.947Z,1761334692.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986181,-0.165669,-0.000343],[0.162188,0.965879,-0.201925],[0.033784,0.199079,0.979401]] 2025-10-24T19:38:13.014Z,1761334693.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:13.082Z,1761334693.082 [DAT](INFO): DAT read: Rx Time:19:38:12.0664 2025-10-24T19:38:13.082Z,1761334693.082 [DAT](INFO): Rx dataTimestamp_ set to:1761334693.081949 2025-10-24T19:38:13.085Z,1761334693.085 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-24T19:38:13.085Z,1761334693.085 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-24T19:38:13.087Z,1761334693.087 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.509747 2025-10-24T19:38:13.333Z,1761334693.333 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.755997 2025-10-24T19:38:13.358Z,1761334693.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986145,-0.165886,-0.000352],[0.162405,0.965881,-0.201740],[0.033806,0.198887,0.979439]] 2025-10-24T19:38:13.378Z,1761334693.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504458 s, deltaX: -0.099999 m, approachRate: -0.198231 m/s, rangeRepo size: 4 2025-10-24T19:38:13.379Z,1761334693.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:13.586Z,1761334693.586 [DAT](INFO): DAT read: Rx Time:19:38:12.5666 2025-10-24T19:38:13.586Z,1761334693.586 [DAT](INFO): Rx dataTimestamp_ set to:1761334693.585736 2025-10-24T19:38:13.587Z,1761334693.587 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-24T19:38:13.588Z,1761334693.588 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-24T19:38:13.589Z,1761334693.589 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.012234 2025-10-24T19:38:13.755Z,1761334693.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986078,-0.166282,-0.000301],[0.162822,0.965928,-0.201178],[0.033743,0.198328,0.979555]] 2025-10-24T19:38:13.841Z,1761334693.841 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.263508 2025-10-24T19:38:13.856Z,1761334693.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.503787 s, deltaX: 0.300000 m, approachRate: 0.595490 m/s, rangeRepo size: 4 2025-10-24T19:38:13.857Z,1761334693.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:14.089Z,1761334694.089 [DAT](INFO): DAT read: Rx Time:19:38:13.0665 2025-10-24T19:38:14.089Z,1761334694.089 [DAT](INFO): Rx dataTimestamp_ set to:1761334694.089127 2025-10-24T19:38:14.091Z,1761334694.091 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.1 2025-10-24T19:38:14.091Z,1761334694.091 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-24T19:38:14.092Z,1761334694.092 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.515625 2025-10-24T19:38:14.229Z,1761334694.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503391 s, deltaX: -0.200001 m, approachRate: -0.397307 m/s, rangeRepo size: 4 2025-10-24T19:38:14.230Z,1761334694.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:14.341Z,1761334694.341 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.764191 2025-10-24T19:38:14.574Z,1761334694.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985874,-0.167489,0.000313],[0.164108,0.965594,-0.201735],[0.033486,0.198937,0.979440]] 2025-10-24T19:38:14.593Z,1761334694.593 [DAT](INFO): DAT read: Rx Time:19:38:13.5665 2025-10-24T19:38:14.594Z,1761334694.594 [DAT](INFO): Rx dataTimestamp_ set to:1761334694.593240 2025-10-24T19:38:14.595Z,1761334694.595 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-24T19:38:14.595Z,1761334694.595 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-24T19:38:14.596Z,1761334694.596 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.019733 2025-10-24T19:38:14.606Z,1761334694.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504113 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:14.606Z,1761334694.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:14.848Z,1761334694.848 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.271030 2025-10-24T19:38:14.969Z,1761334694.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985770,-0.168099,0.000613],[0.164752,0.965406,-0.202108],[0.033382,0.199333,0.979363]] 2025-10-24T19:38:15.040Z,1761334695.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:15.098Z,1761334695.098 [DAT](INFO): DAT read: Rx Time:19:38:14.0665 2025-10-24T19:38:15.098Z,1761334695.098 [DAT](INFO): Rx dataTimestamp_ set to:1761334695.098159 2025-10-24T19:38:15.101Z,1761334695.101 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed -0.2 2025-10-24T19:38:15.102Z,1761334695.102 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-24T19:38:15.103Z,1761334695.103 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.526062 2025-10-24T19:38:15.349Z,1761334695.349 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.772121 2025-10-24T19:38:15.377Z,1761334695.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985527,-0.169518,0.001065],[0.166231,0.965147,-0.202136],[0.033238,0.199387,0.979357]] 2025-10-24T19:38:15.413Z,1761334695.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504919 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:15.413Z,1761334695.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-24T19:38:15.602Z,1761334695.602 [DAT](INFO): DAT read: Rx Time:19:38:14.5666 2025-10-24T19:38:15.603Z,1761334695.603 [DAT](INFO): Rx dataTimestamp_ set to:1761334695.602476 2025-10-24T19:38:15.604Z,1761334695.604 [DAT](INFO): DAT read: Bearing 179.9, 0.4 (Local) 2025-10-24T19:38:15.604Z,1761334695.604 [DAT](INFO): Local bearing/azimuth received: Bearing 179.9, 0.4 (Local) 2025-10-24T19:38:15.607Z,1761334695.607 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-24T19:38:15.615Z,1761334695.615 [DAT](INFO): DAT read: 19:38:14.5666 LVL= 31264, 32753, 30258, 32755, AGC= 65, IDX= 511, 0.36, 0.872,-3.133, 1.039, 1.730, PHS=-0.770, 1.467,-0.693, RAW= 328.3, -0.0, CAL= 330.1, -0.4, ROT= 179.9, 0.4 2025-10-24T19:38:15.629Z,1761334695.629 [DAT](INFO): got valid direction response: 19:38:14.5666 LVL= 31264, 32753, 30258, 32755, AGC= 65, IDX= 511, 0.36, 0.872,-3.133, 1.039, 1.730, PHS=-0.770, 1.467,-0.693, RAW= 328.3, -0.0, CAL= 330.1, -0.4, ROT= 179.9, 0.4 2025-10-24T19:38:15.630Z,1761334695.630 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-24T19:38:15.631Z,1761334695.631 [DAT](INFO): direction in FSK: [-0.999974,0.001745,-0.006981] 2025-10-24T19:38:15.631Z,1761334695.631 [DAT](INFO): publishing direction and range info 2025-10-24T19:38:15.655Z,1761334695.655 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.078060 2025-10-24T19:38:15.785Z,1761334695.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985426,-0.170099,0.001157],[0.166837,0.965153,-0.201606],[0.033176,0.198860,0.979466]] 2025-10-24T19:38:15.856Z,1761334695.856 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.278652 2025-10-24T19:38:15.880Z,1761334695.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504317 s, deltaX: 0.200001 m, approachRate: 0.396577 m/s, rangeRepo size: 4 2025-10-24T19:38:15.883Z,1761334695.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.011177 m, bearing: 189.431556 deg, lat: 36.779557 deg, lon: -121.859623 deg, deltaT: 17.408976 s, deltaX: 2.585598 m, approachRate: 0.148521 m/s, posRepo size: 4 2025-10-24T19:38:15.883Z,1761334695.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-24T19:38:16.105Z,1761334696.105 [DAT](INFO): DAT read: Rx Time:19:38:15.0666 2025-10-24T19:38:16.105Z,1761334696.105 [DAT](INFO): Rx dataTimestamp_ set to:1761334696.105198 2025-10-24T19:38:16.107Z,1761334696.107 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-24T19:38:16.107Z,1761334696.107 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-24T19:38:16.108Z,1761334696.108 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.531689 2025-10-24T19:38:16.181Z,1761334696.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985326,-0.170677,0.001351],[0.167449,0.965091,-0.201394],[0.033069,0.198665,0.979509]] 2025-10-24T19:38:16.221Z,1761334696.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.502722 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:16.222Z,1761334696.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-24T19:38:16.357Z,1761334696.357 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.780422 2025-10-24T19:38:16.609Z,1761334696.609 [DAT](INFO): DAT read: Rx Time:19:38:15.5667 2025-10-24T19:38:16.610Z,1761334696.610 [DAT](INFO): Rx dataTimestamp_ set to:1761334696.609608 2025-10-24T19:38:16.611Z,1761334696.611 [DAT](INFO): DAT read: Bearing 170.1, 7.6 (Local) 2025-10-24T19:38:16.611Z,1761334696.611 [DAT](INFO): Local bearing/azimuth received: Bearing 170.1, 7.6 (Local) 2025-10-24T19:38:16.614Z,1761334696.614 [DAT](INFO): DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0 2025-10-24T19:38:16.622Z,1761334696.622 [DAT](INFO): DAT read: 19:38:15.5667 LVL= 28304, 29937, 21490, 32755, AGC= 68, IDX= 512, 0.12,-0.808, 1.111,-1.056,-0.391, PHS=-0.328, 1.549,-0.668, RAW= 338.2, -5.4, CAL= 339.9, -7.6, ROT= 170.1, 7.6 2025-10-24T19:38:16.623Z,1761334696.623 [DAT](INFO): got valid direction response: 19:38:15.5667 LVL= 28304, 29937, 21490, 32755, AGC= 68, IDX= 512, 0.12,-0.808, 1.111,-1.056,-0.391, PHS=-0.328, 1.549,-0.668, RAW= 338.2, -5.4, CAL= 339.9, -7.6, ROT= 170.1, 7.6 2025-10-24T19:38:16.623Z,1761334696.623 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-24T19:38:16.629Z,1761334696.629 [DAT](INFO): direction in FSK: [-0.976456,0.170419,-0.132256] 2025-10-24T19:38:16.629Z,1761334696.629 [DAT](INFO): publishing direction and range info 2025-10-24T19:38:16.645Z,1761334696.645 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:38:16.645Z,1761334696.645 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:38:16.645Z,1761334696.645 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:38:16.707Z,1761334696.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504410 s, deltaX: 0.299999 m, approachRate: 0.594753 m/s, rangeRepo size: 4 2025-10-24T19:38:16.721Z,1761334696.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.309505 m, bearing: 178.405357 deg, lat: 36.779546 deg, lon: -121.859623 deg, deltaT: 1.007132 s, deltaX: 0.298328 m, approachRate: 0.296216 m/s, posRepo size: 4 2025-10-24T19:38:16.722Z,1761334696.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-24T19:38:16.863Z,1761334696.863 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:38:17.049Z,1761334697.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985072,-0.172128,0.002090],[0.168994,0.964688,-0.202035],[0.032760,0.199372,0.979376]] 2025-10-24T19:38:17.113Z,1761334697.113 [DAT](INFO): DAT read: Rx Time:19:38:16.0666 2025-10-24T19:38:17.114Z,1761334697.114 [DAT](INFO): Rx dataTimestamp_ set to:1761334697.113665 2025-10-24T19:38:17.115Z,1761334697.115 [DAT](INFO): DAT read: Bearing 184.6, -20.7 (Local) 2025-10-24T19:38:17.119Z,1761334697.119 [DAT](INFO): Local bearing/azimuth received: Bearing 184.6, -20.7 (Local) 2025-10-24T19:38:17.122Z,1761334697.122 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 2025-10-24T19:38:17.126Z,1761334697.126 [DAT](INFO): DAT read: 19:38:16.0666 LVL= 22000, 23777, 23826, 32755, AGC= 66, IDX= 512,-0.39, 1.242, 3.123, 1.611, 2.457, PHS=-1.127, 0.713,-0.850, RAW= 322.0, 14.6, CAL= 325.4, 20.7, ROT= 184.6, -20.7 2025-10-24T19:38:17.127Z,1761334697.127 [DAT](INFO): got valid direction response: 19:38:16.0666 LVL= 22000, 23777, 23826, 32755, AGC= 66, IDX= 512,-0.39, 1.242, 3.123, 1.611, 2.457, PHS=-1.127, 0.713,-0.850, RAW= 322.0, 14.6, CAL= 325.4, 20.7, ROT= 184.6, -20.7 2025-10-24T19:38:17.128Z,1761334697.128 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:38:17.129Z,1761334697.129 [DAT](INFO): direction in FSK: [-0.932431,-0.075022,0.353475] 2025-10-24T19:38:17.129Z,1761334697.129 [DAT](INFO): publishing direction and range info 2025-10-24T19:38:17.161Z,1761334697.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:38:17.161Z,1761334697.161 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:38:17.209Z,1761334697.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504057 s, deltaX: -0.199999 m, approachRate: -0.396778 m/s, rangeRepo size: 4 2025-10-24T19:38:17.211Z,1761334697.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.110609 m, bearing: 198.420266 deg, lat: 36.779546 deg, lon: -121.859626 deg, deltaT: 0.504057 s, deltaX: -0.198896 m, approachRate: -0.394591 m/s, posRepo size: 4 2025-10-24T19:38:17.220Z,1761334697.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:17.365Z,1761334697.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:38:17.503Z,1761334697.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984959,-0.172771,0.002379],[0.169696,0.964653,-0.201614],[0.032538,0.198985,0.979462]] 2025-10-24T19:38:17.523Z,1761334697.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:17.618Z,1761334697.618 [DAT](INFO): DAT read: Rx Time:19:38:16.5668 2025-10-24T19:38:17.618Z,1761334697.618 [DAT](INFO): Rx dataTimestamp_ set to:1761334697.617955 2025-10-24T19:38:17.619Z,1761334697.619 [DAT](INFO): DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 2025-10-24T19:38:17.620Z,1761334697.620 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:38:17.621Z,1761334697.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:38:17.621Z,1761334697.621 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:38:17.871Z,1761334697.871 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:38:17.922Z,1761334697.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984838,-0.173457,0.002591],[0.170411,0.964535,-0.201577],[0.032466,0.198962,0.979469]] 2025-10-24T19:38:17.975Z,1761334697.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504290 s, deltaX: 0.299999 m, approachRate: 0.594894 m/s, rangeRepo size: 4 2025-10-24T19:38:17.975Z,1761334697.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:18.121Z,1761334698.121 [DAT](INFO): DAT read: user:114> 2025-10-24T19:38:18.122Z,1761334698.122 [DAT](INFO): DAT read: Command 'sbl' not found 2025-10-24T19:38:18.122Z,1761334698.122 [DAT](INFO): unknown deviceResponse_: Command 'sbl' not found 2025-10-24T19:38:18.122Z,1761334698.122 [DAT](INFO): DAT read: Error 2025-10-24T19:38:18.123Z,1761334698.123 [DAT](INFO): unknown deviceResponse_: Error 2025-10-24T19:38:18.123Z,1761334698.123 [DAT](INFO): DAT read: user:115> 2025-10-24T19:38:18.127Z,1761334698.127 [DAT](INFO): DAT read: Tx time:19:38:17.5263 2025-10-24T19:38:18.128Z,1761334698.128 [DAT](INFO): Ping request sent. 2025-10-24T19:38:18.128Z,1761334698.128 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:38:18.128Z,1761334698.128 [DAT](INFO): publishing transmit ping time 2025-10-24T19:38:18.129Z,1761334698.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000873 2025-10-24T19:38:18.292Z,1761334698.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984829,-0.173508,0.002605],[0.170471,0.964567,-0.201372],[0.032427,0.198761,0.979511]] 2025-10-24T19:38:18.313Z,1761334698.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:18.373Z,1761334698.373 [DAT](INFO): DAT read: TxSync time:19:38:17.5255 2025-10-24T19:38:18.375Z,1761334698.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246689 2025-10-24T19:38:18.625Z,1761334698.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497409 2025-10-24T19:38:18.697Z,1761334698.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984569,-0.174985,0.002040],[0.171772,0.964134,-0.202337],[0.033439,0.199565,0.979314]] 2025-10-24T19:38:18.719Z,1761334698.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:18.881Z,1761334698.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752572 2025-10-24T19:38:19.129Z,1761334699.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001114 2025-10-24T19:38:19.191Z,1761334699.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:19.381Z,1761334699.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253216 2025-10-24T19:38:19.505Z,1761334699.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984443,-0.175701,0.000611],[0.172192,0.964079,-0.202241],[0.034945,0.199200,0.979336]] 2025-10-24T19:38:19.551Z,1761334699.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:19.634Z,1761334699.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505649 2025-10-24T19:38:19.888Z,1761334699.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759217 2025-10-24T19:38:19.972Z,1761334699.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984437,-0.175731,0.001607],[0.172424,0.964063,-0.202121],[0.033970,0.199253,0.979359]] 2025-10-24T19:38:20.027Z,1761334700.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:20.137Z,1761334700.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009122 2025-10-24T19:38:20.352Z,1761334700.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984748,-0.173969,0.002493],[0.170906,0.964523,-0.201212],[0.032600,0.198569,0.979545]] 2025-10-24T19:38:20.389Z,1761334700.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261243 2025-10-24T19:38:20.394Z,1761334700.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:20.641Z,1761334700.641 [DAT](INFO): DAT read: Rx Time:19:38:19.6773 2025-10-24T19:38:20.641Z,1761334700.641 [DAT](INFO): Rx dataTimestamp_ set to:1761334700.641202 2025-10-24T19:38:20.643Z,1761334700.643 [DAT](INFO): DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0 2025-10-24T19:38:20.643Z,1761334700.643 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:38:20.644Z,1761334700.644 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.516628 2025-10-24T19:38:20.755Z,1761334700.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984852,-0.173373,0.003004],[0.170430,0.964654,-0.200989],[0.031949,0.198456,0.979589]] 2025-10-24T19:38:20.808Z,1761334700.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 3.023247 s, deltaX: -0.100000 m, approachRate: -0.033077 m/s, rangeRepo size: 4 2025-10-24T19:38:20.809Z,1761334700.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:20.895Z,1761334700.895 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766145 2025-10-24T19:38:21.145Z,1761334701.145 [DAT](INFO): DAT read: Rx Time:19:38:20.1773 2025-10-24T19:38:21.145Z,1761334701.145 [DAT](INFO): Rx dataTimestamp_ set to:1761334701.145151 2025-10-24T19:38:21.147Z,1761334701.147 [DAT](INFO): DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0 2025-10-24T19:38:21.147Z,1761334701.147 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-24T19:38:21.148Z,1761334701.148 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.020569 2025-10-24T19:38:21.184Z,1761334701.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985165,-0.171581,0.003052],[0.168711,0.965131,-0.200148],[0.031396,0.197694,0.979761]] 2025-10-24T19:38:21.255Z,1761334701.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503949 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:21.256Z,1761334701.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:21.397Z,1761334701.397 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.269117 2025-10-24T19:38:21.632Z,1761334701.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985183,-0.171474,0.003280],[0.168647,0.965111,-0.200298],[0.031180,0.197884,0.979729]] 2025-10-24T19:38:21.650Z,1761334701.650 [DAT](INFO): DAT read: Rx Time:19:38:20.6773 2025-10-24T19:38:21.651Z,1761334701.651 [DAT](INFO): Rx dataTimestamp_ set to:1761334701.650225 2025-10-24T19:38:21.653Z,1761334701.653 [DAT](INFO): DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0 2025-10-24T19:38:21.654Z,1761334701.654 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-24T19:38:21.655Z,1761334701.655 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.526824 2025-10-24T19:38:21.679Z,1761334701.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.505074 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:21.679Z,1761334701.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:21.905Z,1761334701.905 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.776532 2025-10-24T19:38:22.113Z,1761334702.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985308,-0.170744,0.003722],[0.168011,0.965164,-0.200574],[0.030655,0.198253,0.979671]] 2025-10-24T19:38:22.153Z,1761334702.153 [DAT](INFO): DAT read: Rx Time:19:38:21.1773 2025-10-24T19:38:22.154Z,1761334702.154 [DAT](INFO): Rx dataTimestamp_ set to:1761334702.153242 2025-10-24T19:38:22.155Z,1761334702.155 [DAT](INFO): DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed -0.1 2025-10-24T19:38:22.155Z,1761334702.155 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-24T19:38:22.156Z,1761334702.156 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.028676 2025-10-24T19:38:22.167Z,1761334702.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503017 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:22.168Z,1761334702.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:22.406Z,1761334702.406 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.278003 2025-10-24T19:38:22.494Z,1761334702.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985425,-0.170071,0.003790],[0.167363,0.965264,-0.200634],[0.030464,0.198344,0.979659]] 2025-10-24T19:38:22.522Z,1761334702.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:22.657Z,1761334702.657 [DAT](INFO): DAT read: Rx Time:19:38:21.6773 2025-10-24T19:38:22.657Z,1761334702.657 [DAT](INFO): Rx dataTimestamp_ set to:1761334702.657201 2025-10-24T19:38:22.659Z,1761334702.659 [DAT](INFO): DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed -0.2 2025-10-24T19:38:22.659Z,1761334702.659 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-24T19:38:22.660Z,1761334702.660 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.532653 2025-10-24T19:38:22.899Z,1761334702.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985455,-0.169886,0.004193],[0.167252,0.965221,-0.200934],[0.030088,0.198713,0.979596]] 2025-10-24T19:38:22.911Z,1761334702.911 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.782173 2025-10-24T19:38:23.003Z,1761334703.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503959 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:23.003Z,1761334703.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:23.161Z,1761334703.161 [DAT](INFO): DAT read: Rx Time:19:38:22.1775 2025-10-24T19:38:23.161Z,1761334703.161 [DAT](INFO): Rx dataTimestamp_ set to:1761334703.161200 2025-10-24T19:38:23.163Z,1761334703.163 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0 2025-10-24T19:38:23.163Z,1761334703.163 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-24T19:38:23.164Z,1761334703.164 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.036647 2025-10-24T19:38:23.299Z,1761334703.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985672,-0.168619,0.004169],[0.166015,0.965489,-0.200673],[0.029812,0.198490,0.979649]] 2025-10-24T19:38:23.354Z,1761334703.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503999 s, deltaX: 0.300001 m, approachRate: 0.595242 m/s, rangeRepo size: 4 2025-10-24T19:38:23.355Z,1761334703.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:23.414Z,1761334703.414 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.286089 2025-10-24T19:38:23.666Z,1761334703.666 [DAT](INFO): DAT read: Rx Time:19:38:22.6775 2025-10-24T19:38:23.666Z,1761334703.666 [DAT](INFO): Rx dataTimestamp_ set to:1761334703.665727 2025-10-24T19:38:23.668Z,1761334703.668 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.1 2025-10-24T19:38:23.669Z,1761334703.669 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-10-24T19:38:23.669Z,1761334703.669 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.541805 2025-10-24T19:38:23.735Z,1761334703.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985863,-0.167500,0.004229],[0.164943,0.965761,-0.200249],[0.029458,0.198116,0.979736]] 2025-10-24T19:38:23.771Z,1761334703.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504527 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:23.776Z,1761334703.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:23.917Z,1761334703.917 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.789337 2025-10-24T19:38:24.113Z,1761334704.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986007,-0.166644,0.004392],[0.164143,0.965933,-0.200077],[0.029099,0.197998,0.979770]] 2025-10-24T19:38:24.159Z,1761334704.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:24.169Z,1761334704.169 [DAT](INFO): DAT read: Rx Time:19:38:23.1776 2025-10-24T19:38:24.170Z,1761334704.170 [DAT](INFO): Rx dataTimestamp_ set to:1761334704.169315 2025-10-24T19:38:24.171Z,1761334704.171 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed -0.3 2025-10-24T19:38:24.171Z,1761334704.171 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-24T19:38:24.172Z,1761334704.172 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.044754 2025-10-24T19:38:24.421Z,1761334704.421 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.293109 2025-10-24T19:38:24.514Z,1761334704.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985983,-0.166776,0.004833],[0.164350,0.965832,-0.200392],[0.028753,0.198378,0.979704]] 2025-10-24T19:38:24.535Z,1761334704.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503588 s, deltaX: 0.099998 m, approachRate: 0.198572 m/s, rangeRepo size: 4 2025-10-24T19:38:24.535Z,1761334704.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:24.673Z,1761334704.673 [DAT](INFO): DAT read: Rx Time:19:38:23.6776 2025-10-24T19:38:24.674Z,1761334704.674 [DAT](INFO): Rx dataTimestamp_ set to:1761334704.673460 2025-10-24T19:38:24.675Z,1761334704.675 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-24T19:38:24.676Z,1761334704.676 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-24T19:38:24.677Z,1761334704.677 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.548887 2025-10-24T19:38:24.926Z,1761334704.926 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.797841 2025-10-24T19:38:24.943Z,1761334704.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985944,-0.166984,0.005507],[0.164672,0.965665,-0.200933],[0.028234,0.199016,0.979589]] 2025-10-24T19:38:25.031Z,1761334705.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504145 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:25.036Z,1761334705.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:25.177Z,1761334705.177 [DAT](INFO): DAT read: Rx Time:19:38:24.1778 2025-10-24T19:38:25.177Z,1761334705.177 [DAT](INFO): Rx dataTimestamp_ set to:1761334705.177178 2025-10-24T19:38:25.179Z,1761334705.179 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:25.179Z,1761334705.179 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-24T19:38:25.180Z,1761334705.180 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.052617 2025-10-24T19:38:25.320Z,1761334705.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985989,-0.166703,0.006002],[0.164491,0.965661,-0.201100],[0.027729,0.199269,0.979552]] 2025-10-24T19:38:25.391Z,1761334705.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503718 s, deltaX: 0.300001 m, approachRate: 0.595574 m/s, rangeRepo size: 4 2025-10-24T19:38:25.391Z,1761334705.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T19:38:25.429Z,1761334705.429 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.301198 2025-10-24T19:38:25.681Z,1761334705.681 [DAT](INFO): DAT read: Rx Time:19:38:24.6777 2025-10-24T19:38:25.682Z,1761334705.682 [DAT](INFO): Rx dataTimestamp_ set to:1761334705.681588 2025-10-24T19:38:25.684Z,1761334705.684 [DAT](INFO): DAT read: Bearing 175.7, 3.2 (Local) 2025-10-24T19:38:25.684Z,1761334705.684 [DAT](INFO): Local bearing/azimuth received: Bearing 175.7, 3.2 (Local) 2025-10-24T19:38:25.686Z,1761334705.686 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:38:25.691Z,1761334705.691 [DAT](INFO): DAT read: 19:38:24.6777 LVL= 30832, 32753, 23442, 32755, AGC= 69, IDX= 511,-0.00,-0.298, 1.935,-0.315, 0.406, PHS=-0.616, 1.576,-0.724, RAW= 332.4, -2.1, CAL= 334.3, -3.2, ROT= 175.7, 3.2 2025-10-24T19:38:25.695Z,1761334705.695 [DAT](INFO): got valid direction response: 19:38:24.6777 LVL= 30832, 32753, 23442, 32755, AGC= 69, IDX= 511,-0.00,-0.298, 1.935,-0.315, 0.406, PHS=-0.616, 1.576,-0.724, RAW= 332.4, -2.1, CAL= 334.3, -3.2, ROT= 175.7, 3.2 2025-10-24T19:38:25.695Z,1761334705.695 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-24T19:38:25.696Z,1761334705.696 [DAT](INFO): direction in FSK: [-0.995630,0.074862,-0.055822] 2025-10-24T19:38:25.697Z,1761334705.697 [DAT](INFO): publishing direction and range info 2025-10-24T19:38:25.729Z,1761334705.729 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.600845 2025-10-24T19:38:25.749Z,1761334705.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985986,-0.166703,0.006402],[0.164565,0.965615,-0.201259],[0.027369,0.199492,0.979517]] 2025-10-24T19:38:25.813Z,1761334705.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504410 s, deltaX: -0.100000 m, approachRate: -0.198252 m/s, rangeRepo size: 4 2025-10-24T19:38:25.820Z,1761334705.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.906090 m, bearing: 184.617582 deg, lat: 36.779547 deg, lon: -121.859626 deg, deltaT: 8.567923 s, deltaX: 0.795481 m, approachRate: 0.092844 m/s, posRepo size: 4 2025-10-24T19:38:25.820Z,1761334705.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:25.934Z,1761334705.934 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.806213 2025-10-24T19:38:26.127Z,1761334706.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986145,-0.165749,0.006677],[0.163696,0.965840,-0.200889],[0.026849,0.199198,0.979591]] 2025-10-24T19:38:26.185Z,1761334706.185 [DAT](INFO): DAT read: Rx Time:19:38:25.1777 2025-10-24T19:38:26.186Z,1761334706.186 [DAT](INFO): Rx dataTimestamp_ set to:1761334706.185405 2025-10-24T19:38:26.187Z,1761334706.187 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:38:26.188Z,1761334706.188 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-24T19:38:26.189Z,1761334706.189 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.060819 2025-10-24T19:38:26.197Z,1761334706.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503817 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:26.197Z,1761334706.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:26.437Z,1761334706.437 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.309199 2025-10-24T19:38:26.531Z,1761334706.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986124,-0.165857,0.007065],[0.163875,0.965771,-0.201075],[0.026526,0.199443,0.979550]] 2025-10-24T19:38:26.618Z,1761334706.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:26.690Z,1761334706.690 [DAT](INFO): DAT read: Rx Time:19:38:25.6776 2025-10-24T19:38:26.690Z,1761334706.690 [DAT](INFO): Rx dataTimestamp_ set to:1761334706.689971 2025-10-24T19:38:26.692Z,1761334706.692 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-24T19:38:26.693Z,1761334706.693 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-24T19:38:26.695Z,1761334706.695 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.566690 2025-10-24T19:38:26.942Z,1761334706.942 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.814570 2025-10-24T19:38:26.947Z,1761334706.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986193,-0.165434,0.007393],[0.163529,0.965859,-0.200934],[0.026101,0.199369,0.979577]] 2025-10-24T19:38:26.985Z,1761334706.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504566 s, deltaX: -0.200001 m, approachRate: -0.396382 m/s, rangeRepo size: 4 2025-10-24T19:38:26.985Z,1761334706.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:27.194Z,1761334707.194 [DAT](INFO): DAT read: Rx Time:19:38:26.1777 2025-10-24T19:38:27.195Z,1761334707.195 [DAT](INFO): Rx dataTimestamp_ set to:1761334707.194544 2025-10-24T19:38:27.198Z,1761334707.198 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:38:27.199Z,1761334707.199 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-24T19:38:27.201Z,1761334707.201 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.073305 2025-10-24T19:38:27.342Z,1761334707.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986115,-0.165881,0.007830],[0.164045,0.965704,-0.201259],[0.025824,0.199749,0.979507]] 2025-10-24T19:38:27.397Z,1761334707.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504573 s, deltaX: 0.200001 m, approachRate: 0.396376 m/s, rangeRepo size: 4 2025-10-24T19:38:27.397Z,1761334707.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:27.447Z,1761334707.447 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.319014 2025-10-24T19:38:27.702Z,1761334707.702 [DAT](INFO): DAT read: Rx Time:19:38:26.6776 2025-10-24T19:38:27.702Z,1761334707.702 [DAT](INFO): Rx dataTimestamp_ set to:1761334707.702032 2025-10-24T19:38:27.704Z,1761334707.704 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.1 2025-10-24T19:38:27.704Z,1761334707.704 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-10-24T19:38:27.705Z,1761334707.705 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.577470 2025-10-24T19:38:27.765Z,1761334707.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986002,-0.166524,0.008395],[0.164775,0.965476,-0.201755],[0.025492,0.200314,0.979400]] 2025-10-24T19:38:27.805Z,1761334707.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.507488 s, deltaX: -0.200001 m, approachRate: -0.394100 m/s, rangeRepo size: 4 2025-10-24T19:38:27.806Z,1761334707.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:27.954Z,1761334707.954 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826366 2025-10-24T19:38:28.149Z,1761334708.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985993,-0.166559,0.008704],[0.164888,0.965591,-0.201113],[0.025093,0.199731,0.979529]] 2025-10-24T19:38:28.205Z,1761334708.205 [DAT](INFO): DAT read: Rx Time:19:38:27.1777 2025-10-24T19:38:28.205Z,1761334708.205 [DAT](INFO): Rx dataTimestamp_ set to:1761334708.205104 2025-10-24T19:38:28.207Z,1761334708.207 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:38:28.207Z,1761334708.207 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-24T19:38:28.208Z,1761334708.208 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.080505 2025-10-24T19:38:28.211Z,1761334708.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503072 s, deltaX: 0.200001 m, approachRate: 0.397559 m/s, rangeRepo size: 4 2025-10-24T19:38:28.211Z,1761334708.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:28.457Z,1761334708.457 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.329067 2025-10-24T19:38:28.552Z,1761334708.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985963,-0.166739,0.008629],[0.165087,0.965870,-0.199603],[0.024947,0.198226,0.979839]] 2025-10-24T19:38:28.622Z,1761334708.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:28.710Z,1761334708.710 [DAT](INFO): DAT read: Rx Time:19:38:27.6777 2025-10-24T19:38:28.710Z,1761334708.710 [DAT](INFO): Rx dataTimestamp_ set to:1761334708.710174 2025-10-24T19:38:28.712Z,1761334708.712 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:38:28.713Z,1761334708.713 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-24T19:38:28.715Z,1761334708.715 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.586812 2025-10-24T19:38:28.954Z,1761334708.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985819,-0.167564,0.009076],[0.165985,0.965712,-0.199623],[0.024685,0.198298,0.979831]] 2025-10-24T19:38:28.961Z,1761334708.961 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.833046 2025-10-24T19:38:29.033Z,1761334709.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.505070 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:29.035Z,1761334709.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:29.213Z,1761334709.213 [DAT](INFO): DAT read: Rx Time:19:38:28.1779 2025-10-24T19:38:29.213Z,1761334709.213 [DAT](INFO): Rx dataTimestamp_ set to:1761334709.213138 2025-10-24T19:38:29.215Z,1761334709.215 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:29.215Z,1761334709.215 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-24T19:38:29.217Z,1761334709.217 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.089188 2025-10-24T19:38:29.360Z,1761334709.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985674,-0.168395,0.009484],[0.166869,0.965479,-0.200013],[0.024524,0.198730,0.979747]] 2025-10-24T19:38:29.409Z,1761334709.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.502964 s, deltaX: 0.299999 m, approachRate: 0.596463 m/s, rangeRepo size: 4 2025-10-24T19:38:29.409Z,1761334709.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:29.466Z,1761334709.466 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.338214 2025-10-24T19:38:29.718Z,1761334709.718 [DAT](INFO): DAT read: Rx Time:19:38:28.6778 2025-10-24T19:38:29.718Z,1761334709.718 [DAT](INFO): Rx dataTimestamp_ set to:1761334709.717772 2025-10-24T19:38:29.719Z,1761334709.719 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:29.721Z,1761334709.721 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-24T19:38:29.722Z,1761334709.722 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.594004 2025-10-24T19:38:29.768Z,1761334709.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985493,-0.169409,0.010171],[0.167985,0.965166,-0.200591],[0.024166,0.199389,0.979622]] 2025-10-24T19:38:29.829Z,1761334709.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504634 s, deltaX: -0.199999 m, approachRate: -0.396325 m/s, rangeRepo size: 4 2025-10-24T19:38:29.830Z,1761334709.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:29.969Z,1761334709.969 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841698 2025-10-24T19:38:30.167Z,1761334710.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985150,-0.171352,0.010897],[0.170002,0.964549,-0.201854],[0.024077,0.200708,0.979355]] 2025-10-24T19:38:30.221Z,1761334710.221 [DAT](INFO): DAT read: Rx Time:19:38:29.1778 2025-10-24T19:38:30.222Z,1761334710.222 [DAT](INFO): Rx dataTimestamp_ set to:1761334710.221322 2025-10-24T19:38:30.223Z,1761334710.223 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:30.223Z,1761334710.223 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-24T19:38:30.224Z,1761334710.224 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.096747 2025-10-24T19:38:30.253Z,1761334710.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503550 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:30.253Z,1761334710.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:30.473Z,1761334710.473 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345526 2025-10-24T19:38:30.571Z,1761334710.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985080,-0.171754,0.010825],[0.170389,0.964554,-0.201502],[0.024167,0.200340,0.979428]] 2025-10-24T19:38:30.665Z,1761334710.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:30.726Z,1761334710.726 [DAT](INFO): DAT read: Rx Time:19:38:29.6777 2025-10-24T19:38:30.727Z,1761334710.727 [DAT](INFO): Rx dataTimestamp_ set to:1761334710.726468 2025-10-24T19:38:30.729Z,1761334710.729 [DAT](INFO): DAT read: Bearing 176.8, 3.9 (Local) 2025-10-24T19:38:30.729Z,1761334710.729 [DAT](INFO): Local bearing/azimuth received: Bearing 176.8, 3.9 (Local) 2025-10-24T19:38:30.732Z,1761334710.732 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 2025-10-24T19:38:30.739Z,1761334710.739 [DAT](INFO): DAT read: 19:38:29.6777 LVL= 32752, 32753, 23538, 32755, AGC= 68, IDX= 510, 0.23, 0.026, 2.279, 0.062, 0.733, PHS=-0.619, 1.593,-0.674, RAW= 331.2, -2.7, CAL= 333.2, -3.9, ROT= 176.8, 3.9 2025-10-24T19:38:30.740Z,1761334710.740 [DAT](INFO): got valid direction response: 19:38:29.6777 LVL= 32752, 32753, 23538, 32755, AGC= 68, IDX= 510, 0.23, 0.026, 2.279, 0.062, 0.733, PHS=-0.619, 1.593,-0.674, RAW= 331.2, -2.7, CAL= 333.2, -3.9, ROT= 176.8, 3.9 2025-10-24T19:38:30.741Z,1761334710.741 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-24T19:38:30.742Z,1761334710.742 [DAT](INFO): direction in FSK: [-0.996129,0.055692,-0.068015] 2025-10-24T19:38:30.742Z,1761334710.742 [DAT](INFO): publishing direction and range info 2025-10-24T19:38:30.751Z,1761334710.751 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.623101 2025-10-24T19:38:30.977Z,1761334710.977 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849059 2025-10-24T19:38:30.977Z,1761334710.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984974,-0.172372,0.010709],[0.171012,0.964784,-0.199868],[0.024119,0.198696,0.979764]] 2025-10-24T19:38:31.001Z,1761334711.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.505146 s, deltaX: -0.100000 m, approachRate: -0.197963 m/s, rangeRepo size: 4 2025-10-24T19:38:31.025Z,1761334711.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.906189 m, bearing: 185.932268 deg, lat: 36.779547 deg, lon: -121.859614 deg, deltaT: 5.044880 s, deltaX: 0.000099 m, approachRate: 0.000020 m/s, posRepo size: 4 2025-10-24T19:38:31.025Z,1761334711.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:31.229Z,1761334711.229 [DAT](INFO): DAT read: Rx Time:19:38:30.1779 2025-10-24T19:38:31.230Z,1761334711.230 [DAT](INFO): Rx dataTimestamp_ set to:1761334711.229578 2025-10-24T19:38:31.231Z,1761334711.231 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2 2025-10-24T19:38:31.232Z,1761334711.232 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-24T19:38:31.233Z,1761334711.233 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.105065 2025-10-24T19:38:31.435Z,1761334711.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503110 s, deltaX: 0.299999 m, approachRate: 0.596290 m/s, rangeRepo size: 4 2025-10-24T19:38:31.436Z,1761334711.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:31.481Z,1761334711.481 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353325 2025-10-24T19:38:31.734Z,1761334711.734 [DAT](INFO): DAT read: Rx Time:19:38:30.6778 2025-10-24T19:38:31.735Z,1761334711.735 [DAT](INFO): Rx dataTimestamp_ set to:1761334711.734595 2025-10-24T19:38:31.738Z,1761334711.738 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:31.738Z,1761334711.738 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-10-24T19:38:31.739Z,1761334711.739 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.611425 2025-10-24T19:38:31.821Z,1761334711.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984769,-0.173507,0.011157],[0.172214,0.964578,-0.199828],[0.023910,0.198706,0.979768]] 2025-10-24T19:38:31.851Z,1761334711.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.505017 s, deltaX: -0.199999 m, approachRate: -0.396024 m/s, rangeRepo size: 4 2025-10-24T19:38:31.852Z,1761334711.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:31.985Z,1761334711.985 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857156 2025-10-24T19:38:32.188Z,1761334712.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984644,-0.174188,0.011586],[0.172954,0.964345,-0.200317],[0.023720,0.199244,0.979663]] 2025-10-24T19:38:32.237Z,1761334712.237 [DAT](INFO): DAT read: Rx Time:19:38:31.1779 2025-10-24T19:38:32.238Z,1761334712.238 [DAT](INFO): Rx dataTimestamp_ set to:1761334712.237288 2025-10-24T19:38:32.239Z,1761334712.239 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.6 2025-10-24T19:38:32.239Z,1761334712.239 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-24T19:38:32.240Z,1761334712.240 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.112733 2025-10-24T19:38:32.245Z,1761334712.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.502693 s, deltaX: 0.199999 m, approachRate: 0.397855 m/s, rangeRepo size: 4 2025-10-24T19:38:32.246Z,1761334712.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:32.489Z,1761334712.489 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361088 2025-10-24T19:38:32.605Z,1761334712.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984331,-0.175912,0.012169],[0.174733,0.963804,-0.201371],[0.023696,0.200342,0.979439]] 2025-10-24T19:38:32.623Z,1761334712.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:32.742Z,1761334712.742 [DAT](INFO): DAT read: Rx Time:19:38:31.6778 2025-10-24T19:38:32.742Z,1761334712.742 [DAT](INFO): Rx dataTimestamp_ set to:1761334712.741745 2025-10-24T19:38:32.744Z,1761334712.744 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:32.745Z,1761334712.745 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-24T19:38:32.746Z,1761334712.746 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.618349 2025-10-24T19:38:32.993Z,1761334712.993 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.864974 2025-10-24T19:38:33.004Z,1761334713.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984290,-0.176136,0.012239],[0.174960,0.963708,-0.201633],[0.023720,0.200607,0.979385]] 2025-10-24T19:38:33.022Z,1761334713.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504457 s, deltaX: -0.199999 m, approachRate: -0.396464 m/s, rangeRepo size: 4 2025-10-24T19:38:33.023Z,1761334713.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:33.245Z,1761334713.245 [DAT](INFO): DAT read: Rx Time:19:38:32.1779 2025-10-24T19:38:33.246Z,1761334713.246 [DAT](INFO): Rx dataTimestamp_ set to:1761334713.245246 2025-10-24T19:38:33.247Z,1761334713.247 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:33.248Z,1761334713.248 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-24T19:38:33.250Z,1761334713.250 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.122103 2025-10-24T19:38:33.459Z,1761334713.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503501 s, deltaX: 0.199999 m, approachRate: 0.397216 m/s, rangeRepo size: 4 2025-10-24T19:38:33.459Z,1761334713.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:33.498Z,1761334713.498 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.369820 2025-10-24T19:38:33.749Z,1761334713.749 [DAT](INFO): DAT read: Rx Time:19:38:32.6778 2025-10-24T19:38:33.750Z,1761334713.750 [DAT](INFO): Rx dataTimestamp_ set to:1761334713.749481 2025-10-24T19:38:33.752Z,1761334713.752 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:33.752Z,1761334713.752 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-24T19:38:33.753Z,1761334713.753 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.625650 2025-10-24T19:38:33.812Z,1761334713.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984422,-0.175397,0.012249],[0.174255,0.963981,-0.200935],[0.023435,0.199940,0.979528]] 2025-10-24T19:38:33.862Z,1761334713.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504235 s, deltaX: -0.199999 m, approachRate: -0.396638 m/s, rangeRepo size: 4 2025-10-24T19:38:33.863Z,1761334713.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:34.001Z,1761334714.001 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.873230 2025-10-24T19:38:34.203Z,1761334714.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984568,-0.174584,0.012103],[0.173442,0.964230,-0.200445],[0.023324,0.199451,0.979630]] 2025-10-24T19:38:34.253Z,1761334714.253 [DAT](INFO): DAT read: Rx Time:19:38:33.1779 2025-10-24T19:38:34.253Z,1761334714.253 [DAT](INFO): Rx dataTimestamp_ set to:1761334714.253183 2025-10-24T19:38:34.255Z,1761334714.255 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:34.255Z,1761334714.255 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-24T19:38:34.256Z,1761334714.256 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.128622 2025-10-24T19:38:34.283Z,1761334714.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503702 s, deltaX: 0.199999 m, approachRate: 0.397058 m/s, rangeRepo size: 4 2025-10-24T19:38:34.288Z,1761334714.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:34.505Z,1761334714.505 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.377134 2025-10-24T19:38:34.615Z,1761334714.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984434,-0.175313,0.012472],[0.174195,0.963790,-0.201905],[0.023376,0.200934,0.979326]] 2025-10-24T19:38:34.635Z,1761334714.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:34.759Z,1761334714.759 [DAT](INFO): DAT read: Rx Time:19:38:33.6778 2025-10-24T19:38:34.759Z,1761334714.759 [DAT](INFO): Rx dataTimestamp_ set to:1761334714.758944 2025-10-24T19:38:34.761Z,1761334714.761 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.1 2025-10-24T19:38:34.761Z,1761334714.761 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-24T19:38:34.762Z,1761334714.762 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.634411 2025-10-24T19:38:35.009Z,1761334715.009 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.881138 2025-10-24T19:38:35.049Z,1761334715.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.505761 s, deltaX: -0.199999 m, approachRate: -0.395441 m/s, rangeRepo size: 4 2025-10-24T19:38:35.049Z,1761334715.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:35.261Z,1761334715.261 [DAT](INFO): DAT read: Rx Time:19:38:34.1779 2025-10-24T19:38:35.261Z,1761334715.261 [DAT](INFO): Rx dataTimestamp_ set to:1761334715.261181 2025-10-24T19:38:35.263Z,1761334715.263 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.1 2025-10-24T19:38:35.263Z,1761334715.263 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-24T19:38:35.265Z,1761334715.265 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.137350 2025-10-24T19:38:35.418Z,1761334715.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984366,-0.175667,0.012796],[0.174588,0.963557,-0.202675],[0.023274,0.201740,0.979162]] 2025-10-24T19:38:35.471Z,1761334715.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.502237 s, deltaX: 0.199999 m, approachRate: 0.398216 m/s, rangeRepo size: 4 2025-10-24T19:38:35.471Z,1761334715.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:35.513Z,1761334715.513 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.385237 2025-10-24T19:38:35.765Z,1761334715.765 [DAT](INFO): DAT read: Rx Time:19:38:34.6778 2025-10-24T19:38:35.765Z,1761334715.765 [DAT](INFO): Rx dataTimestamp_ set to:1761334715.765171 2025-10-24T19:38:35.767Z,1761334715.767 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-24T19:38:35.768Z,1761334715.768 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-24T19:38:35.769Z,1761334715.769 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.641333 2025-10-24T19:38:35.865Z,1761334715.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984637,-0.174168,0.012485],[0.173072,0.963955,-0.202083],[0.023162,0.201139,0.979289]] 2025-10-24T19:38:35.886Z,1761334715.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503990 s, deltaX: -0.199999 m, approachRate: -0.396831 m/s, rangeRepo size: 4 2025-10-24T19:38:35.886Z,1761334715.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:36.018Z,1761334716.018 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.890440 2025-10-24T19:38:36.261Z,1761334716.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984790,-0.173319,0.012232],[0.172201,0.964212,-0.201600],[0.023147,0.200640,0.979392]] 2025-10-24T19:38:36.269Z,1761334716.269 [DAT](INFO): DAT read: Rx Time:19:38:35.1779 2025-10-24T19:38:36.270Z,1761334716.270 [DAT](INFO): Rx dataTimestamp_ set to:1761334716.269300 2025-10-24T19:38:36.271Z,1761334716.271 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2 2025-10-24T19:38:36.271Z,1761334716.271 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-24T19:38:36.272Z,1761334716.272 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.144739 2025-10-24T19:38:36.358Z,1761334716.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504129 s, deltaX: 0.199999 m, approachRate: 0.396722 m/s, rangeRepo size: 4 2025-10-24T19:38:36.358Z,1761334716.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:36.521Z,1761334716.521 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.393007 2025-10-24T19:38:36.669Z,1761334716.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985074,-0.171727,0.011797],[0.170574,0.964671,-0.200783],[0.023099,0.199798,0.979565]] 2025-10-24T19:38:36.709Z,1761334716.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:36.773Z,1761334716.773 [DAT](INFO): DAT read: Rx Time:19:38:35.6778 2025-10-24T19:38:36.773Z,1761334716.773 [DAT](INFO): Rx dataTimestamp_ set to:1761334716.773167 2025-10-24T19:38:36.775Z,1761334716.775 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:36.775Z,1761334716.775 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-24T19:38:36.777Z,1761334716.777 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.648619 2025-10-24T19:38:37.025Z,1761334717.025 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.897121 2025-10-24T19:38:37.074Z,1761334717.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985143,-0.171338,0.011664],[0.170161,0.964693,-0.201027],[0.023191,0.200025,0.979516]] 2025-10-24T19:38:37.142Z,1761334717.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503867 s, deltaX: -0.199999 m, approachRate: -0.396928 m/s, rangeRepo size: 4 2025-10-24T19:38:37.149Z,1761334717.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:37.278Z,1761334717.278 [DAT](INFO): DAT read: Rx Time:19:38:36.1780 2025-10-24T19:38:37.279Z,1761334717.279 [DAT](INFO): Rx dataTimestamp_ set to:1761334717.277883 2025-10-24T19:38:37.280Z,1761334717.280 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-24T19:38:37.281Z,1761334717.281 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-24T19:38:37.282Z,1761334717.282 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.154322 2025-10-24T19:38:37.529Z,1761334717.529 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.401085 2025-10-24T19:38:37.623Z,1761334717.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985312,-0.170382,0.011397],[0.169132,0.964525,-0.202694],[0.023543,0.201645,0.979176]] 2025-10-24T19:38:37.685Z,1761334717.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:38:37.687Z,1761334717.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504716 s, deltaX: 0.299999 m, approachRate: 0.594392 m/s, rangeRepo size: 4 2025-10-24T19:38:37.692Z,1761334717.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:37.781Z,1761334717.781 [DAT](INFO): DAT read: Rx Time:19:38:36.6779 2025-10-24T19:38:37.782Z,1761334717.782 [DAT](INFO): Rx dataTimestamp_ set to:1761334717.781308 2025-10-24T19:38:37.783Z,1761334717.783 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:37.784Z,1761334717.784 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-24T19:38:37.785Z,1761334717.785 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.657616 2025-10-24T19:38:38.034Z,1761334718.034 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.905882 2025-10-24T19:38:38.065Z,1761334718.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985338,-0.170241,0.011281],[0.168964,0.964504,-0.202937],[0.023668,0.201868,0.979127]] 2025-10-24T19:38:38.085Z,1761334718.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503425 s, deltaX: -0.100000 m, approachRate: -0.198640 m/s, rangeRepo size: 4 2025-10-24T19:38:38.087Z,1761334718.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:38.285Z,1761334718.285 [DAT](INFO): DAT read: Rx Time:19:38:37.1781 2025-10-24T19:38:38.286Z,1761334718.286 [DAT](INFO): Rx dataTimestamp_ set to:1761334718.285371 2025-10-24T19:38:38.287Z,1761334718.287 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2025-10-24T19:38:38.288Z,1761334718.288 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-24T19:38:38.289Z,1761334718.289 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.160805 2025-10-24T19:38:38.470Z,1761334718.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985556,-0.169006,0.010757],[0.167662,0.964833,-0.202449],[0.023836,0.201329,0.979234]] 2025-10-24T19:38:38.537Z,1761334718.537 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.409458 2025-10-24T19:38:38.553Z,1761334718.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504063 s, deltaX: 0.300001 m, approachRate: 0.595166 m/s, rangeRepo size: 4 2025-10-24T19:38:38.553Z,1761334718.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:38.724Z,1761334718.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:38:38.791Z,1761334718.791 [DAT](INFO): DAT read: Rx Time:19:38:37.6780 2025-10-24T19:38:38.792Z,1761334718.792 [DAT](INFO): Rx dataTimestamp_ set to:1761334718.791786 2025-10-24T19:38:38.793Z,1761334718.793 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-24T19:38:38.794Z,1761334718.794 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-24T19:38:38.795Z,1761334718.795 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.667131 2025-10-24T19:38:38.875Z,1761334718.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985591,-0.168824,0.010454],[0.167425,0.964895,-0.202351],[0.024075,0.201186,0.979257]] 2025-10-24T19:38:38.943Z,1761334718.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.506415 s, deltaX: -0.200001 m, approachRate: -0.394935 m/s, rangeRepo size: 4 2025-10-24T19:38:38.948Z,1761334718.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T19:38:39.041Z,1761334719.041 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.913029 2025-10-24T19:38:39.275Z,1761334719.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985752,-0.167911,0.009936],[0.166439,0.965168,-0.201863],[0.024305,0.200640,0.979363]] 2025-10-24T19:38:39.294Z,1761334719.294 [DAT](INFO): DAT read: Rx Time:19:38:38.1781 2025-10-24T19:38:39.294Z,1761334719.294 [DAT](INFO): Rx dataTimestamp_ set to:1761334719.293696 2025-10-24T19:38:39.295Z,1761334719.295 [DAT](INFO): DAT read: Bearing 179.3, 17.4 (Local) 2025-10-24T19:38:39.296Z,1761334719.296 [DAT](INFO): Local bearing/azimuth received: Bearing 179.3, 17.4 (Local) 2025-10-24T19:38:39.298Z,1761334719.298 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2025-10-24T19:38:39.303Z,1761334719.303 [DAT](INFO): DAT read: 19:38:38.1781 LVL= 24448, 27233, 18642, 29891, AGC= 64, IDX= 513, 0.03,-2.554,-0.477,-2.344,-2.175, PHS=-0.290, 1.745,-0.172, RAW= 327.0, -12.9, CAL= 330.7, -17.4, ROT= 179.3, 17.4 2025-10-24T19:38:39.304Z,1761334719.304 [DAT](INFO): got valid direction response: 19:38:38.1781 LVL= 24448, 27233, 18642, 29891, AGC= 64, IDX= 513, 0.03,-2.554,-0.477,-2.344,-2.175, PHS=-0.290, 1.745,-0.172, RAW= 327.0, -12.9, CAL= 330.7, -17.4, ROT= 179.3, 17.4 2025-10-24T19:38:39.305Z,1761334719.305 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-24T19:38:39.306Z,1761334719.306 [DAT](INFO): direction in FSK: [-0.954169,0.011658,-0.299041] 2025-10-24T19:38:39.306Z,1761334719.306 [DAT](INFO): publishing direction and range info 2025-10-24T19:38:39.310Z,1761334719.310 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.182775 2025-10-24T19:38:39.405Z,1761334719.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.501910 s, deltaX: 0.200001 m, approachRate: 0.398479 m/s, rangeRepo size: 4 2025-10-24T19:38:39.407Z,1761334719.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.502989 m, bearing: 185.268908 deg, lat: 36.779549 deg, lon: -121.859613 deg, deltaT: 8.567228 s, deltaX: 0.596800 m, approachRate: 0.069661 m/s, posRepo size: 4 2025-10-24T19:38:39.407Z,1761334719.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:39.545Z,1761334719.545 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.417297 2025-10-24T19:38:39.680Z,1761334719.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985646,-0.168544,0.009732],[0.167013,0.965020,-0.202095],[0.024671,0.200819,0.979318]] 2025-10-24T19:38:39.698Z,1761334719.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:39.728Z,1761334719.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:38:39.797Z,1761334719.797 [DAT](INFO): DAT read: Rx Time:19:38:38.6780 2025-10-24T19:38:39.798Z,1761334719.798 [DAT](INFO): Rx dataTimestamp_ set to:1761334719.797365 2025-10-24T19:38:39.799Z,1761334719.799 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-24T19:38:39.800Z,1761334719.800 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-24T19:38:39.801Z,1761334719.801 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.673420 2025-10-24T19:38:40.049Z,1761334720.049 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.921064 2025-10-24T19:38:40.101Z,1761334720.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985735,-0.168056,0.009171],[0.166430,0.965188,-0.201777],[0.025058,0.200424,0.979389]] 2025-10-24T19:38:40.121Z,1761334720.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503669 s, deltaX: -0.200001 m, approachRate: -0.397088 m/s, rangeRepo size: 4 2025-10-24T19:38:40.121Z,1761334720.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:40.301Z,1761334720.301 [DAT](INFO): DAT read: Rx Time:19:38:39.1780 2025-10-24T19:38:40.302Z,1761334720.302 [DAT](INFO): Rx dataTimestamp_ set to:1761334720.301479 2025-10-24T19:38:40.303Z,1761334720.303 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.1 2025-10-24T19:38:40.304Z,1761334720.304 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-24T19:38:40.305Z,1761334720.305 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.176903 2025-10-24T19:38:40.553Z,1761334720.553 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.425192 2025-10-24T19:38:40.564Z,1761334720.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504114 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:40.564Z,1761334720.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:40.805Z,1761334720.805 [DAT](INFO): DAT read: Rx Time:19:38:39.6779 2025-10-24T19:38:40.806Z,1761334720.806 [DAT](INFO): Rx dataTimestamp_ set to:1761334720.805245 2025-10-24T19:38:40.807Z,1761334720.807 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:40.807Z,1761334720.807 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-24T19:38:40.808Z,1761334720.808 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.680706 2025-10-24T19:38:40.910Z,1761334720.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985546,-0.169198,0.008428],[0.167386,0.964917,-0.202280],[0.026093,0.200767,0.979291]] 2025-10-24T19:38:40.938Z,1761334720.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503766 s, deltaX: -0.100000 m, approachRate: -0.198506 m/s, rangeRepo size: 4 2025-10-24T19:38:40.938Z,1761334720.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:41.058Z,1761334721.058 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.930094 2025-10-24T19:38:41.309Z,1761334721.309 [DAT](INFO): DAT read: Rx Time:19:38:40.1780 2025-10-24T19:38:41.309Z,1761334721.309 [DAT](INFO): Rx dataTimestamp_ set to:1761334721.309126 2025-10-24T19:38:41.311Z,1761334721.311 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.2 2025-10-24T19:38:41.311Z,1761334721.311 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-24T19:38:41.312Z,1761334721.312 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.184559 2025-10-24T19:38:41.391Z,1761334721.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503881 s, deltaX: 0.100000 m, approachRate: 0.198460 m/s, rangeRepo size: 4 2025-10-24T19:38:41.392Z,1761334721.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:41.564Z,1761334721.564 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.436167 2025-10-24T19:38:41.711Z,1761334721.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985205,-0.171204,0.007714],[0.169182,0.964417,-0.203167],[0.027343,0.201467,0.979114]] 2025-10-24T19:38:41.731Z,1761334721.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:41.816Z,1761334721.816 [DAT](INFO): DAT read: Rx Time:19:38:40.6779 2025-10-24T19:38:41.818Z,1761334721.818 [DAT](INFO): Rx dataTimestamp_ set to:1761334721.816723 2025-10-24T19:38:41.823Z,1761334721.823 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.5 2025-10-24T19:38:41.826Z,1761334721.826 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-24T19:38:41.826Z,1761334721.826 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.698685 2025-10-24T19:38:42.065Z,1761334722.065 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.937075 2025-10-24T19:38:42.125Z,1761334722.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985162,-0.171483,0.007069],[0.169326,0.964391,-0.203172],[0.028023,0.201355,0.979117]] 2025-10-24T19:38:42.145Z,1761334722.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.507597 s, deltaX: -0.100000 m, approachRate: -0.197007 m/s, rangeRepo size: 4 2025-10-24T19:38:42.146Z,1761334722.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:42.318Z,1761334722.318 [DAT](INFO): DAT read: Rx Time:19:38:41.1780 2025-10-24T19:38:42.319Z,1761334722.319 [DAT](INFO): Rx dataTimestamp_ set to:1761334722.318531 2025-10-24T19:38:42.320Z,1761334722.320 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-24T19:38:42.321Z,1761334722.321 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-24T19:38:42.322Z,1761334722.322 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.194008 2025-10-24T19:38:42.569Z,1761334722.569 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.441444 2025-10-24T19:38:42.580Z,1761334722.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.501808 s, deltaX: 0.100000 m, approachRate: 0.199280 m/s, rangeRepo size: 4 2025-10-24T19:38:42.580Z,1761334722.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:42.821Z,1761334722.821 [DAT](INFO): DAT read: Rx Time:19:38:41.6779 2025-10-24T19:38:42.822Z,1761334722.822 [DAT](INFO): Rx dataTimestamp_ set to:1761334722.821678 2025-10-24T19:38:42.823Z,1761334722.823 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.1 2025-10-24T19:38:42.824Z,1761334722.824 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-24T19:38:42.826Z,1761334722.826 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.697687 2025-10-24T19:38:42.930Z,1761334722.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984965,-0.172656,0.005794],[0.170214,0.964214,-0.203269],[0.029509,0.201200,0.979106]] 2025-10-24T19:38:42.973Z,1761334722.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503147 s, deltaX: -0.100000 m, approachRate: -0.198750 m/s, rangeRepo size: 4 2025-10-24T19:38:42.973Z,1761334722.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:43.073Z,1761334723.073 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.945076 2025-10-24T19:38:43.328Z,1761334723.328 [DAT](INFO): DAT read: Rx Time:19:38:42.1781 2025-10-24T19:38:43.329Z,1761334723.329 [DAT](INFO): Rx dataTimestamp_ set to:1761334723.328538 2025-10-24T19:38:43.330Z,1761334723.330 [DAT](INFO): DAT read: Bearing 173.0, 13.7 (Local) 2025-10-24T19:38:43.331Z,1761334723.331 [DAT](INFO): Local bearing/azimuth received: Bearing 173.0, 13.7 (Local) 2025-10-24T19:38:43.334Z,1761334723.334 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2025-10-24T19:38:43.339Z,1761334723.339 [DAT](INFO): DAT read: 19:38:42.1781 LVL= 26528, 32753, 21618, 32755, AGC= 66, IDX= 512,-0.11, 3.095,-1.113, 2.997,-2.843, PHS=-0.257, 1.777,-0.446, RAW= 334.4, -10.1, CAL= 337.0, -13.7, ROT= 173.0, 13.7 2025-10-24T19:38:43.340Z,1761334723.340 [DAT](INFO): got valid direction response: 19:38:42.1781 LVL= 26528, 32753, 21618, 32755, AGC= 66, IDX= 512,-0.11, 3.095,-1.113, 2.997,-2.843, PHS=-0.257, 1.777,-0.446, RAW= 334.4, -10.1, CAL= 337.0, -13.7, ROT= 173.0, 13.7 2025-10-24T19:38:43.340Z,1761334723.340 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-24T19:38:43.341Z,1761334723.341 [DAT](INFO): direction in FSK: [-0.964307,0.118402,-0.236838] 2025-10-24T19:38:43.342Z,1761334723.342 [DAT](INFO): publishing direction and range info 2025-10-24T19:38:43.345Z,1761334723.345 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.217625 2025-10-24T19:38:43.422Z,1761334723.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984664,-0.174395,0.004826],[0.171717,0.963916,-0.203421],[0.030824,0.201130,0.979080]] 2025-10-24T19:38:43.530Z,1761334723.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.506860 s, deltaX: 0.300001 m, approachRate: 0.591882 m/s, rangeRepo size: 4 2025-10-24T19:38:43.536Z,1761334723.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.502979 m, bearing: 180.193545 deg, lat: 36.779549 deg, lon: -121.859613 deg, deltaT: 4.034842 s, deltaX: -0.000010 m, approachRate: -0.000002 m/s, posRepo size: 4 2025-10-24T19:38:43.537Z,1761334723.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:43.578Z,1761334723.578 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.450090 2025-10-24T19:38:43.829Z,1761334723.829 [DAT](INFO): DAT read: Rx Time:19:38:42.6780 2025-10-24T19:38:43.830Z,1761334723.830 [DAT](INFO): Rx dataTimestamp_ set to:1761334723.829289 2025-10-24T19:38:43.831Z,1761334723.831 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-24T19:38:43.831Z,1761334723.831 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-24T19:38:43.833Z,1761334723.833 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.704733 2025-10-24T19:38:43.839Z,1761334723.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.500751 s, deltaX: -0.200001 m, approachRate: -0.399402 m/s, rangeRepo size: 4 2025-10-24T19:38:43.839Z,1761334723.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:44.081Z,1761334724.081 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.953182 2025-10-24T19:38:44.188Z,1761334724.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984388,-0.175958,0.004388],[0.173147,0.963578,-0.203807],[0.031633,0.201385,0.979001]] 2025-10-24T19:38:44.206Z,1761334724.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:44.337Z,1761334724.337 [DAT](INFO): DAT read: Rx Time:19:38:43.1780 2025-10-24T19:38:44.338Z,1761334724.338 [DAT](INFO): Rx dataTimestamp_ set to:1761334724.337957 2025-10-24T19:38:44.341Z,1761334724.341 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-24T19:38:44.342Z,1761334724.342 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-24T19:38:44.343Z,1761334724.343 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.215452 2025-10-24T19:38:44.586Z,1761334724.586 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.457235 2025-10-24T19:38:44.611Z,1761334724.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984011,-0.178075,0.003538],[0.175039,0.963180,-0.204073],[0.032933,0.201429,0.978949]] 2025-10-24T19:38:44.675Z,1761334724.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.508668 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:44.675Z,1761334724.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:44.837Z,1761334724.837 [DAT](INFO): DAT read: Rx Time:19:38:43.6779 2025-10-24T19:38:44.837Z,1761334724.837 [DAT](INFO): Rx dataTimestamp_ set to:1761334724.837202 2025-10-24T19:38:44.839Z,1761334724.839 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2 2025-10-24T19:38:44.839Z,1761334724.839 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-24T19:38:44.840Z,1761334724.840 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.712650 2025-10-24T19:38:44.994Z,1761334724.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983898,-0.178704,0.003112],[0.175570,0.963088,-0.204050],[0.033468,0.201311,0.978955]] 2025-10-24T19:38:45.013Z,1761334725.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.499245 s, deltaX: -0.100000 m, approachRate: -0.200303 m/s, rangeRepo size: 4 2025-10-24T19:38:45.013Z,1761334725.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:45.093Z,1761334725.093 [DAT](INFO): DAT read: Rx Time:19:38:44.1780 2025-10-24T19:38:45.094Z,1761334725.094 [DAT](INFO): Rx dataTimestamp_ set to:1761334725.093604 2025-10-24T19:38:45.098Z,1761334725.098 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.970314 2025-10-24T19:38:45.342Z,1761334725.342 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.3 2025-10-24T19:38:45.342Z,1761334725.342 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-24T19:38:45.353Z,1761334725.353 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.224777 2025-10-24T19:38:45.391Z,1761334725.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983624,-0.180212,0.002869],[0.176984,0.962750,-0.204421],[0.034077,0.201581,0.978879]] 2025-10-24T19:38:45.496Z,1761334725.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503125 s, deltaX: 0.100000 m, approachRate: 0.198759 m/s, rangeRepo size: 4 2025-10-24T19:38:45.496Z,1761334725.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:45.597Z,1761334725.597 [DAT](INFO): DAT read: Rx Time:19:38:44.6779 2025-10-24T19:38:45.599Z,1761334725.599 [DAT](INFO): Rx dataTimestamp_ set to:1761334725.597850 2025-10-24T19:38:45.601Z,1761334725.601 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.472788 2025-10-24T19:38:45.846Z,1761334725.846 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.2 2025-10-24T19:38:45.846Z,1761334725.846 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-24T19:38:45.847Z,1761334725.847 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.719454 2025-10-24T19:38:45.886Z,1761334725.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983508,-0.180851,0.002434],[0.177524,0.962668,-0.204341],[0.034612,0.201403,0.978897]] 2025-10-24T19:38:45.941Z,1761334725.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504033 s, deltaX: -0.100000 m, approachRate: -0.198400 m/s, rangeRepo size: 4 2025-10-24T19:38:45.941Z,1761334725.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:46.102Z,1761334726.102 [DAT](INFO): DAT read: Rx Time:19:38:45.1780 2025-10-24T19:38:46.103Z,1761334726.103 [DAT](INFO): Rx dataTimestamp_ set to:1761334726.102518 2025-10-24T19:38:46.104Z,1761334726.104 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-24T19:38:46.105Z,1761334726.105 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-24T19:38:46.106Z,1761334726.106 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.977961 2025-10-24T19:38:46.332Z,1761334726.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983443,-0.181205,0.002104],[0.177812,0.962660,-0.204130],[0.034964,0.201124,0.978942]] 2025-10-24T19:38:46.349Z,1761334726.349 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.221123 2025-10-24T19:38:46.413Z,1761334726.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.258158 s, deltaX: 0.100000 m, approachRate: 0.387361 m/s, rangeRepo size: 4 2025-10-24T19:38:46.413Z,1761334726.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:46.604Z,1761334726.604 [DAT](INFO): DAT read: Rx Time:19:38:45.6779 2025-10-24T19:38:46.605Z,1761334726.605 [DAT](INFO): Rx dataTimestamp_ set to:1761334726.604422 2025-10-24T19:38:46.606Z,1761334726.606 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:46.607Z,1761334726.607 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-24T19:38:46.607Z,1761334726.607 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.479731 2025-10-24T19:38:46.687Z,1761334726.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983329,-0.181826,0.001717],[0.178344,0.962569,-0.204096],[0.035458,0.201000,0.978949]] 2025-10-24T19:38:46.717Z,1761334726.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.501904 s, deltaX: -0.100000 m, approachRate: -0.199242 m/s, rangeRepo size: 4 2025-10-24T19:38:46.718Z,1761334726.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:46.853Z,1761334726.853 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.725376 2025-10-24T19:38:47.105Z,1761334727.105 [DAT](INFO): DAT read: Rx Time:19:38:46.1780 2025-10-24T19:38:47.106Z,1761334727.106 [DAT](INFO): Rx dataTimestamp_ set to:1761334727.105232 2025-10-24T19:38:47.107Z,1761334727.107 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-24T19:38:47.107Z,1761334727.107 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-24T19:38:47.108Z,1761334727.108 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.980675 2025-10-24T19:38:47.112Z,1761334727.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983109,-0.183013,0.001390],[0.179430,0.962309,-0.204370],[0.036065,0.201168,0.978893]] 2025-10-24T19:38:47.174Z,1761334727.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.500810 s, deltaX: 0.100000 m, approachRate: 0.199677 m/s, rangeRepo size: 4 2025-10-24T19:38:47.174Z,1761334727.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:47.358Z,1761334727.358 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.230680 2025-10-24T19:38:47.559Z,1761334727.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:47.610Z,1761334727.610 [DAT](INFO): DAT read: Rx Time:19:38:46.6779 2025-10-24T19:38:47.611Z,1761334727.611 [DAT](INFO): Rx dataTimestamp_ set to:1761334727.610474 2025-10-24T19:38:47.617Z,1761334727.617 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.6 2025-10-24T19:38:47.618Z,1761334727.618 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-24T19:38:47.619Z,1761334727.619 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.491306 2025-10-24T19:38:47.861Z,1761334727.861 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.733316 2025-10-24T19:38:47.896Z,1761334727.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982920,-0.184029,0.000814],[0.180302,0.962108,-0.204547],[0.036860,0.201200,0.978856]] 2025-10-24T19:38:47.953Z,1761334727.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.505242 s, deltaX: -0.100000 m, approachRate: -0.197926 m/s, rangeRepo size: 4 2025-10-24T19:38:47.953Z,1761334727.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:48.114Z,1761334728.114 [DAT](INFO): DAT read: Rx Time:19:38:47.1779 2025-10-24T19:38:48.114Z,1761334728.114 [DAT](INFO): Rx dataTimestamp_ set to:1761334728.114177 2025-10-24T19:38:48.116Z,1761334728.116 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:48.117Z,1761334728.117 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-24T19:38:48.118Z,1761334728.118 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.990416 2025-10-24T19:38:48.366Z,1761334728.366 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.237885 2025-10-24T19:38:48.366Z,1761334728.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982970,-0.183766,0.000564],[0.180003,0.962211,-0.204328],[0.037006,0.200950,0.978902]] 2025-10-24T19:38:48.426Z,1761334728.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503703 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:48.426Z,1761334728.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:48.618Z,1761334728.618 [DAT](INFO): DAT read: Rx Time:19:38:47.6778 2025-10-24T19:38:48.618Z,1761334728.618 [DAT](INFO): Rx dataTimestamp_ set to:1761334728.617719 2025-10-24T19:38:48.619Z,1761334728.619 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:48.620Z,1761334728.620 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-24T19:38:48.621Z,1761334728.621 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.493122 2025-10-24T19:38:48.723Z,1761334728.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982903,-0.184122,0.000456],[0.180319,0.962097,-0.204586],[0.037229,0.201170,0.978849]] 2025-10-24T19:38:48.763Z,1761334728.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503542 s, deltaX: -0.199999 m, approachRate: -0.397184 m/s, rangeRepo size: 4 2025-10-24T19:38:48.763Z,1761334728.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:48.869Z,1761334728.869 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.741201 2025-10-24T19:38:49.121Z,1761334729.121 [DAT](INFO): DAT read: Rx Time:19:38:48.1779 2025-10-24T19:38:49.122Z,1761334729.122 [DAT](INFO): Rx dataTimestamp_ set to:1761334729.121648 2025-10-24T19:38:49.124Z,1761334729.124 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.1 2025-10-24T19:38:49.125Z,1761334729.125 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-24T19:38:49.126Z,1761334729.126 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.998661 2025-10-24T19:38:49.197Z,1761334729.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983030,-0.183447,0.000039],[0.179579,0.962258,-0.204477],[0.037474,0.201013,0.978871]] 2025-10-24T19:38:49.258Z,1761334729.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503929 s, deltaX: 0.199999 m, approachRate: 0.396879 m/s, rangeRepo size: 4 2025-10-24T19:38:49.258Z,1761334729.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:49.376Z,1761334729.376 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.247665 2025-10-24T19:38:49.625Z,1761334729.625 [DAT](INFO): DAT read: Rx Time:19:38:48.6778 2025-10-24T19:38:49.625Z,1761334729.625 [DAT](INFO): Rx dataTimestamp_ set to:1761334729.625174 2025-10-24T19:38:49.627Z,1761334729.627 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-24T19:38:49.627Z,1761334729.627 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-24T19:38:49.628Z,1761334729.628 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.500608 2025-10-24T19:38:49.729Z,1761334729.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503526 s, deltaX: -0.199999 m, approachRate: -0.397197 m/s, rangeRepo size: 4 2025-10-24T19:38:49.729Z,1761334729.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:49.877Z,1761334729.877 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.749187 2025-10-24T19:38:50.113Z,1761334730.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983219,-0.182428,-0.000633],[0.178434,0.962403,-0.204796],[0.037970,0.201246,0.978804]] 2025-10-24T19:38:50.129Z,1761334730.129 [DAT](INFO): DAT read: Rx Time:19:38:49.1780 2025-10-24T19:38:50.129Z,1761334730.129 [DAT](INFO): Rx dataTimestamp_ set to:1761334730.129071 2025-10-24T19:38:50.131Z,1761334730.131 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-24T19:38:50.131Z,1761334730.131 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-24T19:38:50.132Z,1761334730.132 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.004486 2025-10-24T19:38:50.170Z,1761334730.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503897 s, deltaX: 0.299999 m, approachRate: 0.595358 m/s, rangeRepo size: 4 2025-10-24T19:38:50.170Z,1761334730.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:50.387Z,1761334730.387 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.259064 2025-10-24T19:38:50.547Z,1761334730.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:50.633Z,1761334730.633 [DAT](INFO): DAT read: Rx Time:19:38:49.6780 2025-10-24T19:38:50.634Z,1761334730.634 [DAT](INFO): Rx dataTimestamp_ set to:1761334730.633685 2025-10-24T19:38:50.635Z,1761334730.635 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed -0.2 2025-10-24T19:38:50.636Z,1761334730.636 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-10-24T19:38:50.637Z,1761334730.637 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.509121 2025-10-24T19:38:50.886Z,1761334730.886 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.758110 2025-10-24T19:38:50.931Z,1761334730.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983368,-0.181621,-0.000938],[0.177578,0.962538,-0.204908],[0.038118,0.201333,0.978781]] 2025-10-24T19:38:50.953Z,1761334730.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504614 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:50.953Z,1761334730.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:51.137Z,1761334731.137 [DAT](INFO): DAT read: Rx Time:19:38:50.1780 2025-10-24T19:38:51.138Z,1761334731.138 [DAT](INFO): Rx dataTimestamp_ set to:1761334731.137241 2025-10-24T19:38:51.139Z,1761334731.139 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-24T19:38:51.139Z,1761334731.139 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-24T19:38:51.141Z,1761334731.141 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.012817 2025-10-24T19:38:51.306Z,1761334731.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983481,-0.181006,-0.001138],[0.176936,0.962656,-0.204909],[0.038185,0.201323,0.978780]] 2025-10-24T19:38:51.325Z,1761334731.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503556 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:51.326Z,1761334731.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:51.392Z,1761334731.392 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.263683 2025-10-24T19:38:51.641Z,1761334731.641 [DAT](INFO): DAT read: Rx Time:19:38:50.6779 2025-10-24T19:38:51.641Z,1761334731.641 [DAT](INFO): Rx dataTimestamp_ set to:1761334731.641226 2025-10-24T19:38:51.643Z,1761334731.643 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:51.643Z,1761334731.643 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-24T19:38:51.644Z,1761334731.644 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.516617 2025-10-24T19:38:51.741Z,1761334731.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983483,-0.180997,-0.000975],[0.176954,0.962620,-0.205060],[0.038054,0.201501,0.978749]] 2025-10-24T19:38:51.807Z,1761334731.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503985 s, deltaX: -0.100000 m, approachRate: -0.198419 m/s, rangeRepo size: 4 2025-10-24T19:38:51.812Z,1761334731.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:51.893Z,1761334731.893 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.765366 2025-10-24T19:38:52.148Z,1761334732.148 [DAT](INFO): DAT read: Rx Time:19:38:51.1781 2025-10-24T19:38:52.149Z,1761334732.149 [DAT](INFO): Rx dataTimestamp_ set to:1761334732.148333 2025-10-24T19:38:52.151Z,1761334732.151 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.1 2025-10-24T19:38:52.151Z,1761334732.151 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-24T19:38:52.152Z,1761334732.152 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.024620 2025-10-24T19:38:52.215Z,1761334732.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983579,-0.180472,-0.001176],[0.176403,0.962739,-0.204975],[0.038124,0.201401,0.978767]] 2025-10-24T19:38:52.258Z,1761334732.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.507107 s, deltaX: 0.300001 m, approachRate: 0.591593 m/s, rangeRepo size: 4 2025-10-24T19:38:52.258Z,1761334732.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:52.400Z,1761334732.400 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.271362 2025-10-24T19:38:52.649Z,1761334732.649 [DAT](INFO): DAT read: Rx Time:19:38:51.6780 2025-10-24T19:38:52.650Z,1761334732.650 [DAT](INFO): Rx dataTimestamp_ set to:1761334732.649801 2025-10-24T19:38:52.651Z,1761334732.651 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-24T19:38:52.652Z,1761334732.652 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-10-24T19:38:52.653Z,1761334732.653 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.525345 2025-10-24T19:38:52.658Z,1761334732.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983590,-0.180415,-0.001306],[0.176319,0.962741,-0.205039],[0.038250,0.201444,0.978753]] 2025-10-24T19:38:52.735Z,1761334732.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.501468 s, deltaX: -0.200001 m, approachRate: -0.398831 m/s, rangeRepo size: 4 2025-10-24T19:38:52.735Z,1761334732.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:52.902Z,1761334732.902 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.773762 2025-10-24T19:38:53.138Z,1761334733.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983636,-0.180160,-0.001413],[0.176045,0.962778,-0.205103],[0.038311,0.201498,0.978739]] 2025-10-24T19:38:53.157Z,1761334733.157 [DAT](INFO): DAT read: Rx Time:19:38:52.1781 2025-10-24T19:38:53.158Z,1761334733.158 [DAT](INFO): Rx dataTimestamp_ set to:1761334733.157308 2025-10-24T19:38:53.161Z,1761334733.161 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2025-10-24T19:38:53.162Z,1761334733.162 [DAT](ERROR): #Rx 66: Read range message, but no direction. 2025-10-24T19:38:53.163Z,1761334733.163 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.035721 2025-10-24T19:38:53.213Z,1761334733.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.507507 s, deltaX: 0.200001 m, approachRate: 0.394085 m/s, rangeRepo size: 4 2025-10-24T19:38:53.213Z,1761334733.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:53.411Z,1761334733.411 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.283150 2025-10-24T19:38:53.568Z,1761334733.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983629,-0.180199,-0.001490],[0.176062,0.962743,-0.205252],[0.038420,0.201630,0.978708]] 2025-10-24T19:38:53.634Z,1761334733.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:53.661Z,1761334733.661 [DAT](INFO): DAT read: Rx Time:19:38:52.6780 2025-10-24T19:38:53.662Z,1761334733.662 [DAT](INFO): Rx dataTimestamp_ set to:1761334733.661625 2025-10-24T19:38:53.663Z,1761334733.663 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.3 2025-10-24T19:38:53.664Z,1761334733.664 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-24T19:38:53.666Z,1761334733.666 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.537868 2025-10-24T19:38:53.913Z,1761334733.913 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.785641 2025-10-24T19:38:53.947Z,1761334733.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983592,-0.180403,-0.001420],[0.176268,0.962663,-0.205447],[0.038430,0.201826,0.978667]] 2025-10-24T19:38:53.970Z,1761334733.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504317 s, deltaX: -0.200001 m, approachRate: -0.396577 m/s, rangeRepo size: 4 2025-10-24T19:38:53.970Z,1761334733.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:54.165Z,1761334734.165 [DAT](INFO): DAT read: Rx Time:19:38:53.1781 2025-10-24T19:38:54.165Z,1761334734.165 [DAT](INFO): Rx dataTimestamp_ set to:1761334734.165146 2025-10-24T19:38:54.167Z,1761334734.167 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.3 2025-10-24T19:38:54.168Z,1761334734.168 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-10-24T19:38:54.169Z,1761334734.169 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.041248 2025-10-24T19:38:54.344Z,1761334734.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983596,-0.180381,-0.001527],[0.176227,0.962680,-0.205407],[0.038521,0.201768,0.978676]] 2025-10-24T19:38:54.420Z,1761334734.420 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.291653 2025-10-24T19:38:54.457Z,1761334734.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503521 s, deltaX: 0.200001 m, approachRate: 0.397204 m/s, rangeRepo size: 4 2025-10-24T19:38:54.457Z,1761334734.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:54.669Z,1761334734.669 [DAT](INFO): DAT read: Rx Time:19:38:53.6779 2025-10-24T19:38:54.669Z,1761334734.669 [DAT](INFO): Rx dataTimestamp_ set to:1761334734.669190 2025-10-24T19:38:54.671Z,1761334734.671 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:54.671Z,1761334734.671 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-24T19:38:54.672Z,1761334734.672 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.544624 2025-10-24T19:38:54.812Z,1761334734.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504044 s, deltaX: -0.300001 m, approachRate: -0.595188 m/s, rangeRepo size: 4 2025-10-24T19:38:54.813Z,1761334734.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:54.922Z,1761334734.922 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.793907 2025-10-24T19:38:55.162Z,1761334735.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983512,-0.180834,-0.001606],[0.176655,0.962604,-0.205394],[0.038688,0.201724,0.978678]] 2025-10-24T19:38:55.173Z,1761334735.173 [DAT](INFO): DAT read: Rx Time:19:38:54.1779 2025-10-24T19:38:55.174Z,1761334735.174 [DAT](INFO): Rx dataTimestamp_ set to:1761334735.173306 2025-10-24T19:38:55.175Z,1761334735.175 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:38:55.175Z,1761334735.175 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-24T19:38:55.176Z,1761334735.176 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.048717 2025-10-24T19:38:55.225Z,1761334735.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504116 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:55.225Z,1761334735.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:55.429Z,1761334735.429 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.301121 2025-10-24T19:38:55.637Z,1761334735.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:55.678Z,1761334735.678 [DAT](INFO): DAT read: Rx Time:19:38:54.6778 2025-10-24T19:38:55.678Z,1761334735.678 [DAT](INFO): Rx dataTimestamp_ set to:1761334735.678136 2025-10-24T19:38:55.680Z,1761334735.680 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.1 2025-10-24T19:38:55.681Z,1761334735.681 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-24T19:38:55.683Z,1761334735.683 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.555157 2025-10-24T19:38:55.929Z,1761334735.929 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.801559 2025-10-24T19:38:55.975Z,1761334735.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983266,-0.182168,-0.001686],[0.177935,0.962322,-0.205610],[0.039078,0.201869,0.978633]] 2025-10-24T19:38:55.999Z,1761334735.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504830 s, deltaX: -0.199999 m, approachRate: -0.396171 m/s, rangeRepo size: 4 2025-10-24T19:38:56.001Z,1761334736.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:56.184Z,1761334736.184 [DAT](INFO): DAT read: Rx Time:19:38:55.1780 2025-10-24T19:38:56.184Z,1761334736.184 [DAT](INFO): Rx dataTimestamp_ set to:1761334736.184171 2025-10-24T19:38:56.186Z,1761334736.186 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.1 2025-10-24T19:38:56.186Z,1761334736.186 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-24T19:38:56.187Z,1761334736.187 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.059444 2025-10-24T19:38:56.373Z,1761334736.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983094,-0.183093,-0.001639],[0.178849,0.962146,-0.205638],[0.039228,0.201869,0.978627]] 2025-10-24T19:38:56.437Z,1761334736.437 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.308506 2025-10-24T19:38:56.443Z,1761334736.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.506035 s, deltaX: 0.299999 m, approachRate: 0.592843 m/s, rangeRepo size: 4 2025-10-24T19:38:56.454Z,1761334736.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:56.685Z,1761334736.685 [DAT](INFO): DAT read: Rx Time:19:38:55.6779 2025-10-24T19:38:56.686Z,1761334736.686 [DAT](INFO): Rx dataTimestamp_ set to:1761334736.685248 2025-10-24T19:38:56.687Z,1761334736.687 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.1 2025-10-24T19:38:56.687Z,1761334736.687 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-24T19:38:56.688Z,1761334736.688 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.560692 2025-10-24T19:38:56.855Z,1761334736.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.501077 s, deltaX: -0.100000 m, approachRate: -0.199571 m/s, rangeRepo size: 4 2025-10-24T19:38:56.856Z,1761334736.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:56.937Z,1761334736.937 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.809216 2025-10-24T19:38:57.189Z,1761334737.189 [DAT](INFO): DAT read: Rx Time:19:38:56.1780 2025-10-24T19:38:57.190Z,1761334737.190 [DAT](INFO): Rx dataTimestamp_ set to:1761334737.189241 2025-10-24T19:38:57.191Z,1761334737.191 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.3 2025-10-24T19:38:57.192Z,1761334737.192 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-10-24T19:38:57.193Z,1761334737.193 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.065361 2025-10-24T19:38:57.265Z,1761334737.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982503,-0.186239,-0.001592],[0.181938,0.961570,-0.205626],[0.039826,0.201738,0.978629]] 2025-10-24T19:38:57.287Z,1761334737.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503993 s, deltaX: 0.100000 m, approachRate: 0.198416 m/s, rangeRepo size: 4 2025-10-24T19:38:57.287Z,1761334737.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:57.445Z,1761334737.445 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.316647 2025-10-24T19:38:57.643Z,1761334737.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982203,-0.187814,-0.001491],[0.183489,0.961219,-0.205887],[0.040102,0.201949,0.978575]] 2025-10-24T19:38:57.693Z,1761334737.693 [DAT](INFO): DAT read: Rx Time:19:38:56.6779 2025-10-24T19:38:57.693Z,1761334737.693 [DAT](INFO): Rx dataTimestamp_ set to:1761334737.693207 2025-10-24T19:38:57.695Z,1761334737.695 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.2 2025-10-24T19:38:57.695Z,1761334737.695 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-24T19:38:57.696Z,1761334737.696 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.568623 2025-10-24T19:38:57.714Z,1761334737.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503966 s, deltaX: -0.100000 m, approachRate: -0.198427 m/s, rangeRepo size: 4 2025-10-24T19:38:57.715Z,1761334737.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:57.945Z,1761334737.945 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.817394 2025-10-24T19:38:58.049Z,1761334738.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981857,-0.189620,-0.001339],[0.185274,0.960807,-0.206212],[0.040389,0.202223,0.978506]] 2025-10-24T19:38:58.069Z,1761334738.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:58.197Z,1761334738.197 [DAT](INFO): DAT read: Rx Time:19:38:57.1780 2025-10-24T19:38:58.197Z,1761334738.197 [DAT](INFO): Rx dataTimestamp_ set to:1761334738.197161 2025-10-24T19:38:58.199Z,1761334738.199 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.1 2025-10-24T19:38:58.200Z,1761334738.200 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-24T19:38:58.201Z,1761334738.201 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.073261 2025-10-24T19:38:58.456Z,1761334738.456 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.327599 2025-10-24T19:38:58.515Z,1761334738.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981697,-0.190444,-0.001453],[0.186067,0.960708,-0.205960],[0.040620,0.201920,0.978559]] 2025-10-24T19:38:58.557Z,1761334738.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503954 s, deltaX: 0.100000 m, approachRate: 0.198432 m/s, rangeRepo size: 4 2025-10-24T19:38:58.557Z,1761334738.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:58.705Z,1761334738.705 [DAT](INFO): DAT read: Rx Time:19:38:57.6780 2025-10-24T19:38:58.706Z,1761334738.706 [DAT](INFO): Rx dataTimestamp_ set to:1761334738.705251 2025-10-24T19:38:58.707Z,1761334738.707 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-24T19:38:58.707Z,1761334738.707 [DAT](ERROR): #Rx 77: Read range message, but no direction. 2025-10-24T19:38:58.708Z,1761334738.708 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.580635 2025-10-24T19:38:58.856Z,1761334738.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981374,-0.192100,-0.001408],[0.187696,0.960381,-0.206007],[0.040926,0.201905,0.978550]] 2025-10-24T19:38:58.877Z,1761334738.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.508090 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:58.877Z,1761334738.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:58.957Z,1761334738.957 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.829250 2025-10-24T19:38:59.209Z,1761334739.209 [DAT](INFO): DAT read: Rx Time:19:38:58.1780 2025-10-24T19:38:59.209Z,1761334739.209 [DAT](INFO): Rx dataTimestamp_ set to:1761334739.209133 2025-10-24T19:38:59.211Z,1761334739.211 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed 0.1 2025-10-24T19:38:59.211Z,1761334739.211 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-24T19:38:59.212Z,1761334739.212 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.084557 2025-10-24T19:38:59.319Z,1761334739.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:38:59.336Z,1761334739.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:59.461Z,1761334739.461 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.333050 2025-10-24T19:38:59.691Z,1761334739.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980959,-0.194210,-0.001435],[0.189768,0.960045,-0.205676],[0.041322,0.201487,0.978619]] 2025-10-24T19:38:59.713Z,1761334739.713 [DAT](INFO): DAT read: Rx Time:19:38:58.6778 2025-10-24T19:38:59.714Z,1761334739.714 [DAT](INFO): Rx dataTimestamp_ set to:1761334739.713246 2025-10-24T19:38:59.715Z,1761334739.715 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:38:59.715Z,1761334739.715 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-10-24T19:38:59.717Z,1761334739.717 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.589336 2025-10-24T19:38:59.785Z,1761334739.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504113 s, deltaX: -0.299999 m, approachRate: -0.595103 m/s, rangeRepo size: 4 2025-10-24T19:38:59.785Z,1761334739.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:38:59.965Z,1761334739.965 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.837147 2025-10-24T19:39:00.110Z,1761334740.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980739,-0.195317,-0.001565],[0.190821,0.959808,-0.205805],[0.041699,0.201543,0.978592]] 2025-10-24T19:39:00.128Z,1761334740.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:00.218Z,1761334740.218 [DAT](INFO): DAT read: Rx Time:19:38:59.1779 2025-10-24T19:39:00.218Z,1761334740.218 [DAT](INFO): Rx dataTimestamp_ set to:1761334740.217719 2025-10-24T19:39:00.219Z,1761334740.219 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:39:00.220Z,1761334740.220 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-24T19:39:00.221Z,1761334740.221 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.093143 2025-10-24T19:39:00.472Z,1761334740.472 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.343452 2025-10-24T19:39:00.545Z,1761334740.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980351,-0.197258,-0.001405],[0.192725,0.959296,-0.206417],[0.042065,0.202091,0.978463]] 2025-10-24T19:39:00.628Z,1761334740.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504473 s, deltaX: 0.199999 m, approachRate: 0.396451 m/s, rangeRepo size: 4 2025-10-24T19:39:00.629Z,1761334740.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:00.721Z,1761334740.721 [DAT](INFO): DAT read: Rx Time:19:38:59.6778 2025-10-24T19:39:00.722Z,1761334740.722 [DAT](INFO): Rx dataTimestamp_ set to:1761334740.721451 2025-10-24T19:39:00.723Z,1761334740.723 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:00.724Z,1761334740.724 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-24T19:39:00.725Z,1761334740.725 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.596848 2025-10-24T19:39:00.907Z,1761334740.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980283,-0.197592,-0.001508],[0.193043,0.959289,-0.206154],[0.042182,0.201799,0.978518]] 2025-10-24T19:39:00.948Z,1761334740.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503732 s, deltaX: -0.199999 m, approachRate: -0.397034 m/s, rangeRepo size: 4 2025-10-24T19:39:00.949Z,1761334740.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:00.973Z,1761334740.973 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.845600 2025-10-24T19:39:01.225Z,1761334741.225 [DAT](INFO): DAT read: Rx Time:19:39:00.1779 2025-10-24T19:39:01.226Z,1761334741.226 [DAT](INFO): Rx dataTimestamp_ set to:1761334741.225361 2025-10-24T19:39:01.227Z,1761334741.227 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed -0.3 2025-10-24T19:39:01.228Z,1761334741.228 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-24T19:39:01.228Z,1761334741.228 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.100777 2025-10-24T19:39:01.308Z,1761334741.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980169,-0.198155,-0.001673],[0.193574,0.959246,-0.205853],[0.042395,0.201447,0.978582]] 2025-10-24T19:39:01.328Z,1761334741.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503910 s, deltaX: 0.199999 m, approachRate: 0.396894 m/s, rangeRepo size: 4 2025-10-24T19:39:01.329Z,1761334741.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:01.477Z,1761334741.477 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.348972 2025-10-24T19:39:01.729Z,1761334741.729 [DAT](INFO): DAT read: Rx Time:19:39:0 2025-10-24T19:39:01.729Z,1761334741.729 [DAT](INFO): Rx dataTimestamp_ set to:1761334741.729034 2025-10-24T19:39:01.731Z,1761334741.731 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:01.731Z,1761334741.731 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-24T19:39:01.732Z,1761334741.732 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.604450 2025-10-24T19:39:01.792Z,1761334741.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503673 s, deltaX: -0.199999 m, approachRate: -0.397081 m/s, rangeRepo size: 4 2025-10-24T19:39:01.793Z,1761334741.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:01.981Z,1761334741.981 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.853210 2025-10-24T19:39:02.121Z,1761334742.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979904,-0.199459,-0.001904],[0.194773,0.958857,-0.206533],[0.043020,0.202012,0.978438]] 2025-10-24T19:39:02.187Z,1761334742.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:02.234Z,1761334742.234 [DAT](INFO): DAT read: Rx Time:19:39:01.1779 2025-10-24T19:39:02.235Z,1761334742.235 [DAT](INFO): Rx dataTimestamp_ set to:1761334742.234274 2025-10-24T19:39:02.236Z,1761334742.236 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:39:02.237Z,1761334742.237 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-24T19:39:02.237Z,1761334742.237 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.109688 2025-10-24T19:39:02.485Z,1761334742.485 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.357536 2025-10-24T19:39:02.587Z,1761334742.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979810,-0.199923,-0.002056],[0.195179,0.958686,-0.206948],[0.043345,0.202368,0.978350]] 2025-10-24T19:39:02.665Z,1761334742.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.505240 s, deltaX: 0.199999 m, approachRate: 0.395849 m/s, rangeRepo size: 4 2025-10-24T19:39:02.665Z,1761334742.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:02.740Z,1761334742.740 [DAT](INFO): DAT read: Rx Time:19:39:01.6778 2025-10-24T19:39:02.740Z,1761334742.740 [DAT](INFO): Rx dataTimestamp_ set to:1761334742.739945 2025-10-24T19:39:02.741Z,1761334742.741 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-24T19:39:02.742Z,1761334742.742 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-24T19:39:02.743Z,1761334742.743 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.615253 2025-10-24T19:39:02.978Z,1761334742.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979752,-0.200199,-0.002278],[0.195408,0.958658,-0.206857],[0.043597,0.202224,0.978368]] 2025-10-24T19:39:02.989Z,1761334742.989 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.860916 2025-10-24T19:39:03.004Z,1761334743.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.505671 s, deltaX: -0.199999 m, approachRate: -0.395512 m/s, rangeRepo size: 4 2025-10-24T19:39:03.005Z,1761334743.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:03.241Z,1761334743.241 [DAT](INFO): DAT read: Rx Time:19:39:02.1778 2025-10-24T19:39:03.241Z,1761334743.241 [DAT](INFO): Rx dataTimestamp_ set to:1761334743.241067 2025-10-24T19:39:03.243Z,1761334743.243 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:03.243Z,1761334743.243 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-24T19:39:03.244Z,1761334743.244 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.116493 2025-10-24T19:39:03.380Z,1761334743.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979657,-0.200661,-0.002610],[0.195788,0.958560,-0.206953],[0.044029,0.202232,0.978347]] 2025-10-24T19:39:03.426Z,1761334743.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.501122 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:03.427Z,1761334743.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:03.495Z,1761334743.495 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.366913 2025-10-24T19:39:03.745Z,1761334743.745 [DAT](INFO): DAT read: Rx Time:19:39:02.6778 2025-10-24T19:39:03.745Z,1761334743.745 [DAT](INFO): Rx dataTimestamp_ set to:1761334743.745144 2025-10-24T19:39:03.747Z,1761334743.747 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:03.747Z,1761334743.747 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-24T19:39:03.748Z,1761334743.748 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.620567 2025-10-24T19:39:03.796Z,1761334743.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979808,-0.199918,-0.002999],[0.195008,0.958840,-0.206392],[0.044137,0.201640,0.978465]] 2025-10-24T19:39:03.860Z,1761334743.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:03.861Z,1761334743.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:03.997Z,1761334743.997 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.869522 2025-10-24T19:39:04.188Z,1761334744.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979733,-0.200284,-0.003150],[0.195331,0.958756,-0.206478],[0.044375,0.201678,0.978446]] 2025-10-24T19:39:04.207Z,1761334744.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:04.250Z,1761334744.250 [DAT](INFO): DAT read: Rx Time:19:39:03.1779 2025-10-24T19:39:04.251Z,1761334744.251 [DAT](INFO): Rx dataTimestamp_ set to:1761334744.250433 2025-10-24T19:39:04.252Z,1761334744.252 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.2 2025-10-24T19:39:04.253Z,1761334744.253 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-24T19:39:04.254Z,1761334744.254 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.125870 2025-10-24T19:39:04.501Z,1761334744.501 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.373039 2025-10-24T19:39:04.618Z,1761334744.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979870,-0.199605,-0.003525],[0.194608,0.958982,-0.206107],[0.044520,0.201272,0.978523]] 2025-10-24T19:39:04.678Z,1761334744.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.505289 s, deltaX: 0.199999 m, approachRate: 0.395811 m/s, rangeRepo size: 4 2025-10-24T19:39:04.679Z,1761334744.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:04.753Z,1761334744.753 [DAT](INFO): DAT read: Rx Time:19:39:03.6778 2025-10-24T19:39:04.754Z,1761334744.754 [DAT](INFO): Rx dataTimestamp_ set to:1761334744.753280 2025-10-24T19:39:04.755Z,1761334744.755 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:04.755Z,1761334744.755 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-24T19:39:04.756Z,1761334744.756 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.628689 2025-10-24T19:39:05.005Z,1761334745.005 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.877117 2025-10-24T19:39:05.054Z,1761334745.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979757,-0.200159,-0.003444],[0.195156,0.958817,-0.206359],[0.044607,0.201510,0.978470]] 2025-10-24T19:39:05.109Z,1761334745.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.502847 s, deltaX: -0.199999 m, approachRate: -0.397733 m/s, rangeRepo size: 4 2025-10-24T19:39:05.109Z,1761334745.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:05.258Z,1761334745.258 [DAT](INFO): DAT read: Rx Time:19:39:04.1779 2025-10-24T19:39:05.258Z,1761334745.258 [DAT](INFO): Rx dataTimestamp_ set to:1761334745.258150 2025-10-24T19:39:05.260Z,1761334745.260 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:39:05.260Z,1761334745.260 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-24T19:39:05.261Z,1761334745.261 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.133595 2025-10-24T19:39:05.470Z,1761334745.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979812,-0.199890,-0.003403],[0.194910,0.958912,-0.206150],[0.044471,0.201325,0.978515]] 2025-10-24T19:39:05.509Z,1761334745.509 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.381145 2025-10-24T19:39:05.514Z,1761334745.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504870 s, deltaX: 0.199999 m, approachRate: 0.396139 m/s, rangeRepo size: 4 2025-10-24T19:39:05.514Z,1761334745.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:05.761Z,1761334745.761 [DAT](INFO): DAT read: Rx Time:19:39:04.6778 2025-10-24T19:39:05.761Z,1761334745.761 [DAT](INFO): Rx dataTimestamp_ set to:1761334745.761144 2025-10-24T19:39:05.763Z,1761334745.763 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:05.763Z,1761334745.763 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-24T19:39:05.764Z,1761334745.764 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.636570 2025-10-24T19:39:05.956Z,1761334745.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.502994 s, deltaX: -0.199999 m, approachRate: -0.397617 m/s, rangeRepo size: 4 2025-10-24T19:39:05.957Z,1761334745.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:06.013Z,1761334746.013 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.885178 2025-10-24T19:39:06.265Z,1761334746.265 [DAT](INFO): DAT read: Rx Time:19:39:05.1779 2025-10-24T19:39:06.265Z,1761334746.265 [DAT](INFO): Rx dataTimestamp_ set to:1761334746.265151 2025-10-24T19:39:06.267Z,1761334746.267 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-24T19:39:06.268Z,1761334746.268 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-24T19:39:06.269Z,1761334746.269 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.141258 2025-10-24T19:39:06.343Z,1761334746.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979626,-0.200800,-0.003505],[0.195777,0.958720,-0.206221],[0.044769,0.201333,0.978499]] 2025-10-24T19:39:06.380Z,1761334746.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504007 s, deltaX: 0.199999 m, approachRate: 0.396818 m/s, rangeRepo size: 4 2025-10-24T19:39:06.381Z,1761334746.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:06.522Z,1761334746.522 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.393791 2025-10-24T19:39:06.769Z,1761334746.769 [DAT](INFO): DAT read: Rx Time:19:39:05.6778 2025-10-24T19:39:06.769Z,1761334746.769 [DAT](INFO): Rx dataTimestamp_ set to:1761334746.769066 2025-10-24T19:39:06.771Z,1761334746.771 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:06.771Z,1761334746.771 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-24T19:39:06.777Z,1761334746.777 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.649376 2025-10-24T19:39:06.839Z,1761334746.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979511,-0.201359,-0.003441],[0.196326,0.958553,-0.206478],[0.044874,0.201572,0.978445]] 2025-10-24T19:39:06.857Z,1761334746.857 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, 20.66 2025-10-24T19:39:06.873Z,1761334746.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503915 s, deltaX: -0.199999 m, approachRate: -0.396890 m/s, rangeRepo size: 4 2025-10-24T19:39:06.874Z,1761334746.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:07.021Z,1761334747.021 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.893131 2025-10-24T19:39:07.264Z,1761334747.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979419,-0.201812,-0.003302],[0.196790,0.958427,-0.206621],[0.044863,0.201718,0.978416]] 2025-10-24T19:39:07.273Z,1761334747.273 [DAT](INFO): DAT read: Rx Time:19:39:06.1778 2025-10-24T19:39:07.274Z,1761334747.274 [DAT](INFO): Rx dataTimestamp_ set to:1761334747.273267 2025-10-24T19:39:07.275Z,1761334747.275 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:07.275Z,1761334747.275 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-24T19:39:07.276Z,1761334747.276 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.148659 2025-10-24T19:39:07.291Z,1761334747.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504201 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:07.291Z,1761334747.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:07.525Z,1761334747.525 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.396996 2025-10-24T19:39:07.673Z,1761334747.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979300,-0.202385,-0.003495],[0.197298,0.958259,-0.206914],[0.045225,0.201941,0.978353]] 2025-10-24T19:39:07.743Z,1761334747.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:07.777Z,1761334747.777 [DAT](INFO): DAT read: Rx Time:19:39:06.6776 2025-10-24T19:39:07.777Z,1761334747.777 [DAT](INFO): Rx dataTimestamp_ set to:1761334747.777206 2025-10-24T19:39:07.779Z,1761334747.779 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-24T19:39:07.779Z,1761334747.779 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-24T19:39:07.780Z,1761334747.780 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.652618 2025-10-24T19:39:08.029Z,1761334748.029 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.901283 2025-10-24T19:39:08.077Z,1761334748.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979137,-0.203170,-0.003656],[0.198016,0.958028,-0.207294],[0.045619,0.202246,0.978272]] 2025-10-24T19:39:08.129Z,1761334748.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503939 s, deltaX: -0.300001 m, approachRate: -0.595312 m/s, rangeRepo size: 4 2025-10-24T19:39:08.130Z,1761334748.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:08.281Z,1761334748.281 [DAT](INFO): DAT read: Rx Time:19:39:07.1777 2025-10-24T19:39:08.281Z,1761334748.281 [DAT](INFO): Rx dataTimestamp_ set to:1761334748.281136 2025-10-24T19:39:08.283Z,1761334748.283 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:08.284Z,1761334748.284 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-24T19:39:08.285Z,1761334748.285 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.157249 2025-10-24T19:39:08.472Z,1761334748.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978994,-0.203856,-0.003764],[0.198650,0.957826,-0.207621],[0.045930,0.202512,0.978202]] 2025-10-24T19:39:08.501Z,1761334748.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503930 s, deltaX: 0.200001 m, approachRate: 0.396882 m/s, rangeRepo size: 4 2025-10-24T19:39:08.501Z,1761334748.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:08.534Z,1761334748.534 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.405849 2025-10-24T19:39:08.785Z,1761334748.785 [DAT](INFO): DAT read: Rx Time:19:39:07.6776 2025-10-24T19:39:08.785Z,1761334748.785 [DAT](INFO): Rx dataTimestamp_ set to:1761334748.785204 2025-10-24T19:39:08.787Z,1761334748.787 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-24T19:39:08.787Z,1761334748.787 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-24T19:39:08.789Z,1761334748.789 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.661057 2025-10-24T19:39:08.975Z,1761334748.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504068 s, deltaX: -0.200001 m, approachRate: -0.396773 m/s, rangeRepo size: 4 2025-10-24T19:39:08.975Z,1761334748.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:09.037Z,1761334749.037 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.909172 2025-10-24T19:39:09.289Z,1761334749.289 [DAT](INFO): DAT read: Rx Time:19:39:08.1778 2025-10-24T19:39:09.289Z,1761334749.289 [DAT](INFO): Rx dataTimestamp_ set to:1761334749.289147 2025-10-24T19:39:09.291Z,1761334749.291 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:09.291Z,1761334749.291 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-24T19:39:09.292Z,1761334749.292 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.164566 2025-10-24T19:39:09.387Z,1761334749.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979101,-0.203317,-0.004803],[0.197950,0.958141,-0.206838],[0.046656,0.201565,0.978363]] 2025-10-24T19:39:09.407Z,1761334749.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503943 s, deltaX: 0.300001 m, approachRate: 0.595308 m/s, rangeRepo size: 4 2025-10-24T19:39:09.408Z,1761334749.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:09.541Z,1761334749.541 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.413292 2025-10-24T19:39:09.783Z,1761334749.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979121,-0.203214,-0.005181],[0.197798,0.958283,-0.206322],[0.046893,0.200989,0.978470]] 2025-10-24T19:39:09.793Z,1761334749.793 [DAT](INFO): DAT read: Rx Time:19:39:08.6777 2025-10-24T19:39:09.794Z,1761334749.794 [DAT](INFO): Rx dataTimestamp_ set to:1761334749.793235 2025-10-24T19:39:09.795Z,1761334749.795 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:09.795Z,1761334749.795 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-24T19:39:09.796Z,1761334749.796 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.668621 2025-10-24T19:39:09.852Z,1761334749.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:39:09.907Z,1761334749.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504088 s, deltaX: -0.100000 m, approachRate: -0.198379 m/s, rangeRepo size: 4 2025-10-24T19:39:09.912Z,1761334749.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:10.045Z,1761334750.045 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.917564 2025-10-24T19:39:10.187Z,1761334750.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978893,-0.204305,-0.005321],[0.198827,0.958023,-0.206541],[0.047296,0.201124,0.978423]] 2025-10-24T19:39:10.207Z,1761334750.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:10.298Z,1761334750.298 [DAT](INFO): DAT read: Rx Time:19:39:09.1778 2025-10-24T19:39:10.298Z,1761334750.298 [DAT](INFO): Rx dataTimestamp_ set to:1761334750.297949 2025-10-24T19:39:10.300Z,1761334750.300 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.0 2025-10-24T19:39:10.301Z,1761334750.301 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-24T19:39:10.302Z,1761334750.302 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.174648 2025-10-24T19:39:10.549Z,1761334750.549 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.421013 2025-10-24T19:39:10.598Z,1761334750.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978659,-0.205420,-0.005382],[0.199881,0.957693,-0.207056],[0.047687,0.201562,0.978314]] 2025-10-24T19:39:10.699Z,1761334750.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504714 s, deltaX: 0.100000 m, approachRate: 0.198133 m/s, rangeRepo size: 4 2025-10-24T19:39:10.699Z,1761334750.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:10.803Z,1761334750.803 [DAT](INFO): DAT read: Rx Time:19:39:09.6777 2025-10-24T19:39:10.805Z,1761334750.805 [DAT](INFO): Rx dataTimestamp_ set to:1761334750.803840 2025-10-24T19:39:10.807Z,1761334750.807 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 2025-10-24T19:39:10.807Z,1761334750.807 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-24T19:39:10.808Z,1761334750.808 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.680553 2025-10-24T19:39:10.856Z,1761334750.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:39:11.053Z,1761334751.053 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.925262 2025-10-24T19:39:11.059Z,1761334751.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.505891 s, deltaX: -0.100000 m, approachRate: -0.197672 m/s, rangeRepo size: 4 2025-10-24T19:39:11.060Z,1761334751.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:11.305Z,1761334751.305 [DAT](INFO): DAT read: Rx Time:19:39:10.1777 2025-10-24T19:39:11.305Z,1761334751.305 [DAT](INFO): Rx dataTimestamp_ set to:1761334751.305158 2025-10-24T19:39:11.307Z,1761334751.307 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:11.307Z,1761334751.307 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-24T19:39:11.308Z,1761334751.308 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.180561 2025-10-24T19:39:11.395Z,1761334751.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978253,-0.207337,-0.005652],[0.201662,0.957145,-0.207861],[0.048507,0.202201,0.978142]] 2025-10-24T19:39:11.430Z,1761334751.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.501318 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:11.430Z,1761334751.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:11.557Z,1761334751.557 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.429550 2025-10-24T19:39:11.810Z,1761334751.810 [DAT](INFO): DAT read: Rx Time:19:39:10.6776 2025-10-24T19:39:11.811Z,1761334751.811 [DAT](INFO): Rx dataTimestamp_ set to:1761334751.810615 2025-10-24T19:39:11.825Z,1761334751.825 [DAT](INFO): DAT read: Range 18 m (trip time 11.2 ms) speed -0.1 2025-10-24T19:39:11.826Z,1761334751.826 [DAT](INFO): unknown deviceResponse_: Range 18 m (trip time 11.2 ms) speed -0.1 2025-10-24T19:39:11.826Z,1761334751.826 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.698700 2025-10-24T19:39:11.963Z,1761334751.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:12.065Z,1761334752.065 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.936905 2025-10-24T19:39:12.252Z,1761334752.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978007,-0.208470,-0.006597],[0.202606,0.957058,-0.207342],[0.049539,0.201445,0.978246]] 2025-10-24T19:39:12.287Z,1761334752.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:12.319Z,1761334752.319 [DAT](INFO): DAT read: Rx Time:19:39:11.1777 2025-10-24T19:39:12.320Z,1761334752.320 [DAT](INFO): Rx dataTimestamp_ set to:1761334752.319003 2025-10-24T19:39:12.323Z,1761334752.323 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:12.323Z,1761334752.323 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-24T19:39:12.326Z,1761334752.326 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=54.198338 2025-10-24T19:39:12.569Z,1761334752.569 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=54.441113 2025-10-24T19:39:12.685Z,1761334752.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977772,-0.209560,-0.006759],[0.203627,0.956787,-0.207592],[0.049969,0.201601,0.978192]] 2025-10-24T19:39:12.769Z,1761334752.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 1.013845 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:12.770Z,1761334752.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:12.822Z,1761334752.822 [DAT](INFO): DAT read: Rx Time:19:39:11.6776 2025-10-24T19:39:12.823Z,1761334752.823 [DAT](INFO): Rx dataTimestamp_ set to:1761334752.822247 2025-10-24T19:39:12.825Z,1761334752.825 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-24T19:39:12.826Z,1761334752.826 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-24T19:39:12.829Z,1761334752.829 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.700665 2025-10-24T19:39:13.061Z,1761334753.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977524,-0.210720,-0.006692],[0.204760,0.956477,-0.207906],[0.050211,0.201863,0.978126]] 2025-10-24T19:39:13.073Z,1761334753.073 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.945110 2025-10-24T19:39:13.091Z,1761334753.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503244 s, deltaX: -0.200001 m, approachRate: -0.397423 m/s, rangeRepo size: 4 2025-10-24T19:39:13.093Z,1761334753.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:13.325Z,1761334753.325 [DAT](INFO): DAT read: Rx Time:19:39:12.1777 2025-10-24T19:39:13.325Z,1761334753.325 [DAT](INFO): Rx dataTimestamp_ set to:1761334753.325211 2025-10-24T19:39:13.327Z,1761334753.327 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.1 2025-10-24T19:39:13.327Z,1761334753.327 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-24T19:39:13.329Z,1761334753.329 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=55.200588 2025-10-24T19:39:13.475Z,1761334753.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977156,-0.212423,-0.006556],[0.206418,0.955971,-0.208595],[0.050578,0.202476,0.977980]] 2025-10-24T19:39:13.506Z,1761334753.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.502964 s, deltaX: 0.200001 m, approachRate: 0.397644 m/s, rangeRepo size: 4 2025-10-24T19:39:13.506Z,1761334753.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:13.577Z,1761334753.577 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=55.449196 2025-10-24T19:39:13.829Z,1761334753.829 [DAT](INFO): DAT read: Rx Time:19:39:12.6776 2025-10-24T19:39:13.830Z,1761334753.830 [DAT](INFO): Rx dataTimestamp_ set to:1761334753.829297 2025-10-24T19:39:13.831Z,1761334753.831 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-24T19:39:13.831Z,1761334753.831 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-24T19:39:13.833Z,1761334753.833 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.704681 2025-10-24T19:39:13.883Z,1761334753.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977017,-0.213061,-0.006464],[0.207068,0.955857,-0.208473],[0.050596,0.202343,0.978007]] 2025-10-24T19:39:13.982Z,1761334753.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504086 s, deltaX: -0.200001 m, approachRate: -0.396759 m/s, rangeRepo size: 4 2025-10-24T19:39:13.982Z,1761334753.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:14.085Z,1761334754.085 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.957123 2025-10-24T19:39:14.267Z,1761334754.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976804,-0.214040,-0.006435],[0.208032,0.955650,-0.208459],[0.050768,0.202285,0.978010]] 2025-10-24T19:39:14.308Z,1761334754.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:14.346Z,1761334754.346 [DAT](INFO): DAT read: Rx Time:19:39:13.1777 2025-10-24T19:39:14.347Z,1761334754.347 [DAT](INFO): Rx dataTimestamp_ set to:1761334754.345980 2025-10-24T19:39:14.348Z,1761334754.348 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.4 2025-10-24T19:39:14.350Z,1761334754.350 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-24T19:39:14.351Z,1761334754.351 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=56.222927 2025-10-24T19:39:14.602Z,1761334754.602 [DAT](INFO): DAT read: Rx Time:19:39:13.6776 2025-10-24T19:39:14.603Z,1761334754.603 [DAT](INFO): Rx dataTimestamp_ set to:1761334754.602728 2025-10-24T19:39:14.604Z,1761334754.604 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.1 2025-10-24T19:39:14.605Z,1761334754.605 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-24T19:39:14.606Z,1761334754.606 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.478230 2025-10-24T19:39:14.679Z,1761334754.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976795,-0.214068,-0.006740],[0.208032,0.955795,-0.207796],[0.050925,0.201572,0.978149]] 2025-10-24T19:39:14.778Z,1761334754.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.773431 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:14.779Z,1761334754.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:14.849Z,1761334754.849 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.721249 2025-10-24T19:39:15.079Z,1761334755.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976474,-0.215542,-0.006339],[0.209549,0.955438,-0.207910],[0.050869,0.201690,0.978127]] 2025-10-24T19:39:15.103Z,1761334755.103 [DAT](INFO): DAT read: Rx Time:19:39:14.1777 2025-10-24T19:39:15.108Z,1761334755.108 [DAT](INFO): Rx dataTimestamp_ set to:1761334755.107462 2025-10-24T19:39:15.109Z,1761334755.109 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.2 2025-10-24T19:39:15.110Z,1761334755.110 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-24T19:39:15.111Z,1761334755.111 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.982857 2025-10-24T19:39:15.204Z,1761334755.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504734 s, deltaX: 0.200001 m, approachRate: 0.396250 m/s, rangeRepo size: 4 2025-10-24T19:39:15.205Z,1761334755.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:15.353Z,1761334755.353 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=57.225124 2025-10-24T19:39:15.481Z,1761334755.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976281,-0.216423,-0.006107],[0.210462,0.955257,-0.207822],[0.050812,0.201607,0.978148]] 2025-10-24T19:39:15.502Z,1761334755.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:15.605Z,1761334755.605 [DAT](INFO): DAT read: Rx Time:19:39:14.6777 2025-10-24T19:39:15.606Z,1761334755.606 [DAT](INFO): Rx dataTimestamp_ set to:1761334755.605427 2025-10-24T19:39:15.607Z,1761334755.607 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:15.608Z,1761334755.608 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-24T19:39:15.609Z,1761334755.609 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.480820 2025-10-24T19:39:15.857Z,1761334755.857 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.729050 2025-10-24T19:39:15.891Z,1761334755.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975827,-0.218475,-0.005467],[0.212574,0.954683,-0.208311],[0.050730,0.202113,0.978047]] 2025-10-24T19:39:15.967Z,1761334755.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.497965 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:15.969Z,1761334755.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:16.109Z,1761334756.109 [DAT](INFO): DAT read: Rx Time:19:39:15.1778 2025-10-24T19:39:16.110Z,1761334756.110 [DAT](INFO): Rx dataTimestamp_ set to:1761334756.109273 2025-10-24T19:39:16.111Z,1761334756.111 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.1 2025-10-24T19:39:16.111Z,1761334756.111 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-24T19:39:16.112Z,1761334756.112 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.984680 2025-10-24T19:39:16.287Z,1761334756.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975502,-0.219937,-0.004939],[0.214100,0.954296,-0.208520],[0.050575,0.202354,0.978006]] 2025-10-24T19:39:16.334Z,1761334756.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503846 s, deltaX: 0.100000 m, approachRate: 0.198474 m/s, rangeRepo size: 4 2025-10-24T19:39:16.334Z,1761334756.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:16.378Z,1761334756.378 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=58.249767 2025-10-24T19:39:16.629Z,1761334756.629 [DAT](INFO): DAT read: Rx Time:19:39:15.6777 2025-10-24T19:39:16.630Z,1761334756.630 [DAT](INFO): Rx dataTimestamp_ set to:1761334756.629269 2025-10-24T19:39:16.631Z,1761334756.631 [DAT](INFO): DAT read: Range 10 to 50 0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:16.631Z,1761334756.631 [DAT](INFO): unknown deviceResponse_: Range 10 to 50 0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:16.632Z,1761334756.632 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=58.503941 2025-10-24T19:39:16.778Z,1761334756.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975306,-0.220809,-0.004544],[0.215051,0.954156,-0.208179],[0.050303,0.202061,0.978080]] 2025-10-24T19:39:16.881Z,1761334756.881 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=58.753082 2025-10-24T19:39:16.901Z,1761334756.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:17.138Z,1761334757.138 [DAT](INFO): DAT read: Rx Time:19:39:16.1778 2025-10-24T19:39:17.139Z,1761334757.139 [DAT](INFO): Rx dataTimestamp_ set to:1761334757.138311 2025-10-24T19:39:17.141Z,1761334757.141 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-24T19:39:17.142Z,1761334757.142 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-24T19:39:17.143Z,1761334757.143 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=59.015148 2025-10-24T19:39:17.371Z,1761334757.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 1.029038 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:17.371Z,1761334757.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:17.390Z,1761334757.390 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=59.262318 2025-10-24T19:39:17.641Z,1761334757.641 [DAT](INFO): DAT read: Rx Time:19:39:16.6776 2025-10-24T19:39:17.642Z,1761334757.642 [DAT](INFO): Rx dataTimestamp_ set to:1761334757.641561 2025-10-24T19:39:17.643Z,1761334757.643 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-24T19:39:17.644Z,1761334757.644 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-24T19:39:17.645Z,1761334757.645 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=59.516975 2025-10-24T19:39:17.731Z,1761334757.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975047,-0.221960,-0.004066],[0.216327,0.954097,-0.207125],[0.049853,0.201077,0.978306]] 2025-10-24T19:39:17.845Z,1761334757.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503250 s, deltaX: -0.300001 m, approachRate: -0.596127 m/s, rangeRepo size: 4 2025-10-24T19:39:17.845Z,1761334757.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:17.893Z,1761334757.893 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=59.765289 2025-10-24T19:39:18.137Z,1761334758.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974784,-0.223133,-0.002894],[0.217648,0.953525,-0.208371],[0.049254,0.202487,0.978046]] 2025-10-24T19:39:18.148Z,1761334758.148 [DAT](INFO): DAT read: Rx Time:19:39:17.1777 2025-10-24T19:39:18.148Z,1761334758.148 [DAT](INFO): Rx dataTimestamp_ set to:1761334758.147878 2025-10-24T19:39:18.150Z,1761334758.150 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:18.151Z,1761334758.151 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-24T19:39:18.152Z,1761334758.152 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=60.023888 2025-10-24T19:39:18.225Z,1761334758.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.506317 s, deltaX: 0.200001 m, approachRate: 0.395011 m/s, rangeRepo size: 4 2025-10-24T19:39:18.225Z,1761334758.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:18.401Z,1761334758.401 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=60.273296 2025-10-24T19:39:18.558Z,1761334758.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:18.653Z,1761334758.653 [DAT](INFO): DAT read: Rx Time:19:39:17.6776 2025-10-24T19:39:18.654Z,1761334758.654 [DAT](INFO): Rx dataTimestamp_ set to:1761334758.653489 2025-10-24T19:39:18.655Z,1761334758.655 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2 2025-10-24T19:39:18.656Z,1761334758.656 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-24T19:39:18.657Z,1761334758.657 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=60.529060 2025-10-24T19:39:18.905Z,1761334758.905 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=60.777466 2025-10-24T19:39:18.947Z,1761334758.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974491,-0.224417,-0.002208],[0.219052,0.953241,-0.208202],[0.048829,0.202407,0.978083]] 2025-10-24T19:39:19.014Z,1761334759.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.505611 s, deltaX: -0.200001 m, approachRate: -0.395563 m/s, rangeRepo size: 4 2025-10-24T19:39:19.014Z,1761334759.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:19.157Z,1761334759.157 [DAT](INFO): DAT read: Rx Time:19:39:18.1776 2025-10-24T19:39:19.157Z,1761334759.157 [DAT](INFO): Rx dataTimestamp_ set to:1761334759.157151 2025-10-24T19:39:19.159Z,1761334759.159 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed -0.1 2025-10-24T19:39:19.159Z,1761334759.159 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-24T19:39:19.160Z,1761334759.160 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=61.032608 2025-10-24T19:39:19.413Z,1761334759.413 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=61.285042 2025-10-24T19:39:19.454Z,1761334759.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974296,-0.225264,-0.001794],[0.219967,0.953044,-0.208138],[0.048596,0.202393,0.978098]] 2025-10-24T19:39:19.486Z,1761334759.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503662 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:39:19.487Z,1761334759.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:19.661Z,1761334759.661 [DAT](INFO): DAT read: Rx Time:19:39:18.6774 2025-10-24T19:39:19.661Z,1761334759.661 [DAT](INFO): Rx dataTimestamp_ set to:1761334759.661132 2025-10-24T19:39:19.663Z,1761334759.663 [DAT](INFO): DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 2025-10-24T19:39:19.663Z,1761334759.663 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-24T19:39:19.664Z,1761334759.664 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=61.536770 2025-10-24T19:39:19.869Z,1761334759.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974369,-0.224947,-0.001707],[0.219709,0.953253,-0.207455],[0.048294,0.201763,0.978243]] 2025-10-24T19:39:19.914Z,1761334759.914 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=61.786377 2025-10-24T19:39:19.939Z,1761334759.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503981 s, deltaX: -0.299999 m, approachRate: -0.595259 m/s, rangeRepo size: 4 2025-10-24T19:39:19.945Z,1761334759.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:20.166Z,1761334760.166 [DAT](INFO): DAT read: Rx Time:19:39:19.1777 2025-10-24T19:39:20.167Z,1761334760.167 [DAT](INFO): Rx dataTimestamp_ set to:1761334760.166583 2025-10-24T19:39:20.168Z,1761334760.168 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-24T19:39:20.169Z,1761334760.169 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-24T19:39:20.170Z,1761334760.170 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=62.042019 2025-10-24T19:39:20.257Z,1761334760.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974329,-0.225126,-0.001332],[0.219982,0.953290,-0.206993],[0.047869,0.201387,0.978341]] 2025-10-24T19:39:20.293Z,1761334760.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.505451 s, deltaX: 0.500000 m, approachRate: 0.989216 m/s, rangeRepo size: 4 2025-10-24T19:39:20.293Z,1761334760.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:20.417Z,1761334760.417 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=62.289497 2025-10-24T19:39:20.662Z,1761334760.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974315,-0.225186,-0.001066],[0.220096,0.953274,-0.206947],[0.047617,0.201397,0.978352]] 2025-10-24T19:39:20.669Z,1761334760.669 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=62.541172 2025-10-24T19:39:20.683Z,1761334760.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:20.921Z,1761334760.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:39:20.922Z,1761334760.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:39:21.065Z,1761334761.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974172,-0.225808,-0.000573],[0.220792,0.953058,-0.207197],[0.047333,0.201719,0.978299]] 2025-10-24T19:39:21.104Z,1761334761.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:21.175Z,1761334761.175 [DAT](INFO): DAT read: user:116> 2025-10-24T19:39:21.177Z,1761334761.177 [DAT](INFO): DAT read: Tx time:19:39:20.4257 2025-10-24T19:39:21.177Z,1761334761.177 [DAT](INFO): Ping request sent. 2025-10-24T19:39:21.177Z,1761334761.177 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:39:21.178Z,1761334761.178 [DAT](INFO): DAT read: TxSync time:19:39:20.4250 2025-10-24T19:39:21.179Z,1761334761.179 [DAT](INFO): publishing transmit ping time 2025-10-24T19:39:21.180Z,1761334761.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002481 2025-10-24T19:39:21.425Z,1761334761.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247271 2025-10-24T19:39:21.468Z,1761334761.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974059,-0.226293,-0.000222],[0.221319,0.952852,-0.207582],[0.047186,0.202148,0.978218]] 2025-10-24T19:39:21.498Z,1761334761.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:21.678Z,1761334761.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500848 2025-10-24T19:39:21.923Z,1761334761.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973839,-0.227204,-0.004095],[0.221973,0.954966,-0.196896],[0.048647,0.190836,0.980416]] 2025-10-24T19:39:21.930Z,1761334761.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751695 2025-10-24T19:39:21.990Z,1761334761.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:22.181Z,1761334762.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003658 2025-10-24T19:39:22.375Z,1761334762.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973308,-0.229476,-0.003392],[0.224206,0.953904,-0.199497],[0.049015,0.193412,0.979893]] 2025-10-24T19:39:22.394Z,1761334762.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:22.434Z,1761334762.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256186 2025-10-24T19:39:22.685Z,1761334762.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507473 2025-10-24T19:39:22.793Z,1761334762.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972972,-0.230913,-0.002234],[0.225712,0.953015,-0.202033],[0.048781,0.196068,0.979376]] 2025-10-24T19:39:22.882Z,1761334762.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:22.938Z,1761334762.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760295 2025-10-24T19:39:23.189Z,1761334763.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011368 2025-10-24T19:39:23.251Z,1761334763.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:23.441Z,1761334763.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263288 2025-10-24T19:39:23.593Z,1761334763.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972531,-0.232770,0.000924],[0.227995,0.951769,-0.205316],[0.046912,0.199887,0.978695]] 2025-10-24T19:39:23.654Z,1761334763.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:23.693Z,1761334763.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515605 2025-10-24T19:39:23.945Z,1761334763.945 [DAT](INFO): DAT read: Rx Time:19:39:22.8525 2025-10-24T19:39:23.946Z,1761334763.946 [DAT](INFO): Rx dataTimestamp_ set to:1761334763.945600 2025-10-24T19:39:23.946Z,1761334763.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768935 2025-10-24T19:39:24.073Z,1761334764.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972489,-0.232941,0.002081],[0.228309,0.951301,-0.207129],[0.046269,0.201905,0.978312]] 2025-10-24T19:39:24.127Z,1761334764.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:24.197Z,1761334764.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019243 2025-10-24T19:39:24.450Z,1761334764.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272904 2025-10-24T19:39:24.492Z,1761334764.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972558,-0.232648,0.002257],[0.228045,0.951305,-0.207399],[0.046104,0.202222,0.978254]] 2025-10-24T19:39:24.511Z,1761334764.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:24.703Z,1761334764.703 [DAT](INFO): DAT read: Range 10 to 50 : 16.9 m (Round-trip 22.6 ms) speed 0.0 m/s 2025-10-24T19:39:24.705Z,1761334764.705 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:39:24.943Z,1761334764.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972685,-0.232120,0.002019],[0.227479,0.951436,-0.207419],[0.046225,0.202213,0.978250]] 2025-10-24T19:39:24.987Z,1761334764.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.900000 m, deltaT: 4.534972 s, deltaX: -0.100000 m, approachRate: -0.022051 m/s, rangeRepo size: 4 2025-10-24T19:39:24.987Z,1761334764.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:25.358Z,1761334765.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972903,-0.231208,0.001684],[0.226536,0.951735,-0.207079],[0.046276,0.201849,0.978323]] 2025-10-24T19:39:25.378Z,1761334765.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:25.757Z,1761334765.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972842,-0.231464,0.001656],[0.226770,0.951629,-0.207310],[0.046409,0.202055,0.978274]] 2025-10-24T19:39:25.788Z,1761334765.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:26.159Z,1761334766.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972955,-0.230992,0.001452],[0.226278,0.951796,-0.207083],[0.046452,0.201811,0.978322]] 2025-10-24T19:39:26.218Z,1761334766.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:26.565Z,1761334766.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972659,-0.232234,0.001508],[0.227477,0.951384,-0.207662],[0.046792,0.202327,0.978199]] 2025-10-24T19:39:26.586Z,1761334766.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:26.980Z,1761334766.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972638,-0.232322,0.001234],[0.227511,0.951391,-0.207592],[0.047054,0.202193,0.978215]] 2025-10-24T19:39:27.061Z,1761334767.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:27.371Z,1761334767.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972367,-0.233454,0.001136],[0.228579,0.951051,-0.207973],[0.047472,0.202486,0.978134]] 2025-10-24T19:39:27.402Z,1761334767.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:27.775Z,1761334767.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972310,-0.233692,0.000714],[0.228737,0.951058,-0.207768],[0.047875,0.202179,0.978178]] 2025-10-24T19:39:27.794Z,1761334767.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:28.192Z,1761334768.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972004,-0.234962,0.000481],[0.229920,0.950720,-0.208011],[0.048418,0.202298,0.978126]] 2025-10-24T19:39:28.231Z,1761334768.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:28.619Z,1761334768.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972028,-0.234863,-0.000267],[0.229694,0.950873,-0.207558],[0.049001,0.201691,0.978223]] 2025-10-24T19:39:28.639Z,1761334768.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:29.020Z,1761334769.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971867,-0.235527,-0.000778],[0.230247,0.950766,-0.207438],[0.049597,0.201423,0.978248]] 2025-10-24T19:39:29.074Z,1761334769.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:29.494Z,1761334769.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:29.883Z,1761334769.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971547,-0.236835,-0.002236],[0.231222,0.950484,-0.207644],[0.051302,0.201219,0.978202]] 2025-10-24T19:39:29.979Z,1761334769.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:30.286Z,1761334770.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971185,-0.238311,-0.002662],[0.232545,0.950015,-0.208312],[0.052172,0.201691,0.978059]] 2025-10-24T19:39:30.344Z,1761334770.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:30.687Z,1761334770.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971239,-0.238077,-0.003638],[0.232128,0.950150,-0.208161],[0.053015,0.201330,0.978088]] 2025-10-24T19:39:30.729Z,1761334770.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:31.090Z,1761334771.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971048,-0.238840,-0.004724],[0.232636,0.949950,-0.208508],[0.054288,0.201372,0.978009]] 2025-10-24T19:39:31.169Z,1761334771.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:31.506Z,1761334771.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971158,-0.238364,-0.005951],[0.231938,0.950177,-0.208250],[0.055293,0.200863,0.978058]] 2025-10-24T19:39:31.534Z,1761334771.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:31.927Z,1761334771.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970930,-0.239261,-0.006974],[0.232571,0.949873,-0.208932],[0.056613,0.201237,0.977905]] 2025-10-24T19:39:32.022Z,1761334772.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:32.399Z,1761334772.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970976,-0.238983,-0.009588],[0.231683,0.949758,-0.210435],[0.059397,0.202106,0.977561]] 2025-10-24T19:39:32.508Z,1761334772.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:32.798Z,1761334772.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971019,-0.238758,-0.010762],[0.231207,0.949807,-0.210737],[0.060537,0.202141,0.977484]] 2025-10-24T19:39:32.818Z,1761334772.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:33.199Z,1761334773.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971032,-0.238651,-0.011923],[0.230842,0.949808,-0.211133],[0.061712,0.202264,0.977385]] 2025-10-24T19:39:33.248Z,1761334773.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:33.605Z,1761334773.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971226,-0.237781,-0.013453],[0.229680,0.950083,-0.211159],[0.062991,0.201993,0.977359]] 2025-10-24T19:39:33.637Z,1761334773.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:34.058Z,1761334774.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971280,-0.237470,-0.014944],[0.229057,0.950174,-0.211429],[0.064408,0.201934,0.977279]] 2025-10-24T19:39:34.126Z,1761334774.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:34.494Z,1761334774.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971479,-0.236552,-0.016513],[0.227838,0.950456,-0.211477],[0.065720,0.201683,0.977244]] 2025-10-24T19:39:34.526Z,1761334774.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:34.909Z,1761334774.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971590,-0.235995,-0.017871],[0.227009,0.950621,-0.211629],[0.066932,0.201560,0.977187]] 2025-10-24T19:39:34.969Z,1761334774.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:35.298Z,1761334775.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971643,-0.235663,-0.019332],[0.226361,0.950683,-0.212042],[0.068349,0.201653,0.977069]] 2025-10-24T19:39:35.348Z,1761334775.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:35.704Z,1761334775.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971782,-0.234959,-0.020833],[0.225355,0.950878,-0.212243],[0.069678,0.201559,0.976995]] 2025-10-24T19:39:35.723Z,1761334775.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:36.122Z,1761334776.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971788,-0.234825,-0.022034],[0.224938,0.950841,-0.212846],[0.070932,0.201885,0.976837]] 2025-10-24T19:39:36.184Z,1761334776.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:36.611Z,1761334776.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:37.048Z,1761334777.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971971,-0.233840,-0.024299],[0.223474,0.951062,-0.213401],[0.073012,0.201990,0.976662]] 2025-10-24T19:39:37.141Z,1761334777.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:37.525Z,1761334777.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972253,-0.232422,-0.026518],[0.221646,0.951511,-0.213306],[0.074809,0.201509,0.976626]] 2025-10-24T19:39:37.555Z,1761334777.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:37.937Z,1761334777.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972466,-0.231394,-0.027677],[0.220420,0.951837,-0.213124],[0.075659,0.201156,0.976633]] 2025-10-24T19:39:37.971Z,1761334777.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:39:37.974Z,1761334777.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:38.091Z,1761334778.091 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:39:38.092Z,1761334778.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:39:38.331Z,1761334778.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972274,-0.232170,-0.027940],[0.221066,0.951513,-0.213900],[0.076246,0.201793,0.976456]] 2025-10-24T19:39:38.341Z,1761334778.341 [DAT](INFO): DAT read: user:117> 2025-10-24T19:39:38.342Z,1761334778.342 [DAT](INFO): DAT read: Tx time:19:39:37.6258 2025-10-24T19:39:38.342Z,1761334778.342 [DAT](INFO): Ping request sent. 2025-10-24T19:39:38.342Z,1761334778.342 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:39:38.342Z,1761334778.342 [DAT](INFO): publishing transmit ping time 2025-10-24T19:39:38.343Z,1761334778.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-10-24T19:39:38.425Z,1761334778.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:38.593Z,1761334778.593 [DAT](INFO): DAT read: TxSync time:19:39:37.6250 2025-10-24T19:39:38.594Z,1761334778.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252191 2025-10-24T19:39:38.808Z,1761334778.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972412,-0.231446,-0.029103],[0.220112,0.951705,-0.214031],[0.077234,0.201720,0.976393]] 2025-10-24T19:39:38.829Z,1761334778.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:38.845Z,1761334778.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502849 2025-10-24T19:39:39.100Z,1761334779.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757605 2025-10-24T19:39:39.301Z,1761334779.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:39.350Z,1761334779.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007989 2025-10-24T19:39:39.601Z,1761334779.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259137 2025-10-24T19:39:39.621Z,1761334779.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972665,-0.229809,-0.033323],[0.218909,0.955326,-0.198574],[0.077468,0.185852,0.979519]] 2025-10-24T19:39:39.663Z,1761334779.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:39.853Z,1761334779.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511024 2025-10-24T19:39:40.025Z,1761334780.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972295,-0.231502,-0.032387],[0.220508,0.954322,-0.201608],[0.077580,0.188881,0.978931]] 2025-10-24T19:39:40.108Z,1761334780.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765024 2025-10-24T19:39:40.180Z,1761334780.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:40.357Z,1761334780.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014981 2025-10-24T19:39:40.565Z,1761334780.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971591,-0.234610,-0.031113],[0.223495,0.952806,-0.205454],[0.077846,0.192664,0.978172]] 2025-10-24T19:39:40.609Z,1761334780.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266720 2025-10-24T19:39:40.634Z,1761334780.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:40.869Z,1761334780.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527305 2025-10-24T19:39:40.964Z,1761334780.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970864,-0.237766,-0.029848],[0.226534,0.951266,-0.209224],[0.078140,0.196367,0.977412]] 2025-10-24T19:39:40.976Z,1761334780.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:39:41.002Z,1761334781.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:41.125Z,1761334781.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782477 2025-10-24T19:39:41.368Z,1761334781.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970499,-0.239351,-0.029040],[0.228038,0.950330,-0.211828],[0.078298,0.198956,0.976875]] 2025-10-24T19:39:41.373Z,1761334781.373 [DAT](INFO): DAT read: Rx Time:19:39:40.0516 2025-10-24T19:39:41.373Z,1761334781.373 [DAT](INFO): Rx dataTimestamp_ set to:1761334781.373190 2025-10-24T19:39:41.374Z,1761334781.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031962 2025-10-24T19:39:41.437Z,1761334781.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:41.625Z,1761334781.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282636 2025-10-24T19:39:41.773Z,1761334781.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970528,-0.239267,-0.028761],[0.227902,0.950056,-0.213201],[0.078336,0.200362,0.976585]] 2025-10-24T19:39:41.802Z,1761334781.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:41.879Z,1761334781.879 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (Round-trip 21.5 ms) speed -0.1 m/s 2025-10-24T19:39:41.880Z,1761334781.880 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:39:41.980Z,1761334781.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:39:42.180Z,1761334782.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970795,-0.238187,-0.028716],[0.226803,0.950175,-0.213839],[0.078219,0.201081,0.976447]] 2025-10-24T19:39:42.261Z,1761334782.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 17.175158 s, deltaX: -0.799999 m, approachRate: -0.046579 m/s, rangeRepo size: 4 2025-10-24T19:39:42.261Z,1761334782.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:42.619Z,1761334782.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971695,-0.234447,-0.029047],[0.223078,0.951065,-0.213805],[0.077752,0.201273,0.976444]] 2025-10-24T19:39:42.639Z,1761334782.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:43.014Z,1761334783.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972250,-0.232086,-0.029425],[0.220723,0.951703,-0.213406],[0.077532,0.200989,0.976520]] 2025-10-24T19:39:43.043Z,1761334783.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:43.473Z,1761334783.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:43.820Z,1761334783.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972982,-0.229015,-0.029307],[0.217724,0.952346,-0.213619],[0.076832,0.201466,0.976477]] 2025-10-24T19:39:43.839Z,1761334783.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:44.294Z,1761334784.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:44.661Z,1761334784.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973786,-0.225570,-0.029316],[0.214346,0.953100,-0.213672],[0.076139,0.201787,0.976466]] 2025-10-24T19:39:44.679Z,1761334784.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:45.076Z,1761334785.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974211,-0.223723,-0.029343],[0.212538,0.953522,-0.213597],[0.075766,0.201852,0.976481]] 2025-10-24T19:39:45.096Z,1761334785.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:45.485Z,1761334785.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974714,-0.221494,-0.029553],[0.210332,0.954062,-0.213370],[0.075456,0.201759,0.976524]] 2025-10-24T19:39:45.540Z,1761334785.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:45.883Z,1761334785.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975318,-0.218763,-0.029964],[0.207615,0.954772,-0.212855],[0.075173,0.201380,0.976624]] 2025-10-24T19:39:45.919Z,1761334785.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:46.294Z,1761334786.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975662,-0.217217,-0.030020],[0.206071,0.955051,-0.213102],[0.074960,0.201729,0.976569]] 2025-10-24T19:39:46.353Z,1761334786.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:46.734Z,1761334786.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976156,-0.214957,-0.030217],[0.203828,0.955558,-0.212988],[0.074657,0.201751,0.976587]] 2025-10-24T19:39:46.753Z,1761334786.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:47.131Z,1761334787.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976507,-0.213320,-0.030460],[0.202156,0.955851,-0.213265],[0.074609,0.202098,0.976519]] 2025-10-24T19:39:47.228Z,1761334787.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:47.597Z,1761334787.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977092,-0.210556,-0.030955],[0.199384,0.956536,-0.212801],[0.074416,0.201754,0.976605]] 2025-10-24T19:39:47.652Z,1761334787.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:48.030Z,1761334788.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977408,-0.209027,-0.031320],[0.197802,0.956828,-0.212964],[0.074483,0.201958,0.976558]] 2025-10-24T19:39:48.050Z,1761334788.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:48.510Z,1761334788.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:48.878Z,1761334788.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978260,-0.204818,-0.032524],[0.193465,0.957795,-0.212604],[0.074696,0.201689,0.976597]] 2025-10-24T19:39:48.899Z,1761334788.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:49.297Z,1761334789.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978727,-0.202455,-0.033242],[0.191025,0.958337,-0.212366],[0.074852,0.201499,0.976625]] 2025-10-24T19:39:49.359Z,1761334789.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:49.702Z,1761334789.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978937,-0.201341,-0.033830],[0.189775,0.958470,-0.212885],[0.075287,0.201981,0.976491]] 2025-10-24T19:39:49.728Z,1761334789.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:50.114Z,1761334790.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979668,-0.197445,-0.035592],[0.185604,0.959290,-0.212869],[0.076173,0.201935,0.976432]] 2025-10-24T19:39:50.136Z,1761334790.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:50.515Z,1761334790.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979899,-0.196128,-0.036484],[0.184113,0.959520,-0.213130],[0.076808,0.202129,0.976342]] 2025-10-24T19:39:50.565Z,1761334790.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:50.926Z,1761334790.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980303,-0.193833,-0.037887],[0.181611,0.960079,-0.212759],[0.077614,0.201688,0.976370]] 2025-10-24T19:39:50.974Z,1761334790.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:51.325Z,1761334791.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980455,-0.192875,-0.038835],[0.180450,0.960211,-0.213150],[0.078401,0.201976,0.976247]] 2025-10-24T19:39:51.394Z,1761334791.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:51.730Z,1761334791.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980779,-0.190971,-0.040025],[0.178364,0.960654,-0.212911],[0.079110,0.201680,0.976251]] 2025-10-24T19:39:51.753Z,1761334791.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:52.131Z,1761334792.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980841,-0.190428,-0.041087],[0.177572,0.960680,-0.213453],[0.080119,0.202068,0.976089]] 2025-10-24T19:39:52.166Z,1761334792.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:52.544Z,1761334792.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981158,-0.188493,-0.042407],[0.175431,0.961129,-0.213201],[0.080946,0.201744,0.976088]] 2025-10-24T19:39:52.598Z,1761334792.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:53.008Z,1761334793.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981244,-0.187778,-0.043586],[0.174467,0.961239,-0.213495],[0.081986,0.201886,0.975971]] 2025-10-24T19:39:53.059Z,1761334793.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:53.414Z,1761334793.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981558,-0.185739,-0.045214],[0.172170,0.961734,-0.213130],[0.083071,0.201415,0.975977]] 2025-10-24T19:39:53.489Z,1761334793.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:53.841Z,1761334793.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:54.212Z,1761334794.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981855,-0.183546,-0.047656],[0.169497,0.962131,-0.213483],[0.085035,0.201532,0.975784]] 2025-10-24T19:39:54.253Z,1761334794.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:54.615Z,1761334794.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981995,-0.182375,-0.049249],[0.168006,0.962338,-0.213728],[0.086373,0.201606,0.975651]] 2025-10-24T19:39:54.673Z,1761334794.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:55.025Z,1761334795.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982173,-0.181024,-0.050664],[0.166388,0.962603,-0.213802],[0.087472,0.201560,0.975562]] 2025-10-24T19:39:55.051Z,1761334795.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:55.483Z,1761334795.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:55.829Z,1761334795.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982531,-0.178304,-0.053295],[0.163155,0.963073,-0.214175],[0.089516,0.201738,0.975340]] 2025-10-24T19:39:55.851Z,1761334795.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:56.232Z,1761334796.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982827,-0.176169,-0.054915],[0.160759,0.963533,-0.213916],[0.090598,0.201414,0.975307]] 2025-10-24T19:39:56.261Z,1761334796.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:56.635Z,1761334796.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982996,-0.174792,-0.056265],[0.159106,0.963739,-0.214226],[0.091670,0.201631,0.975162]] 2025-10-24T19:39:56.740Z,1761334796.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:57.098Z,1761334797.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:57.479Z,1761334797.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983511,-0.170836,-0.059334],[0.154607,0.964476,-0.214203],[0.093819,0.201498,0.974985]] 2025-10-24T19:39:57.537Z,1761334797.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:57.877Z,1761334797.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983822,-0.168509,-0.060828],[0.152041,0.964928,-0.214003],[0.094756,0.201293,0.974937]] 2025-10-24T19:39:57.898Z,1761334797.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:58.285Z,1761334798.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983932,-0.167424,-0.062017],[0.150668,0.964990,-0.214695],[0.095791,0.201902,0.974710]] 2025-10-24T19:39:58.313Z,1761334798.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:58.735Z,1761334798.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:59.088Z,1761334799.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984515,-0.162896,-0.064777],[0.145682,0.965790,-0.214539],[0.097508,0.201780,0.974565]] 2025-10-24T19:39:59.107Z,1761334799.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:59.498Z,1761334799.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984889,-0.160040,-0.066195],[0.142623,0.966315,-0.214229],[0.098251,0.201550,0.974538]] 2025-10-24T19:39:59.562Z,1761334799.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:39:59.965Z,1761334799.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985201,-0.157610,-0.067362],[0.140016,0.966727,-0.214089],[0.098863,0.201488,0.974489]] 2025-10-24T19:39:59.990Z,1761334799.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:00.397Z,1761334800.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985855,-0.152345,-0.069858],[0.134392,0.967630,-0.213613],[0.100140,0.201203,0.974417]] 2025-10-24T19:40:00.465Z,1761334800.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:00.859Z,1761334800.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986083,-0.150413,-0.070824],[0.132283,0.967885,-0.213776],[0.100704,0.201432,0.974312]] 2025-10-24T19:40:00.921Z,1761334800.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:01.293Z,1761334801.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986433,-0.147564,-0.071940],[0.129303,0.968380,-0.213357],[0.101149,0.201160,0.974322]] 2025-10-24T19:40:01.329Z,1761334801.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:01.695Z,1761334801.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986685,-0.145540,-0.072601],[0.127171,0.968638,-0.213464],[0.101392,0.201389,0.974249]] 2025-10-24T19:40:01.753Z,1761334801.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:02.101Z,1761334802.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986982,-0.143070,-0.073462],[0.124589,0.969010,-0.213303],[0.101703,0.201374,0.974220]] 2025-10-24T19:40:02.121Z,1761334802.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:02.502Z,1761334802.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987207,-0.141149,-0.074158],[0.122541,0.969228,-0.213498],[0.102011,0.201679,0.974125]] 2025-10-24T19:40:02.563Z,1761334802.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:02.914Z,1761334802.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987536,-0.138396,-0.074958],[0.119712,0.969659,-0.213144],[0.102182,0.201514,0.974141]] 2025-10-24T19:40:02.954Z,1761334802.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:03.311Z,1761334803.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987763,-0.136497,-0.075448],[0.117736,0.969875,-0.213264],[0.102285,0.201771,0.974077]] 2025-10-24T19:40:03.331Z,1761334803.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:03.717Z,1761334803.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988102,-0.133622,-0.076149],[0.114822,0.970333,-0.212767],[0.102321,0.201492,0.974131]] 2025-10-24T19:40:03.755Z,1761334803.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:04.119Z,1761334804.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988382,-0.131205,-0.076728],[0.112358,0.970679,-0.212506],[0.102360,0.201416,0.974143]] 2025-10-24T19:40:04.146Z,1761334804.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:04.522Z,1761334804.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988608,-0.129253,-0.077126],[0.110362,0.970910,-0.212494],[0.102348,0.201561,0.974114]] 2025-10-24T19:40:04.598Z,1761334804.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:04.934Z,1761334804.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988849,-0.127044,-0.077703],[0.108100,0.971217,-0.212255],[0.102432,0.201489,0.974120]] 2025-10-24T19:40:04.954Z,1761334804.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:05.367Z,1761334805.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989094,-0.124931,-0.078007],[0.105978,0.971482,-0.212112],[0.102282,0.201532,0.974127]] 2025-10-24T19:40:05.396Z,1761334805.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:05.839Z,1761334805.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:06.172Z,1761334806.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989475,-0.121580,-0.078473],[0.102588,0.971838,-0.212148],[0.102056,0.201865,0.974082]] 2025-10-24T19:40:06.202Z,1761334806.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:06.574Z,1761334806.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989723,-0.119367,-0.078739],[0.100402,0.972154,-0.211747],[0.101822,0.201666,0.974147]] 2025-10-24T19:40:06.637Z,1761334806.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:07.040Z,1761334807.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:07.385Z,1761334807.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990180,-0.115251,-0.079126],[0.096336,0.972680,-0.211216],[0.101307,0.201519,0.974231]] 2025-10-24T19:40:07.421Z,1761334807.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:07.884Z,1761334807.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990550,-0.111942,-0.079242],[0.093058,0.972993,-0.211248],[0.100750,0.201877,0.974215]] 2025-10-24T19:40:07.946Z,1761334807.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:08.284Z,1761334808.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990684,-0.110737,-0.079264],[0.091854,0.973073,-0.211404],[0.100540,0.202154,0.974179]] 2025-10-24T19:40:08.303Z,1761334808.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:08.689Z,1761334808.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990953,-0.108168,-0.079450],[0.089357,0.973441,-0.210781],[0.100139,0.201774,0.974299]] 2025-10-24T19:40:08.776Z,1761334808.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:09.102Z,1761334809.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991101,-0.106818,-0.079430],[0.088029,0.973550,-0.210836],[0.099850,0.201968,0.974289]] 2025-10-24T19:40:09.124Z,1761334809.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:09.531Z,1761334809.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991353,-0.104248,-0.079693],[0.085520,0.973919,-0.210162],[0.099524,0.201529,0.974413]] 2025-10-24T19:40:09.654Z,1761334809.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:09.951Z,1761334809.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991483,-0.103131,-0.079531],[0.084432,0.973962,-0.210404],[0.099159,0.201897,0.974374]] 2025-10-24T19:40:09.975Z,1761334809.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:10.354Z,1761334810.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991663,-0.101310,-0.079634],[0.082635,0.974146,-0.210264],[0.098877,0.201931,0.974396]] 2025-10-24T19:40:10.373Z,1761334810.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:10.754Z,1761334810.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991830,-0.099632,-0.079667],[0.080994,0.974312,-0.210133],[0.098557,0.201964,0.974421]] 2025-10-24T19:40:10.837Z,1761334810.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:11.213Z,1761334811.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992001,-0.098039,-0.079509],[0.079460,0.974437,-0.210142],[0.098078,0.202143,0.974433]] 2025-10-24T19:40:11.248Z,1761334811.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:11.725Z,1761334811.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:12.019Z,1761334812.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992345,-0.094333,-0.079708],[0.075824,0.974822,-0.209696],[0.097482,0.202047,0.974512]] 2025-10-24T19:40:12.045Z,1761334812.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:12.105Z,1761334812.105 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:40:12.424Z,1761334812.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992556,-0.091947,-0.079869],[0.073503,0.975120,-0.209135],[0.097112,0.201708,0.974620]] 2025-10-24T19:40:12.463Z,1761334812.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:12.884Z,1761334812.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:13.108Z,1761334813.108 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:40:13.265Z,1761334813.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992816,-0.088829,-0.080164],[0.070374,0.975339,-0.209190],[0.096769,0.202046,0.974584]] 2025-10-24T19:40:13.293Z,1761334813.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:13.661Z,1761334813.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992943,-0.087502,-0.080047],[0.069085,0.975412,-0.209282],[0.096391,0.202275,0.974573]] 2025-10-24T19:40:13.715Z,1761334813.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:14.070Z,1761334814.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993085,-0.085617,-0.080319],[0.067200,0.975590,-0.209063],[0.096258,0.202220,0.974598]] 2025-10-24T19:40:14.093Z,1761334814.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:14.467Z,1761334814.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993237,-0.083707,-0.080456],[0.065321,0.975773,-0.208809],[0.095985,0.202141,0.974641]] 2025-10-24T19:40:14.495Z,1761334814.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:14.884Z,1761334814.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993350,-0.082191,-0.080623],[0.063792,0.975863,-0.208857],[0.095844,0.202325,0.974617]] 2025-10-24T19:40:14.971Z,1761334814.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:15.278Z,1761334815.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993496,-0.079924,-0.081109],[0.061513,0.976112,-0.208379],[0.095826,0.202034,0.974679]] 2025-10-24T19:40:15.297Z,1761334815.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:15.685Z,1761334815.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993591,-0.078459,-0.081369],[0.060012,0.976186,-0.208469],[0.095787,0.202250,0.974638]] 2025-10-24T19:40:15.725Z,1761334815.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:16.126Z,1761334816.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993729,-0.076240,-0.081790],[0.057784,0.976401,-0.208091],[0.095724,0.202060,0.974684]] 2025-10-24T19:40:16.145Z,1761334816.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:16.521Z,1761334816.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993769,-0.075420,-0.082071],[0.056873,0.976352,-0.208573],[0.095861,0.202605,0.974557]] 2025-10-24T19:40:16.541Z,1761334816.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:16.958Z,1761334816.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:17.324Z,1761334817.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994005,-0.071006,-0.083138],[0.052390,0.976759,-0.207839],[0.095964,0.202237,0.974624]] 2025-10-24T19:40:17.364Z,1761334817.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:17.728Z,1761334817.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994087,-0.069035,-0.083821],[0.050335,0.976912,-0.207629],[0.096220,0.202182,0.974610]] 2025-10-24T19:40:17.793Z,1761334817.793 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, -91, -E, -91, -68, -10,A 2025-10-24T19:40:17.827Z,1761334817.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:18.152Z,1761334818.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994265,-0.064894,-0.085005],[0.046065,0.977211,-0.207213],[0.096515,0.202109,0.974596]] 2025-10-24T19:40:18.189Z,1761334818.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:18.539Z,1761334818.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994330,-0.063156,-0.085551],[0.044244,0.977292,-0.207226],[0.096696,0.202266,0.974545]] 2025-10-24T19:40:18.564Z,1761334818.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:19.003Z,1761334819.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:19.380Z,1761334819.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994451,-0.058685,-0.087317],[0.039556,0.977634,-0.206561],[0.097486,0.201961,0.974530]] 2025-10-24T19:40:19.400Z,1761334819.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:19.856Z,1761334819.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:20.221Z,1761334820.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994499,-0.055472,-0.088852],[0.036095,0.977792,-0.206444],[0.098330,0.202101,0.974416]] 2025-10-24T19:40:20.241Z,1761334820.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:20.623Z,1761334820.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994530,-0.053603,-0.089643],[0.034120,0.977914,-0.206206],[0.098716,0.202019,0.974394]] 2025-10-24T19:40:20.643Z,1761334820.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:21.078Z,1761334821.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:21.427Z,1761334821.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994505,-0.050524,-0.091690],[0.030688,0.978053,-0.206082],[0.100090,0.202136,0.974229]] 2025-10-24T19:40:21.447Z,1761334821.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:21.856Z,1761334821.856 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 77.55, 60.20, 70.74 2025-10-24T19:40:21.878Z,1761334821.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:22.290Z,1761334822.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994482,-0.047024,-0.093784],[0.026879,0.978289,-0.205492],[0.101410,0.201838,0.974155]] 2025-10-24T19:40:22.327Z,1761334822.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:22.691Z,1761334822.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994444,-0.046189,-0.094592],[0.025875,0.978281,-0.205664],[0.102037,0.202074,0.974040]] 2025-10-24T19:40:22.780Z,1761334822.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:23.093Z,1761334823.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994419,-0.044463,-0.095680],[0.023997,0.978412,-0.205268],[0.102741,0.201826,0.974018]] 2025-10-24T19:40:23.161Z,1761334823.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:23.501Z,1761334823.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994350,-0.044287,-0.096470],[0.023614,0.978325,-0.205726],[0.103490,0.202286,0.973843]] 2025-10-24T19:40:23.520Z,1761334823.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:23.903Z,1761334823.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994312,-0.043007,-0.097435],[0.022188,0.978419,-0.205438],[0.104167,0.202107,0.973808]] 2025-10-24T19:40:23.981Z,1761334823.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:24.303Z,1761334824.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994257,-0.042634,-0.098163],[0.021669,0.978424,-0.205467],[0.104805,0.202160,0.973729]] 2025-10-24T19:40:24.322Z,1761334824.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:24.717Z,1761334824.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994200,-0.042033,-0.098993],[0.020923,0.978469,-0.205332],[0.105492,0.202070,0.973673]] 2025-10-24T19:40:24.798Z,1761334824.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:25.111Z,1761334825.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994156,-0.041143,-0.099802],[0.019926,0.978575,-0.204926],[0.106095,0.201740,0.973676]] 2025-10-24T19:40:25.162Z,1761334825.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:25.515Z,1761334825.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994095,-0.041328,-0.100337],[0.019975,0.978528,-0.205142],[0.106661,0.201927,0.973575]] 2025-10-24T19:40:25.554Z,1761334825.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:25.926Z,1761334825.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994049,-0.040546,-0.101111],[0.019094,0.978634,-0.204721],[0.107252,0.201572,0.973584]] 2025-10-24T19:40:25.983Z,1761334825.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:26.325Z,1761334826.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993989,-0.041164,-0.101446],[0.019584,0.978530,-0.205171],[0.107713,0.201951,0.973454]] 2025-10-24T19:40:26.350Z,1761334826.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:26.727Z,1761334826.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993940,-0.040922,-0.102018],[0.019250,0.978578,-0.204976],[0.108221,0.201770,0.973436]] 2025-10-24T19:40:26.773Z,1761334826.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:27.191Z,1761334827.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:27.535Z,1761334827.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993864,-0.041058,-0.102711],[0.019287,0.978659,-0.204582],[0.108919,0.201345,0.973446]] 2025-10-24T19:40:27.555Z,1761334827.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:28.022Z,1761334828.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:28.386Z,1761334828.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:28.822Z,1761334828.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993695,-0.042523,-0.103739],[0.020511,0.978616,-0.204672],[0.110224,0.201254,0.973318]] 2025-10-24T19:40:28.909Z,1761334828.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:29.291Z,1761334829.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993660,-0.042692,-0.104010],[0.020617,0.978605,-0.204712],[0.110524,0.201269,0.973281]] 2025-10-24T19:40:29.323Z,1761334829.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:29.714Z,1761334829.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993632,-0.042659,-0.104285],[0.020537,0.978622,-0.204639],[0.110786,0.201195,0.973266]] 2025-10-24T19:40:29.826Z,1761334829.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:30.280Z,1761334830.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:30.635Z,1761334830.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993605,-0.042401,-0.104644],[0.020216,0.978640,-0.204587],[0.111084,0.201163,0.973239]] 2025-10-24T19:40:30.654Z,1761334830.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:31.049Z,1761334831.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993589,-0.042463,-0.104773],[0.020224,0.978591,-0.204821],[0.111227,0.201389,0.973176]] 2025-10-24T19:40:31.108Z,1761334831.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:31.451Z,1761334831.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993596,-0.042596,-0.104657],[0.020350,0.978536,-0.205070],[0.111146,0.201626,0.973136]] 2025-10-24T19:40:31.478Z,1761334831.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:31.955Z,1761334831.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:32.255Z,1761334832.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993659,-0.042204,-0.104219],[0.020050,0.978536,-0.205099],[0.110638,0.201709,0.973177]] 2025-10-24T19:40:32.274Z,1761334832.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:32.661Z,1761334832.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993737,-0.041416,-0.103790],[0.019404,0.978628,-0.204721],[0.110050,0.201425,0.973302]] 2025-10-24T19:40:32.680Z,1761334832.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:33.076Z,1761334833.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993812,-0.041467,-0.103047],[0.019589,0.978592,-0.204875],[0.109336,0.201588,0.973349]] 2025-10-24T19:40:33.138Z,1761334833.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:33.467Z,1761334833.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993912,-0.040995,-0.102271],[0.019303,0.978638,-0.204682],[0.108477,0.201462,0.973471]] 2025-10-24T19:40:33.506Z,1761334833.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:33.920Z,1761334833.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994008,-0.041841,-0.100979],[0.020344,0.978511,-0.205190],[0.107395,0.201906,0.973499]] 2025-10-24T19:40:33.979Z,1761334833.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:34.333Z,1761334834.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:34.723Z,1761334834.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:35.083Z,1761334835.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994586,-0.044162,-0.094068],[0.024113,0.978577,-0.204466],[0.101082,0.201091,0.974343]] 2025-10-24T19:40:35.147Z,1761334835.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:35.487Z,1761334835.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994770,-0.045746,-0.091319],[0.026231,0.978526,-0.204445],[0.098710,0.200980,0.974609]] 2025-10-24T19:40:35.511Z,1761334835.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:35.950Z,1761334835.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995146,-0.048302,-0.085738],[0.029887,0.978446,-0.204328],[0.093759,0.200774,0.975141]] 2025-10-24T19:40:36.009Z,1761334836.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:36.300Z,1761334836.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995312,-0.050006,-0.082790],[0.032128,0.978306,-0.204657],[0.091228,0.201038,0.975326]] 2025-10-24T19:40:36.326Z,1761334836.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:36.750Z,1761334836.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:37.104Z,1761334837.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995654,-0.052721,-0.076764],[0.035973,0.978070,-0.205147],[0.085896,0.201494,0.975716]] 2025-10-24T19:40:37.164Z,1761334837.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:37.510Z,1761334837.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995868,-0.052955,-0.073780],[0.036823,0.978075,-0.204971],[0.083016,0.201407,0.975983]] 2025-10-24T19:40:37.529Z,1761334837.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:37.957Z,1761334837.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996017,-0.054211,-0.070797],[0.038619,0.977899,-0.205482],[0.080372,0.201930,0.976097]] 2025-10-24T19:40:38.016Z,1761334838.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:40:38.018Z,1761334838.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:38.109Z,1761334838.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:40:38.110Z,1761334838.110 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:40:38.314Z,1761334838.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996158,-0.055033,-0.068118],[0.039951,0.977794,-0.205725],[0.077927,0.202213,0.976236]] 2025-10-24T19:40:38.334Z,1761334838.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:38.361Z,1761334838.361 [DAT](INFO): DAT read: user:118> 2025-10-24T19:40:38.361Z,1761334838.361 [DAT](INFO): DAT read: Tx time:19:40:37.6267 2025-10-24T19:40:38.362Z,1761334838.362 [DAT](INFO): Ping request sent. 2025-10-24T19:40:38.362Z,1761334838.362 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:40:38.362Z,1761334838.362 [DAT](INFO): publishing transmit ping time 2025-10-24T19:40:38.362Z,1761334838.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-10-24T19:40:38.613Z,1761334838.613 [DAT](INFO): DAT read: TxSync time:19:40:37.6259 2025-10-24T19:40:38.614Z,1761334838.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252379 2025-10-24T19:40:38.723Z,1761334838.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996255,-0.055002,-0.066716],[0.040205,0.977782,-0.205732],[0.076549,0.202279,0.976332]] 2025-10-24T19:40:38.752Z,1761334838.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:38.866Z,1761334838.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503712 2025-10-24T19:40:39.117Z,1761334839.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755042 2025-10-24T19:40:39.124Z,1761334839.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996326,-0.055845,-0.064933],[0.041438,0.977849,-0.205169],[0.074953,0.201725,0.976570]] 2025-10-24T19:40:39.225Z,1761334839.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:39.369Z,1761334839.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007050 2025-10-24T19:40:39.527Z,1761334839.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996468,-0.055021,-0.063433],[0.040922,0.977838,-0.205326],[0.073324,0.202005,0.976636]] 2025-10-24T19:40:39.547Z,1761334839.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:39.568Z,1761334839.568 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-24T19:30:39.3Z 2025-10-24T19:40:39.568Z,1761334839.568 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T19:40:39.569Z,1761334839.569 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:40:39.569Z,1761334839.569 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T19:40:39.569Z,1761334839.569 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:40:39.569Z,1761334839.569 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-24T19:40:39.621Z,1761334839.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259212 2025-10-24T19:40:39.873Z,1761334839.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975 2025-10-24T19:40:39.978Z,1761334839.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996552,-0.055839,-0.061368],[0.042111,0.977695,-0.205763],[0.071489,0.202469,0.976676]] 2025-10-24T19:40:40.035Z,1761334840.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:40.039Z,1761334840.039 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T19:40:40.039Z,1761334840.039 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T19:40:40.039Z,1761334840.039 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T19:40:40.040Z,1761334840.040 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:40:40.040Z,1761334840.040 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T19:40:40.129Z,1761334840.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767104 2025-10-24T19:40:40.381Z,1761334840.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019130 2025-10-24T19:40:40.500Z,1761334840.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996691,-0.055274,-0.059594],[0.041940,0.977767,-0.205459],[0.069625,0.202280,0.976850]] 2025-10-24T19:40:40.567Z,1761334840.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:40.634Z,1761334840.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271834 2025-10-24T19:40:40.889Z,1761334840.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527226 2025-10-24T19:40:40.904Z,1761334840.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996787,-0.055522,-0.057726],[0.042546,0.977693,-0.205687],[0.067859,0.202570,0.976914]] 2025-10-24T19:40:40.945Z,1761334840.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:41.141Z,1761334841.141 [DAT](INFO): DAT read: Rx Time:19:40:40.0479 2025-10-24T19:40:41.141Z,1761334841.141 [DAT](INFO): Rx dataTimestamp_ set to:1761334841.141054 2025-10-24T19:40:41.142Z,1761334841.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780123 2025-10-24T19:40:41.364Z,1761334841.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:41.393Z,1761334841.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030867 2025-10-24T19:40:41.645Z,1761334841.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282944 2025-10-24T19:40:41.725Z,1761334841.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996979,-0.055341,-0.054509],[0.043036,0.977710,-0.205501],[0.064666,0.202534,0.977138]] 2025-10-24T19:40:41.755Z,1761334841.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:41.900Z,1761334841.900 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (Round-trip 17.1 ms) speed 0.0 m/s 2025-10-24T19:40:41.901Z,1761334841.901 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:40:42.111Z,1761334842.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997072,-0.054712,-0.053425],[0.042662,0.977800,-0.205153],[0.063463,0.202273,0.977271]] 2025-10-24T19:40:42.161Z,1761334842.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 60.021127 s, deltaX: -3.300000 m, approachRate: -0.054981 m/s, rangeRepo size: 4 2025-10-24T19:40:42.161Z,1761334842.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:42.517Z,1761334842.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997099,-0.055308,-0.052294],[0.043454,0.977691,-0.205503],[0.062494,0.202634,0.977258]] 2025-10-24T19:40:42.536Z,1761334842.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:42.933Z,1761334842.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997141,-0.055091,-0.051716],[0.043366,0.977723,-0.205371],[0.061878,0.202541,0.977317]] 2025-10-24T19:40:42.953Z,1761334842.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:43.232Z,1761334843.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:40:43.322Z,1761334843.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997156,-0.055479,-0.051018],[0.043880,0.977671,-0.205510],[0.061281,0.202687,0.977324]] 2025-10-24T19:40:43.384Z,1761334843.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:43.729Z,1761334843.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997138,-0.055872,-0.050938],[0.044269,0.977611,-0.205710],[0.061291,0.202866,0.977286]] 2025-10-24T19:40:43.749Z,1761334843.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:44.133Z,1761334844.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997133,-0.055873,-0.051031],[0.044263,0.977652,-0.205518],[0.061374,0.202670,0.977322]] 2025-10-24T19:40:44.177Z,1761334844.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:44.237Z,1761334844.237 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:40:44.535Z,1761334844.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997067,-0.056734,-0.051370],[0.045022,0.977561,-0.205784],[0.061892,0.202867,0.977248]] 2025-10-24T19:40:44.570Z,1761334844.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:44.942Z,1761334844.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997029,-0.056916,-0.051905],[0.045102,0.977592,-0.205620],[0.062445,0.202668,0.977254]] 2025-10-24T19:40:44.961Z,1761334844.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:45.352Z,1761334845.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996907,-0.058285,-0.052719],[0.046257,0.977466,-0.205962],[0.063536,0.202886,0.977139]] 2025-10-24T19:40:45.414Z,1761334845.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:45.747Z,1761334845.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996845,-0.058459,-0.053695],[0.046255,0.977552,-0.205554],[0.064506,0.202422,0.977172]] 2025-10-24T19:40:45.779Z,1761334845.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:46.159Z,1761334846.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996536,-0.060956,-0.056578],[0.048111,0.977438,-0.205668],[0.067839,0.202234,0.976985]] 2025-10-24T19:40:46.213Z,1761334846.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:46.559Z,1761334846.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996372,-0.062220,-0.058057],[0.049048,0.977384,-0.205704],[0.069543,0.202111,0.976890]] 2025-10-24T19:40:46.579Z,1761334846.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:46.962Z,1761334846.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996194,-0.063509,-0.059696],[0.049969,0.977307,-0.205849],[0.071415,0.202083,0.976761]] 2025-10-24T19:40:46.983Z,1761334846.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:47.366Z,1761334847.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996026,-0.064522,-0.061389],[0.050608,0.977242,-0.206002],[0.073284,0.202077,0.976624]] 2025-10-24T19:40:47.569Z,1761334847.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:47.826Z,1761334847.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995856,-0.065752,-0.062829],[0.051486,0.977093,-0.206491],[0.074967,0.202401,0.976429]] 2025-10-24T19:40:47.862Z,1761334847.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:48.247Z,1761334848.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995733,-0.065943,-0.064562],[0.051316,0.977092,-0.206540],[0.076703,0.202345,0.976306]] 2025-10-24T19:40:48.307Z,1761334848.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:48.631Z,1761334848.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995554,-0.067095,-0.066117],[0.052066,0.976882,-0.207340],[0.078500,0.202976,0.976032]] 2025-10-24T19:40:48.675Z,1761334848.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:49.035Z,1761334849.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995438,-0.067073,-0.067854],[0.051677,0.976867,-0.207510],[0.080202,0.203057,0.975877]] 2025-10-24T19:40:49.055Z,1761334849.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:49.446Z,1761334849.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995309,-0.067379,-0.069429],[0.051622,0.976785,-0.207907],[0.081825,0.203348,0.975681]] 2025-10-24T19:40:49.494Z,1761334849.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:49.843Z,1761334849.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995228,-0.066772,-0.071148],[0.050676,0.976839,-0.207888],[0.083382,0.203291,0.975562]] 2025-10-24T19:40:49.864Z,1761334849.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:50.315Z,1761334850.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:50.651Z,1761334850.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995100,-0.065487,-0.074072],[0.048766,0.976813,-0.208466],[0.086007,0.203832,0.975221]] 2025-10-24T19:40:50.681Z,1761334850.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:51.057Z,1761334851.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995078,-0.064279,-0.075422],[0.047303,0.976885,-0.208465],[0.087079,0.203871,0.975117]] 2025-10-24T19:40:51.093Z,1761334851.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:51.465Z,1761334851.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995066,-0.063023,-0.076634],[0.045827,0.976970,-0.208400],[0.088003,0.203859,0.975037]] 2025-10-24T19:40:51.523Z,1761334851.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:51.868Z,1761334851.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995054,-0.062086,-0.077546],[0.044750,0.977089,-0.208072],[0.088688,0.203572,0.975035]] 2025-10-24T19:40:51.889Z,1761334851.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:52.268Z,1761334852.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995058,-0.061462,-0.077985],[0.044101,0.977244,-0.207481],[0.088963,0.203016,0.975126]] 2025-10-24T19:40:52.326Z,1761334852.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:52.671Z,1761334852.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995083,-0.060248,-0.078611],[0.042858,0.977480,-0.206630],[0.089290,0.202245,0.975256]] 2025-10-24T19:40:52.691Z,1761334852.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:53.076Z,1761334853.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995033,-0.061065,-0.078618],[0.043615,0.977345,-0.207108],[0.089484,0.202650,0.975154]] 2025-10-24T19:40:53.095Z,1761334853.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:53.481Z,1761334853.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995050,-0.060497,-0.078835],[0.043038,0.977427,-0.206843],[0.089569,0.202427,0.975193]] 2025-10-24T19:40:53.554Z,1761334853.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:53.887Z,1761334853.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995026,-0.061305,-0.078513],[0.043855,0.977295,-0.207297],[0.089439,0.202822,0.975122]] 2025-10-24T19:40:53.935Z,1761334853.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:54.322Z,1761334854.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995080,-0.060660,-0.078329],[0.043303,0.977418,-0.206829],[0.089107,0.202420,0.975236]] 2025-10-24T19:40:54.382Z,1761334854.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:54.719Z,1761334854.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995109,-0.061346,-0.077425],[0.044149,0.977354,-0.206955],[0.088367,0.202525,0.975282]] 2025-10-24T19:40:54.762Z,1761334854.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:55.124Z,1761334855.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995176,-0.061155,-0.076710],[0.044140,0.977432,-0.206588],[0.087613,0.202205,0.975416]] 2025-10-24T19:40:55.143Z,1761334855.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:55.577Z,1761334855.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:55.937Z,1761334855.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995295,-0.062745,-0.073828],[0.046296,0.977350,-0.206503],[0.085113,0.202113,0.975657]] 2025-10-24T19:40:55.976Z,1761334855.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:56.337Z,1761334856.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995369,-0.064423,-0.071344],[0.048458,0.977269,-0.206390],[0.083019,0.201977,0.975865]] 2025-10-24T19:40:56.379Z,1761334856.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:56.739Z,1761334856.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995432,-0.066036,-0.068948],[0.050555,0.977232,-0.206065],[0.080986,0.201638,0.976106]] 2025-10-24T19:40:56.774Z,1761334856.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:57.144Z,1761334857.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995519,-0.067329,-0.066395],[0.052403,0.977291,-0.205319],[0.078711,0.200920,0.976440]] 2025-10-24T19:40:57.163Z,1761334857.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:57.550Z,1761334857.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995521,-0.069661,-0.063912],[0.055197,0.977150,-0.205261],[0.076750,0.200814,0.976618]] 2025-10-24T19:40:57.594Z,1761334857.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:57.951Z,1761334857.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995599,-0.070747,-0.061460],[0.056801,0.977175,-0.204699],[0.074539,0.200307,0.976893]] 2025-10-24T19:40:57.982Z,1761334857.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:58.365Z,1761334858.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995594,-0.072953,-0.058909],[0.059449,0.976931,-0.205112],[0.072514,0.200706,0.976964]] 2025-10-24T19:40:58.446Z,1761334858.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:58.760Z,1761334858.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995648,-0.074082,-0.056544],[0.061032,0.976830,-0.205130],[0.070431,0.200787,0.977100]] 2025-10-24T19:40:58.779Z,1761334858.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:59.165Z,1761334859.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995639,-0.076059,-0.054018],[0.063451,0.976584,-0.205567],[0.068388,0.201243,0.977151]] 2025-10-24T19:40:59.190Z,1761334859.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:59.578Z,1761334859.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995706,-0.076661,-0.051899],[0.064485,0.976566,-0.205330],[0.066424,0.201101,0.977316]] 2025-10-24T19:40:59.633Z,1761334859.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:40:59.984Z,1761334859.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995736,-0.078667,-0.048188],[0.067176,0.976301,-0.205729],[0.063231,0.201614,0.977422]] 2025-10-24T19:41:00.005Z,1761334860.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:00.379Z,1761334860.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995716,-0.079604,-0.047032],[0.068310,0.976161,-0.206020],[0.062311,0.201925,0.977417]] 2025-10-24T19:41:00.427Z,1761334860.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:00.779Z,1761334860.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995687,-0.080586,-0.045974],[0.069465,0.976008,-0.206358],[0.061501,0.202274,0.977396]] 2025-10-24T19:41:00.798Z,1761334860.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:01.185Z,1761334861.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995739,-0.080526,-0.044937],[0.069634,0.976054,-0.206083],[0.060456,0.202076,0.977502]] 2025-10-24T19:41:01.205Z,1761334861.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:01.588Z,1761334861.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995733,-0.081298,-0.043669],[0.070628,0.975913,-0.206409],[0.059398,0.202444,0.977491]] 2025-10-24T19:41:01.647Z,1761334861.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:01.993Z,1761334861.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995823,-0.080700,-0.042700],[0.070262,0.976024,-0.206010],[0.058301,0.202149,0.977618]] 2025-10-24T19:41:02.017Z,1761334862.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:02.521Z,1761334862.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:02.799Z,1761334862.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995953,-0.079931,-0.041100],[0.069851,0.976119,-0.205699],[0.056561,0.201996,0.977752]] 2025-10-24T19:41:02.830Z,1761334862.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:03.205Z,1761334863.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995940,-0.080502,-0.040282],[0.070548,0.975966,-0.206187],[0.055912,0.202508,0.977683]] 2025-10-24T19:41:03.229Z,1761334863.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:03.700Z,1761334863.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:04.100Z,1761334864.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996035,-0.079904,-0.039106],[0.070180,0.975912,-0.206569],[0.054670,0.203006,0.977650]] 2025-10-24T19:41:04.119Z,1761334864.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:04.511Z,1761334864.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996069,-0.079641,-0.038789],[0.069970,0.975865,-0.206860],[0.054328,0.203332,0.977601]] 2025-10-24T19:41:04.625Z,1761334864.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:04.883Z,1761334864.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996173,-0.078379,-0.038679],[0.068772,0.976010,-0.206578],[0.053942,0.203127,0.977665]] 2025-10-24T19:41:04.948Z,1761334864.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:05.294Z,1761334865.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996228,-0.077811,-0.038408],[0.068268,0.976036,-0.206622],[0.053565,0.203221,0.977667]] 2025-10-24T19:41:05.319Z,1761334865.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:05.691Z,1761334865.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996341,-0.076288,-0.038528],[0.066777,0.976237,-0.206160],[0.053340,0.202833,0.977760]] 2025-10-24T19:41:05.757Z,1761334865.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:06.096Z,1761334866.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996361,-0.076154,-0.038275],[0.066680,0.976178,-0.206471],[0.053087,0.203167,0.977704]] 2025-10-24T19:41:06.119Z,1761334866.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:06.522Z,1761334866.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996421,-0.075229,-0.038552],[0.065722,0.976261,-0.206386],[0.053163,0.203114,0.977711]] 2025-10-24T19:41:06.574Z,1761334866.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:06.920Z,1761334866.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996420,-0.075217,-0.038588],[0.065687,0.976199,-0.206690],[0.053216,0.203415,0.977645]] 2025-10-24T19:41:06.945Z,1761334866.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:07.318Z,1761334867.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996417,-0.074931,-0.039211],[0.065319,0.976376,-0.205969],[0.053718,0.202670,0.977773]] 2025-10-24T19:41:07.418Z,1761334867.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:07.715Z,1761334867.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996319,-0.075990,-0.039681],[0.066296,0.976444,-0.205331],[0.054350,0.201945,0.977888]] 2025-10-24T19:41:07.776Z,1761334867.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:08.126Z,1761334868.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996206,-0.077243,-0.040098],[0.067472,0.976484,-0.204757],[0.054971,0.201275,0.977991]] 2025-10-24T19:41:08.145Z,1761334868.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:08.538Z,1761334868.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996075,-0.078800,-0.040308],[0.068969,0.976428,-0.204529],[0.055475,0.200946,0.978030]] 2025-10-24T19:41:08.598Z,1761334868.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:08.937Z,1761334868.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995907,-0.080742,-0.040616],[0.070798,0.976249,-0.204756],[0.056184,0.201042,0.977970]] 2025-10-24T19:41:08.977Z,1761334868.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:09.331Z,1761334869.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995754,-0.082498,-0.040830],[0.072481,0.976143,-0.204674],[0.056741,0.200846,0.977978]] 2025-10-24T19:41:09.354Z,1761334869.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:09.817Z,1761334869.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:10.181Z,1761334870.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:10.543Z,1761334870.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995175,-0.088786,-0.041757],[0.078468,0.975712,-0.204521],[0.058901,0.200258,0.977971]] 2025-10-24T19:41:10.600Z,1761334870.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:10.951Z,1761334870.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994961,-0.091062,-0.041955],[0.080650,0.975502,-0.204674],[0.059565,0.200259,0.977931]] 2025-10-24T19:41:10.971Z,1761334870.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:11.354Z,1761334871.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994782,-0.092737,-0.042518],[0.082171,0.975343,-0.204825],[0.060464,0.200262,0.977875]] 2025-10-24T19:41:11.385Z,1761334871.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:11.755Z,1761334871.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994519,-0.095379,-0.042840],[0.084647,0.974965,-0.205618],[0.061380,0.200864,0.977694]] 2025-10-24T19:41:11.820Z,1761334871.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:12.163Z,1761334872.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994392,-0.096395,-0.043513],[0.085500,0.974869,-0.205717],[0.062249,0.200842,0.977644]] 2025-10-24T19:41:12.185Z,1761334872.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:12.638Z,1761334872.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:12.967Z,1761334872.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994106,-0.098683,-0.044883],[0.087423,0.974554,-0.206399],[0.064109,0.201259,0.977438]] 2025-10-24T19:41:13.002Z,1761334873.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:13.374Z,1761334873.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994021,-0.099523,-0.044924],[0.088192,0.974335,-0.207106],[0.064383,0.201906,0.977286]] 2025-10-24T19:41:13.415Z,1761334873.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:13.785Z,1761334873.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994061,-0.098793,-0.045629],[0.087337,0.974422,-0.207060],[0.064918,0.201845,0.977264]] 2025-10-24T19:41:13.839Z,1761334873.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:14.193Z,1761334874.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994008,-0.098544,-0.047306],[0.086707,0.974334,-0.207737],[0.066563,0.202391,0.977040]] 2025-10-24T19:41:14.211Z,1761334874.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:14.368Z,1761334874.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:41:14.598Z,1761334874.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993975,-0.098418,-0.048247],[0.086367,0.974284,-0.208116],[0.067488,0.202695,0.976914]] 2025-10-24T19:41:14.637Z,1761334874.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:14.987Z,1761334874.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993967,-0.097983,-0.049275],[0.085721,0.974310,-0.208260],[0.068415,0.202780,0.976832]] 2025-10-24T19:41:15.024Z,1761334875.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:15.372Z,1761334875.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:41:15.398Z,1761334875.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994023,-0.096940,-0.050205],[0.084531,0.974478,-0.207959],[0.069083,0.202472,0.976848]] 2025-10-24T19:41:15.419Z,1761334875.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:15.812Z,1761334875.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993985,-0.096977,-0.050893],[0.084397,0.974399,-0.208382],[0.069799,0.202834,0.976722]] 2025-10-24T19:41:15.927Z,1761334875.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:16.210Z,1761334876.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994064,-0.095707,-0.051748],[0.083006,0.974602,-0.207993],[0.070340,0.202463,0.976761]] 2025-10-24T19:41:16.245Z,1761334876.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:16.603Z,1761334876.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994016,-0.095934,-0.052248],[0.083094,0.974499,-0.208441],[0.070912,0.202852,0.976638]] 2025-10-24T19:41:16.654Z,1761334876.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:17.045Z,1761334877.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:17.411Z,1761334877.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994068,-0.095157,-0.052673],[0.082244,0.974566,-0.208465],[0.071170,0.202896,0.976610]] 2025-10-24T19:41:17.455Z,1761334877.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:17.820Z,1761334877.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994124,-0.094428,-0.052923],[0.081499,0.974688,-0.208186],[0.071242,0.202650,0.976656]] 2025-10-24T19:41:17.884Z,1761334877.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:18.223Z,1761334878.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994116,-0.094644,-0.052696],[0.081747,0.974637,-0.208326],[0.071076,0.202793,0.976639]] 2025-10-24T19:41:18.251Z,1761334878.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:18.636Z,1761334878.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994170,-0.094328,-0.052229],[0.081550,0.974705,-0.208084],[0.070536,0.202612,0.976716]] 2025-10-24T19:41:18.711Z,1761334878.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:19.039Z,1761334879.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994124,-0.095186,-0.051540],[0.082507,0.974555,-0.208411],[0.070066,0.202934,0.976682]] 2025-10-24T19:41:19.073Z,1761334879.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:19.456Z,1761334879.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994151,-0.095323,-0.050763],[0.082811,0.974563,-0.208255],[0.069323,0.202833,0.976756]] 2025-10-24T19:41:19.507Z,1761334879.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:19.846Z,1761334879.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994119,-0.096189,-0.049762],[0.083860,0.974463,-0.208302],[0.068527,0.202904,0.976798]] 2025-10-24T19:41:19.903Z,1761334879.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:20.257Z,1761334880.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994155,-0.096300,-0.048817],[0.084187,0.974513,-0.207937],[0.067597,0.202612,0.976923]] 2025-10-24T19:41:20.277Z,1761334880.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:20.703Z,1761334880.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:21.047Z,1761334881.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994125,-0.097917,-0.046117],[0.086337,0.974374,-0.207704],[0.065273,0.202503,0.977104]] 2025-10-24T19:41:21.114Z,1761334881.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:21.468Z,1761334881.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994066,-0.099167,-0.044708],[0.087840,0.974215,-0.207820],[0.064164,0.202659,0.977145]] 2025-10-24T19:41:21.488Z,1761334881.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:21.864Z,1761334881.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994002,-0.100510,-0.043098],[0.089479,0.974048,-0.207903],[0.062876,0.202799,0.977200]] 2025-10-24T19:41:21.930Z,1761334881.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:22.259Z,1761334882.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993976,-0.101405,-0.041588],[0.090678,0.973993,-0.207640],[0.061562,0.202618,0.977321]] 2025-10-24T19:41:22.303Z,1761334882.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:22.663Z,1761334882.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993855,-0.103270,-0.039839],[0.092846,0.973736,-0.207891],[0.060262,0.202915,0.977340]] 2025-10-24T19:41:22.737Z,1761334882.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:23.067Z,1761334883.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993820,-0.104167,-0.038348],[0.094047,0.973686,-0.207584],[0.058962,0.202694,0.977465]] 2025-10-24T19:41:23.102Z,1761334883.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:23.471Z,1761334883.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993703,-0.105885,-0.036653],[0.096068,0.973466,-0.207692],[0.057672,0.202863,0.977507]] 2025-10-24T19:41:23.494Z,1761334883.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:23.887Z,1761334883.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993641,-0.106887,-0.035399],[0.097317,0.973388,-0.207473],[0.056633,0.202709,0.977600]] 2025-10-24T19:41:23.951Z,1761334883.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:24.286Z,1761334884.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993575,-0.107903,-0.034133],[0.098583,0.973310,-0.207239],[0.055584,0.202543,0.977695]] 2025-10-24T19:41:24.317Z,1761334884.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:24.687Z,1761334884.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993434,-0.109652,-0.032635],[0.100582,0.973036,-0.207570],[0.054516,0.202924,0.977676]] 2025-10-24T19:41:24.737Z,1761334884.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:25.090Z,1761334885.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993425,-0.110018,-0.031682],[0.101159,0.973074,-0.207108],[0.053615,0.202541,0.977805]] 2025-10-24T19:41:25.126Z,1761334885.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:25.497Z,1761334885.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993312,-0.111329,-0.030629],[0.102648,0.972883,-0.207274],[0.052874,0.202744,0.977803]] 2025-10-24T19:41:25.518Z,1761334885.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:25.903Z,1761334885.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993258,-0.112001,-0.029907],[0.103462,0.972834,-0.207098],[0.052289,0.202608,0.977863]] 2025-10-24T19:41:25.966Z,1761334885.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:26.303Z,1761334886.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993179,-0.112885,-0.029199],[0.104469,0.972713,-0.207163],[0.051788,0.202699,0.977871]] 2025-10-24T19:41:26.327Z,1761334886.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:26.741Z,1761334886.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993190,-0.112869,-0.028892],[0.104532,0.972776,-0.206832],[0.051450,0.202403,0.977950]] 2025-10-24T19:41:26.802Z,1761334886.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:27.107Z,1761334887.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993073,-0.113980,-0.028531],[0.105673,0.972571,-0.207218],[0.051367,0.202768,0.977879]] 2025-10-24T19:41:27.128Z,1761334887.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:27.570Z,1761334887.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:27.930Z,1761334887.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993024,-0.114405,-0.028530],[0.106083,0.972501,-0.207337],[0.051466,0.202864,0.977853]] 2025-10-24T19:41:28.010Z,1761334888.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:28.319Z,1761334888.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993064,-0.113966,-0.028902],[0.105582,0.972571,-0.207263],[0.051730,0.202774,0.977858]] 2025-10-24T19:41:28.341Z,1761334888.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:28.739Z,1761334888.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993067,-0.113868,-0.029188],[0.105424,0.972571,-0.207343],[0.051997,0.202828,0.977833]] 2025-10-24T19:41:28.794Z,1761334888.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:29.131Z,1761334889.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993089,-0.113497,-0.029861],[0.104921,0.972613,-0.207404],[0.052583,0.202837,0.977800]] 2025-10-24T19:41:29.151Z,1761334889.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:29.534Z,1761334889.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993102,-0.113216,-0.030500],[0.104513,0.972647,-0.207449],[0.053152,0.202830,0.977770]] 2025-10-24T19:41:29.563Z,1761334889.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:29.951Z,1761334889.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993133,-0.112752,-0.031222],[0.103909,0.972701,-0.207497],[0.053765,0.202828,0.977737]] 2025-10-24T19:41:30.028Z,1761334890.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:30.339Z,1761334890.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993109,-0.112800,-0.031790],[0.103826,0.972655,-0.207758],[0.054356,0.203026,0.977664]] 2025-10-24T19:41:30.369Z,1761334890.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:30.769Z,1761334890.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993112,-0.112270,-0.033537],[0.102941,0.972705,-0.207964],[0.055970,0.203079,0.977561]] 2025-10-24T19:41:30.816Z,1761334890.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:31.173Z,1761334891.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:31.561Z,1761334891.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993130,-0.111595,-0.035214],[0.101941,0.972821,-0.207912],[0.057459,0.202894,0.977513]] 2025-10-24T19:41:31.590Z,1761334891.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:31.965Z,1761334891.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993065,-0.111931,-0.035953],[0.102107,0.972758,-0.208126],[0.058269,0.203012,0.977441]] 2025-10-24T19:41:31.975Z,1761334891.975 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102411425468,35.0, +11.4, 4 2025-10-24T19:41:32.010Z,1761334892.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:32.386Z,1761334892.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993053,-0.111753,-0.036840],[0.101761,0.972824,-0.207988],[0.059082,0.202794,0.977437]] 2025-10-24T19:41:32.457Z,1761334892.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:32.805Z,1761334892.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992939,-0.112590,-0.037359],[0.102455,0.972679,-0.208321],[0.059793,0.203022,0.977347]] 2025-10-24T19:41:32.876Z,1761334892.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:33.175Z,1761334893.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992876,-0.112959,-0.037922],[0.102701,0.972651,-0.208333],[0.060418,0.202955,0.977322]] 2025-10-24T19:41:33.202Z,1761334893.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:33.584Z,1761334893.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992803,-0.113370,-0.038586],[0.102977,0.972651,-0.208197],[0.061134,0.202726,0.977325]] 2025-10-24T19:41:33.603Z,1761334893.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:33.994Z,1761334893.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992638,-0.114666,-0.039014],[0.104138,0.972454,-0.208539],[0.061852,0.202941,0.977235]] 2025-10-24T19:41:34.030Z,1761334894.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:34.385Z,1761334894.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992562,-0.115177,-0.039429],[0.104566,0.972448,-0.208355],[0.062340,0.202682,0.977258]] 2025-10-24T19:41:34.431Z,1761334894.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:34.824Z,1761334894.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992358,-0.116882,-0.039556],[0.106183,0.972179,-0.208788],[0.062859,0.202992,0.977161]] 2025-10-24T19:41:34.863Z,1761334894.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:35.209Z,1761334895.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992277,-0.117408,-0.040023],[0.106619,0.972185,-0.208541],[0.063394,0.202663,0.977194]] 2025-10-24T19:41:35.228Z,1761334895.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:35.621Z,1761334895.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992080,-0.119041,-0.040089],[0.108188,0.971952,-0.208817],[0.063822,0.202826,0.977133]] 2025-10-24T19:41:35.641Z,1761334895.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:36.032Z,1761334896.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991933,-0.120222,-0.040207],[0.109316,0.971811,-0.208887],[0.064186,0.202806,0.977113]] 2025-10-24T19:41:36.113Z,1761334896.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:36.405Z,1761334896.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991795,-0.121309,-0.040344],[0.110360,0.971714,-0.208787],[0.064531,0.202622,0.977129]] 2025-10-24T19:41:36.450Z,1761334896.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:36.875Z,1761334896.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991601,-0.122881,-0.040334],[0.111884,0.971484,-0.209048],[0.064872,0.202780,0.977073]] 2025-10-24T19:41:36.939Z,1761334896.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:37.271Z,1761334897.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991484,-0.123835,-0.040294],[0.112840,0.971411,-0.208871],[0.065008,0.202546,0.977113]] 2025-10-24T19:41:37.307Z,1761334897.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:37.680Z,1761334897.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991357,-0.124891,-0.040179],[0.113898,0.971290,-0.208860],[0.065111,0.202478,0.977120]] 2025-10-24T19:41:37.729Z,1761334897.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:38.158Z,1761334898.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:41:38.164Z,1761334898.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:38.360Z,1761334898.360 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:41:38.361Z,1761334898.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:41:38.485Z,1761334898.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991065,-0.127219,-0.040067],[0.116183,0.970962,-0.209126],[0.065509,0.202602,0.977068]] 2025-10-24T19:41:38.517Z,1761334898.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:38.613Z,1761334898.613 [DAT](INFO): DAT read: user:119> 2025-10-24T19:41:38.614Z,1761334898.614 [DAT](INFO): DAT read: Tx time:19:41:37.8774 2025-10-24T19:41:38.615Z,1761334898.615 [DAT](INFO): Ping request sent. 2025-10-24T19:41:38.615Z,1761334898.615 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:41:38.616Z,1761334898.616 [DAT](INFO): publishing transmit ping time 2025-10-24T19:41:38.618Z,1761334898.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002668 2025-10-24T19:41:38.884Z,1761334898.884 [DAT](INFO): DAT read: TxSync time:19:41:37.8766 2025-10-24T19:41:38.885Z,1761334898.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.269904 2025-10-24T19:41:38.894Z,1761334898.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990951,-0.128146,-0.039943],[0.117116,0.970845,-0.209151],[0.065581,0.202580,0.977067]] 2025-10-24T19:41:38.991Z,1761334898.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:39.117Z,1761334899.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501741 2025-10-24T19:41:39.352Z,1761334899.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990665,-0.129729,-0.041863],[0.118667,0.971860,-0.203487],[0.067083,0.196620,0.978182]] 2025-10-24T19:41:39.369Z,1761334899.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753968 2025-10-24T19:41:39.373Z,1761334899.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:39.621Z,1761334899.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005877 2025-10-24T19:41:39.758Z,1761334899.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990322,-0.132551,-0.041137],[0.121396,0.970959,-0.206158],[0.067269,0.199169,0.977654]] 2025-10-24T19:41:39.776Z,1761334899.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:39.876Z,1761334899.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260625 2025-10-24T19:41:40.125Z,1761334900.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509867 2025-10-24T19:41:40.161Z,1761334900.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990063,-0.134588,-0.040771],[0.123322,0.970272,-0.208241],[0.067585,0.201144,0.977227]] 2025-10-24T19:41:40.219Z,1761334900.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:40.377Z,1761334900.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761972 2025-10-24T19:41:40.606Z,1761334900.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990024,-0.135174,-0.039758],[0.124065,0.970066,-0.208757],[0.066787,0.201742,0.977159]] 2025-10-24T19:41:40.629Z,1761334900.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014067 2025-10-24T19:41:40.638Z,1761334900.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:40.884Z,1761334900.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268672 2025-10-24T19:41:41.004Z,1761334901.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989982,-0.135631,-0.039231],[0.124601,0.969936,-0.209040],[0.066404,0.202058,0.977120]] 2025-10-24T19:41:41.055Z,1761334901.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:41.133Z,1761334901.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517831 2025-10-24T19:41:41.385Z,1761334901.385 [DAT](INFO): DAT read: Rx Time:19:41:40.2925 2025-10-24T19:41:41.385Z,1761334901.385 [DAT](INFO): Rx dataTimestamp_ set to:1761334901.385060 2025-10-24T19:41:41.386Z,1761334901.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770954 2025-10-24T19:41:41.407Z,1761334901.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990049,-0.135179,-0.039098],[0.124192,0.970011,-0.208936],[0.066169,0.202001,0.977147]] 2025-10-24T19:41:41.451Z,1761334901.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:41.638Z,1761334901.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022813 2025-10-24T19:41:41.819Z,1761334901.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990043,-0.135223,-0.039120],[0.124204,0.969926,-0.209327],[0.066250,0.202384,0.977063]] 2025-10-24T19:41:41.838Z,1761334901.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:41.893Z,1761334901.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277729 2025-10-24T19:41:42.142Z,1761334902.142 [DAT](INFO): DAT read: Range 10 to 50 : 8.2 m (Round-trip 11.0 ms) speed 0.0 m/s 2025-10-24T19:41:42.142Z,1761334902.142 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:41:42.220Z,1761334902.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990085,-0.134839,-0.039362],[0.123783,0.969992,-0.209270],[0.066398,0.202323,0.977065]] 2025-10-24T19:41:42.278Z,1761334902.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.200000 m, deltaT: 60.242357 s, deltaX: -4.600000 m, approachRate: -0.076358 m/s, rangeRepo size: 4 2025-10-24T19:41:42.279Z,1761334902.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:42.619Z,1761334902.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990094,-0.134803,-0.039276],[0.123752,0.969954,-0.209461],[0.066332,0.202525,0.977028]] 2025-10-24T19:41:42.652Z,1761334902.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:43.023Z,1761334903.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990143,-0.134370,-0.039514],[0.123289,0.970044,-0.209318],[0.066456,0.202383,0.977049]] 2025-10-24T19:41:43.073Z,1761334903.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:43.428Z,1761334903.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990108,-0.134520,-0.039880],[0.123348,0.969993,-0.209520],[0.066868,0.202528,0.976991]] 2025-10-24T19:41:43.451Z,1761334903.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:43.839Z,1761334903.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990191,-0.133804,-0.040224],[0.122604,0.970175,-0.209115],[0.067005,0.202132,0.977063]] 2025-10-24T19:41:43.858Z,1761334903.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:44.241Z,1761334904.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990090,-0.134572,-0.040161],[0.123337,0.969977,-0.209600],[0.067161,0.202570,0.976962]] 2025-10-24T19:41:44.289Z,1761334904.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:44.681Z,1761334904.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:45.043Z,1761334905.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990049,-0.134757,-0.040549],[0.123428,0.969930,-0.209767],[0.067597,0.202675,0.976910]] 2025-10-24T19:41:45.107Z,1761334905.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:45.481Z,1761334905.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990125,-0.134048,-0.041023],[0.122664,0.970115,-0.209357],[0.067861,0.202257,0.976978]] 2025-10-24T19:41:45.492Z,1761334905.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:41:45.519Z,1761334905.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:45.890Z,1761334905.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989993,-0.135038,-0.040977],[0.123610,0.969890,-0.209843],[0.068080,0.202678,0.976876]] 2025-10-24T19:41:45.943Z,1761334905.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:46.357Z,1761334906.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990012,-0.134735,-0.041494],[0.123223,0.969983,-0.209638],[0.068495,0.202431,0.976898]] 2025-10-24T19:41:46.416Z,1761334906.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:46.496Z,1761334906.496 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:41:46.809Z,1761334906.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989930,-0.135303,-0.041624],[0.123737,0.969871,-0.209855],[0.068764,0.202591,0.976846]] 2025-10-24T19:41:46.829Z,1761334906.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:47.207Z,1761334907.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989915,-0.135292,-0.042011],[0.123651,0.969891,-0.209815],[0.069132,0.202504,0.976838]] 2025-10-24T19:41:47.254Z,1761334907.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:47.651Z,1761334907.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989887,-0.135275,-0.042715],[0.123501,0.969939,-0.209680],[0.069796,0.202284,0.976837]] 2025-10-24T19:41:47.670Z,1761334907.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:48.054Z,1761334908.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989738,-0.136251,-0.043071],[0.124350,0.969725,-0.210166],[0.070403,0.202654,0.976716]] 2025-10-24T19:41:48.092Z,1761334908.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:48.488Z,1761334908.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989690,-0.136353,-0.043840],[0.124301,0.969752,-0.210071],[0.071158,0.202455,0.976703]] 2025-10-24T19:41:48.509Z,1761334908.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:48.893Z,1761334908.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989580,-0.136943,-0.044467],[0.124732,0.969638,-0.210341],[0.071922,0.202602,0.976616]] 2025-10-24T19:41:48.927Z,1761334908.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:49.393Z,1761334909.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989452,-0.137352,-0.046030],[0.124808,0.969609,-0.210429],[0.073534,0.202465,0.976525]] 2025-10-24T19:41:49.446Z,1761334909.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:49.799Z,1761334909.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989465,-0.136892,-0.047114],[0.124158,0.969752,-0.210156],[0.074458,0.202092,0.976532]] 2025-10-24T19:41:49.818Z,1761334909.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:50.202Z,1761334910.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989341,-0.137486,-0.047976],[0.124537,0.969622,-0.210534],[0.075464,0.202315,0.976409]] 2025-10-24T19:41:50.269Z,1761334910.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:50.603Z,1761334910.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989337,-0.137058,-0.049274],[0.123869,0.969750,-0.210335],[0.076612,0.201988,0.976387]] 2025-10-24T19:41:50.628Z,1761334910.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:51.055Z,1761334911.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989133,-0.138239,-0.050053],[0.124813,0.969479,-0.211027],[0.077698,0.202487,0.976198]] 2025-10-24T19:41:51.102Z,1761334911.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:51.472Z,1761334911.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989059,-0.138390,-0.051092],[0.124740,0.969461,-0.211153],[0.078753,0.202470,0.976117]] 2025-10-24T19:41:51.517Z,1761334911.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:51.901Z,1761334911.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988919,-0.138943,-0.052286],[0.125020,0.969373,-0.211392],[0.080057,0.202513,0.976002]] 2025-10-24T19:41:51.953Z,1761334911.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:52.409Z,1761334912.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:52.761Z,1761334912.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988723,-0.139457,-0.054578],[0.125044,0.969333,-0.211561],[0.082408,0.202351,0.975840]] 2025-10-24T19:41:52.780Z,1761334912.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:53.159Z,1761334913.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988605,-0.139857,-0.055671],[0.125203,0.969284,-0.211689],[0.083567,0.202306,0.975750]] 2025-10-24T19:41:53.206Z,1761334913.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:53.563Z,1761334913.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988532,-0.139911,-0.056820],[0.125033,0.969332,-0.211571],[0.084678,0.202041,0.975710]] 2025-10-24T19:41:53.582Z,1761334913.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:53.969Z,1761334913.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988388,-0.140496,-0.057889],[0.125368,0.969237,-0.211808],[0.085867,0.202091,0.975595]] 2025-10-24T19:41:53.989Z,1761334913.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:54.371Z,1761334914.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988260,-0.140955,-0.058938],[0.125600,0.969194,-0.211866],[0.086986,0.201976,0.975520]] 2025-10-24T19:41:54.450Z,1761334914.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:54.814Z,1761334914.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988047,-0.142154,-0.059630],[0.126591,0.968956,-0.212365],[0.087967,0.202278,0.975369]] 2025-10-24T19:41:54.866Z,1761334914.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:55.217Z,1761334915.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987936,-0.142572,-0.060462],[0.126839,0.968941,-0.212287],[0.088851,0.202057,0.975335]] 2025-10-24T19:41:55.281Z,1761334915.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:55.625Z,1761334915.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987717,-0.143890,-0.060914],[0.128013,0.968723,-0.212574],[0.089596,0.202165,0.975245]] 2025-10-24T19:41:55.651Z,1761334915.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:56.030Z,1761334916.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987324,-0.146128,-0.061944],[0.129964,0.968381,-0.212951],[0.091103,0.202201,0.975097]] 2025-10-24T19:41:56.072Z,1761334916.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:56.439Z,1761334916.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987152,-0.147067,-0.062468],[0.130768,0.968248,-0.213063],[0.091819,0.202157,0.975039]] 2025-10-24T19:41:56.512Z,1761334916.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:56.910Z,1761334916.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987022,-0.147811,-0.062764],[0.131445,0.968175,-0.212978],[0.092247,0.201964,0.975039]] 2025-10-24T19:41:56.937Z,1761334916.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:57.300Z,1761334917.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986831,-0.149006,-0.062950],[0.132557,0.967971,-0.213217],[0.092705,0.202065,0.974975]] 2025-10-24T19:41:57.346Z,1761334917.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:57.704Z,1761334917.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986705,-0.149643,-0.063398],[0.133101,0.967919,-0.213112],[0.093255,0.201840,0.974969]] 2025-10-24T19:41:57.739Z,1761334917.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:58.121Z,1761334918.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986537,-0.150802,-0.063267],[0.134237,0.967699,-0.213398],[0.093404,0.202032,0.974915]] 2025-10-24T19:41:58.205Z,1761334918.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:58.520Z,1761334918.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986518,-0.150820,-0.063530],[0.134240,0.967788,-0.212992],[0.093607,0.201592,0.974986]] 2025-10-24T19:41:58.589Z,1761334918.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:58.926Z,1761334918.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986324,-0.152156,-0.063345],[0.135546,0.967510,-0.213430],[0.093761,0.201925,0.974903]] 2025-10-24T19:41:58.947Z,1761334918.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:59.319Z,1761334919.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986330,-0.152062,-0.063480],[0.135454,0.967584,-0.213149],[0.093835,0.201637,0.974955]] 2025-10-24T19:41:59.367Z,1761334919.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:41:59.723Z,1761334919.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986252,-0.152672,-0.063232],[0.136090,0.967467,-0.213279],[0.093736,0.201741,0.974943]] 2025-10-24T19:41:59.748Z,1761334919.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:00.134Z,1761334920.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986250,-0.152655,-0.063305],[0.136059,0.967472,-0.213275],[0.093804,0.201729,0.974939]] 2025-10-24T19:42:00.221Z,1761334920.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:00.536Z,1761334920.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986308,-0.152314,-0.063220],[0.135758,0.967551,-0.213106],[0.093628,0.201605,0.974982]] 2025-10-24T19:42:00.593Z,1761334920.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:00.939Z,1761334920.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986309,-0.152398,-0.063003],[0.135863,0.967489,-0.213321],[0.093465,0.201840,0.974949]] 2025-10-24T19:42:00.958Z,1761334920.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:01.342Z,1761334921.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986480,-0.151362,-0.062821],[0.134922,0.967709,-0.212920],[0.093020,0.201565,0.975048]] 2025-10-24T19:42:01.402Z,1761334921.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:01.770Z,1761334921.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986466,-0.151601,-0.062461],[0.135197,0.967594,-0.213270],[0.092769,0.201939,0.974995]] 2025-10-24T19:42:01.789Z,1761334921.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:02.147Z,1761334922.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986551,-0.151109,-0.062323],[0.134735,0.967642,-0.213344],[0.092545,0.202077,0.974987]] 2025-10-24T19:42:02.225Z,1761334922.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:02.623Z,1761334922.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986639,-0.150556,-0.062257],[0.134212,0.967729,-0.213278],[0.092359,0.202073,0.975006]] 2025-10-24T19:42:02.701Z,1761334922.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:03.081Z,1761334923.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986745,-0.149937,-0.062081],[0.133644,0.967814,-0.213251],[0.092057,0.202127,0.975023]] 2025-10-24T19:42:03.101Z,1761334923.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:03.473Z,1761334923.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986827,-0.149464,-0.061915],[0.133224,0.967896,-0.213139],[0.091784,0.202082,0.975058]] 2025-10-24T19:42:03.534Z,1761334923.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:03.875Z,1761334923.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986921,-0.148867,-0.061852],[0.132663,0.967998,-0.213025],[0.091585,0.202033,0.975087]] 2025-10-24T19:42:03.898Z,1761334923.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:04.355Z,1761334924.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:04.709Z,1761334924.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987006,-0.149047,-0.060030],[0.133171,0.967838,-0.213439],[0.089912,0.202671,0.975110]] 2025-10-24T19:42:04.727Z,1761334924.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:05.111Z,1761334925.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987027,-0.149208,-0.059285],[0.133478,0.967788,-0.213470],[0.089227,0.202787,0.975149]] 2025-10-24T19:42:05.136Z,1761334925.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:05.554Z,1761334925.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987052,-0.149389,-0.058408],[0.133864,0.967808,-0.213140],[0.088368,0.202561,0.975274]] 2025-10-24T19:42:05.671Z,1761334925.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:05.943Z,1761334925.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987052,-0.149911,-0.057046],[0.134737,0.967892,-0.212207],[0.087027,0.201773,0.975558]] 2025-10-24T19:42:05.979Z,1761334925.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:06.334Z,1761334926.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987050,-0.150454,-0.055643],[0.135642,0.967987,-0.211192],[0.085636,0.200909,0.975860]] 2025-10-24T19:42:06.403Z,1761334926.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:06.734Z,1761334926.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986869,-0.152252,-0.053930],[0.137759,0.967708,-0.211102],[0.084329,0.200901,0.975975]] 2025-10-24T19:42:06.793Z,1761334926.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:07.137Z,1761334927.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986803,-0.153108,-0.052707],[0.138863,0.967594,-0.210902],[0.083289,0.200800,0.976085]] 2025-10-24T19:42:07.169Z,1761334927.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:07.540Z,1761334927.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986634,-0.154803,-0.050892],[0.140877,0.967267,-0.211064],[0.081899,0.201074,0.976146]] 2025-10-24T19:42:07.603Z,1761334927.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:07.944Z,1761334927.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986470,-0.156197,-0.049787],[0.142416,0.966907,-0.211681],[0.081203,0.201726,0.976070]] 2025-10-24T19:42:07.963Z,1761334927.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:08.358Z,1761334928.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986408,-0.156935,-0.048686],[0.143343,0.966719,-0.211912],[0.080322,0.202053,0.976075]] 2025-10-24T19:42:08.423Z,1761334928.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:08.767Z,1761334928.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986371,-0.157499,-0.047610],[0.144112,0.966600,-0.211935],[0.079399,0.202186,0.976123]] 2025-10-24T19:42:08.786Z,1761334928.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:09.177Z,1761334929.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986404,-0.157631,-0.046470],[0.144500,0.966616,-0.211595],[0.078273,0.202003,0.976252]] 2025-10-24T19:42:09.216Z,1761334929.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:09.572Z,1761334929.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986298,-0.158714,-0.045005],[0.145838,0.966359,-0.211853],[0.077115,0.202387,0.976265]] 2025-10-24T19:42:09.628Z,1761334929.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:09.972Z,1761334929.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986374,-0.158579,-0.043806],[0.145987,0.966441,-0.211376],[0.075856,0.202101,0.976423]] 2025-10-24T19:42:09.991Z,1761334929.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:10.395Z,1761334930.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986275,-0.159601,-0.042309],[0.147268,0.966178,-0.211687],[0.074663,0.202551,0.976421]] 2025-10-24T19:42:10.449Z,1761334930.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:10.791Z,1761334930.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986337,-0.159519,-0.041136],[0.147445,0.966207,-0.211434],[0.073474,0.202480,0.976526]] 2025-10-24T19:42:10.826Z,1761334930.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:11.183Z,1761334931.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986292,-0.160109,-0.039921],[0.148252,0.966030,-0.211676],[0.072456,0.202856,0.976524]] 2025-10-24T19:42:11.221Z,1761334931.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:11.647Z,1761334931.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:11.993Z,1761334931.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986471,-0.159447,-0.038109],[0.147998,0.966147,-0.211319],[0.070513,0.202820,0.976674]] 2025-10-24T19:42:12.016Z,1761334932.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:12.402Z,1761334932.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986713,-0.158077,-0.037546],[0.146818,0.966471,-0.210662],[0.069588,0.202350,0.976838]] 2025-10-24T19:42:12.441Z,1761334932.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:12.840Z,1761334932.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:13.203Z,1761334933.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986903,-0.157151,-0.036401],[0.146135,0.966547,-0.210785],[0.068308,0.202705,0.976854]] 2025-10-24T19:42:13.222Z,1761334933.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:13.614Z,1761334933.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986982,-0.156758,-0.035952],[0.145824,0.966541,-0.211030],[0.067830,0.203040,0.976818]] 2025-10-24T19:42:13.669Z,1761334933.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:14.011Z,1761334934.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987197,-0.155415,-0.035890],[0.144533,0.966771,-0.210865],[0.067469,0.202978,0.976856]] 2025-10-24T19:42:14.054Z,1761334934.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:14.428Z,1761334934.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987313,-0.154699,-0.035808],[0.143837,0.966838,-0.211034],[0.067267,0.203206,0.976823]] 2025-10-24T19:42:14.475Z,1761334934.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:14.823Z,1761334934.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987472,-0.153599,-0.036149],[0.142685,0.966992,-0.211112],[0.067382,0.203309,0.976793]] 2025-10-24T19:42:14.842Z,1761334934.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:15.225Z,1761334935.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987694,-0.152055,-0.036609],[0.141101,0.967292,-0.210800],[0.067465,0.203041,0.976843]] 2025-10-24T19:42:15.244Z,1761334935.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:15.624Z,1761334935.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987842,-0.150993,-0.037001],[0.139977,0.967443,-0.210855],[0.067634,0.203112,0.976817]] 2025-10-24T19:42:15.675Z,1761334935.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:16.027Z,1761334936.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987986,-0.149892,-0.037642],[0.138772,0.967628,-0.210805],[0.068021,0.203049,0.976803]] 2025-10-24T19:42:16.046Z,1761334936.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:16.507Z,1761334936.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:16.627Z,1761334936.627 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:42:16.838Z,1761334936.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988124,-0.148589,-0.039157],[0.137185,0.967847,-0.210839],[0.069226,0.202963,0.976736]] 2025-10-24T19:42:16.860Z,1761334936.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:17.239Z,1761334937.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987954,-0.149444,-0.040167],[0.137803,0.967719,-0.211024],[0.070407,0.202946,0.976655]] 2025-10-24T19:42:17.276Z,1761334937.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:17.628Z,1761334937.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:42:17.706Z,1761334937.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:18.049Z,1761334938.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987800,-0.149919,-0.042133],[0.137907,0.967816,-0.210507],[0.072336,0.202128,0.976684]] 2025-10-24T19:42:18.069Z,1761334938.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:18.497Z,1761334938.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987734,-0.150169,-0.042786],[0.138014,0.967786,-0.210576],[0.073029,0.202088,0.976641]] 2025-10-24T19:42:18.551Z,1761334938.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:18.858Z,1761334938.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987581,-0.151080,-0.043108],[0.138789,0.967523,-0.211276],[0.073627,0.202669,0.976475]] 2025-10-24T19:42:18.894Z,1761334938.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:19.261Z,1761334939.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987553,-0.150980,-0.044092],[0.138485,0.967548,-0.211360],[0.074573,0.202624,0.976413]] 2025-10-24T19:42:19.280Z,1761334939.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:19.664Z,1761334939.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987434,-0.151576,-0.044706],[0.138915,0.967405,-0.211731],[0.075342,0.202860,0.976305]] 2025-10-24T19:42:19.715Z,1761334939.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:20.068Z,1761334940.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987399,-0.151493,-0.045754],[0.138619,0.967443,-0.211751],[0.076343,0.202740,0.976252]] 2025-10-24T19:42:20.103Z,1761334940.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:20.511Z,1761334940.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987223,-0.152050,-0.047668],[0.138757,0.967371,-0.211992],[0.078346,0.202669,0.976108]] 2025-10-24T19:42:20.550Z,1761334940.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:20.919Z,1761334940.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:21.287Z,1761334941.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987147,-0.152015,-0.049323],[0.138384,0.967418,-0.212021],[0.079946,0.202470,0.976020]] 2025-10-24T19:42:21.312Z,1761334941.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:21.689Z,1761334941.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987234,-0.151097,-0.050385],[0.137292,0.967637,-0.211727],[0.080746,0.202107,0.976029]] 2025-10-24T19:42:21.737Z,1761334941.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:22.105Z,1761334942.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987190,-0.151203,-0.050934],[0.137254,0.967565,-0.212084],[0.081350,0.202376,0.975923]] 2025-10-24T19:42:22.163Z,1761334942.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:22.547Z,1761334942.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987249,-0.150525,-0.051787],[0.136410,0.967668,-0.212157],[0.082047,0.202388,0.975862]] 2025-10-24T19:42:22.594Z,1761334942.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:22.901Z,1761334942.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987387,-0.149302,-0.052695],[0.135046,0.967907,-0.211939],[0.082646,0.202149,0.975861]] 2025-10-24T19:42:22.957Z,1761334942.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:23.302Z,1761334943.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987444,-0.148811,-0.053003],[0.134478,0.967925,-0.212219],[0.082883,0.202427,0.975784]] 2025-10-24T19:42:23.322Z,1761334943.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:23.704Z,1761334943.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987630,-0.147330,-0.053666],[0.132915,0.968202,-0.211941],[0.083185,0.202186,0.975808]] 2025-10-24T19:42:23.856Z,1761334943.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:24.121Z,1761334944.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987701,-0.146693,-0.054110],[0.132173,0.968234,-0.212256],[0.083527,0.202494,0.975715]] 2025-10-24T19:42:24.164Z,1761334944.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:24.576Z,1761334944.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987934,-0.145016,-0.054384],[0.130504,0.968539,-0.211898],[0.083402,0.202244,0.975777]] 2025-10-24T19:42:24.628Z,1761334944.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:24.989Z,1761334944.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:25.355Z,1761334945.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988254,-0.142627,-0.054878],[0.128057,0.968853,-0.211956],[0.083399,0.202438,0.975737]] 2025-10-24T19:42:25.375Z,1761334945.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:25.760Z,1761334945.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988383,-0.141805,-0.054677],[0.127271,0.968904,-0.212196],[0.083067,0.202773,0.975696]] 2025-10-24T19:42:25.825Z,1761334945.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:26.164Z,1761334946.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988688,-0.139565,-0.054937],[0.125073,0.969319,-0.211607],[0.082784,0.202342,0.975810]] 2025-10-24T19:42:26.194Z,1761334946.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:26.601Z,1761334946.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988798,-0.138909,-0.054604],[0.124474,0.969334,-0.211893],[0.082364,0.202722,0.975766]] 2025-10-24T19:42:26.681Z,1761334946.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:26.971Z,1761334946.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989065,-0.137046,-0.054482],[0.122710,0.969658,-0.211438],[0.081806,0.202440,0.975872]] 2025-10-24T19:42:26.993Z,1761334946.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:27.377Z,1761334947.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989161,-0.136549,-0.053982],[0.122308,0.969665,-0.211636],[0.081243,0.202740,0.975857]] 2025-10-24T19:42:27.396Z,1761334947.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:27.779Z,1761334947.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989391,-0.134932,-0.053843],[0.120789,0.969954,-0.211187],[0.080721,0.202442,0.975962]] 2025-10-24T19:42:27.861Z,1761334947.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:28.184Z,1761334948.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989441,-0.134805,-0.053245],[0.120758,0.969885,-0.211521],[0.080155,0.202857,0.975922]] 2025-10-24T19:42:28.225Z,1761334948.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:28.630Z,1761334948.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989594,-0.133868,-0.052755],[0.119958,0.970035,-0.211287],[0.079459,0.202760,0.975999]] 2025-10-24T19:42:28.699Z,1761334948.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:29.053Z,1761334949.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:29.395Z,1761334949.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989836,-0.132608,-0.051372],[0.119034,0.970227,-0.210929],[0.077813,0.202670,0.976151]] 2025-10-24T19:42:29.421Z,1761334949.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:29.801Z,1761334949.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989986,-0.131701,-0.050814],[0.118293,0.970412,-0.210491],[0.077033,0.202372,0.976274]] 2025-10-24T19:42:29.853Z,1761334949.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:30.206Z,1761334950.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990011,-0.131885,-0.049854],[0.118653,0.970324,-0.210695],[0.076162,0.202675,0.976280]] 2025-10-24T19:42:30.225Z,1761334950.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:30.661Z,1761334950.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990140,-0.131151,-0.049213],[0.118095,0.970482,-0.210282],[0.075339,0.202396,0.976401]] 2025-10-24T19:42:30.723Z,1761334950.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:31.023Z,1761334951.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990152,-0.131429,-0.048215],[0.118564,0.970406,-0.210369],[0.074437,0.202580,0.976432]] 2025-10-24T19:42:31.041Z,1761334951.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:31.452Z,1761334951.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:31.838Z,1761334951.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990239,-0.131333,-0.046677],[0.118805,0.970443,-0.210061],[0.072885,0.202466,0.976573]] 2025-10-24T19:42:31.889Z,1761334951.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:32.230Z,1761334952.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990331,-0.130838,-0.046113],[0.118467,0.970576,-0.209639],[0.072185,0.202149,0.976691]] 2025-10-24T19:42:32.249Z,1761334952.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:32.681Z,1761334952.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990324,-0.131187,-0.045248],[0.118981,0.970504,-0.209682],[0.071421,0.202269,0.976722]] 2025-10-24T19:42:32.760Z,1761334952.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:33.070Z,1761334953.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:33.436Z,1761334953.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990451,-0.130596,-0.044183],[0.118637,0.970604,-0.209410],[0.070232,0.202169,0.976829]] 2025-10-24T19:42:33.455Z,1761334953.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:33.843Z,1761334953.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990446,-0.130794,-0.043706],[0.118909,0.970514,-0.209676],[0.069842,0.202475,0.976794]] 2025-10-24T19:42:33.882Z,1761334953.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:34.261Z,1761334954.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990570,-0.129870,-0.043634],[0.118042,0.970690,-0.209348],[0.069543,0.202224,0.976867]] 2025-10-24T19:42:34.280Z,1761334954.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:34.655Z,1761334954.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990583,-0.129893,-0.043290],[0.118116,0.970625,-0.209608],[0.069245,0.202521,0.976827]] 2025-10-24T19:42:34.751Z,1761334954.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:35.123Z,1761334955.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:35.458Z,1761334955.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990793,-0.128268,-0.043312],[0.116526,0.970838,-0.209510],[0.068922,0.202535,0.976847]] 2025-10-24T19:42:35.478Z,1761334955.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:35.860Z,1761334955.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991034,-0.126274,-0.043653],[0.114541,0.971190,-0.208973],[0.068783,0.202099,0.976947]] 2025-10-24T19:42:35.944Z,1761334955.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:36.263Z,1761334956.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991124,-0.125515,-0.043798],[0.113747,0.971220,-0.209270],[0.068804,0.202431,0.976876]] 2025-10-24T19:42:36.305Z,1761334956.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:36.720Z,1761334956.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991497,-0.122260,-0.044570],[0.110393,0.971585,-0.209370],[0.068902,0.202670,0.976820]] 2025-10-24T19:42:36.833Z,1761334956.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:37.081Z,1761334957.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991778,-0.119669,-0.045343],[0.107723,0.971962,-0.209010],[0.069083,0.202407,0.976862]] 2025-10-24T19:42:37.101Z,1761334957.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:37.590Z,1761334957.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991939,-0.118105,-0.045927],[0.106049,0.972079,-0.209324],[0.069366,0.202766,0.976767]] 2025-10-24T19:42:37.667Z,1761334957.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:37.953Z,1761334957.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992243,-0.115194,-0.046734],[0.103061,0.972487,-0.208918],[0.069514,0.202481,0.976816]] 2025-10-24T19:42:38.003Z,1761334958.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:38.355Z,1761334958.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992431,-0.113270,-0.047443],[0.101018,0.972664,-0.209092],[0.069830,0.202717,0.976744]] 2025-10-24T19:42:38.374Z,1761334958.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:42:38.376Z,1761334958.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:38.621Z,1761334958.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:42:38.621Z,1761334958.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:42:38.799Z,1761334958.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992671,-0.110841,-0.048159],[0.098496,0.972934,-0.209042],[0.070026,0.202766,0.976720]] 2025-10-24T19:42:38.842Z,1761334958.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:38.843Z,1761334958.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 8.20 m and bearing: 121.321224 deg. Not drifting fast enough. 2025-10-24T19:42:38.873Z,1761334958.873 [DAT](INFO): DAT read: user:120> 2025-10-24T19:42:38.874Z,1761334958.874 [DAT](INFO): DAT read: Tx time:19:42:38.1282 2025-10-24T19:42:38.874Z,1761334958.874 [DAT](INFO): Ping request sent. 2025-10-24T19:42:38.875Z,1761334958.875 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:42:38.875Z,1761334958.875 [DAT](INFO): DAT read: TxSync time:19:42:38.1274 2025-10-24T19:42:38.876Z,1761334958.876 [DAT](INFO): publishing transmit ping time 2025-10-24T19:42:38.876Z,1761334958.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001700 2025-10-24T19:42:39.125Z,1761334959.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250471 2025-10-24T19:42:39.166Z,1761334959.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992887,-0.108390,-0.049263],[0.095871,0.973203,-0.209009],[0.070598,0.202799,0.976672]] 2025-10-24T19:42:39.233Z,1761334959.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:39.235Z,1761334959.235 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-24T19:42:39.235Z,1761334959.235 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-24T19:42:39.235Z,1761334959.235 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-24T19:42:39.235Z,1761334959.235 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-24T19:42:39.380Z,1761334959.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504996 2025-10-24T19:42:39.568Z,1761334959.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992843,-0.107495,-0.052029],[0.094992,0.974879,-0.201463],[0.072378,0.195079,0.978113]] 2025-10-24T19:42:39.603Z,1761334959.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:39.632Z,1761334959.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757311 2025-10-24T19:42:39.882Z,1761334959.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006696 2025-10-24T19:42:39.972Z,1761334959.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992806,-0.107659,-0.052407],[0.094881,0.974336,-0.204126],[0.073038,0.197685,0.977541]] 2025-10-24T19:42:40.033Z,1761334960.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:40.133Z,1761334960.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258195 2025-10-24T19:42:40.377Z,1761334960.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992746,-0.107951,-0.052937],[0.094892,0.973859,-0.206383],[0.073832,0.199863,0.977038]] 2025-10-24T19:42:40.385Z,1761334960.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510224 2025-10-24T19:42:40.397Z,1761334960.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:40.637Z,1761334960.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762637 2025-10-24T19:42:40.852Z,1761334960.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992969,-0.106026,-0.052648],[0.092989,0.973838,-0.207347],[0.073255,0.200993,0.976850]] 2025-10-24T19:42:40.889Z,1761334960.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014352 2025-10-24T19:42:40.917Z,1761334960.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:41.141Z,1761334961.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266149 2025-10-24T19:42:41.255Z,1761334961.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993148,-0.104235,-0.052848],[0.091123,0.973818,-0.208269],[0.073173,0.202026,0.976643]] 2025-10-24T19:42:41.291Z,1761334961.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:41.393Z,1761334961.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518221 2025-10-24T19:42:41.645Z,1761334961.645 [DAT](INFO): DAT read: Rx Time:19:42:40.5408 2025-10-24T19:42:41.645Z,1761334961.645 [DAT](INFO): Rx dataTimestamp_ set to:1761334961.645113 2025-10-24T19:42:41.646Z,1761334961.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771352 2025-10-24T19:42:41.658Z,1761334961.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993384,-0.101602,-0.053536],[0.088406,0.974079,-0.208218],[0.073304,0.202107,0.976616]] 2025-10-24T19:42:41.697Z,1761334961.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:41.898Z,1761334961.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023039 2025-10-24T19:42:42.117Z,1761334962.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:42:42.152Z,1761334962.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276857 2025-10-24T19:42:42.407Z,1761334962.407 [DAT](INFO): DAT read: 19:42:40.5408 LVL= 15120, 13073, 14594, 21347, AGC= 37, IDX= 419, 0.42, 0.117,-0.472,-2.208,-0.943, PHS= 1.149, 0.518,-1.268, RAW= 44.6, -3.7, CAL= 46.3, -7.5, ROT= 103.7, 7.5 2025-10-24T19:42:42.408Z,1761334962.408 [DAT](INFO): got valid direction response: 19:42:40.5408 LVL= 15120, 13073, 14594, 21347, AGC= 37, IDX= 419, 0.42, 0.117,-0.472,-2.208,-0.943, PHS= 1.149, 0.518,-1.268, RAW= 44.6, -3.7, CAL= 46.3, -7.5, ROT= 103.7, 7.5 2025-10-24T19:42:42.409Z,1761334962.409 [DAT](INFO): DAT read: Bearing 103.7, 7.5 (Local) 2025-10-24T19:42:42.410Z,1761334962.410 [DAT](INFO): Local bearing/azimuth received: Bearing 103.7, 7.5 (Local) 2025-10-24T19:42:42.411Z,1761334962.411 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m (Round-trip 8.4 ms) speed 0.0 m/s 2025-10-24T19:42:42.411Z,1761334962.411 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:42:42.433Z,1761334962.433 [DAT](INFO): direction in FSK: [-0.234812,0.963237,-0.130526] 2025-10-24T19:42:42.433Z,1761334962.433 [DAT](INFO): publishing direction and range info 2025-10-24T19:42:42.509Z,1761334962.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993723,-0.097588,-0.054687],[0.084637,0.975540,-0.202876],[0.073148,0.196974,0.977676]] 2025-10-24T19:42:42.572Z,1761334962.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 60.260091 s, deltaX: -1.900000 m, approachRate: -0.031530 m/s, rangeRepo size: 4 2025-10-24T19:42:42.574Z,1761334962.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.265039 m, bearing: 108.694611 deg, lat: 36.779549 deg, lon: -121.859612 deg, deltaT: 239.071750 s, deltaX: -11.237940 m, approachRate: -0.047007 m/s, posRepo size: 4 2025-10-24T19:42:42.575Z,1761334962.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:42.993Z,1761334962.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994005,-0.094489,-0.055011],[0.082552,0.978491,-0.189054],[0.071691,0.183379,0.980425]] 2025-10-24T19:42:43.045Z,1761334963.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:43.393Z,1761334963.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994195,-0.092520,-0.054917],[0.081270,0.980267,-0.180197],[0.070505,0.174688,0.982096]] 2025-10-24T19:42:43.422Z,1761334963.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:43.936Z,1761334963.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:44.229Z,1761334964.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994359,-0.090755,-0.054904],[0.080049,0.981676,-0.172928],[0.069592,0.167557,0.983403]] 2025-10-24T19:42:44.250Z,1761334964.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:44.617Z,1761334964.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994388,-0.090786,-0.054316],[0.079915,0.981019,-0.176675],[0.069324,0.171343,0.982769]] 2025-10-24T19:42:44.650Z,1761334964.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:45.020Z,1761334965.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994498,-0.089877,-0.053821],[0.078847,0.980441,-0.180329],[0.068976,0.175093,0.982133]] 2025-10-24T19:42:45.071Z,1761334965.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:45.425Z,1761334965.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994625,-0.088497,-0.053748],[0.077522,0.980606,-0.180007],[0.068635,0.174873,0.982196]] 2025-10-24T19:42:45.446Z,1761334965.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:45.953Z,1761334965.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:46.227Z,1761334966.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995181,-0.081585,-0.054394],[0.071288,0.982874,-0.169933],[0.067327,0.165237,0.983953]] 2025-10-24T19:42:46.261Z,1761334966.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:46.633Z,1761334966.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995524,-0.077317,-0.054354],[0.067307,0.983732,-0.166557],[0.066347,0.162153,0.984533]] 2025-10-24T19:42:46.687Z,1761334966.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:47.090Z,1761334967.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995988,-0.071083,-0.054362],[0.061320,0.984565,-0.163928],[0.065175,0.159937,0.984973]] 2025-10-24T19:42:47.145Z,1761334967.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:47.506Z,1761334967.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996413,-0.065065,-0.054103],[0.055573,0.985314,-0.161459],[0.063814,0.157873,0.985395]] 2025-10-24T19:42:47.535Z,1761334967.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:47.776Z,1761334967.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:42:47.927Z,1761334967.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996887,-0.057523,-0.053918],[0.048364,0.986256,-0.157990],[0.062265,0.154891,0.985968]] 2025-10-24T19:42:47.974Z,1761334967.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:48.308Z,1761334968.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997364,-0.049043,-0.053472],[0.040267,0.987194,-0.154356],[0.060358,0.151796,0.986567]] 2025-10-24T19:42:48.332Z,1761334968.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:48.705Z,1761334968.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997796,-0.040036,-0.052921],[0.031644,0.988051,-0.150842],[0.058328,0.148834,0.987140]] 2025-10-24T19:42:48.741Z,1761334968.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:48.776Z,1761334968.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:42:49.169Z,1761334969.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:49.517Z,1761334969.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998485,-0.019536,-0.051442],[0.012012,0.989694,-0.142696],[0.053699,0.141862,0.988429]] 2025-10-24T19:42:49.562Z,1761334969.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:49.941Z,1761334969.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998693,-0.008122,-0.050460],[0.001027,0.990282,-0.139067],[0.051099,0.138833,0.988997]] 2025-10-24T19:42:49.992Z,1761334969.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:50.322Z,1761334970.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998778,0.003427,-0.049298],[-0.010096,0.990701,-0.135682],[0.048375,0.136014,0.989525]] 2025-10-24T19:42:50.368Z,1761334970.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:50.729Z,1761334970.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998721,0.015356,-0.048178],[-0.021670,0.990823,-0.133414],[0.045687,0.134287,0.989889]] 2025-10-24T19:42:50.778Z,1761334970.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:51.131Z,1761334971.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998509,0.027509,-0.047148],[-0.033456,0.990898,-0.130394],[0.043132,0.131777,0.990341]] 2025-10-24T19:42:51.201Z,1761334971.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:51.537Z,1761334971.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998125,0.040224,-0.046141],[-0.045811,0.990813,-0.127247],[0.040599,0.129123,0.990797]] 2025-10-24T19:42:51.555Z,1761334971.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:51.967Z,1761334971.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997621,0.052241,-0.044986],[-0.057470,0.990604,-0.124104],[0.038080,0.126394,0.991249]] 2025-10-24T19:42:52.025Z,1761334972.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:52.343Z,1761334972.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996956,0.064551,-0.043721],[-0.069395,0.990314,-0.120264],[0.035534,0.122932,0.991779]] 2025-10-24T19:42:52.386Z,1761334972.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:52.754Z,1761334972.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996143,0.076699,-0.042620],[-0.081188,0.989910,-0.116128],[0.033283,0.119141,0.992319]] 2025-10-24T19:42:52.778Z,1761334972.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:53.154Z,1761334973.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995213,0.088537,-0.041373],[-0.092685,0.989335,-0.112368],[0.030983,0.115665,0.992805]] 2025-10-24T19:42:53.217Z,1761334973.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:53.572Z,1761334973.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994128,0.100547,-0.039994],[-0.104350,0.988619,-0.108366],[0.028643,0.111903,0.993306]] 2025-10-24T19:42:53.593Z,1761334973.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:53.999Z,1761334973.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992980,0.111774,-0.038707],[-0.115295,0.987706,-0.105560],[0.026433,0.109282,0.993659]] 2025-10-24T19:42:54.062Z,1761334974.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:54.369Z,1761334974.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991647,0.123477,-0.037277],[-0.126697,0.986670,-0.102128],[0.024170,0.105998,0.994073]] 2025-10-24T19:42:54.387Z,1761334974.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:54.777Z,1761334974.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990276,0.134403,-0.035905],[-0.137356,0.985544,-0.099181],[0.022056,0.103148,0.994421]] 2025-10-24T19:42:54.798Z,1761334974.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:55.171Z,1761334975.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988702,0.145848,-0.034609],[-0.148545,0.984257,-0.095770],[0.020096,0.099829,0.994802]] 2025-10-24T19:42:55.253Z,1761334975.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:55.576Z,1761334975.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987101,0.156619,-0.033189],[-0.159060,0.982961,-0.092125],[0.018195,0.096216,0.995194]] 2025-10-24T19:42:55.641Z,1761334975.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:56.040Z,1761334976.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983432,0.178703,-0.030451],[-0.180684,0.979874,-0.084849],[0.014675,0.088945,0.995928]] 2025-10-24T19:42:56.086Z,1761334976.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:56.447Z,1761334976.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:56.845Z,1761334976.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979274,0.200606,-0.027921],[-0.202213,0.976191,-0.078495],[0.011510,0.082514,0.996523]] 2025-10-24T19:42:56.865Z,1761334976.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:57.274Z,1761334977.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:57.638Z,1761334977.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:58.116Z,1761334978.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:58.410Z,1761334978.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968495,0.247919,-0.023527],[-0.248969,0.966048,-0.069038],[0.005612,0.072720,0.997337]] 2025-10-24T19:42:58.427Z,1761334978.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:58.807Z,1761334978.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965044,0.261080,-0.022971],[-0.262054,0.962629,-0.068353],[0.004267,0.071983,0.997397]] 2025-10-24T19:42:58.857Z,1761334978.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:59.212Z,1761334979.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961371,0.274336,-0.022497],[-0.275236,0.959085,-0.066343],[0.003376,0.069972,0.997543]] 2025-10-24T19:42:59.317Z,1761334979.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:42:59.618Z,1761334979.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957175,0.288707,-0.021539],[-0.289504,0.954991,-0.064647],[0.001906,0.068114,0.997676]] 2025-10-24T19:42:59.641Z,1761334979.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:00.079Z,1761334980.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952794,0.302813,-0.022084],[-0.303615,0.950546,-0.065422],[0.001181,0.069039,0.997613]] 2025-10-24T19:43:00.150Z,1761334980.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:00.423Z,1761334980.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947951,0.317718,-0.021072],[-0.318416,0.945843,-0.063180],[-0.000143,0.066601,0.997780]] 2025-10-24T19:43:00.483Z,1761334980.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:00.828Z,1761334980.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942691,0.333021,-0.020754],[-0.333665,0.940619,-0.062485],[-0.001287,0.065829,0.997830]] 2025-10-24T19:43:00.847Z,1761334980.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:01.233Z,1761334981.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936799,0.349254,-0.020706],[-0.349859,0.934716,-0.062498],[-0.002473,0.065792,0.997830]] 2025-10-24T19:43:01.310Z,1761334981.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:01.644Z,1761334981.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930680,0.365240,-0.020830],[-0.365812,0.928503,-0.063746],[-0.003942,0.066947,0.997749]] 2025-10-24T19:43:01.662Z,1761334981.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:02.071Z,1761334982.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924317,0.381086,-0.020285],[-0.381586,0.922156,-0.063407],[-0.005457,0.066349,0.997782]] 2025-10-24T19:43:02.151Z,1761334982.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:02.458Z,1761334982.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917059,0.398279,-0.019415],[-0.398693,0.915000,-0.061798],[-0.006848,0.064413,0.997900]] 2025-10-24T19:43:02.504Z,1761334982.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:02.857Z,1761334982.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909672,0.414873,-0.019402],[-0.415243,0.907559,-0.062523],[-0.008331,0.064932,0.997855]] 2025-10-24T19:43:02.901Z,1761334982.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:03.252Z,1761334983.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901395,0.432497,-0.020802],[-0.432900,0.899136,-0.064434],[-0.009164,0.067086,0.997705]] 2025-10-24T19:43:03.301Z,1761334983.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:03.654Z,1761334983.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893118,0.449268,-0.022314],[-0.449710,0.890688,-0.066606],[-0.010049,0.069522,0.997530]] 2025-10-24T19:43:03.704Z,1761334983.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:04.064Z,1761334984.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884097,0.466772,-0.022279],[-0.467166,0.881676,-0.066355],[-0.011330,0.069072,0.997547]] 2025-10-24T19:43:04.157Z,1761334984.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:04.463Z,1761334984.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874521,0.484475,-0.022277],[-0.484841,0.872209,-0.064661],[-0.011896,0.067348,0.997659]] 2025-10-24T19:43:04.514Z,1761334984.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:04.867Z,1761334984.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864136,0.502797,-0.021541],[-0.503107,0.862032,-0.061517],[-0.012361,0.063996,0.997874]] 2025-10-24T19:43:04.920Z,1761334984.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:05.272Z,1761334985.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853355,0.520924,-0.020597],[-0.521182,0.851502,-0.057566],[-0.012449,0.059858,0.998129]] 2025-10-24T19:43:05.343Z,1761334985.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:05.680Z,1761334985.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841456,0.539977,-0.019439],[-0.540197,0.839923,-0.052121],[-0.011817,0.054359,0.998452]] 2025-10-24T19:43:05.706Z,1761334985.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:06.084Z,1761334986.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829181,0.558628,-0.019810],[-0.558869,0.827790,-0.049294],[-0.011138,0.051945,0.998588]] 2025-10-24T19:43:06.178Z,1761334986.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:06.483Z,1761334986.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816226,0.577373,-0.020396],[-0.577643,0.814965,-0.046484],[-0.010217,0.049723,0.998711]] 2025-10-24T19:43:06.535Z,1761334986.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:06.958Z,1761334986.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:07.310Z,1761334987.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788569,0.614470,-0.024202],[-0.614891,0.787359,-0.044436],[-0.008249,0.049923,0.998719]] 2025-10-24T19:43:07.353Z,1761334987.353 [DAT](INFO): DAT read: user:121>Rx Time:19:43:06.1937 2025-10-24T19:43:07.354Z,1761334987.354 [DAT](INFO): Rx dataTimestamp_ set to:1761334987.353512 2025-10-24T19:43:07.354Z,1761334987.354 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-24T19:43:07.355Z,1761334987.355 [DAT](INFO): Received low SNR in chirp 2025-10-24T19:43:07.379Z,1761334987.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:07.698Z,1761334987.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773646,0.633129,-0.024915],[-0.633576,0.772541,-0.041964],[-0.007321,0.048251,0.998808]] 2025-10-24T19:43:07.726Z,1761334987.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:08.113Z,1761334988.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758345,0.651332,-0.026069],[-0.651824,0.757329,-0.039733],[-0.006136,0.047124,0.998870]] 2025-10-24T19:43:08.204Z,1761334988.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:08.507Z,1761334988.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742426,0.669387,-0.026941],[-0.669912,0.741524,-0.036883],[-0.004712,0.045431,0.998956]] 2025-10-24T19:43:08.575Z,1761334988.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:08.917Z,1761334988.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726054,0.687131,-0.026404],[-0.687630,0.725327,-0.032650],[-0.003283,0.041862,0.999118]] 2025-10-24T19:43:08.941Z,1761334988.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:09.312Z,1761334989.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709529,0.704137,-0.027554],[-0.704674,0.708882,-0.030358],[-0.001844,0.040956,0.999159]] 2025-10-24T19:43:09.359Z,1761334989.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:09.718Z,1761334989.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692249,0.721009,-0.030618],[-0.721659,0.691615,-0.029621],[-0.000181,0.042600,0.999092]] 2025-10-24T19:43:09.752Z,1761334989.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:10.120Z,1761334990.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674661,0.737396,-0.032862],[-0.738126,0.674093,-0.027728],[0.001705,0.042963,0.999075]] 2025-10-24T19:43:10.183Z,1761334990.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:10.662Z,1761334990.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:11.003Z,1761334991.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637399,0.769608,-0.037769],[-0.770507,0.637020,-0.022903],[0.006433,0.043699,0.999024]] 2025-10-24T19:43:11.033Z,1761334991.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:11.415Z,1761334991.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598999,0.799717,-0.040656],[-0.800668,0.598892,-0.016110],[0.011466,0.042202,0.999043]] 2025-10-24T19:43:11.490Z,1761334991.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:11.863Z,1761334991.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:12.272Z,1761334992.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560897,0.826715,-0.044009],[-0.827708,0.561085,-0.009111],[0.017161,0.041537,0.998990]] 2025-10-24T19:43:12.374Z,1761334992.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:12.626Z,1761334992.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542545,0.838728,-0.046688],[-0.839784,0.542887,-0.006124],[0.020210,0.042530,0.998891]] 2025-10-24T19:43:12.686Z,1761334992.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:13.023Z,1761334993.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526111,0.848754,-0.053140],[-0.850093,0.526604,-0.005382],[0.023416,0.048006,0.998573]] 2025-10-24T19:43:13.072Z,1761334993.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:13.429Z,1761334993.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511410,0.857125,-0.061627],[-0.858912,0.512095,-0.005298],[0.027017,0.055642,0.998085]] 2025-10-24T19:43:13.484Z,1761334993.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:13.845Z,1761334993.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497969,0.864333,-0.070401],[-0.866641,0.498908,-0.004793],[0.030981,0.063399,0.997507]] 2025-10-24T19:43:13.863Z,1761334993.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:14.285Z,1761334994.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486303,0.870173,-0.079425],[-0.873078,0.487564,-0.003975],[0.035266,0.071277,0.996833]] 2025-10-24T19:43:14.330Z,1761334994.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:14.640Z,1761334994.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476110,0.875172,-0.085983],[-0.878480,0.477778,-0.001337],[0.039911,0.076170,0.996296]] 2025-10-24T19:43:14.659Z,1761334994.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:15.045Z,1761334995.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467511,0.879149,-0.092364],[-0.882828,0.469692,0.002143],[0.045267,0.080540,0.995723]] 2025-10-24T19:43:15.067Z,1761334995.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:15.447Z,1761334995.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460319,0.882360,-0.097705],[-0.886288,0.463089,0.006512],[0.050992,0.083597,0.995194]] 2025-10-24T19:43:15.494Z,1761334995.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:15.895Z,1761334995.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:16.302Z,1761334996.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451006,0.887019,-0.098950],[-0.890219,0.455027,0.021461],[0.064061,0.078409,0.994861]] 2025-10-24T19:43:16.371Z,1761334996.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:16.663Z,1761334996.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448747,0.887984,-0.100552],[-0.890819,0.453444,0.028824],[0.071190,0.076639,0.994514]] 2025-10-24T19:43:16.683Z,1761334996.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:17.063Z,1761334997.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448053,0.887685,-0.106136],[-0.890539,0.453606,0.034391],[0.078672,0.079109,0.993757]] 2025-10-24T19:43:17.095Z,1761334997.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:17.478Z,1761334997.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449194,0.886106,-0.114196],[-0.889253,0.455777,0.038698],[0.086339,0.084166,0.992704]] 2025-10-24T19:43:17.526Z,1761334997.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:17.883Z,1761334997.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450590,0.883973,-0.124745],[-0.887721,0.458449,0.042150],[0.094449,0.091746,0.991293]] 2025-10-24T19:43:17.932Z,1761334997.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:18.295Z,1761334998.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452977,0.881169,-0.135473],[-0.885566,0.462261,0.045686],[0.102881,0.099276,0.989727]] 2025-10-24T19:43:18.367Z,1761334998.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:18.741Z,1761334998.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:18.897Z,1761334998.897 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:43:19.083Z,1761334999.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458441,0.875288,-0.153957],[-0.880599,0.470754,0.054191],[0.119908,0.110731,0.986591]] 2025-10-24T19:43:19.103Z,1761334999.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:19.489Z,1761334999.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461686,0.872322,-0.160935],[-0.877746,0.475465,0.059123],[0.128093,0.113964,0.985193]] 2025-10-24T19:43:19.552Z,1761334999.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:19.900Z,1761334999.900 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:43:19.909Z,1761334999.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465119,0.869207,-0.167762],[-0.874685,0.480429,0.064136],[0.136345,0.116907,0.983739]] 2025-10-24T19:43:19.959Z,1761334999.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:20.301Z,1761335000.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468666,0.866193,-0.173385],[-0.871544,0.485411,0.069189],[0.144094,0.118686,0.982421]] 2025-10-24T19:43:20.394Z,1761335000.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:20.701Z,1761335000.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472353,0.863022,-0.179098],[-0.868274,0.490556,0.073862],[0.151602,0.120617,0.981055]] 2025-10-24T19:43:20.757Z,1761335000.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:21.106Z,1761335001.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476329,0.859940,-0.183342],[-0.864856,0.495821,0.078649],[0.158538,0.121102,0.979898]] 2025-10-24T19:43:21.125Z,1761335001.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:21.508Z,1761335001.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479747,0.857010,-0.188088],[-0.861670,0.500608,0.083164],[0.165431,0.122172,0.978625]] 2025-10-24T19:43:21.556Z,1761335001.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:21.949Z,1761335001.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483401,0.854034,-0.192223],[-0.858349,0.505544,0.087531],[0.171932,0.122682,0.977440]] 2025-10-24T19:43:21.977Z,1761335001.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:22.394Z,1761335002.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486917,0.851497,-0.194590],[-0.855199,0.510065,0.092026],[0.177614,0.121604,0.976558]] 2025-10-24T19:43:22.450Z,1761335002.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:22.843Z,1761335002.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490126,0.849291,-0.196165],[-0.852313,0.514101,0.096248],[0.182591,0.120020,0.975836]] 2025-10-24T19:43:22.870Z,1761335002.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:23.241Z,1761335003.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493204,0.847380,-0.196715],[-0.849606,0.517789,0.100324],[0.186869,0.117650,0.975315]] 2025-10-24T19:43:23.274Z,1761335003.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:23.651Z,1761335003.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497264,0.845039,-0.196563],[-0.845593,0.522753,0.108178],[0.194169,0.112419,0.974505]] 2025-10-24T19:43:23.698Z,1761335003.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:24.053Z,1761335004.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498542,0.844285,-0.196570],[-0.844119,0.524420,0.111569],[0.197281,0.110307,0.974121]] 2025-10-24T19:43:24.072Z,1761335004.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:24.527Z,1761335004.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:24.857Z,1761335004.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499977,0.843484,-0.196363],[-0.842065,0.526455,0.117350],[0.202359,0.106678,0.973484]] 2025-10-24T19:43:24.894Z,1761335004.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:25.267Z,1761335005.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499908,0.843650,-0.195822],[-0.841642,0.526553,0.119917],[0.204279,0.104865,0.973280]] 2025-10-24T19:43:25.305Z,1761335005.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:25.663Z,1761335005.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498894,0.844567,-0.194453],[-0.841798,0.525585,0.123032],[0.206110,0.102311,0.973165]] 2025-10-24T19:43:25.723Z,1761335005.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:26.070Z,1761335006.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497651,0.845717,-0.192629],[-0.842097,0.524308,0.126386],[0.207884,0.099316,0.973099]] 2025-10-24T19:43:26.093Z,1761335006.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:26.271Z,1761335006.271 [DAT](INFO): DAT read: 19:43:24.8816 LVL= 24496, 21793, 11170, 28259, AGC= 71, IDX= 340, 0.40,-0.034, 1.183, 2.344, 1.296, PHS=-1.242,-0.066, 1.045, RAW= 241.0, 2.7, CAL= 245.4, 3.6, ROT= 264.6, -3.6 2025-10-24T19:43:26.272Z,1761335006.272 [DAT](INFO): got valid direction response: 19:43:24.8816 LVL= 24496, 21793, 11170, 28259, AGC= 71, IDX= 340, 0.40,-0.034, 1.183, 2.344, 1.296, PHS=-1.242,-0.066, 1.045, RAW= 241.0, 2.7, CAL= 245.4, 3.6, ROT= 264.6, -3.6 2025-10-24T19:43:26.273Z,1761335006.273 [DAT](INFO): DAT read: Rx Time:19:43:24.8816 2025-10-24T19:43:26.273Z,1761335006.273 [DAT](INFO): Rx dataTimestamp_ set to:1761335006.272811 2025-10-24T19:43:26.274Z,1761335006.274 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-24T19:43:26.274Z,1761335006.274 [DAT](INFO): Received low SNR in chirp 2025-10-24T19:43:26.288Z,1761335006.288 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-24T19:43:26.289Z,1761335006.289 [DAT](INFO): direction in FSK: [-0.093923,-0.993597,0.062791] 2025-10-24T19:43:26.478Z,1761335006.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495526,0.847176,-0.191693],[-0.842955,0.522267,0.129092],[0.209479,0.097621,0.972928]] 2025-10-24T19:43:26.527Z,1761335006.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:26.878Z,1761335006.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493355,0.848470,-0.191572],[-0.843914,0.520263,0.130904],[0.210736,0.097088,0.972710]] 2025-10-24T19:43:26.921Z,1761335006.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:27.290Z,1761335007.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490431,0.850194,-0.191437],[-0.845300,0.517517,0.132830],[0.212004,0.096678,0.972475]] 2025-10-24T19:43:27.313Z,1761335007.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:27.690Z,1761335007.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487324,0.851936,-0.191629],[-0.846709,0.514674,0.134887],[0.213541,0.096520,0.972154]] 2025-10-24T19:43:27.729Z,1761335007.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:28.087Z,1761335008.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483923,0.853810,-0.191904],[-0.848194,0.511592,0.137259],[0.215370,0.096349,0.971768]] 2025-10-24T19:43:28.118Z,1761335008.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:28.507Z,1761335008.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480330,0.855822,-0.191967],[-0.849742,0.508298,0.139898],[0.217304,0.095925,0.971379]] 2025-10-24T19:43:28.563Z,1761335008.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:28.903Z,1761335008.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476527,0.857929,-0.192042],[-0.851312,0.504832,0.142870],[0.219521,0.095407,0.970932]] 2025-10-24T19:43:28.951Z,1761335008.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:29.300Z,1761335009.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473507,0.859276,-0.193485],[-0.852269,0.502432,0.145603],[0.222326,0.095957,0.970239]] 2025-10-24T19:43:29.334Z,1761335009.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:29.703Z,1761335009.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470963,0.860069,-0.196150],[-0.852963,0.500705,0.147477],[0.225054,0.097853,0.969420]] 2025-10-24T19:43:29.750Z,1761335009.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:30.045Z,1761335010.045 [DAT](INFO): DAT read: Rx Time:19:43:28.8775 2025-10-24T19:43:30.045Z,1761335010.045 [DAT](INFO): Rx dataTimestamp_ set to:1761335010.045012 2025-10-24T19:43:30.124Z,1761335010.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469360,0.860199,-0.199397],[-0.853169,0.499992,0.148696],[0.227605,0.100327,0.968571]] 2025-10-24T19:43:30.154Z,1761335010.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:30.546Z,1761335010.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467793,0.860359,-0.202367],[-0.853331,0.499285,0.150133],[0.230207,0.102455,0.967733]] 2025-10-24T19:43:30.554Z,1761335010.554 [DAT](INFO): DAT read: 19:43:28.8775 LVL= 25312, 20689, 15266, 19267, AGC= 70, IDX= 438,-0.27,-2.583,-1.560,-0.572,-1.341, PHS=-1.155,-0.172, 0.766, RAW= 240.8, 6.8, CAL= 247.6, 8.5, ROT= 262.4, -8.5 2025-10-24T19:43:30.555Z,1761335010.555 [DAT](INFO): got valid direction response: 19:43:28.8775 LVL= 25312, 20689, 15266, 19267, AGC= 70, IDX= 438,-0.27,-2.583,-1.560,-0.572,-1.341, PHS=-1.155,-0.172, 0.766, RAW= 240.8, 6.8, CAL= 247.6, 8.5, ROT= 262.4, -8.5 2025-10-24T19:43:30.556Z,1761335010.556 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:43:30.556Z,1761335010.556 [DAT](INFO): Received a bad header 2025-10-24T19:43:30.568Z,1761335010.568 [DAT](INFO): #Rx 3: Read direction message, but no range. 2025-10-24T19:43:30.569Z,1761335010.569 [DAT](INFO): direction in FSK: [-0.130804,-0.980328,0.147809] 2025-10-24T19:43:30.705Z,1761335010.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:31.014Z,1761335011.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:31.395Z,1761335011.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468204,0.858076,-0.210928],[-0.851922,0.501721,0.150014],[0.234550,0.109457,0.965922]] 2025-10-24T19:43:31.431Z,1761335011.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:31.809Z,1761335011.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469438,0.856667,-0.213890],[-0.850767,0.503668,0.150046],[0.236269,0.111534,0.965265]] 2025-10-24T19:43:31.913Z,1761335011.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:32.332Z,1761335012.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471247,0.855312,-0.215330],[-0.849460,0.505831,0.150177],[0.237369,0.112144,0.964925]] 2025-10-24T19:43:32.362Z,1761335012.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:32.736Z,1761335012.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476043,0.851679,-0.219149],[-0.846689,0.511221,0.147551],[0.237699,0.115311,0.964470]] 2025-10-24T19:43:32.793Z,1761335012.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:33.185Z,1761335013.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478373,0.850384,-0.219105],[-0.845574,0.513390,0.146408],[0.236989,0.115232,0.964654]] 2025-10-24T19:43:33.208Z,1761335013.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:33.602Z,1761335013.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480193,0.849757,-0.217548],[-0.844856,0.514746,0.145786],[0.235865,0.113792,0.965101]] 2025-10-24T19:43:33.642Z,1761335013.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:33.990Z,1761335013.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482042,0.848857,-0.216974],[-0.844232,0.516246,0.144091],[0.234324,0.113718,0.965484]] 2025-10-24T19:43:34.008Z,1761335014.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:34.391Z,1761335014.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483261,0.848974,-0.213780],[-0.843999,0.516672,0.143931],[0.232648,0.110874,0.966220]] 2025-10-24T19:43:34.425Z,1761335014.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:34.795Z,1761335014.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484544,0.849169,-0.210068],[-0.843782,0.517052,0.143837],[0.230758,0.107556,0.967048]] 2025-10-24T19:43:34.845Z,1761335014.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:35.202Z,1761335015.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485858,0.849530,-0.205525],[-0.843600,0.517304,0.143996],[0.228648,0.103420,0.968000]] 2025-10-24T19:43:35.224Z,1761335015.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:35.625Z,1761335015.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487134,0.849810,-0.201301],[-0.843493,0.517557,0.143718],[0.226318,0.099786,0.968929]] 2025-10-24T19:43:35.689Z,1761335015.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:36.039Z,1761335016.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:36.411Z,1761335016.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489927,0.849660,-0.195065],[-0.843310,0.518620,0.140930],[0.220908,0.095455,0.970612]] 2025-10-24T19:43:36.454Z,1761335016.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:36.816Z,1761335016.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491776,0.848825,-0.194041],[-0.843018,0.519923,0.137846],[0.217893,0.095791,0.971260]] 2025-10-24T19:43:36.889Z,1761335016.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:37.284Z,1761335017.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:37.654Z,1761335017.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493926,0.847020,-0.196455],[-0.843137,0.521781,0.129862],[0.212502,0.101496,0.971875]] 2025-10-24T19:43:37.713Z,1761335017.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:38.028Z,1761335018.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494925,0.846241,-0.197296],[-0.843213,0.522567,0.126159],[0.209861,0.103923,0.972192]] 2025-10-24T19:43:38.073Z,1761335018.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:38.433Z,1761335018.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495833,0.845525,-0.198081],[-0.843272,0.523276,0.122780],[0.207465,0.106158,0.972465]] 2025-10-24T19:43:38.451Z,1761335018.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:43:38.456Z,1761335018.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:38.623Z,1761335018.623 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:43:38.624Z,1761335018.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:43:38.874Z,1761335018.874 [DAT](INFO): DAT read: 2025-10-24T19:43:38.875Z,1761335018.875 [DAT](INFO): DAT read: Tx time:19:43:38.1289 2025-10-24T19:43:38.876Z,1761335018.876 [DAT](INFO): Ping request sent. 2025-10-24T19:43:38.876Z,1761335018.876 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:43:38.876Z,1761335018.876 [DAT](INFO): DAT read: TxSync time:19:43:38.1281 2025-10-24T19:43:38.877Z,1761335018.877 [DAT](INFO): publishing transmit ping time 2025-10-24T19:43:38.877Z,1761335018.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001694 2025-10-24T19:43:38.940Z,1761335018.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:39.125Z,1761335019.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249148 2025-10-24T19:43:39.238Z,1761335019.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495863,0.845629,-0.197562],[-0.844130,0.522776,0.118958],[0.203875,0.107781,0.973046]] 2025-10-24T19:43:39.277Z,1761335019.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:39.377Z,1761335019.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501099 2025-10-24T19:43:39.632Z,1761335019.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755568 2025-10-24T19:43:39.692Z,1761335019.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493957,0.846584,-0.198248],[-0.845561,0.520831,0.117309],[0.202566,0.109685,0.973107]] 2025-10-24T19:43:39.759Z,1761335019.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:39.882Z,1761335019.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005730 2025-10-24T19:43:40.054Z,1761335020.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491653,0.848453,-0.195971],[-0.846987,0.518206,0.118641],[0.202215,0.107654,0.973406]] 2025-10-24T19:43:40.073Z,1761335020.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:40.133Z,1761335020.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257618 2025-10-24T19:43:40.385Z,1761335020.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509140 2025-10-24T19:43:40.455Z,1761335020.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491565,0.848895,-0.194268],[-0.847346,0.517719,0.118205],[0.200920,0.106507,0.973801]] 2025-10-24T19:43:40.481Z,1761335020.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:40.640Z,1761335020.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763685 2025-10-24T19:43:40.889Z,1761335020.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013244 2025-10-24T19:43:40.958Z,1761335020.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:41.141Z,1761335021.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265068 2025-10-24T19:43:41.270Z,1761335021.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492430,0.849382,-0.189901],[-0.847560,0.517587,0.117244],[0.197875,0.103218,0.974778]] 2025-10-24T19:43:41.318Z,1761335021.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:41.394Z,1761335021.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518199 2025-10-24T19:43:41.648Z,1761335021.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771533 2025-10-24T19:43:41.712Z,1761335021.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492637,0.849546,-0.188626],[-0.847717,0.517470,0.116620],[0.196682,0.102450,0.975100]] 2025-10-24T19:43:41.758Z,1761335021.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:41.898Z,1761335021.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021862 2025-10-24T19:43:42.072Z,1761335022.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492730,0.849215,-0.189869],[-0.847902,0.517605,0.114662],[0.195650,0.104493,0.975091]] 2025-10-24T19:43:42.110Z,1761335022.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:42.150Z,1761335022.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273986 2025-10-24T19:43:42.401Z,1761335022.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525169 2025-10-24T19:43:42.475Z,1761335022.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492913,0.848656,-0.191885],[-0.848067,0.517907,0.112053],[0.194473,0.107498,0.975000]] 2025-10-24T19:43:42.523Z,1761335022.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:42.660Z,1761335022.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783615 2025-10-24T19:43:42.910Z,1761335022.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033882 2025-10-24T19:43:42.962Z,1761335022.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:43.161Z,1761335023.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285205 2025-10-24T19:43:43.300Z,1761335023.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491915,0.849593,-0.190296],[-0.849069,0.516482,0.111036],[0.192620,0.106954,0.975427]] 2025-10-24T19:43:43.317Z,1761335023.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:43.415Z,1761335023.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539540 2025-10-24T19:43:43.667Z,1761335023.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790958 2025-10-24T19:43:43.739Z,1761335023.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491577,0.850625,-0.186517],[-0.849490,0.515530,0.112231],[0.191622,0.103274,0.976020]] 2025-10-24T19:43:43.792Z,1761335023.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:43.797Z,1761335023.797 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.920000m. At depth:70.665298m. 2025-10-24T19:43:43.821Z,1761335023.821 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.920000m. At depth:70.665298m. 2025-10-24T19:43:43.918Z,1761335023.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041922 2025-10-24T19:43:44.092Z,1761335024.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491773,0.851402,-0.182408],[-0.849588,0.515066,0.113611],[0.190680,0.099101,0.976637]] 2025-10-24T19:43:44.110Z,1761335024.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:44.173Z,1761335024.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296045 2025-10-24T19:43:44.421Z,1761335024.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545068 2025-10-24T19:43:44.498Z,1761335024.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491919,0.851748,-0.180392],[-0.849689,0.514845,0.113860],[0.189854,0.097267,0.976982]] 2025-10-24T19:43:44.521Z,1761335024.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:44.676Z,1761335024.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799859 2025-10-24T19:43:44.909Z,1761335024.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492556,0.851370,-0.180440],[-0.849519,0.515375,0.112723],[0.188963,0.097765,0.977105]] 2025-10-24T19:43:44.926Z,1761335024.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049816 2025-10-24T19:43:44.979Z,1761335024.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:45.178Z,1761335025.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302208 2025-10-24T19:43:45.429Z,1761335025.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553221 2025-10-24T19:43:45.603Z,1761335025.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:45.683Z,1761335025.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807246 2025-10-24T19:43:45.933Z,1761335025.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057162 2025-10-24T19:43:46.130Z,1761335026.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:46.185Z,1761335026.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309717 2025-10-24T19:43:46.438Z,1761335026.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561947 2025-10-24T19:43:46.485Z,1761335026.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497614,0.846756,-0.188108],[-0.848027,0.520499,0.099652],[0.182291,0.109932,0.977080]] 2025-10-24T19:43:46.503Z,1761335026.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:46.689Z,1761335026.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813109 2025-10-24T19:43:46.891Z,1761335026.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500038,0.846723,-0.181719],[-0.848272,0.521140,0.094060],[0.174344,0.107114,0.978842]] 2025-10-24T19:43:46.941Z,1761335026.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065260 2025-10-24T19:43:46.960Z,1761335026.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:47.193Z,1761335027.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317087 2025-10-24T19:43:47.282Z,1761335027.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502795,0.846314,-0.175925],[-0.849417,0.521472,0.080979],[0.160273,0.108718,0.981067]] 2025-10-24T19:43:47.319Z,1761335027.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:47.445Z,1761335027.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569414 2025-10-24T19:43:47.697Z,1761335027.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821212 2025-10-24T19:43:47.799Z,1761335027.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510200,0.845160,-0.159377],[-0.852481,0.521488,0.036420],[0.113894,0.117284,0.986546]] 2025-10-24T19:43:47.848Z,1761335027.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:47.949Z,1761335027.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073207 2025-10-24T19:43:48.201Z,1761335028.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325170 2025-10-24T19:43:48.290Z,1761335028.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513691,0.845606,-0.145160],[-0.853863,0.520404,0.009885],[0.083900,0.118869,0.989359]] 2025-10-24T19:43:48.321Z,1761335028.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:48.454Z,1761335028.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578159 2025-10-24T19:43:48.706Z,1761335028.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830551 2025-10-24T19:43:48.713Z,1761335028.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516212,0.846952,-0.127271],[-0.854935,0.518439,-0.017565],[0.051106,0.117876,0.991712]] 2025-10-24T19:43:48.806Z,1761335028.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:48.956Z,1761335028.956 [DAT](INFO): Reached modem response timeout 2025-10-24T19:43:49.249Z,1761335029.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518722,0.848029,-0.108507],[-0.854770,0.516977,-0.045864],[0.017202,0.116539,0.993037]] 2025-10-24T19:43:49.311Z,1761335029.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:49.674Z,1761335029.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:49.717Z,1761335029.717 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:43:49.717Z,1761335029.717 [DAT](INFO): response not received 2025-10-24T19:43:49.717Z,1761335029.717 [DAT](ERROR): No response from remote modem. 2025-10-24T19:43:50.024Z,1761335030.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:43:50.041Z,1761335030.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521743,0.849504,-0.078276],[-0.851668,0.513349,-0.105525],[-0.049461,0.121722,0.991331]] 2025-10-24T19:43:50.097Z,1761335030.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:50.448Z,1761335030.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523045,0.850162,-0.060408],[-0.848378,0.512529,-0.132547],[-0.081726,0.120577,0.989334]] 2025-10-24T19:43:50.471Z,1761335030.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:50.858Z,1761335030.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523351,0.851160,-0.040373],[-0.844601,0.511874,-0.156952],[-0.112926,0.116241,0.986781]] 2025-10-24T19:43:50.994Z,1761335030.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:51.028Z,1761335031.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:43:51.252Z,1761335031.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523357,0.851829,-0.022011],[-0.839920,0.511342,-0.181835],[-0.143638,0.113652,0.983083]] 2025-10-24T19:43:51.284Z,1761335031.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:51.656Z,1761335031.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522876,0.852391,-0.005590],[-0.834551,0.510575,-0.206973],[-0.173568,0.112886,0.978331]] 2025-10-24T19:43:51.706Z,1761335031.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:52.194Z,1761335032.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:52.540Z,1761335032.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518894,0.854220,0.032530],[-0.816458,0.506512,-0.277203],[-0.253269,0.117280,0.960260]] 2025-10-24T19:43:52.559Z,1761335032.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:53.099Z,1761335033.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:53.426Z,1761335033.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512899,0.856405,0.059201],[-0.805569,0.503989,-0.311535],[-0.296637,0.112096,0.948389]] 2025-10-24T19:43:53.467Z,1761335033.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:53.925Z,1761335033.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509509,0.857489,0.071506],[-0.800596,0.502875,-0.325825],[-0.315350,0.108763,0.942722]] 2025-10-24T19:43:53.966Z,1761335033.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:54.472Z,1761335034.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:55.003Z,1761335035.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:55.442Z,1761335035.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494756,0.861935,0.110836],[-0.787165,0.498529,-0.363099],[-0.368222,0.092399,0.925135]] 2025-10-24T19:43:55.462Z,1761335035.462 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 13.99 mm (1 active estimators). 2025-10-24T19:43:55.497Z,1761335035.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:56.037Z,1761335036.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:56.344Z,1761335036.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487035,0.865299,0.118548],[-0.783063,0.492740,-0.379499],[-0.386794,0.091999,0.917566]] 2025-10-24T19:43:56.363Z,1761335036.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:56.802Z,1761335036.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482989,0.867356,0.120059],[-0.781546,0.488853,-0.387567],[-0.394850,0.093359,0.913990]] 2025-10-24T19:43:56.821Z,1761335036.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:57.220Z,1761335037.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475522,0.870631,0.126018],[-0.778717,0.483233,-0.400106],[-0.409241,0.092126,0.907763]] 2025-10-24T19:43:57.230Z,1761335037.230 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 49.65, 44.21, 61.41 2025-10-24T19:43:57.271Z,1761335037.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:57.619Z,1761335037.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472661,0.871932,0.127774],[-0.778242,0.481028,-0.403673],[-0.413438,0.091361,0.905937]] 2025-10-24T19:43:57.639Z,1761335037.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:58.029Z,1761335038.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470918,0.872804,0.128258],[-0.779112,0.479676,-0.403603],[-0.413788,0.090137,0.905900]] 2025-10-24T19:43:58.094Z,1761335038.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:58.426Z,1761335038.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469959,0.873446,0.127397],[-0.781881,0.478908,-0.399135],[-0.409634,0.087968,0.907999]] 2025-10-24T19:43:58.467Z,1761335038.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:58.950Z,1761335038.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469658,0.874010,0.124610],[-0.786426,0.478316,-0.390831],[-0.401193,0.085561,0.911989]] 2025-10-24T19:43:58.999Z,1761335038.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:59.337Z,1761335039.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469856,0.874560,0.119920],[-0.792116,0.477666,-0.379983],[-0.389600,0.083547,0.917187]] 2025-10-24T19:43:59.355Z,1761335039.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:43:59.777Z,1761335039.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471240,0.874804,0.112474],[-0.798217,0.477240,-0.367549],[-0.375211,0.083426,0.923178]] 2025-10-24T19:43:59.808Z,1761335039.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:00.236Z,1761335040.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:00.587Z,1761335040.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476676,0.874138,0.093074],[-0.810407,0.477993,-0.338767],[-0.340618,0.086055,0.936255]] 2025-10-24T19:44:00.605Z,1761335040.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:00.992Z,1761335040.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480633,0.872838,0.084528],[-0.816134,0.480496,-0.321013],[-0.320808,0.085303,0.943295]] 2025-10-24T19:44:01.051Z,1761335041.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:01.393Z,1761335041.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485066,0.871262,0.074930],[-0.821488,0.483371,-0.302506],[-0.299781,0.085181,0.950198]] 2025-10-24T19:44:01.423Z,1761335041.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:01.850Z,1761335041.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489773,0.869373,0.065671],[-0.826422,0.486931,-0.282709],[-0.277757,0.084191,0.956955]] 2025-10-24T19:44:01.943Z,1761335041.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:02.436Z,1761335042.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500910,0.864603,0.039395],[-0.833650,0.494210,-0.246545],[-0.232633,0.090655,0.968330]] 2025-10-24T19:44:02.491Z,1761335042.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:03.020Z,1761335043.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505818,0.862323,0.023393],[-0.836838,0.497091,-0.229351],[-0.209403,0.096433,0.973063]] 2025-10-24T19:44:03.089Z,1761335043.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:03.524Z,1761335043.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514510,0.857475,-0.003932],[-0.841769,0.504201,-0.192888],[-0.163414,0.102552,0.981213]] 2025-10-24T19:44:03.560Z,1761335043.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:04.029Z,1761335044.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517542,0.855524,-0.015113],[-0.843934,0.507458,-0.173961],[-0.141159,0.102786,0.984637]] 2025-10-24T19:44:04.095Z,1761335044.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:04.405Z,1761335044.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520154,0.853693,-0.025471],[-0.845701,0.510661,-0.154966],[-0.119287,0.102147,0.987591]] 2025-10-24T19:44:04.424Z,1761335044.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:04.810Z,1761335044.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521517,0.852507,-0.035379],[-0.847598,0.512863,-0.136193],[-0.097961,0.101014,0.990050]] 2025-10-24T19:44:04.828Z,1761335044.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:05.211Z,1761335045.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522105,0.851709,-0.044705],[-0.849459,0.514605,-0.116624],[-0.076325,0.098865,0.992169]] 2025-10-24T19:44:05.259Z,1761335045.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:05.692Z,1761335045.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521623,0.851552,-0.052616],[-0.851384,0.515540,-0.096768],[-0.055277,0.095272,0.993915]] 2025-10-24T19:44:05.719Z,1761335045.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:06.178Z,1761335046.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520757,0.851456,-0.061931],[-0.852984,0.515966,-0.078723],[-0.035075,0.093822,0.994971]] 2025-10-24T19:44:06.250Z,1761335046.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:06.691Z,1761335046.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517733,0.851790,-0.080041],[-0.855542,0.515596,-0.046998],[0.001236,0.092811,0.995683]] 2025-10-24T19:44:06.714Z,1761335046.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:07.179Z,1761335047.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:07.522Z,1761335047.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512879,0.853292,-0.094059],[-0.857833,0.513609,-0.018135],[0.032835,0.089988,0.995401]] 2025-10-24T19:44:07.542Z,1761335047.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:07.931Z,1761335047.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510173,0.854211,-0.100236],[-0.858772,0.512336,-0.004783],[0.047269,0.088520,0.994952]] 2025-10-24T19:44:07.957Z,1761335047.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:08.327Z,1761335048.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507217,0.855307,-0.105739],[-0.859678,0.510777,0.007833],[0.060708,0.086928,0.994363]] 2025-10-24T19:44:08.378Z,1761335048.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:08.813Z,1761335048.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:09.223Z,1761335049.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:09.620Z,1761335049.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498162,0.858394,-0.122449],[-0.861726,0.505797,0.039976],[0.096249,0.085603,0.991669]] 2025-10-24T19:44:09.639Z,1761335049.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:10.020Z,1761335050.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496055,0.858933,-0.127137],[-0.861874,0.504851,0.047949],[0.105370,0.085791,0.990726]] 2025-10-24T19:44:10.045Z,1761335050.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:10.420Z,1761335050.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493778,0.859453,-0.132381],[-0.862075,0.503774,0.055117],[0.114061,0.086907,0.989665]] 2025-10-24T19:44:10.470Z,1761335050.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:10.824Z,1761335050.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491745,0.859973,-0.136505],[-0.862166,0.502827,0.061916],[0.121884,0.087243,0.988703]] 2025-10-24T19:44:10.845Z,1761335050.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:11.230Z,1761335051.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489889,0.860443,-0.140165],[-0.862142,0.502015,0.068501],[0.129306,0.087285,0.987756]] 2025-10-24T19:44:11.294Z,1761335051.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:11.668Z,1761335051.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:12.040Z,1761335052.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486489,0.861076,-0.147905],[-0.861925,0.500697,0.079920],[0.142873,0.088603,0.985767]] 2025-10-24T19:44:12.159Z,1761335052.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:12.570Z,1761335052.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484970,0.861320,-0.151434],[-0.861752,0.500158,0.085003],[0.148956,0.089274,0.984806]] 2025-10-24T19:44:12.627Z,1761335052.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:12.972Z,1761335052.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484148,0.861182,-0.154810],[-0.861391,0.500174,0.088499],[0.153646,0.090505,0.983972]] 2025-10-24T19:44:12.995Z,1761335052.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:13.399Z,1761335053.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483222,0.860751,-0.160012],[-0.860646,0.500545,0.093503],[0.160576,0.092531,0.982677]] 2025-10-24T19:44:13.451Z,1761335053.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:13.806Z,1761335053.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483264,0.860261,-0.162504],[-0.860252,0.501073,0.094303],[0.162552,0.094221,0.982191]] 2025-10-24T19:44:13.826Z,1761335053.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:14.257Z,1761335054.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:14.609Z,1761335054.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482792,0.860099,-0.164747],[-0.860046,0.501127,0.095879],[0.165025,0.095400,0.981665]] 2025-10-24T19:44:14.662Z,1761335054.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:15.013Z,1761335055.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481932,0.860527,-0.165032],[-0.860347,0.500414,0.096895],[0.165966,0.095288,0.981517]] 2025-10-24T19:44:15.035Z,1761335055.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:15.417Z,1761335055.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481881,0.860131,-0.167226],[-0.860288,0.500661,0.096140],[0.166416,0.097534,0.981220]] 2025-10-24T19:44:15.460Z,1761335055.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:15.819Z,1761335055.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481609,0.859916,-0.169107],[-0.860289,0.500692,0.095974],[0.167200,0.099259,0.980914]] 2025-10-24T19:44:15.850Z,1761335055.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:16.230Z,1761335056.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481419,0.859866,-0.169903],[-0.860274,0.500665,0.096247],[0.167823,0.099828,0.980750]] 2025-10-24T19:44:16.278Z,1761335056.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:16.679Z,1761335056.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:17.071Z,1761335057.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:17.437Z,1761335057.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482383,0.858575,-0.173652],[-0.859460,0.502200,0.095520],[0.169219,0.103170,0.980164]] 2025-10-24T19:44:17.490Z,1761335057.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:17.842Z,1761335057.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483467,0.857858,-0.174183],[-0.858850,0.503329,0.095063],[0.169222,0.103637,0.980114]] 2025-10-24T19:44:17.880Z,1761335057.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:18.258Z,1761335058.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484472,0.857089,-0.175170],[-0.858273,0.504435,0.094404],[0.169275,0.104607,0.980002]] 2025-10-24T19:44:18.305Z,1761335058.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:18.649Z,1761335058.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486294,0.856063,-0.175139],[-0.857363,0.506154,0.093468],[0.168662,0.104705,0.980097]] 2025-10-24T19:44:18.676Z,1761335058.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:19.100Z,1761335059.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487590,0.855364,-0.174955],[-0.856709,0.507362,0.092919],[0.168245,0.104579,0.980182]] 2025-10-24T19:44:19.167Z,1761335059.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:19.534Z,1761335059.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488952,0.854564,-0.175058],[-0.856034,0.508654,0.092072],[0.167726,0.104837,0.980244]] 2025-10-24T19:44:19.601Z,1761335059.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:19.974Z,1761335059.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490406,0.853894,-0.174259],[-0.855423,0.509865,0.091049],[0.166595,0.104414,0.980481]] 2025-10-24T19:44:20.009Z,1761335060.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:20.375Z,1761335060.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492118,0.853086,-0.173391],[-0.854759,0.511261,0.089441],[0.164948,0.104192,0.980783]] 2025-10-24T19:44:20.433Z,1761335060.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:20.783Z,1761335060.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493817,0.852355,-0.172151],[-0.854169,0.512562,0.087607],[0.162910,0.103784,0.981167]] 2025-10-24T19:44:20.801Z,1761335060.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:21.152Z,1761335061.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:44:21.197Z,1761335061.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494982,0.851800,-0.171547],[-0.853874,0.513408,0.085506],[0.160908,0.104155,0.981458]] 2025-10-24T19:44:21.283Z,1761335061.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:21.645Z,1761335061.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:21.993Z,1761335061.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497332,0.850818,-0.169618],[-0.853331,0.514999,0.081248],[0.156481,0.104333,0.982155]] 2025-10-24T19:44:22.011Z,1761335062.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:22.156Z,1761335062.156 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:44:22.629Z,1761335062.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:22.922Z,1761335062.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497521,0.851494,-0.165621],[-0.854432,0.513994,0.075867],[0.149728,0.103767,0.983267]] 2025-10-24T19:44:22.946Z,1761335062.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:23.393Z,1761335063.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:23.711Z,1761335063.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495827,0.853185,-0.161956],[-0.856315,0.511369,0.072293],[0.144498,0.102841,0.984146]] 2025-10-24T19:44:23.731Z,1761335063.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:24.141Z,1761335064.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495064,0.854109,-0.159406],[-0.857224,0.510066,0.070706],[0.141698,0.101643,0.984678]] 2025-10-24T19:44:24.190Z,1761335064.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:24.539Z,1761335064.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494160,0.854846,-0.158251],[-0.858183,0.508760,0.068446],[0.139023,0.101986,0.985024]] 2025-10-24T19:44:24.594Z,1761335064.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:25.059Z,1761335065.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493782,0.855474,-0.156023],[-0.858888,0.507850,0.066330],[0.135980,0.101254,0.985524]] 2025-10-24T19:44:25.077Z,1761335065.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:25.455Z,1761335065.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493433,0.855900,-0.154787],[-0.859567,0.507050,0.063599],[0.132919,0.101668,0.985899]] 2025-10-24T19:44:25.502Z,1761335065.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:25.863Z,1761335065.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493602,0.855955,-0.153938],[-0.859943,0.506788,0.060530],[0.129824,0.102500,0.986225]] 2025-10-24T19:44:25.908Z,1761335065.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:26.267Z,1761335066.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493994,0.855792,-0.153592],[-0.860154,0.506802,0.057336],[0.126909,0.103789,0.986469]] 2025-10-24T19:44:26.292Z,1761335066.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:26.668Z,1761335066.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494660,0.855527,-0.152920],[-0.860150,0.507104,0.054666],[0.124314,0.104493,0.986726]] 2025-10-24T19:44:26.715Z,1761335066.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:27.073Z,1761335067.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495260,0.855154,-0.153067],[-0.860183,0.507383,0.051456],[0.121667,0.106181,0.986875]] 2025-10-24T19:44:27.111Z,1761335067.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:27.475Z,1761335067.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496247,0.854863,-0.151488],[-0.859943,0.507978,0.049561],[0.119320,0.105677,0.987216]] 2025-10-24T19:44:27.534Z,1761335067.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:27.879Z,1761335067.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497264,0.854509,-0.150145],[-0.859671,0.508628,0.047576],[0.117022,0.105417,0.987519]] 2025-10-24T19:44:27.914Z,1761335067.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:28.283Z,1761335068.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498883,0.853694,-0.149408],[-0.859020,0.509930,0.045337],[0.114891,0.105726,0.987736]] 2025-10-24T19:44:28.335Z,1761335068.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:28.752Z,1761335068.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:29.100Z,1761335069.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501818,0.852220,-0.147985],[-0.857823,0.512285,0.041280],[0.110990,0.106230,0.988128]] 2025-10-24T19:44:29.119Z,1761335069.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:29.495Z,1761335069.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503593,0.851492,-0.146133],[-0.857091,0.513659,0.039355],[0.108573,0.105431,0.988482]] 2025-10-24T19:44:29.542Z,1761335069.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:30.061Z,1761335070.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506838,0.849953,-0.143858],[-0.855712,0.516247,0.035295],[0.104265,0.105212,0.988969]] 2025-10-24T19:44:30.107Z,1761335070.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:30.464Z,1761335070.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507886,0.849664,-0.141854],[-0.855410,0.516880,0.033304],[0.101619,0.104429,0.989327]] 2025-10-24T19:44:30.528Z,1761335070.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:30.946Z,1761335070.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508993,0.849441,-0.139200],[-0.855384,0.517214,0.028429],[0.096145,0.104599,0.989856]] 2025-10-24T19:44:30.963Z,1761335070.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:31.358Z,1761335071.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510135,0.849503,-0.134559],[-0.855817,0.516930,0.018962],[0.085666,0.105485,0.990724]] 2025-10-24T19:44:31.442Z,1761335071.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:31.842Z,1761335071.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511752,0.849425,-0.128791],[-0.856280,0.516496,0.004045],[0.069956,0.108211,0.991664]] 2025-10-24T19:44:31.955Z,1761335071.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:32.369Z,1761335072.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514757,0.850224,-0.110202],[-0.856862,0.514478,-0.033156],[0.028507,0.111495,0.993356]] 2025-10-24T19:44:32.468Z,1761335072.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:32.957Z,1761335072.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515770,0.850843,-0.100241],[-0.856708,0.512994,-0.053741],[0.005698,0.113595,0.993511]] 2025-10-24T19:44:32.998Z,1761335072.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:33.463Z,1761335073.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516473,0.851668,-0.088983],[-0.856113,0.511370,-0.074642],[-0.018067,0.114730,0.993232]] 2025-10-24T19:44:33.518Z,1761335073.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:33.835Z,1761335073.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516795,0.852795,-0.075256],[-0.855084,0.509878,-0.094107],[-0.041883,0.112985,0.992714]] 2025-10-24T19:44:33.865Z,1761335073.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:34.231Z,1761335074.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516278,0.854175,-0.061993],[-0.853926,0.507902,-0.113341],[-0.065327,0.111453,0.991620]] 2025-10-24T19:44:34.250Z,1761335074.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:34.638Z,1761335074.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515836,0.855104,-0.052054],[-0.852145,0.505904,-0.133828],[-0.088103,0.113390,0.989637]] 2025-10-24T19:44:34.677Z,1761335074.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:35.039Z,1761335075.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515230,0.856021,-0.042040],[-0.849908,0.503999,-0.153757],[-0.110431,0.114950,0.987214]] 2025-10-24T19:44:35.091Z,1761335075.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:35.590Z,1761335075.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:36.002Z,1761335076.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514330,0.857487,-0.013481],[-0.840686,0.501022,-0.205483],[-0.169444,0.117019,0.978568]] 2025-10-24T19:44:36.023Z,1761335076.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:36.541Z,1761335076.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513728,0.857938,-0.005089],[-0.837468,0.500165,-0.220185],[-0.186359,0.117377,0.975445]] 2025-10-24T19:44:36.591Z,1761335076.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:36.993Z,1761335076.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513503,0.858085,0.002229],[-0.834078,0.499743,-0.233604],[-0.201566,0.118098,0.972329]] 2025-10-24T19:44:37.013Z,1761335077.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:37.594Z,1761335077.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:37.942Z,1761335077.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511736,0.858725,0.026780],[-0.825777,0.500226,-0.260513],[-0.237105,0.111200,0.965099]] 2025-10-24T19:44:37.961Z,1761335077.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:38.349Z,1761335078.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511728,0.858573,0.031416],[-0.823903,0.500773,-0.265350],[-0.243554,0.109904,0.963640]] 2025-10-24T19:44:38.368Z,1761335078.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:38.749Z,1761335078.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512076,0.858306,0.033003],[-0.823117,0.501338,-0.266720],[-0.245473,0.109416,0.963209]] 2025-10-24T19:44:38.804Z,1761335078.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:44:38.806Z,1761335078.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:38.877Z,1761335078.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:44:38.877Z,1761335078.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:44:39.129Z,1761335079.129 [DAT](INFO): DAT read: user:122> 2025-10-24T19:44:39.130Z,1761335079.130 [DAT](INFO): DAT read: Tx time:19:44:38.3796 2025-10-24T19:44:39.130Z,1761335079.130 [DAT](INFO): Ping request sent. 2025-10-24T19:44:39.130Z,1761335079.130 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:44:39.132Z,1761335079.132 [DAT](INFO): DAT read: TxSync time:19:44:38.3789 2025-10-24T19:44:39.133Z,1761335079.133 [DAT](INFO): publishing transmit ping time 2025-10-24T19:44:39.135Z,1761335079.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004235 2025-10-24T19:44:39.270Z,1761335079.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512041,0.858310,0.033427],[-0.823771,0.501716,-0.263973],[-0.243342,0.107629,0.963951]] 2025-10-24T19:44:39.308Z,1761335079.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:39.382Z,1761335079.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251827 2025-10-24T19:44:39.637Z,1761335079.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506831 2025-10-24T19:44:39.649Z,1761335079.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510951,0.859018,0.031900],[-0.826413,0.501094,-0.256802],[-0.236582,0.104850,0.965937]] 2025-10-24T19:44:39.756Z,1761335079.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:39.889Z,1761335079.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758799 2025-10-24T19:44:40.142Z,1761335080.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011567 2025-10-24T19:44:40.205Z,1761335080.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508530,0.860570,0.028582],[-0.830475,0.498972,-0.247664],[-0.227394,0.102208,0.968424]] 2025-10-24T19:44:40.275Z,1761335080.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:40.393Z,1761335080.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263099 2025-10-24T19:44:40.646Z,1761335080.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515551 2025-10-24T19:44:40.691Z,1761335080.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508515,0.860796,0.021053],[-0.836743,0.499779,-0.223790],[-0.203159,0.096185,0.974410]] 2025-10-24T19:44:40.729Z,1761335080.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:40.898Z,1761335080.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767785 2025-10-24T19:44:41.128Z,1761335081.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508968,0.860614,0.017181],[-0.839685,0.500785,-0.210105],[-0.189423,0.092510,0.977528]] 2025-10-24T19:44:41.146Z,1761335081.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:41.157Z,1761335081.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026865 2025-10-24T19:44:41.409Z,1761335081.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278890 2025-10-24T19:44:41.579Z,1761335081.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509253,0.860548,0.010880],[-0.842841,0.501250,-0.195877],[-0.174015,0.090581,0.980568]] 2025-10-24T19:44:41.618Z,1761335081.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:41.661Z,1761335081.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530839 2025-10-24T19:44:41.914Z,1761335081.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783543 2025-10-24T19:44:41.952Z,1761335081.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509217,0.860631,0.003517],[-0.846066,0.501340,-0.181194],[-0.157704,0.089292,0.983441]] 2025-10-24T19:44:41.976Z,1761335081.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:42.165Z,1761335082.165 [DAT](INFO): DAT read: Rx Time:19:44:40.8858 2025-10-24T19:44:42.165Z,1761335082.165 [DAT](INFO): Rx dataTimestamp_ set to:1761335082.165038 2025-10-24T19:44:42.166Z,1761335082.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035878 2025-10-24T19:44:42.339Z,1761335082.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509164,0.860658,-0.004360],[-0.849057,0.501459,-0.166258],[-0.140905,0.088355,0.986073]] 2025-10-24T19:44:42.370Z,1761335082.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:42.417Z,1761335082.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287053 2025-10-24T19:44:42.670Z,1761335082.670 [DAT](INFO): DAT read: Range 10 to 50 : 76.5 m (Round-trip 102.0 ms) speed -0.7 m/s 2025-10-24T19:44:42.670Z,1761335082.670 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:44:42.745Z,1761335082.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508817,0.860792,-0.011914],[-0.851902,0.501473,-0.150956],[-0.123967,0.086958,0.988469]] 2025-10-24T19:44:42.810Z,1761335082.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.500000 m, deltaT: 120.267902 s, deltaX: 70.199997 m, approachRate: 0.583697 m/s, rangeRepo size: 4 2025-10-24T19:44:42.811Z,1761335082.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:43.189Z,1761335083.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:43.623Z,1761335083.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508841,0.860419,-0.027555],[-0.856110,0.502417,-0.121049],[-0.090309,0.085185,0.992264]] 2025-10-24T19:44:43.682Z,1761335083.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:44.053Z,1761335084.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:44.425Z,1761335084.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509674,0.859221,-0.044401],[-0.858400,0.504341,-0.093756],[-0.058164,0.085899,0.994605]] 2025-10-24T19:44:44.460Z,1761335084.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:44.828Z,1761335084.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509985,0.858536,-0.053210],[-0.859112,0.505289,-0.081303],[-0.042915,0.087176,0.995268]] 2025-10-24T19:44:44.884Z,1761335084.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:45.279Z,1761335085.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510810,0.857384,-0.062972],[-0.859220,0.506727,-0.070488],[-0.028526,0.090113,0.995523]] 2025-10-24T19:44:45.305Z,1761335085.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:45.701Z,1761335085.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511490,0.856229,-0.072461],[-0.859147,0.508045,-0.061298],[-0.015672,0.093608,0.995486]] 2025-10-24T19:44:45.742Z,1761335085.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:46.096Z,1761335086.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512277,0.854873,-0.082245],[-0.858814,0.509550,-0.052895],[-0.003310,0.097730,0.995207]] 2025-10-24T19:44:46.127Z,1761335086.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:46.515Z,1761335086.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513284,0.853723,-0.087733],[-0.858185,0.511483,-0.043632],[0.007625,0.097687,0.995188]] 2025-10-24T19:44:46.553Z,1761335086.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:47.026Z,1761335087.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:47.329Z,1761335087.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515476,0.850635,-0.103462],[-0.856155,0.516305,-0.020681],[0.035826,0.099240,0.994418]] 2025-10-24T19:44:47.389Z,1761335087.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:47.733Z,1761335087.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516101,0.849745,-0.107580],[-0.855403,0.517777,-0.013903],[0.043889,0.099200,0.994099]] 2025-10-24T19:44:47.772Z,1761335087.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:48.129Z,1761335088.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516392,0.849054,-0.111565],[-0.854799,0.518905,-0.007464],[0.051554,0.099220,0.993729]] 2025-10-24T19:44:48.169Z,1761335088.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:48.531Z,1761335088.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516523,0.848447,-0.115510],[-0.854221,0.519909,-0.000955],[0.059245,0.099164,0.993306]] 2025-10-24T19:44:48.556Z,1761335088.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:48.940Z,1761335088.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516322,0.848050,-0.119258],[-0.853811,0.520558,0.005182],[0.066475,0.099148,0.992850]] 2025-10-24T19:44:49.000Z,1761335089.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:49.371Z,1761335089.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:49.843Z,1761335089.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:50.214Z,1761335090.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514167,0.848451,-0.125549],[-0.853544,0.520545,0.022249],[0.084231,0.095722,0.991838]] 2025-10-24T19:44:50.258Z,1761335090.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:50.615Z,1761335090.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513381,0.848705,-0.127040],[-0.853608,0.520260,0.026139],[0.088278,0.095024,0.991553]] 2025-10-24T19:44:50.636Z,1761335090.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:51.022Z,1761335091.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511757,0.849370,-0.129131],[-0.854188,0.519132,0.029413],[0.092018,0.095250,0.991191]] 2025-10-24T19:44:51.087Z,1761335091.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:51.426Z,1761335091.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510259,0.850127,-0.130075],[-0.854742,0.518025,0.032646],[0.095136,0.094522,0.990967]] 2025-10-24T19:44:51.467Z,1761335091.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:51.993Z,1761335091.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:52.277Z,1761335092.277 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:44:52.304Z,1761335092.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506658,0.852064,-0.131472],[-0.856261,0.515103,0.038558],[0.100576,0.093038,0.990570]] 2025-10-24T19:44:52.339Z,1761335092.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:52.789Z,1761335092.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505076,0.852715,-0.133322],[-0.856988,0.513808,0.039666],[0.102326,0.094221,0.990279]] 2025-10-24T19:44:52.827Z,1761335092.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:53.176Z,1761335093.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503873,0.853098,-0.135409],[-0.857533,0.512862,0.040130],[0.103681,0.095897,0.989977]] 2025-10-24T19:44:53.232Z,1761335093.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:53.281Z,1761335093.281 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:44:53.537Z,1761335093.537 [DAT](INFO): DAT read: user:123>Rx Time:19:44:52.2743 2025-10-24T19:44:53.538Z,1761335093.538 [DAT](INFO): Rx dataTimestamp_ set to:1761335093.537237 2025-10-24T19:44:53.579Z,1761335093.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502807,0.853661,-0.135821],[-0.858069,0.511906,0.040869],[0.104416,0.095994,0.989890]] 2025-10-24T19:44:53.617Z,1761335093.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:53.984Z,1761335093.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502351,0.853775,-0.136794],[-0.858275,0.511556,0.040925],[0.104919,0.096848,0.989754]] 2025-10-24T19:44:54.036Z,1761335094.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:54.047Z,1761335094.047 [DAT](INFO): DAT read: 19:44:52.2743 LVL= 23312, 22065, 13794, 27747, AGC= 70, IDX= 346, 0.35, 1.673, 2.796,-2.368, 2.888, PHS=-1.127,-0.045, 1.024, RAW= 240.2, 1.6, CAL= 244.0, 2.3, ROT= 266.0, -2.3 2025-10-24T19:44:54.052Z,1761335094.052 [DAT](INFO): got valid direction response: 19:44:52.2743 LVL= 23312, 22065, 13794, 27747, AGC= 70, IDX= 346, 0.35, 1.673, 2.796,-2.368, 2.888, PHS=-1.127,-0.045, 1.024, RAW= 240.2, 1.6, CAL= 244.0, 2.3, ROT= 266.0, -2.3 2025-10-24T19:44:54.053Z,1761335094.053 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:44:54.053Z,1761335094.053 [DAT](INFO): Received a bad header 2025-10-24T19:44:54.064Z,1761335094.064 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-24T19:44:54.065Z,1761335094.065 [DAT](INFO): direction in FSK: [-0.069700,-0.996760,0.040132] 2025-10-24T19:44:54.394Z,1761335094.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502271,0.853771,-0.137110],[-0.858291,0.511520,0.041031],[0.105166,0.097072,0.989706]] 2025-10-24T19:44:54.415Z,1761335094.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:54.801Z,1761335094.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502215,0.853648,-0.138076],[-0.858325,0.511509,0.040449],[0.105157,0.098200,0.989595]] 2025-10-24T19:44:54.865Z,1761335094.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:55.196Z,1761335095.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502497,0.853446,-0.138299],[-0.858174,0.511787,0.040145],[0.105041,0.098512,0.989577]] 2025-10-24T19:44:55.231Z,1761335095.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:55.667Z,1761335095.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503265,0.853056,-0.137911],[-0.857834,0.512426,0.039234],[0.104138,0.098559,0.989667]] 2025-10-24T19:44:55.692Z,1761335095.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:56.069Z,1761335096.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503635,0.852944,-0.137251],[-0.857706,0.512679,0.038734],[0.103404,0.098213,0.989779]] 2025-10-24T19:44:56.118Z,1761335096.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:56.501Z,1761335096.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504777,0.852327,-0.136889],[-0.857163,0.513673,0.037561],[0.102331,0.098376,0.989874]] 2025-10-24T19:44:56.538Z,1761335096.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:57.006Z,1761335097.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:57.312Z,1761335097.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507506,0.851356,-0.132781],[-0.856015,0.515758,0.035103],[0.098368,0.095848,0.990524]] 2025-10-24T19:44:57.334Z,1761335097.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:57.718Z,1761335097.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509452,0.850218,-0.132620],[-0.855094,0.517451,0.032554],[0.096302,0.096818,0.990632]] 2025-10-24T19:44:57.741Z,1761335097.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:58.123Z,1761335098.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511119,0.849275,-0.132251],[-0.854334,0.518851,0.030101],[0.094182,0.097601,0.990759]] 2025-10-24T19:44:58.164Z,1761335098.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:58.523Z,1761335098.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513379,0.848006,-0.131632],[-0.853190,0.520852,0.027930],[0.092246,0.097968,0.990905]] 2025-10-24T19:44:58.557Z,1761335098.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:58.937Z,1761335098.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515386,0.846932,-0.130705],[-0.852202,0.522576,0.025801],[0.090155,0.098090,0.991085]] 2025-10-24T19:44:58.987Z,1761335098.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:59.340Z,1761335099.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517184,0.846027,-0.129458],[-0.851329,0.524086,0.023924],[0.088088,0.097838,0.991296]] 2025-10-24T19:44:59.359Z,1761335099.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:44:59.736Z,1761335099.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518958,0.845066,-0.128630],[-0.850458,0.525591,0.021825],[0.086050,0.098068,0.991452]] 2025-10-24T19:44:59.829Z,1761335099.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:00.140Z,1761335100.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520504,0.844290,-0.127474],[-0.849696,0.526886,0.020199],[0.084218,0.097801,0.991636]] 2025-10-24T19:45:00.188Z,1761335100.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:00.546Z,1761335100.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521485,0.843873,-0.126225],[-0.849272,0.527623,0.018729],[0.082405,0.097432,0.991825]] 2025-10-24T19:45:00.569Z,1761335100.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:00.953Z,1761335100.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522238,0.843542,-0.125319],[-0.848958,0.528174,0.017378],[0.080850,0.097315,0.991964]] 2025-10-24T19:45:00.992Z,1761335100.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:01.353Z,1761335101.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522540,0.843648,-0.123328],[-0.848900,0.528280,0.017009],[0.079501,0.095805,0.992220]] 2025-10-24T19:45:01.384Z,1761335101.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:01.797Z,1761335101.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:02.162Z,1761335102.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521456,0.844562,-0.121650],[-0.849671,0.527043,0.016889],[0.078379,0.094556,0.992429]] 2025-10-24T19:45:02.200Z,1761335102.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:02.563Z,1761335102.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519937,0.845696,-0.120261],[-0.850626,0.525476,0.017637],[0.078110,0.093127,0.992586]] 2025-10-24T19:45:02.601Z,1761335102.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:02.969Z,1761335102.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518824,0.846399,-0.120128],[-0.851328,0.524340,0.017581],[0.077869,0.093147,0.992603]] 2025-10-24T19:45:03.022Z,1761335103.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:03.371Z,1761335103.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517012,0.847468,-0.120401],[-0.852424,0.522552,0.017713],[0.077927,0.093475,0.992567]] 2025-10-24T19:45:03.397Z,1761335103.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:03.777Z,1761335103.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515227,0.848538,-0.120517],[-0.853485,0.520802,0.018111],[0.078133,0.093528,0.992546]] 2025-10-24T19:45:03.795Z,1761335103.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:04.225Z,1761335104.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:04.583Z,1761335104.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511258,0.850972,-0.120260],[-0.855831,0.516897,0.019249],[0.078542,0.093081,0.992556]] 2025-10-24T19:45:04.610Z,1761335104.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:04.987Z,1761335104.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509440,0.852133,-0.119749],[-0.856913,0.515081,0.019807],[0.078558,0.092524,0.992607]] 2025-10-24T19:45:05.044Z,1761335105.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:05.410Z,1761335105.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507818,0.853160,-0.119327],[-0.857877,0.513456,0.020240],[0.078537,0.092090,0.992649]] 2025-10-24T19:45:05.429Z,1761335105.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:05.797Z,1761335105.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506381,0.854033,-0.119188],[-0.858770,0.511973,0.019939],[0.078050,0.092259,0.992671]] 2025-10-24T19:45:05.823Z,1761335105.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:06.275Z,1761335106.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:06.654Z,1761335106.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504466,0.855077,-0.119825],[-0.859985,0.509978,0.018673],[0.077075,0.093628,0.992619]] 2025-10-24T19:45:06.688Z,1761335106.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:07.168Z,1761335107.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:07.593Z,1761335107.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505981,0.854467,-0.117763],[-0.859802,0.510528,0.010071],[0.068727,0.096157,0.992991]] 2025-10-24T19:45:07.643Z,1761335107.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:08.006Z,1761335108.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507845,0.853642,-0.115708],[-0.859451,0.511218,-0.000614],[0.058628,0.099757,0.993283]] 2025-10-24T19:45:08.067Z,1761335108.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:08.491Z,1761335108.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510249,0.852714,-0.111916],[-0.858952,0.511781,-0.016772],[0.042974,0.104688,0.993576]] 2025-10-24T19:45:08.533Z,1761335108.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:09.005Z,1761335109.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512634,0.851907,-0.107053],[-0.858288,0.511843,-0.036855],[0.023398,0.110775,0.993570]] 2025-10-24T19:45:09.071Z,1761335109.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:09.374Z,1761335109.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515290,0.851372,-0.098193],[-0.857015,0.512025,-0.057919],[0.000967,0.113998,0.993481]] 2025-10-24T19:45:09.425Z,1761335109.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:09.769Z,1761335109.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518358,0.850688,-0.087377],[-0.854848,0.512679,-0.079975],[-0.023237,0.116150,0.992960]] 2025-10-24T19:45:09.802Z,1761335109.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:10.171Z,1761335110.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520969,0.850289,-0.074829],[-0.852211,0.513180,-0.101896],[-0.048240,0.116855,0.991977]] 2025-10-24T19:45:10.229Z,1761335110.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:10.577Z,1761335110.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523113,0.849948,-0.062778],[-0.849112,0.513436,-0.124062],[-0.073214,0.118204,0.990287]] 2025-10-24T19:45:10.599Z,1761335110.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:11.082Z,1761335111.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:11.633Z,1761335111.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526663,0.849536,-0.030248],[-0.837681,0.512602,-0.188495],[-0.144628,0.124612,0.981608]] 2025-10-24T19:45:11.653Z,1761335111.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:12.096Z,1761335112.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526403,0.850078,-0.016326],[-0.833667,0.512278,-0.206327],[-0.167031,0.122222,0.978347]] 2025-10-24T19:45:12.182Z,1761335112.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:12.672Z,1761335112.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:13.094Z,1761335113.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523205,0.852083,0.014540],[-0.824158,0.510252,-0.245778],[-0.216843,0.116609,0.969217]] 2025-10-24T19:45:13.155Z,1761335113.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:13.577Z,1761335113.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520938,0.853269,0.023572],[-0.823266,0.509533,-0.250218],[-0.225514,0.110942,0.967902]] 2025-10-24T19:45:13.611Z,1761335113.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:13.987Z,1761335113.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518468,0.854523,0.031333],[-0.823346,0.508773,-0.251499],[-0.230853,0.104596,0.967350]] 2025-10-24T19:45:14.091Z,1761335114.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:14.520Z,1761335114.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:15.027Z,1761335115.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:15.378Z,1761335115.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511623,0.858560,0.033400],[-0.830330,0.504047,-0.237672],[-0.220892,0.093865,0.970771]] 2025-10-24T19:45:15.433Z,1761335115.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:15.780Z,1761335115.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510418,0.859469,0.028045],[-0.833271,0.502390,-0.230788],[-0.212445,0.094430,0.972600]] 2025-10-24T19:45:15.802Z,1761335115.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:16.184Z,1761335116.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509582,0.860107,0.023272],[-0.836192,0.501424,-0.222165],[-0.202755,0.093751,0.974731]] 2025-10-24T19:45:16.233Z,1761335116.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:16.610Z,1761335116.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509090,0.860515,0.018467],[-0.839053,0.500948,-0.212230],[-0.191878,0.092549,0.977045]] 2025-10-24T19:45:16.637Z,1761335116.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:17.112Z,1761335117.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:17.417Z,1761335117.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508045,0.861299,0.007386],[-0.844856,0.499978,-0.190369],[-0.167658,0.090476,0.981685]] 2025-10-24T19:45:17.476Z,1761335117.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:17.824Z,1761335117.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508254,0.861206,0.001154],[-0.847228,0.500245,-0.178774],[-0.154539,0.089885,0.983890]] 2025-10-24T19:45:17.845Z,1761335117.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:18.211Z,1761335118.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508295,0.861165,-0.005617],[-0.849535,0.500340,-0.167182],[-0.141161,0.089750,0.985910]] 2025-10-24T19:45:18.261Z,1761335118.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:18.668Z,1761335118.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:19.022Z,1761335119.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509049,0.860495,-0.020429],[-0.853118,0.501249,-0.144700],[-0.114274,0.091087,0.989265]] 2025-10-24T19:45:19.041Z,1761335119.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:19.424Z,1761335119.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509582,0.859984,-0.027476],[-0.854511,0.502086,-0.133123],[-0.100688,0.091315,0.990719]] 2025-10-24T19:45:19.474Z,1761335119.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:19.830Z,1761335119.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510467,0.859281,-0.032548],[-0.855410,0.503577,-0.121177],[-0.087734,0.089699,0.992097]] 2025-10-24T19:45:19.850Z,1761335119.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:20.235Z,1761335120.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511300,0.858545,-0.038386],[-0.856137,0.504960,-0.109745],[-0.074837,0.088976,0.993218]] 2025-10-24T19:45:20.278Z,1761335120.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:20.683Z,1761335120.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512172,0.857722,-0.044652],[-0.856609,0.506344,-0.099180],[-0.062459,0.089047,0.994067]] 2025-10-24T19:45:20.719Z,1761335120.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:21.084Z,1761335121.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512999,0.856881,-0.050858],[-0.856932,0.507778,-0.088480],[-0.049992,0.088972,0.994779]] 2025-10-24T19:45:21.151Z,1761335121.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:21.589Z,1761335121.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513478,0.856216,-0.056870],[-0.857267,0.508924,-0.078037],[-0.037874,0.088823,0.995327]] 2025-10-24T19:45:21.672Z,1761335121.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:21.991Z,1761335121.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514295,0.855341,-0.062390],[-0.857208,0.510454,-0.068048],[-0.026357,0.088478,0.995729]] 2025-10-24T19:45:22.010Z,1761335122.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:22.431Z,1761335122.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514881,0.854536,-0.068314],[-0.857119,0.511703,-0.059227],[-0.015655,0.089048,0.995904]] 2025-10-24T19:45:22.483Z,1761335122.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:22.830Z,1761335122.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515825,0.853454,-0.074436],[-0.856674,0.513272,-0.051584],[-0.005819,0.090376,0.995891]] 2025-10-24T19:45:22.871Z,1761335122.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:23.237Z,1761335123.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516510,0.852494,-0.080444],[-0.856274,0.514593,-0.044587],[0.003385,0.091912,0.995761]] 2025-10-24T19:45:23.300Z,1761335123.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:23.425Z,1761335123.425 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:45:23.653Z,1761335123.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516808,0.851186,-0.091604],[-0.855852,0.516273,-0.031299],[0.020651,0.094575,0.995304]] 2025-10-24T19:45:23.671Z,1761335123.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:24.085Z,1761335124.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:24.429Z,1761335124.429 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:45:24.451Z,1761335124.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517217,0.849930,-0.100526],[-0.855094,0.518130,-0.018855],[0.036060,0.095711,0.994756]] 2025-10-24T19:45:24.506Z,1761335124.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:24.931Z,1761335124.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517261,0.849478,-0.104060],[-0.854729,0.518924,-0.012526],[0.043358,0.095423,0.994492]] 2025-10-24T19:45:24.953Z,1761335124.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:25.329Z,1761335125.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517424,0.849030,-0.106863],[-0.854282,0.519764,-0.006836],[0.049740,0.094828,0.994250]] 2025-10-24T19:45:25.369Z,1761335125.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:25.774Z,1761335125.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517242,0.848766,-0.109805],[-0.854012,0.520251,-0.001456],[0.055890,0.094529,0.993952]] 2025-10-24T19:45:25.822Z,1761335125.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:26.245Z,1761335126.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517019,0.848583,-0.112239],[-0.853802,0.520590,0.002958],[0.060941,0.094300,0.993677]] 2025-10-24T19:45:26.346Z,1761335126.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:26.761Z,1761335126.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516617,0.848464,-0.114954],[-0.853749,0.520650,0.006018],[0.064957,0.095033,0.993353]] 2025-10-24T19:45:26.800Z,1761335126.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:27.169Z,1761335127.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516383,0.848338,-0.116924],[-0.853662,0.520762,0.008257],[0.067894,0.095550,0.993106]] 2025-10-24T19:45:27.204Z,1761335127.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:27.572Z,1761335127.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515814,0.848556,-0.117848],[-0.853786,0.520509,0.010913],[0.070601,0.094988,0.992972]] 2025-10-24T19:45:27.641Z,1761335127.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:27.991Z,1761335127.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515325,0.848598,-0.119675],[-0.853765,0.520465,0.014200],[0.074337,0.094857,0.992712]] 2025-10-24T19:45:28.013Z,1761335128.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:28.419Z,1761335128.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514879,0.848655,-0.121174],[-0.853905,0.520211,0.015033],[0.075794,0.095731,0.992517]] 2025-10-24T19:45:28.483Z,1761335128.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:28.886Z,1761335128.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514098,0.849047,-0.121743],[-0.854272,0.519576,0.016138],[0.076957,0.095705,0.992430]] 2025-10-24T19:45:28.931Z,1761335128.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:29.314Z,1761335129.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513553,0.849365,-0.121832],[-0.854538,0.519113,0.016955],[0.077645,0.095403,0.992406]] 2025-10-24T19:45:29.365Z,1761335129.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:29.715Z,1761335129.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512475,0.849969,-0.122159],[-0.855129,0.518117,0.017608],[0.078259,0.095438,0.992354]] 2025-10-24T19:45:29.734Z,1761335129.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:30.121Z,1761335130.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511759,0.850309,-0.122794],[-0.855556,0.517420,0.017330],[0.078271,0.096188,0.992281]] 2025-10-24T19:45:30.139Z,1761335130.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:30.524Z,1761335130.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510649,0.851001,-0.122614],[-0.856249,0.516276,0.017199],[0.077939,0.096206,0.992305]] 2025-10-24T19:45:30.570Z,1761335130.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:30.934Z,1761335130.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509440,0.851915,-0.121296],[-0.857051,0.514947,0.017106],[0.077034,0.095242,0.992469]] 2025-10-24T19:45:30.968Z,1761335130.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:31.357Z,1761335131.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508501,0.852738,-0.119434],[-0.857790,0.513752,0.015977],[0.074984,0.094324,0.992714]] 2025-10-24T19:45:31.402Z,1761335131.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:31.736Z,1761335131.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506905,0.853891,-0.117971],[-0.858948,0.511867,0.014187],[0.072500,0.094139,0.992916]] 2025-10-24T19:45:31.766Z,1761335131.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:32.140Z,1761335132.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505901,0.854605,-0.117106],[-0.859775,0.510543,0.011544],[0.069653,0.094844,0.993052]] 2025-10-24T19:45:32.180Z,1761335132.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:32.562Z,1761335132.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504549,0.855524,-0.116232],[-0.860764,0.508917,0.009408],[0.067201,0.095301,0.993178]] 2025-10-24T19:45:32.670Z,1761335132.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:32.953Z,1761335132.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503883,0.856045,-0.115281],[-0.861347,0.507967,0.007153],[0.064682,0.095693,0.993307]] 2025-10-24T19:45:32.974Z,1761335132.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:33.369Z,1761335133.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503313,0.856508,-0.114321],[-0.861866,0.507112,0.004876],[0.062149,0.096075,0.993432]] 2025-10-24T19:45:33.408Z,1761335133.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:33.756Z,1761335133.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502911,0.856704,-0.114628],[-0.862251,0.506476,0.002309],[0.060035,0.097677,0.993406]] 2025-10-24T19:45:33.776Z,1761335133.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:34.167Z,1761335134.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503337,0.856445,-0.114692],[-0.862125,0.506695,0.000151],[0.058243,0.098803,0.993401]] 2025-10-24T19:45:34.185Z,1761335134.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:34.564Z,1761335134.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503836,0.856107,-0.115026],[-0.861887,0.507100,-0.001025],[0.057452,0.099656,0.993362]] 2025-10-24T19:45:34.609Z,1761335134.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:34.969Z,1761335134.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504402,0.855622,-0.116144],[-0.861558,0.507656,-0.001808],[0.057414,0.100976,0.993231]] 2025-10-24T19:45:35.005Z,1761335135.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:35.398Z,1761335135.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504545,0.855513,-0.116322],[-0.861447,0.507845,-0.001463],[0.057822,0.100944,0.993210]] 2025-10-24T19:45:35.451Z,1761335135.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:35.778Z,1761335135.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505025,0.855357,-0.115383],[-0.861141,0.508366,-0.000545],[0.058191,0.099636,0.993321]] 2025-10-24T19:45:35.798Z,1761335135.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:36.201Z,1761335136.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505413,0.854964,-0.116593],[-0.860899,0.508775,-0.001074],[0.058401,0.100918,0.993179]] 2025-10-24T19:45:36.219Z,1761335136.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:36.583Z,1761335136.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505803,0.854590,-0.117640],[-0.860660,0.509178,-0.001582],[0.058548,0.102048,0.993055]] 2025-10-24T19:45:36.631Z,1761335136.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:37.015Z,1761335137.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506013,0.854286,-0.118937],[-0.860534,0.509388,-0.002343],[0.058583,0.103535,0.992899]] 2025-10-24T19:45:37.053Z,1761335137.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:37.433Z,1761335137.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506621,0.853691,-0.120614],[-0.860200,0.509942,-0.003833],[0.058234,0.105694,0.992692]] 2025-10-24T19:45:37.516Z,1761335137.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:37.906Z,1761335137.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506362,0.853724,-0.121458],[-0.860465,0.509472,-0.006242],[0.056550,0.107671,0.992577]] 2025-10-24T19:45:37.943Z,1761335137.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:38.299Z,1761335138.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506459,0.853734,-0.120990],[-0.860483,0.509426,-0.007313],[0.055393,0.107814,0.992627]] 2025-10-24T19:45:38.319Z,1761335138.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:38.709Z,1761335138.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506841,0.853753,-0.119239],[-0.860374,0.509593,-0.008443],[0.053555,0.106869,0.992830]] 2025-10-24T19:45:38.770Z,1761335138.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:39.106Z,1761335139.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507157,0.853719,-0.118136],[-0.860282,0.509729,-0.009593],[0.052028,0.106495,0.992951]] 2025-10-24T19:45:39.158Z,1761335139.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:39.164Z,1761335139.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:39.170Z,1761335139.170 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:45:39.170Z,1761335139.170 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:45:39.423Z,1761335139.423 [DAT](INFO): DAT read: 2025-10-24T19:45:39.427Z,1761335139.427 [DAT](INFO): DAT read: Tx time:19:45:38.6803 2025-10-24T19:45:39.429Z,1761335139.429 [DAT](INFO): Ping request sent. 2025-10-24T19:45:39.429Z,1761335139.429 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:45:39.432Z,1761335139.432 [DAT](INFO): DAT read: TxSync time:19:45:38.6795 2025-10-24T19:45:39.433Z,1761335139.433 [DAT](INFO): publishing transmit ping time 2025-10-24T19:45:39.435Z,1761335139.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.005842 2025-10-24T19:45:39.564Z,1761335139.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:39.673Z,1761335139.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243789 2025-10-24T19:45:39.926Z,1761335139.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496536 2025-10-24T19:45:39.930Z,1761335139.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506409,0.856289,-0.101579],[-0.860876,0.508808,-0.002643],[0.049421,0.088786,0.994824]] 2025-10-24T19:45:39.950Z,1761335139.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:40.178Z,1761335140.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748197 2025-10-24T19:45:40.319Z,1761335140.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505937,0.857033,-0.097585],[-0.861225,0.508221,-0.001672],[0.048162,0.084888,0.995226]] 2025-10-24T19:45:40.355Z,1761335140.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:40.504Z,1761335140.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.075312 2025-10-24T19:45:40.681Z,1761335140.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252156 2025-10-24T19:45:40.837Z,1761335140.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.505409,0.857189,-0.098935],[-0.861601,0.507573,-0.003788],[0.046970,0.087157,0.995087]] 2025-10-24T19:45:40.842Z,1761335140.842 [Sonardyne_Nano](ERROR): Failed to get valid response or reached max queue size, flushing UART 2025-10-24T19:45:40.898Z,1761335140.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:40.933Z,1761335140.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503791 2025-10-24T19:45:41.084Z,1761335141.084 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:45:41.185Z,1761335141.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755812 2025-10-24T19:45:41.239Z,1761335141.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506489,0.856302,-0.101078],[-0.861066,0.508441,-0.007328],[0.045117,0.090746,0.994852]] 2025-10-24T19:45:41.259Z,1761335141.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:41.439Z,1761335141.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010083 2025-10-24T19:45:41.632Z,1761335141.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507872,0.855259,-0.102951],[-0.860361,0.509565,-0.011104],[0.042963,0.094214,0.994624]] 2025-10-24T19:45:41.689Z,1761335141.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259978 2025-10-24T19:45:41.693Z,1761335141.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:41.942Z,1761335141.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512813 2025-10-24T19:45:42.036Z,1761335142.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509597,0.854050,-0.104450],[-0.859452,0.511000,-0.014885],[0.040662,0.097355,0.994419]] 2025-10-24T19:45:42.057Z,1761335142.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:42.193Z,1761335142.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763910 2025-10-24T19:45:42.448Z,1761335142.448 [DAT](INFO): DAT read: Rx Time:19:45:41.3287 2025-10-24T19:45:42.450Z,1761335142.450 [DAT](INFO): Rx dataTimestamp_ set to:1761335142.449177 2025-10-24T19:45:42.453Z,1761335142.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023411 2025-10-24T19:45:42.494Z,1761335142.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510576,0.853368,-0.105237],[-0.858971,0.511707,-0.018011],[0.038481,0.099591,0.994284]] 2025-10-24T19:45:42.555Z,1761335142.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:42.697Z,1761335142.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268370 2025-10-24T19:45:42.950Z,1761335142.950 [DAT](INFO): DAT read: Range 10 to 50 : 183.0 m (Round-trip 244.1 ms) speed -0.3 m/s 2025-10-24T19:45:42.951Z,1761335142.951 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:45:42.997Z,1761335142.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511087,0.853081,-0.105084],[-0.858824,0.511786,-0.022258],[0.034792,0.101625,0.994214]] 2025-10-24T19:45:43.034Z,1761335143.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.000000 m, deltaT: 60.280207 s, deltaX: 106.500000 m, approachRate: 1.766749 m/s, rangeRepo size: 4 2025-10-24T19:45:43.034Z,1761335143.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-24T19:45:43.035Z,1761335143.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 183.00 m. Resuming terminal guidance. 2025-10-24T19:45:43.035Z,1761335143.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-24T19:45:43.393Z,1761335143.393 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-24T19:45:43.393Z,1761335143.393 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:45:43.393Z,1761335143.393 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-24T19:45:43.394Z,1761335143.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 183.000000 m (mode 1.000000 count ). 2025-10-24T19:45:43.394Z,1761335143.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-24T19:45:43.394Z,1761335143.394 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-24T19:45:43.776Z,1761335143.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511345,0.853113,-0.103562],[-0.858822,0.511616,-0.025956],[0.030840,0.102214,0.994284]] 2025-10-24T19:45:43.829Z,1761335143.829 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-24T19:45:43.829Z,1761335143.829 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-24T19:45:43.831Z,1761335143.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:43.957Z,1761335143.957 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:45:43.957Z,1761335143.957 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:45:43.957Z,1761335143.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:45:44.175Z,1761335144.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512084,0.852681,-0.103463],[-0.858486,0.511985,-0.029548],[0.027776,0.103953,0.994194]] 2025-10-24T19:45:44.191Z,1761335144.191 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-24T19:45:44.191Z,1761335144.191 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-24T19:45:44.209Z,1761335144.209 [DAT](INFO): DAT read: user:124> 2025-10-24T19:45:44.210Z,1761335144.210 [DAT](INFO): DAT read: Tx time:19:45:43.4804 2025-10-24T19:45:44.210Z,1761335144.210 [DAT](INFO): Ping request sent. 2025-10-24T19:45:44.210Z,1761335144.210 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:45:44.211Z,1761335144.211 [DAT](INFO): publishing transmit ping time 2025-10-24T19:45:44.211Z,1761335144.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-24T19:45:44.479Z,1761335144.479 [DAT](INFO): DAT read: TxSync time:19:45:43.4796 2025-10-24T19:45:44.482Z,1761335144.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.271221 2025-10-24T19:45:44.575Z,1761335144.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510341,0.853569,-0.104748],[-0.859568,0.510038,-0.031703],[0.026364,0.106217,0.993993]] 2025-10-24T19:45:44.628Z,1761335144.628 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-24T19:45:44.629Z,1761335144.629 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:45:44.629Z,1761335144.629 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-24T19:45:44.629Z,1761335144.629 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:45:44.714Z,1761335144.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503190 2025-10-24T19:45:44.965Z,1761335144.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754549 2025-10-24T19:45:44.978Z,1761335144.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510699,0.853632,-0.102469],[-0.859438,0.510127,-0.033701],[0.023504,0.105277,0.994165]] 2025-10-24T19:45:45.218Z,1761335145.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007659 2025-10-24T19:45:45.379Z,1761335145.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514083,0.851233,-0.105453],[-0.857507,0.512910,-0.040055],[0.019992,0.111019,0.993617]] 2025-10-24T19:45:45.472Z,1761335145.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261188 2025-10-24T19:45:45.721Z,1761335145.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510587 2025-10-24T19:45:45.790Z,1761335145.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520762,0.846125,-0.113485],[-0.853539,0.518634,-0.049889],[0.016645,0.122844,0.992286]] 2025-10-24T19:45:45.865Z,1761335145.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:45.974Z,1761335145.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763518 2025-10-24T19:45:46.194Z,1761335146.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530891,0.838046,-0.125828],[-0.847331,0.527321,-0.062950],[0.013597,0.140037,0.990053]] 2025-10-24T19:45:46.225Z,1761335146.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014348 2025-10-24T19:45:46.479Z,1761335146.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268370 2025-10-24T19:45:46.729Z,1761335146.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518455 2025-10-24T19:45:46.981Z,1761335146.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770808 2025-10-24T19:45:46.998Z,1761335146.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560767,0.812203,-0.160831],[-0.827908,0.552477,-0.096627],[0.010375,0.187338,0.982241]] 2025-10-24T19:45:47.233Z,1761335147.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022348 2025-10-24T19:45:47.401Z,1761335147.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577448,0.796828,-0.177815],[-0.816366,0.566214,-0.113789],[0.010011,0.210869,0.977463]] 2025-10-24T19:45:47.485Z,1761335147.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274529 2025-10-24T19:45:47.737Z,1761335147.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526337 2025-10-24T19:45:47.803Z,1761335147.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595335,0.779965,-0.192952],[-0.803410,0.580966,-0.130423],[0.010373,0.232665,0.972502]] 2025-10-24T19:45:47.989Z,1761335147.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778324 2025-10-24T19:45:48.211Z,1761335148.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.614165,0.761649,-0.206621],[-0.789091,0.596562,-0.146458],[0.011713,0.252992,0.967397]] 2025-10-24T19:45:48.228Z,1761335148.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:48.242Z,1761335148.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031120 2025-10-24T19:45:48.493Z,1761335148.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282247 2025-10-24T19:45:48.611Z,1761335148.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634300,0.741278,-0.219479],[-0.772960,0.613244,-0.162677],[0.014006,0.272835,0.961959]] 2025-10-24T19:45:48.745Z,1761335148.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534418 2025-10-24T19:45:48.998Z,1761335148.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787161 2025-10-24T19:45:49.015Z,1761335149.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654999,0.719916,-0.229556],[-0.755447,0.630571,-0.177991],[0.016612,0.290002,0.956882]] 2025-10-24T19:45:49.252Z,1761335149.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041278 2025-10-24T19:45:49.419Z,1761335149.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675870,0.698055,-0.236470],[-0.736764,0.648383,-0.191776],[0.019453,0.303838,0.952525]] 2025-10-24T19:45:49.501Z,1761335149.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290940 2025-10-24T19:45:49.753Z,1761335149.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542349 2025-10-24T19:45:49.825Z,1761335149.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695828,0.677470,-0.238449],[-0.717864,0.666332,-0.201678],[0.022255,0.311507,0.949983]] 2025-10-24T19:45:50.005Z,1761335150.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794598 2025-10-24T19:45:50.227Z,1761335150.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715033,0.657409,-0.237782],[-0.698639,0.684188,-0.209261],[0.025117,0.315752,0.948509]] 2025-10-24T19:45:50.253Z,1761335150.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:50.257Z,1761335150.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046461 2025-10-24T19:45:50.513Z,1761335150.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301014 2025-10-24T19:45:50.631Z,1761335150.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733225,0.638160,-0.234806],[-0.679418,0.701664,-0.214614],[0.027797,0.316892,0.948054]] 2025-10-24T19:45:50.761Z,1761335150.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550427 2025-10-24T19:45:51.013Z,1761335151.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802359 2025-10-24T19:45:51.043Z,1761335151.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750870,0.618811,-0.230799],[-0.659760,0.718769,-0.219290],[0.030193,0.316930,0.947968]] 2025-10-24T19:45:51.272Z,1761335151.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060489 2025-10-24T19:45:51.443Z,1761335151.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767822,0.599326,-0.226402],[-0.639840,0.735265,-0.223585],[0.032465,0.316534,0.948025]] 2025-10-24T19:45:51.517Z,1761335151.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306447 2025-10-24T19:45:51.769Z,1761335151.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558396 2025-10-24T19:45:51.891Z,1761335151.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784200,0.579954,-0.220642],[-0.619561,0.751463,-0.226819],[0.034260,0.314573,0.948615]] 2025-10-24T19:45:52.021Z,1761335152.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810856 2025-10-24T19:45:52.274Z,1761335152.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063120 2025-10-24T19:45:52.304Z,1761335152.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799954,0.560299,-0.214800],[-0.598971,0.767162,-0.229556],[0.036166,0.312293,0.949297]] 2025-10-24T19:45:52.332Z,1761335152.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:52.525Z,1761335152.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314947 2025-10-24T19:45:52.718Z,1761335152.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815247,0.540128,-0.208888],[-0.577908,0.782046,-0.233296],[0.037351,0.310912,0.949704]] 2025-10-24T19:45:52.778Z,1761335152.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566811 2025-10-24T19:45:53.031Z,1761335153.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819845 2025-10-24T19:45:53.281Z,1761335153.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070701 2025-10-24T19:45:53.533Z,1761335153.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322344 2025-10-24T19:45:53.542Z,1761335153.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845137,0.497029,-0.196736],[-0.533212,0.809867,-0.244540],[0.037786,0.311572,0.949471]] 2025-10-24T19:45:53.785Z,1761335153.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574456 2025-10-24T19:45:54.037Z,1761335154.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826428 2025-10-24T19:45:54.288Z,1761335154.288 [DAT](INFO): Reached modem response timeout 2025-10-24T19:45:54.289Z,1761335154.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:45:54.289Z,1761335154.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:45:54.541Z,1761335154.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:45:54.550Z,1761335154.550 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:45:54.658Z,1761335154.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885706,0.430818,-0.172978],[-0.462975,0.847239,-0.260462],[0.034342,0.310777,0.949862]] 2025-10-24T19:45:54.704Z,1761335154.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:54.798Z,1761335154.798 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:45:55.050Z,1761335155.050 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:45:55.050Z,1761335155.050 [DAT](INFO): response not received 2025-10-24T19:45:55.050Z,1761335155.050 [DAT](INFO): DAT read: user:125> 2025-10-24T19:45:55.051Z,1761335155.051 [DAT](INFO): DAT read: Tx time:19:45:54.4305 2025-10-24T19:45:55.051Z,1761335155.051 [DAT](INFO): Ping request sent. 2025-10-24T19:45:55.051Z,1761335155.051 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:45:55.051Z,1761335155.051 [DAT](INFO): publishing transmit ping time 2025-10-24T19:45:55.052Z,1761335155.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000869 2025-10-24T19:45:55.123Z,1761335155.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897937,0.408771,-0.163142],[-0.438947,0.858829,-0.264080],[0.032163,0.308738,0.950603]] 2025-10-24T19:45:55.302Z,1761335155.302 [DAT](INFO): DAT read: TxSync time:19:45:54.4297 2025-10-24T19:45:55.303Z,1761335155.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251451 2025-10-24T19:45:55.553Z,1761335155.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501361 2025-10-24T19:45:55.554Z,1761335155.554 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:45:55.611Z,1761335155.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909901,0.386376,-0.150975],[-0.413886,0.870060,-0.267757],[0.027903,0.306119,0.951584]] 2025-10-24T19:45:55.805Z,1761335155.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753372 2025-10-24T19:45:56.061Z,1761335156.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008976 2025-10-24T19:45:56.132Z,1761335156.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931577,0.344155,-0.117136],[-0.363355,0.891823,-0.269491],[0.011718,0.293614,0.955852]] 2025-10-24T19:45:56.309Z,1761335156.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257335 2025-10-24T19:45:56.566Z,1761335156.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514449 2025-10-24T19:45:56.739Z,1761335156.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942049,0.321783,-0.094867],[-0.335468,0.901651,-0.272921],[-0.002284,0.288930,0.957348]] 2025-10-24T19:45:56.803Z,1761335156.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:56.814Z,1761335156.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762354 2025-10-24T19:45:57.065Z,1761335157.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013915 2025-10-24T19:45:57.231Z,1761335157.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960204,0.275547,-0.045639],[-0.276967,0.918298,-0.282875],[-0.036035,0.284258,0.958070]] 2025-10-24T19:45:57.318Z,1761335157.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266555 2025-10-24T19:45:57.569Z,1761335157.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517457 2025-10-24T19:45:57.635Z,1761335157.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967447,0.252262,-0.020237],[-0.247171,0.924691,-0.289575],[-0.054336,0.285151,0.956941]] 2025-10-24T19:45:57.826Z,1761335157.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774250 2025-10-24T19:45:58.039Z,1761335158.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973414,0.229005,0.004586],[-0.217367,0.929888,-0.296748],[-0.072221,0.287862,0.954945]] 2025-10-24T19:45:58.075Z,1761335158.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023012 2025-10-24T19:45:58.326Z,1761335158.326 [DAT](INFO): DAT read: Rx Time:19:45:57.0067 2025-10-24T19:45:58.326Z,1761335158.326 [DAT](INFO): Rx dataTimestamp_ set to:1761335158.326120 2025-10-24T19:45:58.327Z,1761335158.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275607 2025-10-24T19:45:58.577Z,1761335158.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525466 2025-10-24T19:45:58.838Z,1761335158.838 [DAT](INFO): DAT read: 19:45:57.0067 LVL= 14064, 15201, 13170, 15955, AGC= 59, IDX= 174,-0.44, 2.934,-2.825, 1.267, 2.306, PHS= 0.716, 1.199,-1.042, RAW= 18.2, -8.6, CAL= 18.1, -13.4, ROT= 131.9, 13.4 2025-10-24T19:45:58.839Z,1761335158.839 [DAT](INFO): got valid direction response: 19:45:57.0067 LVL= 14064, 15201, 13170, 15955, AGC= 59, IDX= 174,-0.44, 2.934,-2.825, 1.267, 2.306, PHS= 0.716, 1.199,-1.042, RAW= 18.2, -8.6, CAL= 18.1, -13.4, ROT= 131.9, 13.4 2025-10-24T19:45:58.840Z,1761335158.840 [DAT](INFO): DAT read: Bearing 131.9, 13.4 (Local) 2025-10-24T19:45:58.840Z,1761335158.840 [DAT](INFO): Local bearing/azimuth received: Bearing 131.9, 13.4 (Local) 2025-10-24T19:45:58.842Z,1761335158.842 [DAT](INFO): DAT read: Range 10 to 50 : 129.0 m (Round-trip 172.0 ms) speed -0.4 m/s 2025-10-24T19:45:58.842Z,1761335158.842 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:45:58.843Z,1761335158.843 [DAT](INFO): direction in FSK: [-0.649651,0.724048,-0.231748] 2025-10-24T19:45:58.843Z,1761335158.843 [DAT](INFO): publishing direction and range info 2025-10-24T19:45:58.849Z,1761335158.849 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:45:58.849Z,1761335158.849 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:45:58.849Z,1761335158.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:45:59.006Z,1761335159.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981718,0.182940,0.052562],[-0.158267,0.937958,-0.308524],[-0.105742,0.294564,0.949763]] 2025-10-24T19:45:59.085Z,1761335159.085 [DAT](INFO): DAT read: user:126> 2025-10-24T19:45:59.085Z,1761335159.085 [DAT](INFO): DAT read: Tx time:19:45:58.3806 2025-10-24T19:45:59.086Z,1761335159.086 [DAT](INFO): Ping request sent. 2025-10-24T19:45:59.086Z,1761335159.086 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:45:59.086Z,1761335159.086 [DAT](INFO): publishing transmit ping time 2025-10-24T19:45:59.087Z,1761335159.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726 2025-10-24T19:45:59.151Z,1761335159.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-24T19:45:59.174Z,1761335159.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.239487 m, bearing: 121.231108 deg, lat: 36.779549 deg, lon: -121.859613 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-24T19:45:59.174Z,1761335159.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.24 m. 2025-10-24T19:45:59.189Z,1761335159.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 128.239487 m, nav range: 127.267433 m, bearing: 114.598763 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 121.321224 deg, new cmd heading: 114.598763 deg. 2025-10-24T19:45:59.190Z,1761335159.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.000126 target range: 128.239487 and range: 129.00 m. 2025-10-24T19:45:59.337Z,1761335159.337 [DAT](INFO): DAT read: TxSync time:19:45:58.3798 2025-10-24T19:45:59.338Z,1761335159.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252041 2025-10-24T19:45:59.590Z,1761335159.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504343 2025-10-24T19:45:59.649Z,1761335159.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986419,0.137633,0.089638],[-0.103312,0.944176,-0.312824],[-0.127689,0.299315,0.945572]] 2025-10-24T19:45:59.718Z,1761335159.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:45:59.734Z,1761335159.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.24 m. 2025-10-24T19:45:59.749Z,1761335159.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 128.239487 m, nav range: 127.455795 m, bearing: 114.712631 deg, approach rate: 0.325845 m/s, LOS rate: 0.196687 deg/s, cmd heading: 114.598758 deg, new cmd heading: 114.712631 deg. 2025-10-24T19:45:59.750Z,1761335159.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.002113 target range: 128.239487 and range: 129.00 m. 2025-10-24T19:45:59.841Z,1761335159.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754869 2025-10-24T19:46:00.093Z,1761335160.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007014 2025-10-24T19:46:00.159Z,1761335160.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988187,0.112883,0.103648],[-0.075015,0.946066,-0.315169],[-0.133635,0.303671,0.943359]] 2025-10-24T19:46:00.212Z,1761335160.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.24 m. 2025-10-24T19:46:00.215Z,1761335160.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 128.239487 m, nav range: 127.642509 m, bearing: 114.816130 deg, approach rate: 0.386233 m/s, LOS rate: 0.213783 deg/s, cmd heading: 114.712631 deg, new cmd heading: 114.816130 deg. 2025-10-24T19:46:00.216Z,1761335160.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.003920 target range: 128.239487 and range: 129.00 m. 2025-10-24T19:46:00.348Z,1761335160.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261659 2025-10-24T19:46:00.598Z,1761335160.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511631 2025-10-24T19:46:00.610Z,1761335160.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.24 m. 2025-10-24T19:46:00.613Z,1761335160.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 128.239487 m, nav range: 127.782997 m, bearing: 114.893653 deg, approach rate: 0.352636 m/s, LOS rate: 0.194375 deg/s, cmd heading: 114.816136 deg, new cmd heading: 114.893653 deg. 2025-10-24T19:46:00.614Z,1761335160.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.005273 target range: 128.239487 and range: 129.00 m. 2025-10-24T19:46:00.849Z,1761335160.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762927 2025-10-24T19:46:01.101Z,1761335161.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015044 2025-10-24T19:46:01.099Z,1761335161.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.24 m. 2025-10-24T19:46:01.104Z,1761335161.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 128.239487 m, nav range: 127.952118 m, bearing: 114.985054 deg, approach rate: 0.345456 m/s, LOS rate: 0.186454 deg/s, cmd heading: 114.893658 deg, new cmd heading: 114.985054 deg. 2025-10-24T19:46:01.105Z,1761335161.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006868 target range: 128.239487 and range: 129.00 m. 2025-10-24T19:46:01.353Z,1761335161.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266933 2025-10-24T19:46:01.503Z,1761335161.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990868,0.036307,0.129859],[0.007017,0.947878,-0.318556],[-0.134656,0.316558,0.938967]] 2025-10-24T19:46:01.522Z,1761335161.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.24 m. 2025-10-24T19:46:01.525Z,1761335161.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 128.239487 m, nav range: 128.083023 m, bearing: 115.069253 deg, approach rate: 0.309767 m/s, LOS rate: 0.199039 deg/s, cmd heading: 114.985060 deg, new cmd heading: 115.069253 deg. 2025-10-24T19:46:01.526Z,1761335161.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.008337 target range: 128.239487 and range: 129.00 m. 2025-10-24T19:46:01.606Z,1761335161.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520069 2025-10-24T19:46:01.857Z,1761335161.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770883 2025-10-24T19:46:01.908Z,1761335161.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990992,0.011195,0.133455],[0.032133,0.947515,-0.318093],[-0.130012,0.319516,0.938619]] 2025-10-24T19:46:02.017Z,1761335162.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:02.019Z,1761335162.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.24 m. 2025-10-24T19:46:02.033Z,1761335162.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 128.239487 m, nav range: 128.224655 m, bearing: 115.157375 deg, approach rate: 0.285111 m/s, LOS rate: 0.177197 deg/s, cmd heading: 115.069249 deg, new cmd heading: 115.157375 deg. 2025-10-24T19:46:02.034Z,1761335162.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.009875 target range: 128.239487 and range: 129.00 m. 2025-10-24T19:46:02.110Z,1761335162.110 [DAT](INFO): DAT read: Rx Time:19:46:00.9586 2025-10-24T19:46:02.110Z,1761335162.110 [DAT](INFO): Rx dataTimestamp_ set to:1761335162.110128 2025-10-24T19:46:02.111Z,1761335162.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025082 2025-10-24T19:46:02.309Z,1761335162.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990703,-0.013379,0.135387],[0.056259,0.946366,-0.318162],[-0.123869,0.322821,0.938319]] 2025-10-24T19:46:02.334Z,1761335162.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.24 m. 2025-10-24T19:46:02.337Z,1761335162.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 128.239487 m, nav range: 128.327057 m, bearing: 115.224411 deg, approach rate: 0.324477 m/s, LOS rate: 0.212246 deg/s, cmd heading: 115.157372 deg, new cmd heading: 115.224411 deg. 2025-10-24T19:46:02.338Z,1761335162.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.011045 target range: 128.239487 and range: 129.00 m. 2025-10-24T19:46:02.361Z,1761335162.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275030 2025-10-24T19:46:02.619Z,1761335162.619 [DAT](INFO): DAT read: 19:46:00.9586 LVL= 23792, 28561, 24722, 32755, AGC= 60, IDX= 466, 0.16, 1.382, 0.886,-0.815,-0.006, PHS= 1.476, 0.939,-0.811, RAW= 43.0, -15.3, CAL= 50.3, -23.6, ROT= 99.7, 23.6 2025-10-24T19:46:02.620Z,1761335162.620 [DAT](INFO): got valid direction response: 19:46:00.9586 LVL= 23792, 28561, 24722, 32755, AGC= 60, IDX= 466, 0.16, 1.382, 0.886,-0.815,-0.006, PHS= 1.476, 0.939,-0.811, RAW= 43.0, -15.3, CAL= 50.3, -23.6, ROT= 99.7, 23.6 2025-10-24T19:46:02.621Z,1761335162.621 [DAT](INFO): DAT read: Bearing 99.7, 23.6 (Local) 2025-10-24T19:46:02.622Z,1761335162.622 [DAT](INFO): Local bearing/azimuth received: Bearing 99.7, 23.6 (Local) 2025-10-24T19:46:02.624Z,1761335162.624 [DAT](INFO): DAT read: Range 10 to 50 : 130.5 m (Round-trip 174.0 ms) speed -0.4 m/s 2025-10-24T19:46:02.626Z,1761335162.626 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:02.628Z,1761335162.628 [DAT](INFO): direction in FSK: [-0.154397,0.903262,-0.400349] 2025-10-24T19:46:02.628Z,1761335162.628 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:02.635Z,1761335162.635 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:02.635Z,1761335162.635 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:02.635Z,1761335162.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:02.775Z,1761335162.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988737,-0.063527,0.135512],[0.103315,0.944809,-0.310905],[-0.108282,0.321404,0.940731]] 2025-10-24T19:46:02.865Z,1761335162.865 [DAT](INFO): DAT read: user:127> 2025-10-24T19:46:02.866Z,1761335162.866 [DAT](INFO): DAT read: Tx time:19:46:02.1806 2025-10-24T19:46:02.866Z,1761335162.866 [DAT](INFO): Ping request sent. 2025-10-24T19:46:02.866Z,1761335162.866 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:02.866Z,1761335162.866 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:02.867Z,1761335162.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-24T19:46:02.873Z,1761335162.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.500000 m, deltaT: 3.781661 s, deltaX: 1.500000 m, approachRate: 0.396651 m/s, rangeRepo size: 2 2025-10-24T19:46:02.875Z,1761335162.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.730789 m, bearing: 105.363027 deg, lat: 36.779553 deg, lon: -121.859605 deg, deltaT: 3.781661 s, deltaX: 1.491302 m, approachRate: 0.394351 m/s, posRepo size: 2 2025-10-24T19:46:02.881Z,1761335162.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:02.883Z,1761335162.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 128.907913 m, bearing: 115.005718 deg, approach rate: 0.000000 m/s, LOS rate: 0.212246 deg/s, cmd heading: 115.224417 deg, new cmd heading: 115.567137 deg. 2025-10-24T19:46:02.888Z,1761335162.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.017027 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:03.118Z,1761335163.118 [DAT](INFO): DAT read: TxSync time:19:46:02.1798 2025-10-24T19:46:03.119Z,1761335163.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252702 2025-10-24T19:46:03.170Z,1761335163.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986968,-0.089241,0.133907],[0.126696,0.943979,-0.304715],[-0.099213,0.317710,0.942983]] 2025-10-24T19:46:03.202Z,1761335163.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:03.208Z,1761335163.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.000214 m, bearing: 115.074673 deg, approach rate: 0.280652 m/s, LOS rate: 0.209515 deg/s, cmd heading: 115.567142 deg, new cmd heading: 115.773856 deg. 2025-10-24T19:46:03.209Z,1761335163.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.020635 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:03.369Z,1761335163.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502640 2025-10-24T19:46:03.592Z,1761335163.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984869,-0.114176,0.130373],[0.148651,0.943284,-0.296848],[-0.089085,0.311736,0.945983]] 2025-10-24T19:46:03.622Z,1761335163.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755499 2025-10-24T19:46:03.625Z,1761335163.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:03.627Z,1761335163.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.106979 m, bearing: 115.158136 deg, approach rate: 0.252268 m/s, LOS rate: 0.197047 deg/s, cmd heading: 115.773851 deg, new cmd heading: 116.024034 deg. 2025-10-24T19:46:03.633Z,1761335163.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.025001 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:03.873Z,1761335163.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007296 2025-10-24T19:46:03.974Z,1761335163.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981821,-0.139432,0.128784],[0.171775,0.941372,-0.290367],[-0.080748,0.307211,0.948210]] 2025-10-24T19:46:04.019Z,1761335164.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:04.021Z,1761335164.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:04.023Z,1761335164.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.200775 m, bearing: 115.241318 deg, approach rate: 0.236814 m/s, LOS rate: 0.209864 deg/s, cmd heading: 116.024027 deg, new cmd heading: 116.273391 deg. 2025-10-24T19:46:04.025Z,1761335164.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.029353 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:04.125Z,1761335164.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258956 2025-10-24T19:46:04.377Z,1761335164.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510749 2025-10-24T19:46:04.378Z,1761335164.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978027,-0.164777,0.127719],[0.195257,0.938682,-0.284166],[-0.073063,0.302860,0.950230]] 2025-10-24T19:46:04.398Z,1761335164.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:04.417Z,1761335164.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.283798 m, bearing: 115.319127 deg, approach rate: 0.220026 m/s, LOS rate: 0.206075 deg/s, cmd heading: 116.273384 deg, new cmd heading: 116.506659 deg. 2025-10-24T19:46:04.421Z,1761335164.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.033425 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:04.629Z,1761335164.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762504 2025-10-24T19:46:04.835Z,1761335164.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973680,-0.188994,0.127391],[0.218104,0.934877,-0.280065],[-0.066165,0.300478,0.951491]] 2025-10-24T19:46:04.881Z,1761335164.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015107 2025-10-24T19:46:04.917Z,1761335164.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:04.929Z,1761335164.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.375061 m, bearing: 115.427144 deg, approach rate: 0.176141 m/s, LOS rate: 0.208329 deg/s, cmd heading: 116.506662 deg, new cmd heading: 116.830479 deg. 2025-10-24T19:46:04.930Z,1761335164.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039077 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:05.133Z,1761335165.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266766 2025-10-24T19:46:05.274Z,1761335165.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:05.277Z,1761335165.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.445938 m, bearing: 115.510563 deg, approach rate: 0.198188 m/s, LOS rate: 0.233131 deg/s, cmd heading: 116.830481 deg, new cmd heading: 117.080601 deg. 2025-10-24T19:46:05.278Z,1761335165.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.043442 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:05.385Z,1761335165.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518707 2025-10-24T19:46:05.637Z,1761335165.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770653 2025-10-24T19:46:05.684Z,1761335165.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963070,-0.236014,0.129592],[0.263913,0.922815,-0.280646],[-0.053353,0.304483,0.951022]] 2025-10-24T19:46:05.706Z,1761335165.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:05.709Z,1761335165.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.516052 m, bearing: 115.606257 deg, approach rate: 0.162260 m/s, LOS rate: 0.221337 deg/s, cmd heading: 117.080603 deg, new cmd heading: 117.367527 deg. 2025-10-24T19:46:05.710Z,1761335165.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048450 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:05.889Z,1761335165.889 [DAT](INFO): DAT read: Rx Time:19:46:04.7666 2025-10-24T19:46:05.889Z,1761335165.889 [DAT](INFO): Rx dataTimestamp_ set to:1761335165.889190 2025-10-24T19:46:05.890Z,1761335165.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023917 2025-10-24T19:46:06.079Z,1761335166.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956607,-0.259872,0.131793],[0.287514,0.915285,-0.282117],[-0.047313,0.307767,0.950285]] 2025-10-24T19:46:06.141Z,1761335166.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274722 2025-10-24T19:46:06.135Z,1761335166.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:06.143Z,1761335166.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:06.151Z,1761335166.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.545990 m, bearing: 115.701785 deg, approach rate: 0.068486 m/s, LOS rate: 0.218477 deg/s, cmd heading: 117.367525 deg, new cmd heading: 117.654038 deg. 2025-10-24T19:46:06.164Z,1761335166.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053450 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:06.395Z,1761335166.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528705 2025-10-24T19:46:06.483Z,1761335166.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949871,-0.282466,0.134010],[0.309822,0.907901,-0.282357],[-0.041911,0.309722,0.949903]] 2025-10-24T19:46:06.512Z,1761335166.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.73 m. 2025-10-24T19:46:06.515Z,1761335166.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.730789 m, nav range: 129.570129 m, bearing: 115.793377 deg, approach rate: 0.065510 m/s, LOS rate: 0.248519 deg/s, cmd heading: 117.654038 deg, new cmd heading: 117.928762 deg. 2025-10-24T19:46:06.517Z,1761335166.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058245 target range: 129.730789 and range: 130.50 m. 2025-10-24T19:46:06.653Z,1761335166.653 [DAT](INFO): DAT read: 19:46:04.7666 LVL= 24912, 31105, 30882, 32755, AGC= 62, IDX= 3,-0.02,-1.123,-1.809, 3.025,-2.260, PHS= 1.225, 0.498,-1.002, RAW= 48.7, -7.4, CAL= 53.5, -13.2, ROT= 96.5, 13.2 2025-10-24T19:46:06.654Z,1761335166.654 [DAT](INFO): got valid direction response: 19:46:04.7666 LVL= 24912, 31105, 30882, 32755, AGC= 62, IDX= 3,-0.02,-1.123,-1.809, 3.025,-2.260, PHS= 1.225, 0.498,-1.002, RAW= 48.7, -7.4, CAL= 53.5, -13.2, ROT= 96.5, 13.2 2025-10-24T19:46:06.655Z,1761335166.655 [DAT](INFO): DAT read: Bearing 96.5, 13.2 (Local) 2025-10-24T19:46:06.656Z,1761335166.656 [DAT](INFO): Local bearing/azimuth received: Bearing 96.5, 13.2 (Local) 2025-10-24T19:46:06.659Z,1761335166.659 [DAT](INFO): DAT read: Range 10 to 50 : 136.4 m (Round-trip 181.9 ms) speed -0.1 m/s 2025-10-24T19:46:06.662Z,1761335166.662 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:06.664Z,1761335166.664 [DAT](INFO): direction in FSK: [-0.110212,0.967321,-0.228351] 2025-10-24T19:46:06.664Z,1761335166.664 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:06.667Z,1761335166.667 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:06.667Z,1761335166.667 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:06.669Z,1761335166.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:06.888Z,1761335166.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941986,-0.306644,0.136500],[0.333641,0.899877,-0.280900],[-0.036697,0.310146,0.949980]] 2025-10-24T19:46:06.898Z,1761335166.898 [DAT](INFO): DAT read: user:128> 2025-10-24T19:46:06.899Z,1761335166.899 [DAT](INFO): DAT read: Tx time:19:46:06.1822 2025-10-24T19:46:06.899Z,1761335166.899 [DAT](INFO): Ping request sent. 2025-10-24T19:46:06.899Z,1761335166.899 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:06.899Z,1761335166.899 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:06.901Z,1761335166.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001227 2025-10-24T19:46:07.047Z,1761335167.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 136.399994 m, deltaT: 4.030858 s, deltaX: 5.899994 m, approachRate: 1.463707 m/s, rangeRepo size: 3 2025-10-24T19:46:07.061Z,1761335167.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 135.595474 m, bearing: 115.674563 deg, lat: 36.779549 deg, lon: -121.859594 deg, deltaT: 4.030858 s, deltaX: 5.864685 m, approachRate: 1.454947 m/s, posRepo size: 3 2025-10-24T19:46:07.061Z,1761335167.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-10-24T19:46:07.069Z,1761335167.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.595474 m, nav range: 130.648987 m, bearing: 115.917385 deg, approach rate: 0.000000 m/s, LOS rate: 0.248519 deg/s, cmd heading: 117.928762 deg, new cmd heading: 118.326850 deg. 2025-10-24T19:46:07.070Z,1761335167.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065193 target range: 135.595474 and range: 136.40 m. 2025-10-24T19:46:07.149Z,1761335167.149 [DAT](INFO): DAT read: TxSync time:19:46:06.1814 2025-10-24T19:46:07.150Z,1761335167.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250668 2025-10-24T19:46:07.401Z,1761335167.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501652 2025-10-24T19:46:07.493Z,1761335167.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924452,-0.355885,0.136875],[0.380520,0.884003,-0.271556],[-0.024355,0.303124,0.952640]] 2025-10-24T19:46:07.527Z,1761335167.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-10-24T19:46:07.538Z,1761335167.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.595474 m, nav range: 130.655716 m, bearing: 116.038180 deg, approach rate: 0.013965 m/s, LOS rate: 0.250679 deg/s, cmd heading: 118.326853 deg, new cmd heading: 118.689214 deg. 2025-10-24T19:46:07.539Z,1761335167.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071517 target range: 135.595474 and range: 136.40 m. 2025-10-24T19:46:07.654Z,1761335167.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754336 2025-10-24T19:46:07.906Z,1761335167.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006330 2025-10-24T19:46:07.954Z,1761335167.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-10-24T19:46:07.957Z,1761335167.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.595474 m, nav range: 130.653915 m, bearing: 116.146963 deg, approach rate: -0.004218 m/s, LOS rate: 0.254851 deg/s, cmd heading: 118.689208 deg, new cmd heading: 119.015557 deg. 2025-10-24T19:46:07.958Z,1761335167.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077213 target range: 135.595474 and range: 136.40 m. 2025-10-24T19:46:08.158Z,1761335168.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258465 2025-10-24T19:46:08.329Z,1761335168.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903022,-0.405626,0.141489],[0.429315,0.863973,-0.263134],[-0.015509,0.298359,0.954328]] 2025-10-24T19:46:08.359Z,1761335168.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:08.365Z,1761335168.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-10-24T19:46:08.372Z,1761335168.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.595474 m, nav range: 130.640625 m, bearing: 116.245731 deg, approach rate: -0.032338 m/s, LOS rate: 0.240348 deg/s, cmd heading: 119.015555 deg, new cmd heading: 119.311885 deg. 2025-10-24T19:46:08.373Z,1761335168.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082385 target range: 135.595474 and range: 136.40 m. 2025-10-24T19:46:08.409Z,1761335168.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509796 2025-10-24T19:46:08.661Z,1761335168.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761572 2025-10-24T19:46:08.771Z,1761335168.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891107,-0.429380,0.146836],[0.453588,0.852519,-0.259748],[-0.013650,0.298066,0.954448]] 2025-10-24T19:46:08.809Z,1761335168.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-10-24T19:46:08.839Z,1761335168.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.595474 m, nav range: 130.619080 m, bearing: 116.357723 deg, approach rate: -0.048794 m/s, LOS rate: 0.253672 deg/s, cmd heading: 119.311889 deg, new cmd heading: 119.647919 deg. 2025-10-24T19:46:08.855Z,1761335168.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088250 target range: 135.595474 and range: 136.40 m. 2025-10-24T19:46:08.914Z,1761335168.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015250 2025-10-24T19:46:09.165Z,1761335169.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265591 2025-10-24T19:46:09.173Z,1761335169.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878003,-0.453552,0.152976],[0.478497,0.839926,-0.256056],[-0.012354,0.298017,0.954481]] 2025-10-24T19:46:09.232Z,1761335169.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-10-24T19:46:09.235Z,1761335169.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.595474 m, nav range: 130.583832 m, bearing: 116.468567 deg, approach rate: -0.082911 m/s, LOS rate: 0.260800 deg/s, cmd heading: 119.647921 deg, new cmd heading: 119.980538 deg. 2025-10-24T19:46:09.236Z,1761335169.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094055 target range: 135.595474 and range: 136.40 m. 2025-10-24T19:46:09.421Z,1761335169.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520487 2025-10-24T19:46:09.589Z,1761335169.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864059,-0.477389,0.159696],[0.503261,0.826443,-0.252430],[-0.011473,0.298483,0.954346]] 2025-10-24T19:46:09.618Z,1761335169.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-10-24T19:46:09.621Z,1761335169.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.595474 m, nav range: 130.546646 m, bearing: 116.566418 deg, approach rate: -0.096353 m/s, LOS rate: 0.253618 deg/s, cmd heading: 119.980537 deg, new cmd heading: 120.274172 deg. 2025-10-24T19:46:09.622Z,1761335169.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099180 target range: 135.595474 and range: 136.40 m. 2025-10-24T19:46:09.669Z,1761335169.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769820 2025-10-24T19:46:09.922Z,1761335169.922 [DAT](INFO): DAT read: Rx Time:19:46:08.7613 2025-10-24T19:46:09.923Z,1761335169.923 [DAT](INFO): Rx dataTimestamp_ set to:1761335169.922086 2025-10-24T19:46:09.923Z,1761335169.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024074 2025-10-24T19:46:10.000Z,1761335170.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849827,-0.500138,0.166301],[0.526946,0.812863,-0.248159],[-0.011067,0.298524,0.954338]] 2025-10-24T19:46:10.053Z,1761335170.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.60 m. 2025-10-24T19:46:10.055Z,1761335170.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 135.595474 m, nav range: 130.495224 m, bearing: 116.676350 deg, approach rate: -0.118316 m/s, LOS rate: 0.253038 deg/s, cmd heading: 120.274167 deg, new cmd heading: 120.604087 deg. 2025-10-24T19:46:10.056Z,1761335170.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104939 target range: 135.595474 and range: 136.40 m. 2025-10-24T19:46:10.173Z,1761335170.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273932 2025-10-24T19:46:10.420Z,1761335170.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834070,-0.523200,0.174897],[0.551549,0.797203,-0.245482],[-0.010993,0.301213,0.953493]] 2025-10-24T19:46:10.431Z,1761335170.431 [DAT](INFO): DAT read: 19:46:08.7613 LVL= 22096, 21153, 24674, 27171, AGC= 61, IDX= 348, 0.21, 3.050, 2.107, 0.971, 1.765, PHS= 1.373, 0.389,-0.797, RAW= 56.9, -10.3, CAL= 66.0, -17.8, ROT= 84.0, 17.8 2025-10-24T19:46:10.436Z,1761335170.436 [DAT](INFO): got valid direction response: 19:46:08.7613 LVL= 22096, 21153, 24674, 27171, AGC= 61, IDX= 348, 0.21, 3.050, 2.107, 0.971, 1.765, PHS= 1.373, 0.389,-0.797, RAW= 56.9, -10.3, CAL= 66.0, -17.8, ROT= 84.0, 17.8 2025-10-24T19:46:10.437Z,1761335170.437 [DAT](INFO): DAT read: Bearing 84.0, 17.8 (Local) 2025-10-24T19:46:10.438Z,1761335170.438 [DAT](INFO): Local bearing/azimuth received: Bearing 84.0, 17.8 (Local) 2025-10-24T19:46:10.439Z,1761335170.439 [DAT](INFO): DAT read: Range 10 to 50 : 131.2 m (Round-trip 175.0 ms) speed 0.0 m/s 2025-10-24T19:46:10.440Z,1761335170.440 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:10.441Z,1761335170.441 [DAT](INFO): direction in FSK: [0.099525,0.946914,-0.305695] 2025-10-24T19:46:10.441Z,1761335170.441 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:10.449Z,1761335170.449 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:10.449Z,1761335170.449 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:10.449Z,1761335170.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:10.505Z,1761335170.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.199997 m, deltaT: 3.780116 s, deltaX: -5.199997 m, approachRate: -1.375618 m/s, rangeRepo size: 4 2025-10-24T19:46:10.507Z,1761335170.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.426529 m, bearing: 117.767997 deg, lat: 36.779536 deg, lon: -121.859605 deg, deltaT: 3.780116 s, deltaX: -5.168945 m, approachRate: -1.367404 m/s, posRepo size: 4 2025-10-24T19:46:10.513Z,1761335170.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:10.536Z,1761335170.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 130.238235 m, bearing: 117.530060 deg, approach rate: 0.000000 m/s, LOS rate: 0.253038 deg/s, cmd heading: 120.604093 deg, new cmd heading: 120.947357 deg. 2025-10-24T19:46:10.537Z,1761335170.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.110929 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:10.677Z,1761335170.677 [DAT](INFO): DAT read: user:129> 2025-10-24T19:46:10.678Z,1761335170.678 [DAT](INFO): DAT read: Tx time:19:46:09.9806 2025-10-24T19:46:10.678Z,1761335170.678 [DAT](INFO): Ping request sent. 2025-10-24T19:46:10.678Z,1761335170.678 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:10.678Z,1761335170.678 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:10.679Z,1761335170.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728 2025-10-24T19:46:10.930Z,1761335170.930 [DAT](INFO): DAT read: TxSync time:19:46:09.9798 2025-10-24T19:46:10.932Z,1761335170.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253266 2025-10-24T19:46:10.972Z,1761335170.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818305,-0.545467,0.181226],[0.574677,0.782511,-0.239629],[-0.011101,0.300236,0.953800]] 2025-10-24T19:46:11.022Z,1761335171.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:11.024Z,1761335171.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:11.027Z,1761335171.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 130.166229 m, bearing: 117.670051 deg, approach rate: -0.138663 m/s, LOS rate: 0.269732 deg/s, cmd heading: 120.947351 deg, new cmd heading: 121.367550 deg. 2025-10-24T19:46:11.033Z,1761335171.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118263 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:11.181Z,1761335171.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503275 2025-10-24T19:46:11.402Z,1761335171.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:11.405Z,1761335171.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 130.117691 m, bearing: 117.765350 deg, approach rate: -0.128463 m/s, LOS rate: 0.252316 deg/s, cmd heading: 121.367544 deg, new cmd heading: 121.653544 deg. 2025-10-24T19:46:11.406Z,1761335171.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.123255 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:11.449Z,1761335171.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.771325 2025-10-24T19:46:11.701Z,1761335171.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.022713 2025-10-24T19:46:11.807Z,1761335171.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763526,-0.615873,0.194239],[0.645704,0.732628,-0.215227],[-0.009753,0.289752,0.957052]] 2025-10-24T19:46:11.824Z,1761335171.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:11.827Z,1761335171.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 130.040359 m, bearing: 117.872135 deg, approach rate: -0.183028 m/s, LOS rate: 0.252888 deg/s, cmd heading: 121.653551 deg, new cmd heading: 121.974093 deg. 2025-10-24T19:46:11.828Z,1761335171.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128850 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:11.954Z,1761335171.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.275317 2025-10-24T19:46:12.205Z,1761335172.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526729 2025-10-24T19:46:12.233Z,1761335172.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743573,-0.636783,0.203976],[0.668551,0.713408,-0.209975],[-0.011810,0.292500,0.956193]] 2025-10-24T19:46:12.287Z,1761335172.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:12.291Z,1761335172.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 129.971237 m, bearing: 117.984385 deg, approach rate: -0.149336 m/s, LOS rate: 0.242640 deg/s, cmd heading: 121.974092 deg, new cmd heading: 122.311015 deg. 2025-10-24T19:46:12.292Z,1761335172.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134730 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:12.457Z,1761335172.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778590 2025-10-24T19:46:12.637Z,1761335172.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722792,-0.657388,0.213104],[0.690906,0.694031,-0.202410],[-0.014838,0.293535,0.955833]] 2025-10-24T19:46:12.674Z,1761335172.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:12.683Z,1761335172.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 129.908768 m, bearing: 118.075415 deg, approach rate: -0.161507 m/s, LOS rate: 0.235459 deg/s, cmd heading: 122.311012 deg, new cmd heading: 122.584231 deg. 2025-10-24T19:46:12.692Z,1761335172.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.139498 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:12.709Z,1761335172.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030881 2025-10-24T19:46:12.961Z,1761335172.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282567 2025-10-24T19:46:13.040Z,1761335173.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702279,-0.675886,0.223567],[0.711663,0.674666,-0.195864],[-0.018451,0.296656,0.954806]] 2025-10-24T19:46:13.105Z,1761335173.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:13.107Z,1761335173.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:13.110Z,1761335173.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 129.823334 m, bearing: 118.180064 deg, approach rate: -0.197191 m/s, LOS rate: 0.241702 deg/s, cmd heading: 122.584233 deg, new cmd heading: 122.898385 deg. 2025-10-24T19:46:13.111Z,1761335173.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144981 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:13.213Z,1761335173.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534976 2025-10-24T19:46:13.450Z,1761335173.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680907,-0.694161,0.233465],[0.732043,0.654616,-0.188653],[-0.021875,0.299362,0.953889]] 2025-10-24T19:46:13.466Z,1761335173.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788060 2025-10-24T19:46:13.473Z,1761335173.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:13.475Z,1761335173.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 129.749039 m, bearing: 118.263701 deg, approach rate: -0.203658 m/s, LOS rate: 0.229398 deg/s, cmd heading: 122.898380 deg, new cmd heading: 123.149434 deg. 2025-10-24T19:46:13.476Z,1761335173.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.149363 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:13.717Z,1761335173.717 [DAT](INFO): DAT read: Rx Time:19:46:12.5595 2025-10-24T19:46:13.717Z,1761335173.717 [DAT](INFO): Rx dataTimestamp_ set to:1761335173.717035 2025-10-24T19:46:13.718Z,1761335173.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039744 2025-10-24T19:46:13.850Z,1761335173.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660611,-0.711157,0.240519],[0.750298,0.636280,-0.179448],[-0.025422,0.299006,0.953913]] 2025-10-24T19:46:13.874Z,1761335173.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.43 m. 2025-10-24T19:46:13.877Z,1761335173.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.426529 m, nav range: 129.661407 m, bearing: 118.355386 deg, approach rate: -0.217943 m/s, LOS rate: 0.228178 deg/s, cmd heading: 123.149431 deg, new cmd heading: 123.424668 deg. 2025-10-24T19:46:13.878Z,1761335173.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.154167 target range: 130.426529 and range: 131.20 m. 2025-10-24T19:46:13.972Z,1761335173.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294186 2025-10-24T19:46:14.231Z,1761335174.231 [DAT](INFO): DAT read: 19:46:12.5596 LVL= 18304, 28561, 23842, 24995, AGC= 58, IDX= 441, 0.11, 2.477, 0.963, 0.407, 0.921, PHS= 1.644, 0.090,-0.517, RAW= 74.2, -12.6, CAL= 85.9, -21.7, ROT= 64.1, 21.7 2025-10-24T19:46:14.241Z,1761335174.241 [DAT](INFO): got valid direction response: 19:46:12.5596 LVL= 18304, 28561, 23842, 24995, AGC= 58, IDX= 441, 0.11, 2.477, 0.963, 0.407, 0.921, PHS= 1.644, 0.090,-0.517, RAW= 74.2, -12.6, CAL= 85.9, -21.7, ROT= 64.1, 21.7 2025-10-24T19:46:14.242Z,1761335174.242 [DAT](INFO): DAT read: Bearing 64.1, 21.7 (Local) 2025-10-24T19:46:14.242Z,1761335174.242 [DAT](INFO): Local bearing/azimuth received: Bearing 64.1, 21.7 (Local) 2025-10-24T19:46:14.243Z,1761335174.243 [DAT](INFO): DAT read: Range 10 to 50 : 131.1 m (Round-trip 174.8 ms) speed 0.0 m/s 2025-10-24T19:46:14.253Z,1761335174.253 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:14.254Z,1761335174.254 [DAT](INFO): direction in FSK: [0.405847,0.835808,-0.369747] 2025-10-24T19:46:14.254Z,1761335174.254 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:14.269Z,1761335174.269 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:14.270Z,1761335174.270 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:14.270Z,1761335174.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:14.424Z,1761335174.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.100006 m, deltaT: 3.799953 s, deltaX: -0.099991 m, approachRate: -0.026314 m/s, rangeRepo size: 4 2025-10-24T19:46:14.426Z,1761335174.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 130.326645 m, bearing: 114.701886 deg, lat: 36.779536 deg, lon: -121.859563 deg, deltaT: 3.799953 s, deltaX: -0.099884 m, approachRate: -0.026286 m/s, posRepo size: 4 2025-10-24T19:46:14.427Z,1761335174.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:14.435Z,1761335174.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.874313 m, bearing: 117.703759 deg, approach rate: 0.000000 m/s, LOS rate: 0.228178 deg/s, cmd heading: 123.424674 deg, new cmd heading: 123.797924 deg. 2025-10-24T19:46:14.440Z,1761335174.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160681 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:14.477Z,1761335174.477 [DAT](INFO): DAT read: user:130> 2025-10-24T19:46:14.478Z,1761335174.478 [DAT](INFO): DAT read: Tx time:19:46:13.7807 2025-10-24T19:46:14.478Z,1761335174.478 [DAT](INFO): Ping request sent. 2025-10-24T19:46:14.478Z,1761335174.478 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:14.478Z,1761335174.478 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:14.479Z,1761335174.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-24T19:46:14.701Z,1761335174.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618577,-0.743517,0.254058],[0.785086,0.597899,-0.161730],[-0.031652,0.299499,0.953571]] 2025-10-24T19:46:14.723Z,1761335174.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:14.729Z,1761335174.729 [DAT](INFO): DAT read: TxSync time:19:46:13.7799 2025-10-24T19:46:14.731Z,1761335174.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252739 2025-10-24T19:46:14.745Z,1761335174.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.807465 m, bearing: 117.771107 deg, approach rate: -0.220496 m/s, LOS rate: 0.222254 deg/s, cmd heading: 123.797930 deg, new cmd heading: 124.000074 deg. 2025-10-24T19:46:14.752Z,1761335174.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164210 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:14.984Z,1761335174.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505722 2025-10-24T19:46:15.165Z,1761335175.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:15.167Z,1761335175.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:15.170Z,1761335175.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.715668 m, bearing: 117.861123 deg, approach rate: -0.206646 m/s, LOS rate: 0.202777 deg/s, cmd heading: 124.000076 deg, new cmd heading: 124.270308 deg. 2025-10-24T19:46:15.171Z,1761335175.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168926 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:15.233Z,1761335175.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755320 2025-10-24T19:46:15.485Z,1761335175.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006716 2025-10-24T19:46:15.504Z,1761335175.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572927,-0.774445,0.268310],[0.818907,0.554418,-0.148366],[-0.033854,0.304724,0.951839]] 2025-10-24T19:46:15.531Z,1761335175.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:15.550Z,1761335175.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.631958 m, bearing: 117.932235 deg, approach rate: -0.229813 m/s, LOS rate: 0.195352 deg/s, cmd heading: 124.270306 deg, new cmd heading: 124.483778 deg. 2025-10-24T19:46:15.551Z,1761335175.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172652 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:15.741Z,1761335175.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263394 2025-10-24T19:46:15.989Z,1761335175.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510772 2025-10-24T19:46:16.011Z,1761335176.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:16.017Z,1761335176.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.520752 m, bearing: 118.027116 deg, approach rate: -0.231938 m/s, LOS rate: 0.198055 deg/s, cmd heading: 124.483777 deg, new cmd heading: 124.768655 deg. 2025-10-24T19:46:16.018Z,1761335176.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.177624 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:16.241Z,1761335176.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762981 2025-10-24T19:46:16.354Z,1761335176.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527525,-0.803328,0.276371],[0.848627,0.513366,-0.127621],[-0.039358,0.301860,0.952540]] 2025-10-24T19:46:16.418Z,1761335176.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:16.421Z,1761335176.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.426712 m, bearing: 118.103519 deg, approach rate: -0.230939 m/s, LOS rate: 0.187760 deg/s, cmd heading: 124.768650 deg, new cmd heading: 124.998020 deg. 2025-10-24T19:46:16.422Z,1761335176.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.181627 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:16.494Z,1761335176.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015719 2025-10-24T19:46:16.743Z,1761335176.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504110,-0.816513,0.281388],[0.862590,0.492082,-0.117448],[-0.042568,0.301929,0.952379]] 2025-10-24T19:46:16.745Z,1761335176.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266755 2025-10-24T19:46:16.764Z,1761335176.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:16.767Z,1761335176.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.336990 m, bearing: 118.172103 deg, approach rate: -0.259053 m/s, LOS rate: 0.198157 deg/s, cmd heading: 124.998022 deg, new cmd heading: 125.203912 deg. 2025-10-24T19:46:16.792Z,1761335176.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.185220 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:16.998Z,1761335176.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520146 2025-10-24T19:46:17.183Z,1761335177.183 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +20.65, + -12.95, 6.55, 0.00 2025-10-24T19:46:17.198Z,1761335177.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:17.200Z,1761335177.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:17.203Z,1761335177.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.229630 m, bearing: 118.254470 deg, approach rate: -0.246041 m/s, LOS rate: 0.188916 deg/s, cmd heading: 125.203911 deg, new cmd heading: 125.451211 deg. 2025-10-24T19:46:17.204Z,1761335177.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189537 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:17.251Z,1761335177.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772936 2025-10-24T19:46:17.501Z,1761335177.501 [DAT](INFO): DAT read: Rx Time:19:46:16.3586 2025-10-24T19:46:17.501Z,1761335177.501 [DAT](INFO): Rx dataTimestamp_ set to:1761335177.500942 2025-10-24T19:46:17.502Z,1761335177.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023673 2025-10-24T19:46:17.567Z,1761335177.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454427,-0.842092,0.290478],[0.889482,0.446581,-0.096885],[-0.048135,0.302402,0.951964]] 2025-10-24T19:46:17.618Z,1761335177.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.33 m. 2025-10-24T19:46:17.621Z,1761335177.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 130.326645 m, nav range: 132.118622 m, bearing: 118.329699 deg, approach rate: -0.265686 m/s, LOS rate: 0.180206 deg/s, cmd heading: 125.451205 deg, new cmd heading: 125.677082 deg. 2025-10-24T19:46:17.622Z,1761335177.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193479 target range: 130.326645 and range: 131.10 m. 2025-10-24T19:46:17.753Z,1761335177.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274850 2025-10-24T19:46:18.021Z,1761335178.021 [DAT](INFO): DAT read: 19:46:16.3586 LVL= 17120, 30497, 25666, 32755, AGC= 62, IDX= 432,-0.14,-0.654,-2.272,-2.114,-1.623, PHS= 1.056,-0.603,-0.494, RAW= 93.4, 0.5, CAL= 101.6, -3.3, ROT= 48.4, 3.3 2025-10-24T19:46:18.022Z,1761335178.022 [DAT](INFO): got valid direction response: 19:46:16.3586 LVL= 17120, 30497, 25666, 32755, AGC= 62, IDX= 432,-0.14,-0.654,-2.272,-2.114,-1.623, PHS= 1.056,-0.603,-0.494, RAW= 93.4, 0.5, CAL= 101.6, -3.3, ROT= 48.4, 3.3 2025-10-24T19:46:18.023Z,1761335178.023 [DAT](INFO): DAT read: Bearing 48.4, 3.3 (Local) 2025-10-24T19:46:18.023Z,1761335178.023 [DAT](INFO): Local bearing/azimuth received: Bearing 48.4, 3.3 (Local) 2025-10-24T19:46:18.025Z,1761335178.025 [DAT](INFO): DAT read: Range 10 to 50 : 130.3 m (Round-trip 173.8 ms) speed 0.3 m/s 2025-10-24T19:46:18.026Z,1761335178.026 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:18.027Z,1761335178.027 [DAT](INFO): direction in FSK: [0.662825,0.746558,-0.057564] 2025-10-24T19:46:18.027Z,1761335178.027 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:18.035Z,1761335178.035 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:18.035Z,1761335178.035 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:18.035Z,1761335178.035 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:18.040Z,1761335178.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428594,-0.854373,0.293859],[0.902100,0.422747,-0.086610],[-0.050231,0.302211,0.951917]] 2025-10-24T19:46:18.194Z,1761335178.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 130.300003 m, deltaT: 3.788485 s, deltaX: -0.800003 m, approachRate: -0.211167 m/s, rangeRepo size: 4 2025-10-24T19:46:18.200Z,1761335178.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.530731 m, bearing: 111.976609 deg, lat: 36.779605 deg, lon: -121.859546 deg, deltaT: 3.788485 s, deltaX: -0.795914 m, approachRate: -0.210088 m/s, posRepo size: 4 2025-10-24T19:46:18.201Z,1761335178.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:18.203Z,1761335178.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 129.782944 m, bearing: 115.152011 deg, approach rate: 0.000000 m/s, LOS rate: 0.180206 deg/s, cmd heading: 125.677079 deg, new cmd heading: 125.987847 deg. 2025-10-24T19:46:18.208Z,1761335178.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198903 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:18.265Z,1761335178.265 [DAT](INFO): DAT read: user:131> 2025-10-24T19:46:18.266Z,1761335178.266 [DAT](INFO): DAT read: Tx time:19:46:17.5807 2025-10-24T19:46:18.267Z,1761335178.267 [DAT](INFO): Ping request sent. 2025-10-24T19:46:18.267Z,1761335178.267 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:18.267Z,1761335178.267 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:18.268Z,1761335178.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001272 2025-10-24T19:46:18.478Z,1761335178.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402270,-0.866033,0.296928],[0.914048,0.398304,-0.076619],[-0.051913,0.302228,0.951821]] 2025-10-24T19:46:18.504Z,1761335178.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:18.507Z,1761335178.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 129.679825 m, bearing: 115.205227 deg, approach rate: -0.333230 m/s, LOS rate: 0.172102 deg/s, cmd heading: 125.987853 deg, new cmd heading: 126.147625 deg. 2025-10-24T19:46:18.508Z,1761335178.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201691 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:18.517Z,1761335178.517 [DAT](INFO): DAT read: TxSync time:19:46:17.5799 2025-10-24T19:46:18.518Z,1761335178.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250959 2025-10-24T19:46:18.769Z,1761335178.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501945 2025-10-24T19:46:18.924Z,1761335178.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:18.932Z,1761335178.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 129.543823 m, bearing: 115.275630 deg, approach rate: -0.323093 m/s, LOS rate: 0.167430 deg/s, cmd heading: 126.147624 deg, new cmd heading: 126.359056 deg. 2025-10-24T19:46:18.933Z,1761335178.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205382 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:19.022Z,1761335179.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754931 2025-10-24T19:46:19.273Z,1761335179.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005993 2025-10-24T19:46:19.298Z,1761335179.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317175,-0.900577,0.297254],[0.946965,0.317785,-0.047648],[-0.051553,0.296602,0.953609]] 2025-10-24T19:46:19.352Z,1761335179.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:19.354Z,1761335179.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:19.357Z,1761335179.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 129.388367 m, bearing: 115.343102 deg, approach rate: -0.361144 m/s, LOS rate: 0.156933 deg/s, cmd heading: 126.359060 deg, new cmd heading: 126.561717 deg. 2025-10-24T19:46:19.358Z,1761335179.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208919 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:19.525Z,1761335179.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257945 2025-10-24T19:46:19.733Z,1761335179.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:19.736Z,1761335179.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 129.257584 m, bearing: 115.400055 deg, approach rate: -0.344799 m/s, LOS rate: 0.150304 deg/s, cmd heading: 126.561711 deg, new cmd heading: 126.732742 deg. 2025-10-24T19:46:19.737Z,1761335179.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211904 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:19.777Z,1761335179.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510388 2025-10-24T19:46:20.033Z,1761335180.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765569 2025-10-24T19:46:20.166Z,1761335180.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:20.173Z,1761335180.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 129.093765 m, bearing: 115.468700 deg, approach rate: -0.378347 m/s, LOS rate: 0.158740 deg/s, cmd heading: 126.732739 deg, new cmd heading: 126.938935 deg. 2025-10-24T19:46:20.177Z,1761335180.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215502 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:20.282Z,1761335180.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014768 2025-10-24T19:46:20.494Z,1761335180.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238528,-0.921695,0.305913],[0.969476,0.244404,-0.019551],[-0.056747,0.301239,0.951859]] 2025-10-24T19:46:20.526Z,1761335180.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:20.529Z,1761335180.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 128.937622 m, bearing: 115.524309 deg, approach rate: -0.434018 m/s, LOS rate: 0.154758 deg/s, cmd heading: 126.938929 deg, new cmd heading: 127.105957 deg. 2025-10-24T19:46:20.531Z,1761335180.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218417 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:20.533Z,1761335180.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266030 2025-10-24T19:46:20.785Z,1761335180.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517796 2025-10-24T19:46:20.898Z,1761335180.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212064,-0.927797,0.306955],[0.975524,0.219666,-0.009995],[-0.058154,0.301561,0.951672]] 2025-10-24T19:46:20.957Z,1761335180.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:20.972Z,1761335180.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 128.772034 m, bearing: 115.580247 deg, approach rate: -0.389189 m/s, LOS rate: 0.131643 deg/s, cmd heading: 127.105955 deg, new cmd heading: 127.273984 deg. 2025-10-24T19:46:20.973Z,1761335180.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221350 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:21.039Z,1761335181.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771902 2025-10-24T19:46:21.289Z,1761335181.289 [DAT](INFO): DAT read: Rx Time:19:46:20.1565 2025-10-24T19:46:21.289Z,1761335181.289 [DAT](INFO): Rx dataTimestamp_ set to:1761335181.289060 2025-10-24T19:46:21.290Z,1761335181.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023020 2025-10-24T19:46:21.305Z,1761335181.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185517,-0.933561,0.306672],[0.980849,0.194770,-0.000439],[-0.059321,0.300881,0.951815]] 2025-10-24T19:46:21.386Z,1761335181.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:21.392Z,1761335181.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:21.395Z,1761335181.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 128.564865 m, bearing: 115.642408 deg, approach rate: -0.474993 m/s, LOS rate: 0.142752 deg/s, cmd heading: 127.273977 deg, new cmd heading: 127.460761 deg. 2025-10-24T19:46:21.395Z,1761335181.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224610 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:21.541Z,1761335181.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273903 2025-10-24T19:46:21.709Z,1761335181.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158409,-0.938587,0.306530],[0.985526,0.169284,0.009043],[-0.060379,0.300661,0.951818]] 2025-10-24T19:46:21.727Z,1761335181.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.53 m. 2025-10-24T19:46:21.731Z,1761335181.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.530731 m, nav range: 128.397003 m, bearing: 115.690001 deg, approach rate: -0.494244 m/s, LOS rate: 0.140312 deg/s, cmd heading: 127.460756 deg, new cmd heading: 127.603720 deg. 2025-10-24T19:46:21.732Z,1761335181.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227105 target range: 129.530731 and range: 130.30 m. 2025-10-24T19:46:21.812Z,1761335181.812 [DAT](INFO): DAT read: 19:46:20.1565 LVL= 23344, 32753, 32754, 32755, AGC= 64, IDX= 426, 0.23, 0.556,-1.070,-0.467,-0.095, PHS= 0.739,-0.928,-0.375, RAW= 109.0, 7.7, CAL= 119.1, 5.3, ROT= 30.9, -5.3 2025-10-24T19:46:21.813Z,1761335181.813 [DAT](INFO): got valid direction response: 19:46:20.1565 LVL= 23344, 32753, 32754, 32755, AGC= 64, IDX= 426, 0.23, 0.556,-1.070,-0.467,-0.095, PHS= 0.739,-0.928,-0.375, RAW= 109.0, 7.7, CAL= 119.1, 5.3, ROT= 30.9, -5.3 2025-10-24T19:46:21.814Z,1761335181.814 [DAT](INFO): DAT read: Bearing 30.9, -5.3 (Local) 2025-10-24T19:46:21.814Z,1761335181.814 [DAT](INFO): Local bearing/azimuth received: Bearing 30.9, -5.3 (Local) 2025-10-24T19:46:21.819Z,1761335181.819 [DAT](INFO): DAT read: Range 10 to 50 : 128.7 m (Round-trip 171.6 ms) speed 0.4 m/s 2025-10-24T19:46:21.821Z,1761335181.821 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:21.822Z,1761335181.822 [DAT](INFO): direction in FSK: [0.854396,0.511346,0.092371] 2025-10-24T19:46:21.822Z,1761335181.822 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:21.830Z,1761335181.830 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:21.830Z,1761335181.830 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:21.831Z,1761335181.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:22.052Z,1761335182.052 [DAT](INFO): DAT read: user:132> 2025-10-24T19:46:22.057Z,1761335182.057 [DAT](INFO): DAT read: Tx time:19:46:21.3807 2025-10-24T19:46:22.059Z,1761335182.059 [DAT](INFO): Ping request sent. 2025-10-24T19:46:22.059Z,1761335182.059 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:22.064Z,1761335182.064 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:22.067Z,1761335182.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.007551 2025-10-24T19:46:22.123Z,1761335182.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131092,-0.942580,0.307178],[0.989474,0.143560,0.018243],[-0.061294,0.301553,0.951477]] 2025-10-24T19:46:22.145Z,1761335182.145 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102411474497,35.0, +11.3, 06, 0 2025-10-24T19:46:22.187Z,1761335182.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 3.786412 s, deltaX: -1.600006 m, approachRate: -0.422565 m/s, rangeRepo size: 4 2025-10-24T19:46:22.199Z,1761335182.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.939751 m, bearing: 110.360367 deg, lat: 36.779605 deg, lon: -121.859546 deg, deltaT: 3.786412 s, deltaX: -1.590981 m, approachRate: -0.420182 m/s, posRepo size: 4 2025-10-24T19:46:22.199Z,1761335182.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:22.210Z,1761335182.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 128.183578 m, bearing: 115.747081 deg, approach rate: 0.000000 m/s, LOS rate: 0.140312 deg/s, cmd heading: 127.603725 deg, new cmd heading: 127.797158 deg. 2025-10-24T19:46:22.211Z,1761335182.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230481 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:22.301Z,1761335182.301 [DAT](INFO): DAT read: TxSync time:19:46:21.3799 2025-10-24T19:46:22.302Z,1761335182.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243077 2025-10-24T19:46:22.517Z,1761335182.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099772,-0.946730,0.306182],[0.993181,0.113407,0.027024],[-0.060307,0.301398,0.951589]] 2025-10-24T19:46:22.553Z,1761335182.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494191 2025-10-24T19:46:22.573Z,1761335182.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:22.575Z,1761335182.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 127.999184 m, bearing: 115.793096 deg, approach rate: -0.477883 m/s, LOS rate: 0.119425 deg/s, cmd heading: 127.797156 deg, new cmd heading: 127.935399 deg. 2025-10-24T19:46:22.581Z,1761335182.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232894 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:22.805Z,1761335182.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746594 2025-10-24T19:46:22.926Z,1761335182.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070759,-0.953927,0.291575],[0.995706,0.085036,0.036570],[-0.059679,0.287735,0.955849]] 2025-10-24T19:46:22.953Z,1761335182.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:22.956Z,1761335182.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 127.801704 m, bearing: 115.839197 deg, approach rate: -0.518802 m/s, LOS rate: 0.121300 deg/s, cmd heading: 127.935399 deg, new cmd heading: 128.073916 deg. 2025-10-24T19:46:22.957Z,1761335182.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235312 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:23.061Z,1761335183.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001920 2025-10-24T19:46:23.309Z,1761335183.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250127 2025-10-24T19:46:23.325Z,1761335183.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040081,-0.955079,0.293628],[0.997441,0.055656,0.044881],[-0.059207,0.291078,0.954866]] 2025-10-24T19:46:23.397Z,1761335183.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:23.404Z,1761335183.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 127.556541 m, bearing: 115.884249 deg, approach rate: -0.575496 m/s, LOS rate: 0.105957 deg/s, cmd heading: 128.073915 deg, new cmd heading: 128.209330 deg. 2025-10-24T19:46:23.405Z,1761335183.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237675 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:23.561Z,1761335183.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502154 2025-10-24T19:46:23.724Z,1761335183.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009891,-0.955228,0.295706],[0.998182,0.027012,0.053871],[-0.059447,0.294636,0.953759]] 2025-10-24T19:46:23.751Z,1761335183.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:23.753Z,1761335183.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:23.756Z,1761335183.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 127.339104 m, bearing: 115.920965 deg, approach rate: -0.581212 m/s, LOS rate: 0.098309 deg/s, cmd heading: 128.209331 deg, new cmd heading: 128.319666 deg. 2025-10-24T19:46:23.757Z,1761335183.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239601 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:23.814Z,1761335183.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755304 2025-10-24T19:46:24.071Z,1761335184.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011529 2025-10-24T19:46:24.155Z,1761335184.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.020180,-0.954461,0.297652],[0.997970,-0.001244,0.063670],[-0.060400,0.298333,0.952549]] 2025-10-24T19:46:24.194Z,1761335184.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:24.217Z,1761335184.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 127.069016 m, bearing: 115.961476 deg, approach rate: -0.612983 m/s, LOS rate: 0.092139 deg/s, cmd heading: 128.319666 deg, new cmd heading: 128.441458 deg. 2025-10-24T19:46:24.218Z,1761335184.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241726 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:24.318Z,1761335184.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258950 2025-10-24T19:46:24.552Z,1761335184.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.049944,-0.953227,0.298100],[0.996853,-0.029177,0.073714],[-0.061569,0.300844,0.951684]] 2025-10-24T19:46:24.569Z,1761335184.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509919 2025-10-24T19:46:24.589Z,1761335184.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:24.593Z,1761335184.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 126.826607 m, bearing: 115.994408 deg, approach rate: -0.613221 m/s, LOS rate: 0.083468 deg/s, cmd heading: 128.441461 deg, new cmd heading: 128.540447 deg. 2025-10-24T19:46:24.594Z,1761335184.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.243454 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:24.821Z,1761335184.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761913 2025-10-24T19:46:24.958Z,1761335184.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.079985,-0.952057,0.295281],[0.994795,-0.057481,0.084134],[-0.063127,0.300473,0.951699]] 2025-10-24T19:46:24.977Z,1761335184.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:24.996Z,1761335184.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 126.584663 m, bearing: 116.023832 deg, approach rate: -0.623773 m/s, LOS rate: 0.076004 deg/s, cmd heading: 128.540445 deg, new cmd heading: 128.628884 deg. 2025-10-24T19:46:24.999Z,1761335184.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244998 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:25.077Z,1761335185.077 [DAT](INFO): DAT read: Rx Time:19:46:23.9539 2025-10-24T19:46:25.079Z,1761335185.079 [DAT](INFO): Rx dataTimestamp_ set to:1761335185.077939 2025-10-24T19:46:25.081Z,1761335185.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022077 2025-10-24T19:46:25.325Z,1761335185.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266020 2025-10-24T19:46:25.364Z,1761335185.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.110214,-0.949723,0.293050],[0.991802,-0.085910,0.094591],[-0.064660,0.301073,0.951406]] 2025-10-24T19:46:25.418Z,1761335185.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:25.421Z,1761335185.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 126.297852 m, bearing: 116.057042 deg, approach rate: -0.650365 m/s, LOS rate: 0.075477 deg/s, cmd heading: 128.628882 deg, new cmd heading: 128.728739 deg. 2025-10-24T19:46:25.422Z,1761335185.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246740 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:25.580Z,1761335185.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520864 2025-10-24T19:46:25.676Z,1761335185.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:46:25.772Z,1761335185.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.139821,-0.946536,0.290723],[0.987930,-0.113587,0.105323],[-0.066669,0.301940,0.950993]] 2025-10-24T19:46:25.790Z,1761335185.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:25.792Z,1761335185.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.94 m. 2025-10-24T19:46:25.795Z,1761335185.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.939751 m, nav range: 126.052155 m, bearing: 116.082083 deg, approach rate: -0.657556 m/s, LOS rate: 0.067148 deg/s, cmd heading: 128.728739 deg, new cmd heading: 128.804009 deg. 2025-10-24T19:46:25.796Z,1761335185.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248054 target range: 127.939751 and range: 128.70 m. 2025-10-24T19:46:25.838Z,1761335185.838 [DAT](INFO): DAT read: 19:46:23.9539 LVL= 29968, 32753, 30706, 32755, AGC= 66, IDX= 415, 0.10, 0.530,-0.854,-0.203,-0.062, PHS= 0.680,-0.745,-0.144, RAW= 114.9, 3.4, CAL= 125.3, -0.4, ROT= 24.7, 0.4 2025-10-24T19:46:25.839Z,1761335185.839 [DAT](INFO): got valid direction response: 19:46:23.9539 LVL= 29968, 32753, 30706, 32755, AGC= 66, IDX= 415, 0.10, 0.530,-0.854,-0.203,-0.062, PHS= 0.680,-0.745,-0.144, RAW= 114.9, 3.4, CAL= 125.3, -0.4, ROT= 24.7, 0.4 2025-10-24T19:46:25.842Z,1761335185.842 [DAT](INFO): DAT read: Bearing 24.7, 0.4 (Local) 2025-10-24T19:46:25.842Z,1761335185.842 [DAT](INFO): Local bearing/azimuth received: Bearing 24.7, 0.4 (Local) 2025-10-24T19:46:25.845Z,1761335185.845 [DAT](INFO): DAT read: Range 10 to 50 : 126.7 m (Round-trip 169.0 ms) speed 0.4 m/s 2025-10-24T19:46:25.846Z,1761335185.846 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:25.852Z,1761335185.852 [DAT](INFO): direction in FSK: [0.908486,0.417857,-0.006981] 2025-10-24T19:46:25.853Z,1761335185.853 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:25.861Z,1761335185.861 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:25.861Z,1761335185.861 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:25.862Z,1761335185.862 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:26.084Z,1761335186.084 [DAT](INFO): DAT read: user:133> 2025-10-24T19:46:26.086Z,1761335186.086 [DAT](INFO): DAT read: Tx time:19:46:25.3808 2025-10-24T19:46:26.087Z,1761335186.087 [DAT](INFO): Ping request sent. 2025-10-24T19:46:26.087Z,1761335186.087 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:26.089Z,1761335186.089 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:26.091Z,1761335186.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003582 2025-10-24T19:46:26.173Z,1761335186.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169288,-0.943004,0.286505],[0.983172,-0.141333,0.115748],[-0.068658,0.301279,0.951061]] 2025-10-24T19:46:26.277Z,1761335186.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.699997 m, deltaT: 4.029417 s, deltaX: -2.000000 m, approachRate: -0.496350 m/s, rangeRepo size: 4 2025-10-24T19:46:26.279Z,1761335186.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.952904 m, bearing: 123.417005 deg, lat: 36.779605 deg, lon: -121.859563 deg, deltaT: 4.029417 s, deltaX: -1.986847 m, approachRate: -0.493085 m/s, posRepo size: 4 2025-10-24T19:46:26.284Z,1761335186.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:26.287Z,1761335186.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 124.454971 m, bearing: 116.398140 deg, approach rate: 0.000000 m/s, LOS rate: 0.067148 deg/s, cmd heading: 128.804008 deg, new cmd heading: 128.900732 deg. 2025-10-24T19:46:26.292Z,1761335186.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249742 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:26.334Z,1761335186.334 [DAT](INFO): DAT read: TxSync time:19:46:25.3800 2025-10-24T19:46:26.335Z,1761335186.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247351 2025-10-24T19:46:26.576Z,1761335186.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200107,-0.938397,0.281723],[0.977287,-0.170694,0.125597],[-0.069771,0.300457,0.951240]] 2025-10-24T19:46:26.585Z,1761335186.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497778 2025-10-24T19:46:26.636Z,1761335186.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:26.639Z,1761335186.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 124.215965 m, bearing: 116.414514 deg, approach rate: -0.656123 m/s, LOS rate: 0.045036 deg/s, cmd heading: 128.900737 deg, new cmd heading: 128.949953 deg. 2025-10-24T19:46:26.640Z,1761335186.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250601 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:26.683Z,1761335186.683 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:46:26.837Z,1761335186.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749591 2025-10-24T19:46:27.053Z,1761335187.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:27.056Z,1761335187.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 123.929680 m, bearing: 116.434210 deg, approach rate: -0.686847 m/s, LOS rate: 0.047364 deg/s, cmd heading: 128.949955 deg, new cmd heading: 129.009180 deg. 2025-10-24T19:46:27.057Z,1761335187.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251635 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:27.092Z,1761335187.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003868 2025-10-24T19:46:27.341Z,1761335187.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253681 2025-10-24T19:46:27.391Z,1761335187.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259353,-0.929033,0.263884],[0.963094,-0.228418,0.142388],[-0.072008,0.291074,0.953987]] 2025-10-24T19:46:27.552Z,1761335187.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:27.555Z,1761335187.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 123.620659 m, bearing: 116.446261 deg, approach rate: -0.618851 m/s, LOS rate: 0.024193 deg/s, cmd heading: 129.009187 deg, new cmd heading: 129.045428 deg. 2025-10-24T19:46:27.556Z,1761335187.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252268 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:27.594Z,1761335187.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506254 2025-10-24T19:46:27.807Z,1761335187.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287266,-0.921325,0.261989],[0.954998,-0.254393,0.152523],[-0.073875,0.294013,0.952942]] 2025-10-24T19:46:27.825Z,1761335187.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:27.827Z,1761335187.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:27.831Z,1761335187.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 123.410332 m, bearing: 116.451643 deg, approach rate: -0.765845 m/s, LOS rate: 0.019633 deg/s, cmd heading: 129.045428 deg, new cmd heading: 129.061603 deg. 2025-10-24T19:46:27.832Z,1761335187.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252550 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:27.845Z,1761335187.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757584 2025-10-24T19:46:28.105Z,1761335188.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017465 2025-10-24T19:46:28.211Z,1761335188.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313877,-0.913365,0.259317],[0.946382,-0.278978,0.162888],[-0.076432,0.296540,0.951957]] 2025-10-24T19:46:28.278Z,1761335188.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:28.286Z,1761335188.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 123.128944 m, bearing: 116.455091 deg, approach rate: -0.624290 m/s, LOS rate: 0.007667 deg/s, cmd heading: 129.061602 deg, new cmd heading: 129.071969 deg. 2025-10-24T19:46:28.289Z,1761335188.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252731 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:28.354Z,1761335188.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266194 2025-10-24T19:46:28.605Z,1761335188.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517709 2025-10-24T19:46:28.614Z,1761335188.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340182,-0.905423,0.253938],[0.937026,-0.303665,0.172538],[-0.079108,0.296641,0.951707]] 2025-10-24T19:46:28.650Z,1761335188.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:28.663Z,1761335188.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 122.883896 m, bearing: 116.454905 deg, approach rate: -0.657979 m/s, LOS rate: -0.000502 deg/s, cmd heading: 129.071970 deg, new cmd heading: 129.071409 deg. 2025-10-24T19:46:28.669Z,1761335188.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252721 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:28.858Z,1761335188.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771040 2025-10-24T19:46:29.015Z,1761335189.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365748,-0.896718,0.249250],[0.927138,-0.327583,0.181944],[-0.081503,0.297635,0.951194]] 2025-10-24T19:46:29.036Z,1761335189.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:29.038Z,1761335189.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 122.628983 m, bearing: 116.451434 deg, approach rate: -0.661307 m/s, LOS rate: -0.009024 deg/s, cmd heading: 129.071410 deg, new cmd heading: 129.060975 deg. 2025-10-24T19:46:29.039Z,1761335189.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252539 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:29.113Z,1761335189.113 [DAT](INFO): DAT read: Rx Time:19:46:27.9510 2025-10-24T19:46:29.114Z,1761335189.114 [DAT](INFO): Rx dataTimestamp_ set to:1761335189.113212 2025-10-24T19:46:29.117Z,1761335189.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028553 2025-10-24T19:46:29.361Z,1761335189.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273631 2025-10-24T19:46:29.420Z,1761335189.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391747,-0.887430,0.242905],[0.916260,-0.352271,0.190717],[-0.083679,0.297277,0.951117]] 2025-10-24T19:46:29.475Z,1761335189.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.95 m. 2025-10-24T19:46:29.478Z,1761335189.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.952904 m, nav range: 122.359360 m, bearing: 116.443493 deg, approach rate: -0.614118 m/s, LOS rate: -0.018127 deg/s, cmd heading: 129.060973 deg, new cmd heading: 129.037098 deg. 2025-10-24T19:46:29.479Z,1761335189.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252122 target range: 125.952904 and range: 126.70 m. 2025-10-24T19:46:29.620Z,1761335189.620 [DAT](INFO): DAT read: 19:46:27.9510 LVL= 23328, 25969, 19778, 28195, AGC= 63, IDX= 417,-0.37,-0.319,-1.669,-0.703,-0.771, PHS= 0.539,-0.852, 0.065, RAW= 130.4, 4.1, CAL= 136.7, -2.7, ROT= 13.3, 2.7 2025-10-24T19:46:29.621Z,1761335189.621 [DAT](INFO): got valid direction response: 19:46:27.9510 LVL= 23328, 25969, 19778, 28195, AGC= 63, IDX= 417,-0.37,-0.319,-1.669,-0.703,-0.771, PHS= 0.539,-0.852, 0.065, RAW= 130.4, 4.1, CAL= 136.7, -2.7, ROT= 13.3, 2.7 2025-10-24T19:46:29.622Z,1761335189.622 [DAT](INFO): DAT read: Bearing 13.3, 2.7 (Local) 2025-10-24T19:46:29.623Z,1761335189.623 [DAT](INFO): Local bearing/azimuth received: Bearing 13.3, 2.7 (Local) 2025-10-24T19:46:29.625Z,1761335189.625 [DAT](INFO): DAT read: Range 10 to 50 : 124.5 m (Round-trip 166.1 ms) speed 0.6 m/s 2025-10-24T19:46:29.625Z,1761335189.625 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:29.626Z,1761335189.626 [DAT](INFO): direction in FSK: [0.972099,0.229794,-0.047106] 2025-10-24T19:46:29.626Z,1761335189.626 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:29.630Z,1761335189.630 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:29.631Z,1761335189.631 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:29.631Z,1761335189.631 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:29.824Z,1761335189.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417439,-0.877280,0.236908],[0.904676,-0.376692,0.199162],[-0.085479,0.297463,0.950899]] 2025-10-24T19:46:29.851Z,1761335189.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.500000 m, deltaT: 3.784754 s, deltaX: -2.199997 m, approachRate: -0.581279 m/s, rangeRepo size: 4 2025-10-24T19:46:29.854Z,1761335189.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.765266 m, bearing: 128.290175 deg, lat: 36.779605 deg, lon: -121.859563 deg, deltaT: 3.784754 s, deltaX: -2.187637 m, approachRate: -0.578013 m/s, posRepo size: 4 2025-10-24T19:46:29.854Z,1761335189.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:29.857Z,1761335189.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 122.132278 m, bearing: 116.433745 deg, approach rate: 0.000000 m/s, LOS rate: -0.018127 deg/s, cmd heading: 129.037095 deg, new cmd heading: 129.016665 deg. 2025-10-24T19:46:29.858Z,1761335189.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.251765 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:29.865Z,1761335189.865 [DAT](INFO): DAT read: user:134> 2025-10-24T19:46:29.867Z,1761335189.867 [DAT](INFO): DAT read: Tx time:19:46:29.1308 2025-10-24T19:46:29.868Z,1761335189.868 [DAT](INFO): Ping request sent. 2025-10-24T19:46:29.869Z,1761335189.869 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:29.870Z,1761335189.870 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:29.871Z,1761335189.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003057 2025-10-24T19:46:30.117Z,1761335190.117 [DAT](INFO): DAT read: TxSync time:19:46:29.1300 2025-10-24T19:46:30.118Z,1761335190.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249704 2025-10-24T19:46:30.227Z,1761335190.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443111,-0.866394,0.230247],[0.892213,-0.401223,0.207309],[-0.087231,0.297290,0.950794]] 2025-10-24T19:46:30.282Z,1761335190.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:30.297Z,1761335190.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:30.299Z,1761335190.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 121.876350 m, bearing: 116.416271 deg, approach rate: -0.573276 m/s, LOS rate: -0.039224 deg/s, cmd heading: 129.016659 deg, new cmd heading: 128.964127 deg. 2025-10-24T19:46:30.305Z,1761335190.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250849 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:30.369Z,1761335190.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500892 2025-10-24T19:46:30.621Z,1761335190.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752698 2025-10-24T19:46:30.641Z,1761335190.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471625,-0.853969,0.219787],[0.877529,-0.430030,0.212171],[-0.086672,0.292935,0.952196]] 2025-10-24T19:46:30.661Z,1761335190.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:30.669Z,1761335190.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 121.657211 m, bearing: 116.397824 deg, approach rate: -0.601847 m/s, LOS rate: -0.050757 deg/s, cmd heading: 128.964121 deg, new cmd heading: 128.908678 deg. 2025-10-24T19:46:30.670Z,1761335190.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.249881 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:30.873Z,1761335190.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004682 2025-10-24T19:46:31.040Z,1761335191.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495104,-0.841997,0.214274],[0.864373,-0.452388,0.219555],[-0.087930,0.293915,0.951778]] 2025-10-24T19:46:31.058Z,1761335191.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:31.061Z,1761335191.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 121.427155 m, bearing: 116.375344 deg, approach rate: -0.579875 m/s, LOS rate: -0.056770 deg/s, cmd heading: 128.908674 deg, new cmd heading: 128.841106 deg. 2025-10-24T19:46:31.062Z,1761335191.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248702 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:31.130Z,1761335191.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260954 2025-10-24T19:46:31.377Z,1761335191.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508692 2025-10-24T19:46:31.495Z,1761335191.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:31.499Z,1761335191.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 121.182732 m, bearing: 116.350315 deg, approach rate: -0.558611 m/s, LOS rate: -0.057316 deg/s, cmd heading: 128.841109 deg, new cmd heading: 128.765873 deg. 2025-10-24T19:46:31.500Z,1761335191.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.247388 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:31.629Z,1761335191.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760830 2025-10-24T19:46:31.843Z,1761335191.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537495,-0.820218,0.195811],[0.838192,-0.494222,0.230605],[-0.092373,0.288077,0.953142]] 2025-10-24T19:46:31.874Z,1761335191.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:31.877Z,1761335191.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 120.977959 m, bearing: 116.324095 deg, approach rate: -0.540550 m/s, LOS rate: -0.069333 deg/s, cmd heading: 128.765868 deg, new cmd heading: 128.687073 deg. 2025-10-24T19:46:31.878Z,1761335191.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.246013 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:31.881Z,1761335191.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013265 2025-10-24T19:46:32.134Z,1761335192.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265734 2025-10-24T19:46:32.266Z,1761335192.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554889,-0.811827,0.181755],[0.826407,-0.512773,0.232627],[-0.095654,0.279286,0.955432]] 2025-10-24T19:46:32.309Z,1761335192.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:32.311Z,1761335192.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:32.319Z,1761335192.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 120.743706 m, bearing: 116.288112 deg, approach rate: -0.535951 m/s, LOS rate: -0.082484 deg/s, cmd heading: 128.687075 deg, new cmd heading: 128.578919 deg. 2025-10-24T19:46:32.321Z,1761335192.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244126 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:32.385Z,1761335192.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516913 2025-10-24T19:46:32.637Z,1761335192.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768780 2025-10-24T19:46:32.654Z,1761335192.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570824,-0.804001,0.166562],[0.815039,-0.530301,0.233435],[-0.099354,0.269005,0.958001]] 2025-10-24T19:46:32.703Z,1761335192.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:32.707Z,1761335192.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 120.539619 m, bearing: 116.254453 deg, approach rate: -0.520627 m/s, LOS rate: -0.086010 deg/s, cmd heading: 128.578926 deg, new cmd heading: 128.477778 deg. 2025-10-24T19:46:32.724Z,1761335192.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242360 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:32.889Z,1761335192.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020713 2025-10-24T19:46:33.058Z,1761335193.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585409,-0.796195,0.152872],[0.804115,-0.546157,0.234760],[-0.103423,0.260357,0.959957]] 2025-10-24T19:46:33.079Z,1761335193.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:33.082Z,1761335193.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 120.344025 m, bearing: 116.220101 deg, approach rate: -0.519907 m/s, LOS rate: -0.091459 deg/s, cmd heading: 128.477784 deg, new cmd heading: 128.374560 deg. 2025-10-24T19:46:33.083Z,1761335193.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240559 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:33.142Z,1761335193.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274308 2025-10-24T19:46:33.394Z,1761335193.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526357 2025-10-24T19:46:33.459Z,1761335193.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597995,-0.789123,0.140311],[0.794214,-0.559857,0.236189],[-0.107829,0.252677,0.961524]] 2025-10-24T19:46:33.536Z,1761335193.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:33.538Z,1761335193.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 120.106651 m, bearing: 116.177653 deg, approach rate: -0.544087 m/s, LOS rate: -0.097489 deg/s, cmd heading: 128.374567 deg, new cmd heading: 128.246970 deg. 2025-10-24T19:46:33.539Z,1761335193.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238332 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:33.645Z,1761335193.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777358 2025-10-24T19:46:33.865Z,1761335193.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608171,-0.783692,0.126314],[0.785737,-0.571686,0.236205],[-0.112900,0.242903,0.963458]] 2025-10-24T19:46:33.885Z,1761335193.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:33.887Z,1761335193.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 119.906761 m, bearing: 116.140242 deg, approach rate: -0.542518 m/s, LOS rate: -0.101706 deg/s, cmd heading: 128.246965 deg, new cmd heading: 128.134545 deg. 2025-10-24T19:46:33.889Z,1761335193.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236370 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:33.899Z,1761335193.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030799 2025-10-24T19:46:34.150Z,1761335194.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282027 2025-10-24T19:46:34.278Z,1761335194.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616617,-0.779413,0.110901],[0.778383,-0.582485,0.234161],[-0.117910,0.230711,0.965852]] 2025-10-24T19:46:34.337Z,1761335194.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:34.339Z,1761335194.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:34.346Z,1761335194.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 119.665436 m, bearing: 116.092611 deg, approach rate: -0.530748 m/s, LOS rate: -0.104964 deg/s, cmd heading: 128.134540 deg, new cmd heading: 127.991362 deg. 2025-10-24T19:46:34.347Z,1761335194.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233871 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:34.402Z,1761335194.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533706 2025-10-24T19:46:34.653Z,1761335194.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784954 2025-10-24T19:46:34.672Z,1761335194.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623415,-0.775976,0.095994],[0.772140,-0.591654,0.231831],[-0.123099,0.218648,0.968008]] 2025-10-24T19:46:34.720Z,1761335194.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:34.723Z,1761335194.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 119.448975 m, bearing: 116.048492 deg, approach rate: -0.567779 m/s, LOS rate: -0.115935 deg/s, cmd heading: 127.991366 deg, new cmd heading: 127.858768 deg. 2025-10-24T19:46:34.727Z,1761335194.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231556 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:34.906Z,1761335194.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037900 2025-10-24T19:46:35.076Z,1761335195.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628494,-0.773513,0.081684],[0.767145,-0.599111,0.229250],[-0.128390,0.206745,0.969934]] 2025-10-24T19:46:35.100Z,1761335195.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:35.103Z,1761335195.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 119.241501 m, bearing: 116.005114 deg, approach rate: -0.545971 m/s, LOS rate: -0.114350 deg/s, cmd heading: 127.858764 deg, new cmd heading: 127.728402 deg. 2025-10-24T19:46:35.124Z,1761335195.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229281 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:35.157Z,1761335195.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288975 2025-10-24T19:46:35.409Z,1761335195.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540704 2025-10-24T19:46:35.543Z,1761335195.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:35.547Z,1761335195.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 118.979568 m, bearing: 115.954604 deg, approach rate: -0.591043 m/s, LOS rate: -0.114224 deg/s, cmd heading: 127.728403 deg, new cmd heading: 127.576542 deg. 2025-10-24T19:46:35.597Z,1761335195.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.226631 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:35.661Z,1761335195.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792874 2025-10-24T19:46:35.914Z,1761335195.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045637 2025-10-24T19:46:36.046Z,1761335196.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:36.049Z,1761335196.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 118.683205 m, bearing: 115.897165 deg, approach rate: -0.589977 m/s, LOS rate: -0.114631 deg/s, cmd heading: 127.576541 deg, new cmd heading: 127.403794 deg. 2025-10-24T19:46:36.050Z,1761335196.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.223616 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:36.166Z,1761335196.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297273 2025-10-24T19:46:36.421Z,1761335196.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552981 2025-10-24T19:46:36.456Z,1761335196.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:36.458Z,1761335196.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:36.477Z,1761335196.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 118.423683 m, bearing: 115.849156 deg, approach rate: -0.629015 m/s, LOS rate: -0.116616 deg/s, cmd heading: 127.403792 deg, new cmd heading: 127.259450 deg. 2025-10-24T19:46:36.478Z,1761335196.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221097 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:36.674Z,1761335196.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805898 2025-10-24T19:46:36.926Z,1761335196.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057224 2025-10-24T19:46:36.931Z,1761335196.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:36.934Z,1761335196.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 118.130806 m, bearing: 115.794705 deg, approach rate: -0.619737 m/s, LOS rate: -0.115507 deg/s, cmd heading: 127.259456 deg, new cmd heading: 127.095697 deg. 2025-10-24T19:46:36.935Z,1761335196.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218238 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:37.177Z,1761335197.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308742 2025-10-24T19:46:37.298Z,1761335197.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634710,-0.772737,-0.004573],[0.755724,-0.621951,0.205081],[-0.161318,0.126711,0.978734]] 2025-10-24T19:46:37.380Z,1761335197.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:37.383Z,1761335197.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 117.830475 m, bearing: 115.740318 deg, approach rate: -0.674791 m/s, LOS rate: -0.122510 deg/s, cmd heading: 127.095696 deg, new cmd heading: 126.932119 deg. 2025-10-24T19:46:37.388Z,1761335197.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215383 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:37.429Z,1761335197.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560946 2025-10-24T19:46:37.681Z,1761335197.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812903 2025-10-24T19:46:37.683Z,1761335197.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634075,-0.773130,-0.014799],[0.755264,-0.623302,0.202661],[-0.165907,0.117325,0.979137]] 2025-10-24T19:46:37.706Z,1761335197.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:37.709Z,1761335197.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 117.607010 m, bearing: 115.699674 deg, approach rate: -0.676791 m/s, LOS rate: -0.123328 deg/s, cmd heading: 126.932113 deg, new cmd heading: 126.809950 deg. 2025-10-24T19:46:37.710Z,1761335197.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213251 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:37.933Z,1761335197.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065048 2025-10-24T19:46:38.081Z,1761335198.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633132,-0.773716,-0.022519],[0.755181,-0.623825,0.201353],[-0.169838,0.110478,0.979260]] 2025-10-24T19:46:38.101Z,1761335198.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:38.103Z,1761335198.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 117.343933 m, bearing: 115.651706 deg, approach rate: -0.666481 m/s, LOS rate: -0.121795 deg/s, cmd heading: 126.809948 deg, new cmd heading: 126.665721 deg. 2025-10-24T19:46:38.105Z,1761335198.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210734 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:38.185Z,1761335198.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316923 2025-10-24T19:46:38.437Z,1761335198.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568722 2025-10-24T19:46:38.486Z,1761335198.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632221,-0.774229,-0.029440],[0.755005,-0.624165,0.200963],[-0.173966,0.104826,0.979156]] 2025-10-24T19:46:38.531Z,1761335198.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:38.533Z,1761335198.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:38.536Z,1761335198.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 117.044846 m, bearing: 115.601614 deg, approach rate: -0.691361 m/s, LOS rate: -0.116086 deg/s, cmd heading: 126.665722 deg, new cmd heading: 126.515063 deg. 2025-10-24T19:46:38.537Z,1761335198.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208104 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:38.689Z,1761335198.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820730 2025-10-24T19:46:38.941Z,1761335198.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072839 2025-10-24T19:46:39.047Z,1761335199.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:39.050Z,1761335199.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 116.688286 m, bearing: 115.541541 deg, approach rate: -0.694023 m/s, LOS rate: -0.117286 deg/s, cmd heading: 126.515061 deg, new cmd heading: 126.334292 deg. 2025-10-24T19:46:39.051Z,1761335199.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204949 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:39.193Z,1761335199.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324723 2025-10-24T19:46:39.397Z,1761335199.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629574,-0.775873,-0.040702],[0.755440,-0.623551,0.201233],[-0.181511,0.095943,0.978697]] 2025-10-24T19:46:39.441Z,1761335199.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:39.453Z,1761335199.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584892 2025-10-24T19:46:39.464Z,1761335199.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 116.411835 m, bearing: 115.494020 deg, approach rate: -0.701265 m/s, LOS rate: -0.120831 deg/s, cmd heading: 126.334293 deg, new cmd heading: 126.191392 deg. 2025-10-24T19:46:39.465Z,1761335199.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202455 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:39.705Z,1761335199.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836845 2025-10-24T19:46:39.905Z,1761335199.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624529,-0.779514,-0.048185],[0.758027,-0.619857,0.202910],[-0.188039,0.090197,0.978011]] 2025-10-24T19:46:39.943Z,1761335199.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:39.947Z,1761335199.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 116.058304 m, bearing: 115.434027 deg, approach rate: -0.704784 m/s, LOS rate: -0.119964 deg/s, cmd heading: 126.191392 deg, new cmd heading: 126.010865 deg. 2025-10-24T19:46:39.948Z,1761335199.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199305 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:39.957Z,1761335199.957 [DAT](INFO): Reached modem response timeout 2025-10-24T19:46:39.957Z,1761335199.957 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:46:39.957Z,1761335199.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:40.212Z,1761335200.212 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:46:40.349Z,1761335200.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622094,-0.781196,-0.052274],[0.759548,-0.618358,0.201792],[-0.189963,0.085829,0.978032]] 2025-10-24T19:46:40.424Z,1761335200.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:40.427Z,1761335200.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 115.740509 m, bearing: 115.380918 deg, approach rate: -0.666098 m/s, LOS rate: -0.111623 deg/s, cmd heading: 126.010870 deg, new cmd heading: 125.851106 deg. 2025-10-24T19:46:40.432Z,1761335200.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196516 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:40.464Z,1761335200.464 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:46:40.710Z,1761335200.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619041,-0.783420,-0.055139],[0.761643,-0.615990,0.201135],[-0.191539,0.082515,0.978010]] 2025-10-24T19:46:40.717Z,1761335200.717 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:46:40.717Z,1761335200.717 [DAT](INFO): response not received 2025-10-24T19:46:40.718Z,1761335200.718 [DAT](INFO): DAT read: user:135> 2025-10-24T19:46:40.718Z,1761335200.718 [DAT](INFO): DAT read: Tx time:19:46:40.0809 2025-10-24T19:46:40.719Z,1761335200.719 [DAT](INFO): Ping request sent. 2025-10-24T19:46:40.719Z,1761335200.719 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:40.719Z,1761335200.719 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:40.720Z,1761335200.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-24T19:46:40.733Z,1761335200.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:40.735Z,1761335200.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:40.739Z,1761335200.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 115.508408 m, bearing: 115.342436 deg, approach rate: -0.736313 m/s, LOS rate: -0.122325 deg/s, cmd heading: 125.851112 deg, new cmd heading: 125.735434 deg. 2025-10-24T19:46:40.740Z,1761335200.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194497 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:40.970Z,1761335200.970 [DAT](INFO): DAT read: TxSync time:19:46:40.0801 2025-10-24T19:46:40.972Z,1761335200.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252846 2025-10-24T19:46:41.108Z,1761335201.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616385,-0.785413,-0.056535],[0.763535,-0.613685,0.201012],[-0.192572,0.080735,0.977956]] 2025-10-24T19:46:41.130Z,1761335201.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:41.133Z,1761335201.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 115.233345 m, bearing: 115.297135 deg, approach rate: -0.698550 m/s, LOS rate: -0.115321 deg/s, cmd heading: 125.735436 deg, new cmd heading: 125.599210 deg. 2025-10-24T19:46:41.133Z,1761335201.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192120 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:41.222Z,1761335201.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502449 2025-10-24T19:46:41.473Z,1761335201.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753973 2025-10-24T19:46:41.511Z,1761335201.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615709,-0.784524,-0.073645],[0.764324,-0.617342,0.186275],[-0.191602,0.058403,0.979734]] 2025-10-24T19:46:41.562Z,1761335201.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:41.565Z,1761335201.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 114.940376 m, bearing: 115.245519 deg, approach rate: -0.677087 m/s, LOS rate: -0.119595 deg/s, cmd heading: 125.599215 deg, new cmd heading: 125.443973 deg. 2025-10-24T19:46:41.566Z,1761335201.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.189410 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:41.725Z,1761335201.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006055 2025-10-24T19:46:41.925Z,1761335201.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613651,-0.786281,-0.072079],[0.765954,-0.614969,0.187423],[-0.191694,0.059803,0.979631]] 2025-10-24T19:46:41.945Z,1761335201.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:41.949Z,1761335201.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 114.680626 m, bearing: 115.199898 deg, approach rate: -0.677628 m/s, LOS rate: -0.119284 deg/s, cmd heading: 125.443978 deg, new cmd heading: 125.306805 deg. 2025-10-24T19:46:41.950Z,1761335201.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.187016 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:41.977Z,1761335201.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258090 2025-10-24T19:46:42.233Z,1761335202.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514103 2025-10-24T19:46:42.365Z,1761335202.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609831,-0.789413,-0.070240],[0.768748,-0.610751,0.189760],[-0.192698,0.061725,0.979315]] 2025-10-24T19:46:42.485Z,1761335202.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766361 2025-10-24T19:46:42.582Z,1761335202.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:42.585Z,1761335202.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 114.277100 m, bearing: 115.127729 deg, approach rate: -0.634481 m/s, LOS rate: -0.113875 deg/s, cmd heading: 125.306801 deg, new cmd heading: 125.089531 deg. 2025-10-24T19:46:42.586Z,1761335202.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.183224 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:42.737Z,1761335202.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018236 2025-10-24T19:46:42.895Z,1761335202.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605315,-0.793116,-0.067533],[0.771964,-0.605617,0.193132],[-0.194076,0.064773,0.978846]] 2025-10-24T19:46:42.936Z,1761335202.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:42.938Z,1761335202.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:42.941Z,1761335202.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 114.035355 m, bearing: 115.084973 deg, approach rate: -0.676278 m/s, LOS rate: -0.119863 deg/s, cmd heading: 125.089532 deg, new cmd heading: 124.960992 deg. 2025-10-24T19:46:42.942Z,1761335202.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180981 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:42.989Z,1761335202.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270036 2025-10-24T19:46:43.241Z,1761335203.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521990 2025-10-24T19:46:43.315Z,1761335203.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600222,-0.797164,-0.065291],[0.775453,-0.599985,0.196698],[-0.195974,0.067432,0.978288]] 2025-10-24T19:46:43.395Z,1761335203.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:43.401Z,1761335203.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 113.742935 m, bearing: 115.033998 deg, approach rate: -0.640983 m/s, LOS rate: -0.112025 deg/s, cmd heading: 124.960988 deg, new cmd heading: 124.807670 deg. 2025-10-24T19:46:43.402Z,1761335203.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.178305 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:43.494Z,1761335203.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774421 2025-10-24T19:46:43.745Z,1761335203.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026057 2025-10-24T19:46:43.812Z,1761335203.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:43.822Z,1761335203.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 113.493668 m, bearing: 114.990363 deg, approach rate: -0.603510 m/s, LOS rate: -0.105877 deg/s, cmd heading: 124.807664 deg, new cmd heading: 124.676473 deg. 2025-10-24T19:46:43.823Z,1761335203.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.176015 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:43.997Z,1761335203.997 [DAT](INFO): DAT read: Rx Time:19:46:42.7257 2025-10-24T19:46:43.998Z,1761335203.998 [DAT](INFO): Rx dataTimestamp_ set to:1761335203.997513 2025-10-24T19:46:43.998Z,1761335203.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279552 2025-10-24T19:46:44.249Z,1761335204.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530083 2025-10-24T19:46:44.251Z,1761335204.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583167,-0.810218,-0.058854],[0.786637,-0.581307,0.208051],[-0.202779,0.075032,0.976346]] 2025-10-24T19:46:44.370Z,1761335204.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.77 m. 2025-10-24T19:46:44.394Z,1761335204.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.765266 m, nav range: 113.158333 m, bearing: 114.935138 deg, approach rate: -0.603561 m/s, LOS rate: -0.099693 deg/s, cmd heading: 124.676470 deg, new cmd heading: 124.510303 deg. 2025-10-24T19:46:44.408Z,1761335204.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.173115 target range: 123.765266 and range: 124.50 m. 2025-10-24T19:46:44.506Z,1761335204.506 [DAT](INFO): DAT read: 19:46:42.7257 LVL= 16256, 20577, 14546, 18499, AGC= 68, IDX= 156, 0.30, 0.279,-0.534, 0.460,-0.757, PHS= 1.124, 0.270, 1.214, RAW= 154.9, -45.6, CAL= 158.1, -46.3, ROT= 351.9, 46.3 2025-10-24T19:46:44.507Z,1761335204.507 [DAT](INFO): got valid direction response: 19:46:42.7257 LVL= 16256, 20577, 14546, 18499, AGC= 68, IDX= 156, 0.30, 0.279,-0.534, 0.460,-0.757, PHS= 1.124, 0.270, 1.214, RAW= 154.9, -45.6, CAL= 158.1, -46.3, ROT= 351.9, 46.3 2025-10-24T19:46:44.508Z,1761335204.508 [DAT](INFO): DAT read: Bearing 351.9, 46.3 (Local) 2025-10-24T19:46:44.509Z,1761335204.509 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 46.3 (Local) 2025-10-24T19:46:44.510Z,1761335204.510 [DAT](INFO): DAT read: Range 10 to 50 : 180.5 m (Round-trip 240.7 ms) speed 0.6 m/s 2025-10-24T19:46:44.511Z,1761335204.511 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:44.512Z,1761335204.512 [DAT](INFO): direction in FSK: [0.683990,-0.097346,-0.722967] 2025-10-24T19:46:44.513Z,1761335204.513 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:44.516Z,1761335204.516 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:44.516Z,1761335204.516 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:44.517Z,1761335204.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:44.754Z,1761335204.754 [DAT](INFO): DAT read: user:136> 2025-10-24T19:46:44.755Z,1761335204.755 [DAT](INFO): DAT read: Tx time:19:46:44.0309 2025-10-24T19:46:44.755Z,1761335204.755 [DAT](INFO): Ping request sent. 2025-10-24T19:46:44.755Z,1761335204.755 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:44.755Z,1761335204.755 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:44.756Z,1761335204.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000842 2025-10-24T19:46:44.834Z,1761335204.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578743,-0.813445,-0.058003],[0.789546,-0.576702,0.209836],[-0.204140,0.075645,0.976015]] 2025-10-24T19:46:44.917Z,1761335204.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 180.500000 m, deltaT: 14.886977 s, deltaX: 56.000000 m, approachRate: 3.761677 m/s, rangeRepo size: 4 2025-10-24T19:46:44.925Z,1761335204.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 179.437164 m, bearing: 121.720554 deg, lat: 36.779589 deg, lon: -121.859636 deg, deltaT: 14.886977 s, deltaX: 55.671898 m, approachRate: 3.739638 m/s, posRepo size: 4 2025-10-24T19:46:44.926Z,1761335204.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:44.933Z,1761335204.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 107.751717 m, bearing: 117.226312 deg, approach rate: 0.000000 m/s, LOS rate: -0.099693 deg/s, cmd heading: 124.510305 deg, new cmd heading: 124.346273 deg. 2025-10-24T19:46:44.934Z,1761335204.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.170252 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:45.006Z,1761335205.006 [DAT](INFO): DAT read: TxSync time:19:46:44.0302 2025-10-24T19:46:45.006Z,1761335205.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251067 2025-10-24T19:46:45.215Z,1761335205.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575782,-0.815639,-0.056643],[0.791689,-0.573496,0.210548],[-0.204215,0.076386,0.975941]] 2025-10-24T19:46:45.249Z,1761335205.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:45.251Z,1761335205.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:45.257Z,1761335205.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501751 2025-10-24T19:46:45.265Z,1761335205.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 107.535873 m, bearing: 117.194419 deg, approach rate: -0.636482 m/s, LOS rate: -0.094234 deg/s, cmd heading: 124.346271 deg, new cmd heading: 124.250401 deg. 2025-10-24T19:46:45.266Z,1761335205.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.168579 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:45.509Z,1761335205.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753489 2025-10-24T19:46:45.669Z,1761335205.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:45.671Z,1761335205.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 107.271332 m, bearing: 117.152543 deg, approach rate: -0.633404 m/s, LOS rate: -0.100514 deg/s, cmd heading: 124.250403 deg, new cmd heading: 124.124464 deg. 2025-10-24T19:46:45.672Z,1761335205.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.166381 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:45.761Z,1761335205.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005877 2025-10-24T19:46:46.014Z,1761335206.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258540 2025-10-24T19:46:46.031Z,1761335206.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573890,-0.817532,-0.047863],[0.793749,-0.569674,0.213155],[-0.201527,0.084336,0.975845]] 2025-10-24T19:46:46.051Z,1761335206.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:46.054Z,1761335206.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 107.037331 m, bearing: 117.115679 deg, approach rate: -0.611925 m/s, LOS rate: -0.096611 deg/s, cmd heading: 124.124468 deg, new cmd heading: 124.013635 deg. 2025-10-24T19:46:46.055Z,1761335206.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164446 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:46.265Z,1761335206.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509827 2025-10-24T19:46:46.444Z,1761335206.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572191,-0.818737,-0.047623],[0.794974,-0.567980,0.213109],[-0.201530,0.084080,0.975867]] 2025-10-24T19:46:46.491Z,1761335206.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:46.510Z,1761335206.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 106.766518 m, bearing: 117.070351 deg, approach rate: -0.614911 m/s, LOS rate: -0.103183 deg/s, cmd heading: 124.013641 deg, new cmd heading: 123.877313 deg. 2025-10-24T19:46:46.511Z,1761335206.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.162067 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:46.517Z,1761335206.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761590 2025-10-24T19:46:46.769Z,1761335206.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013555 2025-10-24T19:46:46.828Z,1761335206.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569442,-0.820712,-0.046564],[0.796798,-0.565003,0.214209],[-0.202113,0.084878,0.975677]] 2025-10-24T19:46:46.867Z,1761335206.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:46.876Z,1761335206.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 106.547752 m, bearing: 117.033987 deg, approach rate: -0.581829 m/s, LOS rate: -0.096912 deg/s, cmd heading: 123.877310 deg, new cmd heading: 123.767995 deg. 2025-10-24T19:46:46.877Z,1761335206.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.160159 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:47.021Z,1761335207.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265510 2025-10-24T19:46:47.232Z,1761335207.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567279,-0.822266,-0.045521],[0.798234,-0.562611,0.215156],[-0.202527,0.085717,0.975518]] 2025-10-24T19:46:47.250Z,1761335207.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:47.252Z,1761335207.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:47.255Z,1761335207.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 106.300293 m, bearing: 116.993046 deg, approach rate: -0.643231 m/s, LOS rate: -0.106669 deg/s, cmd heading: 123.768000 deg, new cmd heading: 123.644890 deg. 2025-10-24T19:46:47.257Z,1761335207.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.158010 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:47.273Z,1761335207.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517436 2025-10-24T19:46:47.525Z,1761335207.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769435 2025-10-24T19:46:47.635Z,1761335207.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565058,-0.823864,-0.044252],[0.799741,-0.560118,0.216059],[-0.202789,0.086696,0.975377]] 2025-10-24T19:46:47.682Z,1761335207.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:47.685Z,1761335207.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 106.025360 m, bearing: 116.951538 deg, approach rate: -0.639266 m/s, LOS rate: -0.096764 deg/s, cmd heading: 123.644893 deg, new cmd heading: 123.520045 deg. 2025-10-24T19:46:47.686Z,1761335207.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.155832 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:47.778Z,1761335207.778 [DAT](INFO): DAT read: Rx Time:19:46:46.6713 2025-10-24T19:46:47.778Z,1761335207.778 [DAT](INFO): Rx dataTimestamp_ set to:1761335207.778011 2025-10-24T19:46:47.779Z,1761335207.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023526 2025-10-24T19:46:48.030Z,1761335208.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274527 2025-10-24T19:46:48.054Z,1761335208.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563383,-0.825098,-0.042570],[0.800877,-0.558051,0.217198],[-0.202966,0.088272,0.975199]] 2025-10-24T19:46:48.091Z,1761335208.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.44 m. 2025-10-24T19:46:48.094Z,1761335208.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.437164 m, nav range: 105.774445 m, bearing: 116.913755 deg, approach rate: -0.613703 m/s, LOS rate: -0.092629 deg/s, cmd heading: 123.520051 deg, new cmd heading: 123.406436 deg. 2025-10-24T19:46:48.104Z,1761335208.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.153849 target range: 179.437164 and range: 180.50 m. 2025-10-24T19:46:48.284Z,1761335208.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528157 2025-10-24T19:46:48.471Z,1761335208.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561872,-0.826219,-0.040760],[0.801914,-0.556114,0.218338],[-0.203062,0.089992,0.975022]] 2025-10-24T19:46:48.538Z,1761335208.538 [DAT](INFO): DAT read: 19:46:46.6713 LVL= 27104, 27121, 21282, 31443, AGC= 66, IDX= 399,-0.48,-0.111,-1.133, 0.029,-0.952, PHS= 0.929,-0.134, 0.978, RAW= 152.2, -30.0, CAL= 155.3, -35.7, ROT= 354.7, 35.7 2025-10-24T19:46:48.539Z,1761335208.539 [DAT](INFO): got valid direction response: 19:46:46.6713 LVL= 27104, 27121, 21282, 31443, AGC= 66, IDX= 399,-0.48,-0.111,-1.133, 0.029,-0.952, PHS= 0.929,-0.134, 0.978, RAW= 152.2, -30.0, CAL= 155.3, -35.7, ROT= 354.7, 35.7 2025-10-24T19:46:48.540Z,1761335208.540 [DAT](INFO): DAT read: Bearing 354.7, 35.7 (Local) 2025-10-24T19:46:48.541Z,1761335208.541 [DAT](INFO): Local bearing/azimuth received: Bearing 354.7, 35.7 (Local) 2025-10-24T19:46:48.542Z,1761335208.542 [DAT](INFO): DAT read: Range 10 to 50 : 177.1 m (Round-trip 236.2 ms) speed 0.8 m/s 2025-10-24T19:46:48.543Z,1761335208.543 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:48.544Z,1761335208.544 [DAT](INFO): direction in FSK: [0.808612,-0.075013,-0.583541] 2025-10-24T19:46:48.544Z,1761335208.544 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:48.549Z,1761335208.549 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:48.549Z,1761335208.549 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:48.549Z,1761335208.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:48.579Z,1761335208.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 177.100006 m, deltaT: 4.031996 s, deltaX: -3.399994 m, approachRate: -0.843253 m/s, rangeRepo size: 4 2025-10-24T19:46:48.589Z,1761335208.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.068832 m, bearing: 123.223202 deg, lat: 36.779480 deg, lon: -121.859636 deg, deltaT: 4.031996 s, deltaX: -3.368332 m, approachRate: -0.835401 m/s, posRepo size: 4 2025-10-24T19:46:48.590Z,1761335208.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:48.601Z,1761335208.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 111.459404 m, bearing: 122.411714 deg, approach rate: 0.000000 m/s, LOS rate: -0.092629 deg/s, cmd heading: 123.406437 deg, new cmd heading: 123.271119 deg. 2025-10-24T19:46:48.602Z,1761335208.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.151487 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:48.785Z,1761335208.785 [DAT](INFO): DAT read: user:137> 2025-10-24T19:46:48.786Z,1761335208.786 [DAT](INFO): DAT read: Tx time:19:46:48.0810 2025-10-24T19:46:48.786Z,1761335208.786 [DAT](INFO): Ping request sent. 2025-10-24T19:46:48.786Z,1761335208.786 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:48.787Z,1761335208.787 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:48.787Z,1761335208.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-24T19:46:48.921Z,1761335208.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559932,-0.827673,-0.037879],[0.803093,-0.553411,0.220859],[-0.203761,0.093246,0.974570]] 2025-10-24T19:46:48.942Z,1761335208.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:48.945Z,1761335208.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 111.176056 m, bearing: 122.385712 deg, approach rate: -0.778529 m/s, LOS rate: -0.071625 deg/s, cmd heading: 123.271118 deg, new cmd heading: 123.192913 deg. 2025-10-24T19:46:48.947Z,1761335208.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150122 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:49.037Z,1761335209.037 [DAT](INFO): DAT read: TxSync time:19:46:48.0802 2025-10-24T19:46:49.038Z,1761335209.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251514 2025-10-24T19:46:49.292Z,1761335209.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505746 2025-10-24T19:46:49.312Z,1761335209.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561145,-0.826353,-0.047504],[0.802734,-0.557304,0.212204],[-0.201830,0.080944,0.976070]] 2025-10-24T19:46:49.338Z,1761335209.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:49.345Z,1761335209.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:49.348Z,1761335209.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 110.911613 m, bearing: 122.361202 deg, approach rate: -0.664288 m/s, LOS rate: -0.061716 deg/s, cmd heading: 123.192912 deg, new cmd heading: 123.119207 deg. 2025-10-24T19:46:49.349Z,1761335209.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.148835 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:49.541Z,1761335209.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754450 2025-10-24T19:46:49.793Z,1761335209.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006311 2025-10-24T19:46:49.801Z,1761335209.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560580,-0.826876,-0.045012],[0.803127,-0.556118,0.213822],[-0.201836,0.083714,0.975835]] 2025-10-24T19:46:49.859Z,1761335209.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:49.862Z,1761335209.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 110.559563 m, bearing: 122.328184 deg, approach rate: -0.678504 m/s, LOS rate: -0.063837 deg/s, cmd heading: 123.119200 deg, new cmd heading: 123.019833 deg. 2025-10-24T19:46:49.864Z,1761335209.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.147101 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:50.046Z,1761335210.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259173 2025-10-24T19:46:50.298Z,1761335210.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511521 2025-10-24T19:46:50.305Z,1761335210.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558757,-0.828268,-0.041993],[0.804356,-0.553567,0.215811],[-0.201995,0.086809,0.975532]] 2025-10-24T19:46:50.355Z,1761335210.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:50.362Z,1761335210.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 110.233788 m, bearing: 122.297817 deg, approach rate: -0.656858 m/s, LOS rate: -0.061410 deg/s, cmd heading: 123.019835 deg, new cmd heading: 122.928465 deg. 2025-10-24T19:46:50.363Z,1761335210.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145506 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:50.550Z,1761335210.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763407 2025-10-24T19:46:50.801Z,1761335210.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014595 2025-10-24T19:46:50.817Z,1761335210.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:50.820Z,1761335210.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 109.904228 m, bearing: 122.268578 deg, approach rate: -0.712924 m/s, LOS rate: -0.063442 deg/s, cmd heading: 122.928461 deg, new cmd heading: 122.840480 deg. 2025-10-24T19:46:50.821Z,1761335210.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.143971 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:51.053Z,1761335211.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266471 2025-10-24T19:46:51.151Z,1761335211.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553086,-0.832287,-0.037331],[0.807861,-0.546727,0.220113],[-0.203607,0.091583,0.974760]] 2025-10-24T19:46:51.170Z,1761335211.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:51.173Z,1761335211.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 109.658669 m, bearing: 122.247543 deg, approach rate: -0.694765 m/s, LOS rate: -0.059648 deg/s, cmd heading: 122.840474 deg, new cmd heading: 122.777227 deg. 2025-10-24T19:46:51.174Z,1761335211.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.142867 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:51.305Z,1761335211.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518413 2025-10-24T19:46:51.557Z,1761335211.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771006 2025-10-24T19:46:51.561Z,1761335211.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550996,-0.833684,-0.037069],[0.809376,-0.544694,0.219588],[-0.203258,0.090990,0.974888]] 2025-10-24T19:46:51.612Z,1761335211.612 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:51.615Z,1761335211.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:51.617Z,1761335211.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 109.353149 m, bearing: 122.218895 deg, approach rate: -0.687976 m/s, LOS rate: -0.064690 deg/s, cmd heading: 122.777227 deg, new cmd heading: 122.691043 deg. 2025-10-24T19:46:51.618Z,1761335211.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.141363 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:51.809Z,1761335211.809 [DAT](INFO): DAT read: Rx Time:19:46:50.7188 2025-10-24T19:46:51.809Z,1761335211.809 [DAT](INFO): Rx dataTimestamp_ set to:1761335211.809057 2025-10-24T19:46:51.810Z,1761335211.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023515 2025-10-24T19:46:51.956Z,1761335211.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549386,-0.834738,-0.037250],[0.810769,-0.543330,0.217822],[-0.202063,0.089467,0.975277]] 2025-10-24T19:46:51.994Z,1761335211.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:52.025Z,1761335212.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 109.103683 m, bearing: 122.195688 deg, approach rate: -0.668032 m/s, LOS rate: -0.062287 deg/s, cmd heading: 122.691043 deg, new cmd heading: 122.621263 deg. 2025-10-24T19:46:52.026Z,1761335212.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140145 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:52.061Z,1761335212.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274561 2025-10-24T19:46:52.316Z,1761335212.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528604 2025-10-24T19:46:52.387Z,1761335212.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547484,-0.836009,-0.036743],[0.812372,-0.541514,0.216368],[-0.200782,0.088609,0.975620]] 2025-10-24T19:46:52.424Z,1761335212.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.07 m. 2025-10-24T19:46:52.426Z,1761335212.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.068832 m, nav range: 108.806053 m, bearing: 122.168279 deg, approach rate: -0.709126 m/s, LOS rate: -0.065482 deg/s, cmd heading: 122.621266 deg, new cmd heading: 122.538815 deg. 2025-10-24T19:46:52.427Z,1761335212.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.138706 target range: 176.068832 and range: 177.10 m. 2025-10-24T19:46:52.585Z,1761335212.585 [DAT](INFO): DAT read: 19:46:50.7188 LVL= 21776, 24481, 16738, 30707, AGC= 65, IDX= 421, 0.12, 2.484, 1.371, 2.641, 1.636, PHS= 0.936,-0.218, 1.002, RAW= 152.7, -27.1, CAL= 156.4, -33.3, ROT= 353.6, 33.3 2025-10-24T19:46:52.586Z,1761335212.586 [DAT](INFO): got valid direction response: 19:46:50.7188 LVL= 21776, 24481, 16738, 30707, AGC= 65, IDX= 421, 0.12, 2.484, 1.371, 2.641, 1.636, PHS= 0.936,-0.218, 1.002, RAW= 152.7, -27.1, CAL= 156.4, -33.3, ROT= 353.6, 33.3 2025-10-24T19:46:52.587Z,1761335212.587 [DAT](INFO): DAT read: Bearing 353.6, 33.3 (Local) 2025-10-24T19:46:52.589Z,1761335212.589 [DAT](INFO): Local bearing/azimuth received: Bearing 353.6, 33.3 (Local) 2025-10-24T19:46:52.591Z,1761335212.591 [DAT](INFO): DAT read: Range 10 to 50 : 175.2 m (Round-trip 233.6 ms) speed 0.2 m/s 2025-10-24T19:46:52.608Z,1761335212.608 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:46:52.609Z,1761335212.609 [DAT](INFO): direction in FSK: [0.830599,-0.093166,-0.549023] 2025-10-24T19:46:52.609Z,1761335212.609 [DAT](INFO): publishing direction and range info 2025-10-24T19:46:52.618Z,1761335212.618 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:52.618Z,1761335212.618 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:52.618Z,1761335212.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:46:52.793Z,1761335212.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545921,-0.837063,-0.036014],[0.813758,-0.539972,0.215006],[-0.199420,0.088070,0.975948]] 2025-10-24T19:46:52.821Z,1761335212.821 [DAT](INFO): DAT read: user:138> 2025-10-24T19:46:52.822Z,1761335212.822 [DAT](INFO): DAT read: Tx time:19:46:52.1326 2025-10-24T19:46:52.822Z,1761335212.822 [DAT](INFO): Ping request sent. 2025-10-24T19:46:52.822Z,1761335212.822 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:46:52.823Z,1761335212.823 [DAT](INFO): publishing transmit ping time 2025-10-24T19:46:52.823Z,1761335212.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-24T19:46:52.958Z,1761335212.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 175.199997 m, deltaT: 4.033119 s, deltaX: -1.900009 m, approachRate: -0.471102 m/s, rangeRepo size: 4 2025-10-24T19:46:52.964Z,1761335212.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 174.196167 m, bearing: 120.320816 deg, lat: 36.779442 deg, lon: -121.859636 deg, deltaT: 4.033119 s, deltaX: -1.872665 m, approachRate: -0.464322 m/s, posRepo size: 4 2025-10-24T19:46:52.965Z,1761335212.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:52.967Z,1761335212.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 110.774803 m, bearing: 124.008458 deg, approach rate: 0.000000 m/s, LOS rate: -0.065482 deg/s, cmd heading: 122.538812 deg, new cmd heading: 122.430928 deg. 2025-10-24T19:46:52.973Z,1761335212.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.136823 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:53.074Z,1761335213.074 [DAT](INFO): DAT read: TxSync time:19:46:52.1318 2025-10-24T19:46:53.075Z,1761335213.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252822 2025-10-24T19:46:53.259Z,1761335213.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545015,-0.837704,-0.034784],[0.815582,-0.539328,0.209648],[-0.194383,0.085892,0.977158]] 2025-10-24T19:46:53.300Z,1761335213.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:53.303Z,1761335213.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 110.539970 m, bearing: 123.991290 deg, approach rate: -0.728948 m/s, LOS rate: -0.053404 deg/s, cmd heading: 122.430922 deg, new cmd heading: 122.379310 deg. 2025-10-24T19:46:53.308Z,1761335213.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.135922 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:53.325Z,1761335213.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502480 2025-10-24T19:46:53.578Z,1761335213.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755806 2025-10-24T19:46:53.659Z,1761335213.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543875,-0.838522,-0.032879],[0.816754,-0.537937,0.208653],[-0.192647,0.086627,0.977437]] 2025-10-24T19:46:53.734Z,1761335213.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:53.737Z,1761335213.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:53.739Z,1761335213.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 110.233429 m, bearing: 123.968758 deg, approach rate: -0.670042 m/s, LOS rate: -0.049387 deg/s, cmd heading: 122.379313 deg, new cmd heading: 122.311531 deg. 2025-10-24T19:46:53.740Z,1761335213.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134739 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:53.830Z,1761335213.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008079 2025-10-24T19:46:54.065Z,1761335214.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542507,-0.839431,-0.032264],[0.818002,-0.536620,0.207150],[-0.191202,0.085988,0.977777]] 2025-10-24T19:46:54.081Z,1761335214.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258533 2025-10-24T19:46:54.085Z,1761335214.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:54.088Z,1761335214.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 109.985489 m, bearing: 123.950696 deg, approach rate: -0.710803 m/s, LOS rate: -0.051899 deg/s, cmd heading: 122.311531 deg, new cmd heading: 122.257220 deg. 2025-10-24T19:46:54.089Z,1761335214.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.133791 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:54.334Z,1761335214.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511322 2025-10-24T19:46:54.565Z,1761335214.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539660,-0.841253,-0.032567],[0.820018,-0.534010,0.205922],[-0.190624,0.084422,0.978026]] 2025-10-24T19:46:54.595Z,1761335214.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772078 2025-10-24T19:46:54.630Z,1761335214.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:54.634Z,1761335214.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 109.610069 m, bearing: 123.925605 deg, approach rate: -0.688725 m/s, LOS rate: -0.046187 deg/s, cmd heading: 122.257217 deg, new cmd heading: 122.181688 deg. 2025-10-24T19:46:54.634Z,1761335214.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.132473 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:54.847Z,1761335214.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024180 2025-10-24T19:46:55.029Z,1761335215.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536367,-0.843392,-0.031616],[0.822273,-0.530644,0.205633],[-0.190206,0.084298,0.978118]] 2025-10-24T19:46:55.049Z,1761335215.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:55.051Z,1761335215.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 109.323021 m, bearing: 123.906927 deg, approach rate: -0.686347 m/s, LOS rate: -0.044778 deg/s, cmd heading: 122.181689 deg, new cmd heading: 122.125507 deg. 2025-10-24T19:46:55.053Z,1761335215.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.131492 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:55.097Z,1761335215.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275092 2025-10-24T19:46:55.349Z,1761335215.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526464 2025-10-24T19:46:55.428Z,1761335215.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533537,-0.845227,-0.030489],[0.824304,-0.527725,0.205012],[-0.189372,0.084249,0.978284]] 2025-10-24T19:46:55.601Z,1761335215.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778421 2025-10-24T19:46:55.627Z,1761335215.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:55.635Z,1761335215.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 108.946136 m, bearing: 123.882971 deg, approach rate: -0.652804 m/s, LOS rate: -0.041637 deg/s, cmd heading: 122.125504 deg, new cmd heading: 122.053388 deg. 2025-10-24T19:46:55.640Z,1761335215.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130234 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:55.853Z,1761335215.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030354 2025-10-24T19:46:55.972Z,1761335215.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531147,-0.846755,-0.029805],[0.826195,-0.525408,0.203345],[-0.187843,0.083382,0.978653]] 2025-10-24T19:46:56.036Z,1761335216.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:56.038Z,1761335216.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:56.046Z,1761335216.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 108.658775 m, bearing: 123.866686 deg, approach rate: -0.696790 m/s, LOS rate: -0.039593 deg/s, cmd heading: 122.053390 deg, new cmd heading: 122.004405 deg. 2025-10-24T19:46:56.052Z,1761335216.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.129379 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:56.106Z,1761335216.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283689 2025-10-24T19:46:56.357Z,1761335216.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534299 2025-10-24T19:46:56.378Z,1761335216.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:56.382Z,1761335216.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 108.411171 m, bearing: 123.852584 deg, approach rate: -0.729172 m/s, LOS rate: -0.041623 deg/s, cmd heading: 122.004404 deg, new cmd heading: 121.962002 deg. 2025-10-24T19:46:56.383Z,1761335216.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.128639 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:56.609Z,1761335216.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786958 2025-10-24T19:46:56.750Z,1761335216.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527303,-0.849271,-0.026285],[0.829535,-0.521252,0.200422],[-0.183913,0.083879,0.979357]] 2025-10-24T19:46:56.816Z,1761335216.816 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:46:56.821Z,1761335216.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:56.825Z,1761335216.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 108.098778 m, bearing: 123.836251 deg, approach rate: -0.704408 m/s, LOS rate: -0.036935 deg/s, cmd heading: 121.962002 deg, new cmd heading: 121.912862 deg. 2025-10-24T19:46:56.826Z,1761335216.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127781 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:56.861Z,1761335216.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038492 2025-10-24T19:46:57.114Z,1761335217.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291427 2025-10-24T19:46:57.158Z,1761335217.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526151,-0.850057,-0.023828],[0.830765,-0.519792,0.199112],[-0.181643,0.084968,0.979687]] 2025-10-24T19:46:57.182Z,1761335217.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:57.188Z,1761335217.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 107.843292 m, bearing: 123.823056 deg, approach rate: -0.713549 m/s, LOS rate: -0.036940 deg/s, cmd heading: 121.912866 deg, new cmd heading: 121.873187 deg. 2025-10-24T19:46:57.189Z,1761335217.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.127088 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:57.365Z,1761335217.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542418 2025-10-24T19:46:57.597Z,1761335217.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523641,-0.851717,-0.019475],[0.833416,-0.516863,0.195629],[-0.176686,0.086208,0.980485]] 2025-10-24T19:46:57.617Z,1761335217.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794521 2025-10-24T19:46:57.671Z,1761335217.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:57.678Z,1761335217.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 107.508232 m, bearing: 123.807909 deg, approach rate: -0.681440 m/s, LOS rate: -0.030902 deg/s, cmd heading: 121.873183 deg, new cmd heading: 121.827600 deg. 2025-10-24T19:46:57.684Z,1761335217.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.126293 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:57.820Z,1761335217.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:46:57.870Z,1761335217.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047580 2025-10-24T19:46:57.994Z,1761335217.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:57.998Z,1761335217.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 107.250725 m, bearing: 123.796203 deg, approach rate: -0.797150 m/s, LOS rate: -0.036324 deg/s, cmd heading: 121.827598 deg, new cmd heading: 121.792396 deg. 2025-10-24T19:46:57.999Z,1761335217.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.125678 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:58.122Z,1761335218.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299400 2025-10-24T19:46:58.366Z,1761335218.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522847,-0.852248,-0.017439],[0.834456,-0.515896,0.193738],[-0.174109,0.086743,0.980898]] 2025-10-24T19:46:58.373Z,1761335218.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550523 2025-10-24T19:46:58.406Z,1761335218.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:46:58.408Z,1761335218.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:58.411Z,1761335218.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 106.950218 m, bearing: 123.782682 deg, approach rate: -0.726509 m/s, LOS rate: -0.032782 deg/s, cmd heading: 121.792395 deg, new cmd heading: 121.751717 deg. 2025-10-24T19:46:58.412Z,1761335218.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124968 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:58.627Z,1761335218.627 [DAT](INFO): DAT read: Rx Time:19:46:57.5550 2025-10-24T19:46:58.628Z,1761335218.628 [DAT](INFO): Rx dataTimestamp_ set to:1761335218.627354 2025-10-24T19:46:58.628Z,1761335218.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805990 2025-10-24T19:46:58.784Z,1761335218.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521770,-0.852987,-0.012995],[0.836223,-0.514410,0.190035],[-0.168783,0.088288,0.981691]] 2025-10-24T19:46:58.850Z,1761335218.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:58.857Z,1761335218.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 106.624550 m, bearing: 123.769570 deg, approach rate: -0.736915 m/s, LOS rate: -0.029759 deg/s, cmd heading: 121.751715 deg, new cmd heading: 121.712260 deg. 2025-10-24T19:46:58.858Z,1761335218.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124280 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:58.877Z,1761335218.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054788 2025-10-24T19:46:59.129Z,1761335219.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.306402 2025-10-24T19:46:59.222Z,1761335219.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521851,-0.852975,-0.010229],[0.836778,-0.514198,0.188156],[-0.165752,0.089630,0.982086]] 2025-10-24T19:46:59.242Z,1761335219.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:59.257Z,1761335219.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 106.331436 m, bearing: 123.757744 deg, approach rate: -0.747850 m/s, LOS rate: -0.030257 deg/s, cmd heading: 121.712263 deg, new cmd heading: 121.676686 deg. 2025-10-24T19:46:59.258Z,1761335219.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.123659 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:59.388Z,1761335219.388 [DAT](INFO): DAT read: 19:46:57.5550 LVL= 17600, 18065, 19250, 26803, AGC= 70, IDX= 268,-0.35, 2.574, 1.946, 0.356, 1.507, PHS= 1.155, 0.485,-1.154, RAW= 46.4, -4.8, CAL= 49.0, -9.2, ROT= 101.0, 9.2 2025-10-24T19:46:59.389Z,1761335219.389 [DAT](INFO): got valid direction response: 19:46:57.5550 LVL= 17600, 18065, 19250, 26803, AGC= 70, IDX= 268,-0.35, 2.574, 1.946, 0.356, 1.507, PHS= 1.155, 0.485,-1.154, RAW= 46.4, -4.8, CAL= 49.0, -9.2, ROT= 101.0, 9.2 2025-10-24T19:46:59.390Z,1761335219.390 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:46:59.390Z,1761335219.390 [DAT](INFO): Received a bad header 2025-10-24T19:46:59.404Z,1761335219.404 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:46:59.405Z,1761335219.405 [DAT](INFO): direction in FSK: [-0.188355,0.969000,-0.159881] 2025-10-24T19:46:59.408Z,1761335219.408 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:59.408Z,1761335219.408 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:59.409Z,1761335219.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:46:59.633Z,1761335219.633 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:59.633Z,1761335219.633 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:59.633Z,1761335219.633 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:46:59.723Z,1761335219.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:46:59.726Z,1761335219.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 105.974823 m, bearing: 123.744544 deg, approach rate: -0.740860 m/s, LOS rate: -0.027515 deg/s, cmd heading: 121.676692 deg, new cmd heading: 121.636958 deg. 2025-10-24T19:46:59.727Z,1761335219.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122965 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:46:59.885Z,1761335219.885 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:46:59.885Z,1761335219.885 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:46:59.885Z,1761335219.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:46:59.983Z,1761335219.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522101,-0.852869,-0.005016],[0.837768,-0.513941,0.184416],[-0.159861,0.092082,0.982835]] 2025-10-24T19:47:00.007Z,1761335220.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:00.009Z,1761335220.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 105.744965 m, bearing: 123.736037 deg, approach rate: -0.810605 m/s, LOS rate: -0.030064 deg/s, cmd heading: 121.636954 deg, new cmd heading: 121.611378 deg. 2025-10-24T19:47:00.010Z,1761335220.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122519 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:00.137Z,1761335220.137 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:00.137Z,1761335220.137 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:00.137Z,1761335220.137 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:00.381Z,1761335220.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522192,-0.852820,-0.003743],[0.838196,-0.514038,0.182190],[-0.157299,0.092001,0.983256]] 2025-10-24T19:47:00.389Z,1761335220.389 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:00.389Z,1761335220.389 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:00.389Z,1761335220.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:00.434Z,1761335220.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:00.443Z,1761335220.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 105.442802 m, bearing: 123.724830 deg, approach rate: -0.708739 m/s, LOS rate: -0.026362 deg/s, cmd heading: 121.611382 deg, new cmd heading: 121.577665 deg. 2025-10-24T19:47:00.451Z,1761335220.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121931 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:00.643Z,1761335220.643 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:00.644Z,1761335220.644 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:00.644Z,1761335220.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:00.783Z,1761335220.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522521,-0.852625,-0.001683],[0.838516,-0.514230,0.180162],[-0.154476,0.092727,0.983636]] 2025-10-24T19:47:00.841Z,1761335220.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:00.843Z,1761335220.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:00.866Z,1761335220.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 105.106964 m, bearing: 123.711110 deg, approach rate: -0.819618 m/s, LOS rate: -0.033592 deg/s, cmd heading: 121.577668 deg, new cmd heading: 121.536375 deg. 2025-10-24T19:47:00.867Z,1761335220.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.121210 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:00.893Z,1761335220.893 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:00.893Z,1761335220.893 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:00.893Z,1761335220.893 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:01.145Z,1761335221.145 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:01.145Z,1761335221.145 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:01.145Z,1761335221.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:01.193Z,1761335221.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522765,-0.852476,0.000667],[0.838900,-0.514300,0.178163],[-0.151536,0.093697,0.984001]] 2025-10-24T19:47:01.227Z,1761335221.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:01.231Z,1761335221.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 104.823677 m, bearing: 123.699473 deg, approach rate: -0.737581 m/s, LOS rate: -0.030380 deg/s, cmd heading: 121.536372 deg, new cmd heading: 121.501367 deg. 2025-10-24T19:47:01.236Z,1761335221.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.120599 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:01.397Z,1761335221.397 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:01.398Z,1761335221.398 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:01.398Z,1761335221.398 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:01.644Z,1761335221.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522855,-0.852417,0.002920],[0.839369,-0.514248,0.176093],[-0.148603,0.094522,0.984369]] 2025-10-24T19:47:01.650Z,1761335221.650 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:01.650Z,1761335221.650 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:01.650Z,1761335221.650 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:01.733Z,1761335221.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:01.740Z,1761335221.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 104.446747 m, bearing: 123.683994 deg, approach rate: -0.744885 m/s, LOS rate: -0.030700 deg/s, cmd heading: 121.501361 deg, new cmd heading: 121.454756 deg. 2025-10-24T19:47:01.741Z,1761335221.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119785 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:01.901Z,1761335221.901 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:01.901Z,1761335221.901 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:01.902Z,1761335221.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:02.051Z,1761335222.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522504,-0.852628,0.003789],[0.840026,-0.514010,0.173639],[-0.146102,0.093910,0.984802]] 2025-10-24T19:47:02.071Z,1761335222.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:02.074Z,1761335222.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 104.173225 m, bearing: 123.672799 deg, approach rate: -0.808407 m/s, LOS rate: -0.033173 deg/s, cmd heading: 121.454752 deg, new cmd heading: 121.421080 deg. 2025-10-24T19:47:02.075Z,1761335222.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.119198 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:02.154Z,1761335222.154 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:02.154Z,1761335222.154 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:02.154Z,1761335222.154 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:02.406Z,1761335222.406 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:02.406Z,1761335222.406 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:02.406Z,1761335222.406 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:02.455Z,1761335222.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522143,-0.852849,0.003865],[0.840710,-0.513939,0.170508],[-0.143431,0.092279,0.985349]] 2025-10-24T19:47:02.475Z,1761335222.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:02.494Z,1761335222.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 103.864799 m, bearing: 123.660237 deg, approach rate: -0.763627 m/s, LOS rate: -0.031194 deg/s, cmd heading: 121.421079 deg, new cmd heading: 121.383281 deg. 2025-10-24T19:47:02.495Z,1761335222.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118538 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:02.659Z,1761335222.659 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:02.660Z,1761335222.660 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:02.660Z,1761335222.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:02.909Z,1761335222.909 [DAT](INFO): Reached modem response timeout 2025-10-24T19:47:02.910Z,1761335222.910 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:02.910Z,1761335222.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:02.943Z,1761335222.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521313,-0.853356,0.004018],[0.841635,-0.513363,0.167659],[-0.141010,0.090784,0.985837]] 2025-10-24T19:47:03.003Z,1761335223.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:03.005Z,1761335223.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:03.008Z,1761335223.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 103.472763 m, bearing: 123.635775 deg, approach rate: -0.739749 m/s, LOS rate: -0.046334 deg/s, cmd heading: 121.383281 deg, new cmd heading: 121.309616 deg. 2025-10-24T19:47:03.009Z,1761335223.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.117252 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:03.160Z,1761335223.160 [DAT](INFO): DAT read: 2025-10-24T19:47:03.161Z,1761335223.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:03.328Z,1761335223.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520528,-0.853831,0.004764],[0.842548,-0.512729,0.164991],[-0.138432,0.089897,0.986284]] 2025-10-24T19:47:03.347Z,1761335223.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:03.351Z,1761335223.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 103.217903 m, bearing: 123.619949 deg, approach rate: -0.744206 m/s, LOS rate: -0.046326 deg/s, cmd heading: 121.309610 deg, new cmd heading: 121.262016 deg. 2025-10-24T19:47:03.351Z,1761335223.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116421 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:03.414Z,1761335223.414 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:03.668Z,1761335223.668 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:47:03.669Z,1761335223.669 [DAT](INFO): response not received 2025-10-24T19:47:03.672Z,1761335223.672 [DAT](INFO): DAT read: user:140>Tx time:19:47:03.0811 2025-10-24T19:47:03.674Z,1761335223.674 [DAT](ERROR): No response from remote modem. 2025-10-24T19:47:03.674Z,1761335223.674 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:03.675Z,1761335223.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:03.750Z,1761335223.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519423,-0.854491,0.006775],[0.843725,-0.511590,0.162493],[-0.135382,0.090119,0.986686]] 2025-10-24T19:47:03.807Z,1761335223.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:03.827Z,1761335223.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 102.885445 m, bearing: 123.597041 deg, approach rate: -0.723703 m/s, LOS rate: -0.050027 deg/s, cmd heading: 121.262017 deg, new cmd heading: 121.193072 deg. 2025-10-24T19:47:03.833Z,1761335223.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.115218 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:03.922Z,1761335223.922 [DAT](INFO): DAT read: 2025-10-24T19:47:03.923Z,1761335223.923 [DAT](INFO): DAT read: TxSync time:19:47:03.0803 2025-10-24T19:47:03.924Z,1761335223.924 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:04.141Z,1761335224.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518687,-0.854922,0.008492],[0.844725,-0.510917,0.159385],[-0.131923,0.089845,0.987180]] 2025-10-24T19:47:04.159Z,1761335224.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:04.163Z,1761335224.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 102.623962 m, bearing: 123.579105 deg, approach rate: -0.742010 m/s, LOS rate: -0.051028 deg/s, cmd heading: 121.193073 deg, new cmd heading: 121.139127 deg. 2025-10-24T19:47:04.164Z,1761335224.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.114277 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:04.173Z,1761335224.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:04.425Z,1761335224.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:04.540Z,1761335224.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519650,-0.854148,0.019886],[0.844958,-0.510333,0.160017],[-0.126530,0.099956,0.986914]] 2025-10-24T19:47:04.560Z,1761335224.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:04.564Z,1761335224.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 102.330673 m, bearing: 123.558752 deg, approach rate: -0.731840 m/s, LOS rate: -0.050932 deg/s, cmd heading: 121.139129 deg, new cmd heading: 121.077895 deg. 2025-10-24T19:47:04.565Z,1761335224.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113208 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:04.678Z,1761335224.678 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:04.928Z,1761335224.928 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:05.025Z,1761335225.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:05.027Z,1761335225.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:05.031Z,1761335225.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 102.009712 m, bearing: 123.532963 deg, approach rate: -0.687783 m/s, LOS rate: -0.055437 deg/s, cmd heading: 121.077889 deg, new cmd heading: 121.000279 deg. 2025-10-24T19:47:05.032Z,1761335225.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111853 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:05.181Z,1761335225.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:05.351Z,1761335225.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520285,-0.853776,0.019249],[0.845769,-0.512022,0.150029],[-0.118235,0.094338,0.988494]] 2025-10-24T19:47:05.370Z,1761335225.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:05.373Z,1761335225.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 101.773354 m, bearing: 123.513879 deg, approach rate: -0.687723 m/s, LOS rate: -0.055658 deg/s, cmd heading: 121.000285 deg, new cmd heading: 120.942899 deg. 2025-10-24T19:47:05.374Z,1761335225.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.110852 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:05.434Z,1761335225.434 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:05.687Z,1761335225.687 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:05.755Z,1761335225.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517531,-0.855412,0.020786],[0.847843,-0.509371,0.147323],[-0.115434,0.093867,0.988870]] 2025-10-24T19:47:05.817Z,1761335225.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:05.820Z,1761335225.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 101.474815 m, bearing: 123.484957 deg, approach rate: -0.667878 m/s, LOS rate: -0.064893 deg/s, cmd heading: 120.942897 deg, new cmd heading: 120.855877 deg. 2025-10-24T19:47:05.821Z,1761335225.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109333 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:05.937Z,1761335225.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:06.189Z,1761335226.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:06.211Z,1761335226.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:06.218Z,1761335226.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 101.216736 m, bearing: 123.459816 deg, approach rate: -0.656120 m/s, LOS rate: -0.064080 deg/s, cmd heading: 120.855881 deg, new cmd heading: 120.780264 deg. 2025-10-24T19:47:06.219Z,1761335226.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108013 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:06.441Z,1761335226.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:06.559Z,1761335226.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512723,-0.858254,0.022706],[0.851649,-0.505074,0.139982],[-0.108672,0.091109,0.989894]] 2025-10-24T19:47:06.594Z,1761335226.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:06.598Z,1761335226.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 100.965355 m, bearing: 123.436116 deg, approach rate: -0.654993 m/s, LOS rate: -0.061905 deg/s, cmd heading: 120.780270 deg, new cmd heading: 120.708995 deg. 2025-10-24T19:47:06.599Z,1761335226.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106769 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:06.696Z,1761335226.696 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:06.945Z,1761335226.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:06.963Z,1761335226.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510507,-0.859525,0.024475],[0.853411,-0.502983,0.136737],[-0.105219,0.090692,0.990305]] 2025-10-24T19:47:07.054Z,1761335227.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:07.060Z,1761335227.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:07.068Z,1761335227.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 100.684776 m, bearing: 123.409368 deg, approach rate: -0.608061 m/s, LOS rate: -0.058131 deg/s, cmd heading: 120.708991 deg, new cmd heading: 120.628521 deg. 2025-10-24T19:47:07.069Z,1761335227.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105365 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:07.198Z,1761335227.198 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:07.368Z,1761335227.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507907,-0.860998,0.026702],[0.855372,-0.500440,0.133783],[-0.101825,0.090790,0.990651]] 2025-10-24T19:47:07.388Z,1761335227.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:07.391Z,1761335227.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 100.441147 m, bearing: 123.386492 deg, approach rate: -0.734713 m/s, LOS rate: -0.069154 deg/s, cmd heading: 120.628517 deg, new cmd heading: 120.559724 deg. 2025-10-24T19:47:07.391Z,1761335227.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104164 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:07.449Z,1761335227.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:07.703Z,1761335227.703 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:07.770Z,1761335227.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505313,-0.862499,0.027460],[0.857273,-0.498102,0.130297],[-0.098703,0.089382,0.991095]] 2025-10-24T19:47:07.834Z,1761335227.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:07.837Z,1761335227.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 100.152603 m, bearing: 123.360201 deg, approach rate: -0.646491 m/s, LOS rate: -0.059074 deg/s, cmd heading: 120.559724 deg, new cmd heading: 120.480625 deg. 2025-10-24T19:47:07.842Z,1761335227.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102784 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:07.953Z,1761335227.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:08.176Z,1761335228.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502761,-0.863910,0.029844],[0.859122,-0.495560,0.127791],[-0.095610,0.089887,0.991352]] 2025-10-24T19:47:08.205Z,1761335228.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:08.211Z,1761335228.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:08.218Z,1761335228.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 99.918648 m, bearing: 123.339213 deg, approach rate: -0.620726 m/s, LOS rate: -0.055816 deg/s, cmd heading: 120.480630 deg, new cmd heading: 120.417518 deg. 2025-10-24T19:47:08.219Z,1761335228.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101682 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:08.456Z,1761335228.456 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:08.581Z,1761335228.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500073,-0.865427,0.031046],[0.860962,-0.492999,0.125283],[-0.093118,0.089380,0.991635]] 2025-10-24T19:47:08.601Z,1761335228.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:08.603Z,1761335228.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 99.656738 m, bearing: 123.316103 deg, approach rate: -0.672023 m/s, LOS rate: -0.059454 deg/s, cmd heading: 120.417519 deg, new cmd heading: 120.348006 deg. 2025-10-24T19:47:08.605Z,1761335228.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100469 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:08.711Z,1761335228.711 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:08.961Z,1761335228.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:08.989Z,1761335228.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497818,-0.866638,0.033401],[0.862578,-0.490745,0.122999],[-0.090204,0.090042,0.991845]] 2025-10-24T19:47:09.044Z,1761335229.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:09.048Z,1761335229.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 99.365288 m, bearing: 123.291347 deg, approach rate: -0.657538 m/s, LOS rate: -0.056014 deg/s, cmd heading: 120.348001 deg, new cmd heading: 120.273518 deg. 2025-10-24T19:47:09.049Z,1761335229.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099169 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:09.213Z,1761335229.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:09.394Z,1761335229.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495807,-0.867674,0.036298],[0.863993,-0.488620,0.121518],[-0.087702,0.091611,0.991925]] 2025-10-24T19:47:09.411Z,1761335229.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:09.414Z,1761335229.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:09.423Z,1761335229.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 99.122643 m, bearing: 123.270992 deg, approach rate: -0.654440 m/s, LOS rate: -0.055035 deg/s, cmd heading: 120.273511 deg, new cmd heading: 120.212296 deg. 2025-10-24T19:47:09.424Z,1761335229.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098100 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:09.466Z,1761335229.466 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:09.719Z,1761335229.719 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:09.831Z,1761335229.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492149,-0.869488,0.042201],[0.866679,-0.484863,0.117369],[-0.081589,0.094337,0.992191]] 2025-10-24T19:47:09.933Z,1761335229.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:09.935Z,1761335229.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 98.775864 m, bearing: 123.249971 deg, approach rate: -0.669455 m/s, LOS rate: -0.040723 deg/s, cmd heading: 120.212299 deg, new cmd heading: 120.149016 deg. 2025-10-24T19:47:09.940Z,1761335229.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096996 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:09.972Z,1761335229.972 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:10.221Z,1761335230.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491260,-0.869835,0.045279],[0.867507,-0.483962,0.114944],[-0.078069,0.095748,0.992339]] 2025-10-24T19:47:10.225Z,1761335230.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:10.242Z,1761335230.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:10.245Z,1761335230.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 98.540794 m, bearing: 123.235813 deg, approach rate: -0.760179 m/s, LOS rate: -0.045894 deg/s, cmd heading: 120.149011 deg, new cmd heading: 120.106436 deg. 2025-10-24T19:47:10.246Z,1761335230.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096253 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:10.477Z,1761335230.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:10.624Z,1761335230.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490698,-0.869998,0.048165],[0.868179,-0.483479,0.111864],[-0.074034,0.096707,0.992556]] 2025-10-24T19:47:10.664Z,1761335230.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:10.667Z,1761335230.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 98.258141 m, bearing: 123.218846 deg, approach rate: -0.703388 m/s, LOS rate: -0.042344 deg/s, cmd heading: 120.106431 deg, new cmd heading: 120.055384 deg. 2025-10-24T19:47:10.676Z,1761335230.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095362 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:10.732Z,1761335230.732 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:10.981Z,1761335230.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:11.022Z,1761335231.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490538,-0.869925,0.051016],[0.868615,-0.483427,0.108656],[-0.069860,0.097613,0.992769]] 2025-10-24T19:47:11.090Z,1761335231.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:11.104Z,1761335231.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 97.948860 m, bearing: 123.206003 deg, approach rate: -0.693458 m/s, LOS rate: -0.028887 deg/s, cmd heading: 120.055383 deg, new cmd heading: 120.016733 deg. 2025-10-24T19:47:11.105Z,1761335231.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094687 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:11.233Z,1761335231.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:11.424Z,1761335231.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490648,-0.869576,0.055693],[0.868895,-0.483459,0.106245],[-0.065463,0.100520,0.992779]] 2025-10-24T19:47:11.454Z,1761335231.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:11.457Z,1761335231.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:11.459Z,1761335231.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 97.663048 m, bearing: 123.194094 deg, approach rate: -0.778831 m/s, LOS rate: -0.032547 deg/s, cmd heading: 120.016737 deg, new cmd heading: 119.980905 deg. 2025-10-24T19:47:11.461Z,1761335231.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094062 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:11.505Z,1761335231.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:11.759Z,1761335231.759 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:11.834Z,1761335231.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490680,-0.869340,0.059005],[0.869194,-0.483599,0.103122],[-0.061114,0.101887,0.992917]] 2025-10-24T19:47:11.918Z,1761335231.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:11.922Z,1761335231.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 97.314476 m, bearing: 123.184681 deg, approach rate: -0.755923 m/s, LOS rate: -0.020487 deg/s, cmd heading: 119.980906 deg, new cmd heading: 119.952565 deg. 2025-10-24T19:47:11.924Z,1761335231.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093567 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:12.014Z,1761335232.014 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:12.232Z,1761335232.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491276,-0.868845,0.061290],[0.869157,-0.484439,0.099425],[-0.056694,0.102115,0.993156]] 2025-10-24T19:47:12.251Z,1761335232.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:12.264Z,1761335232.264 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:12.274Z,1761335232.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 97.057617 m, bearing: 123.177622 deg, approach rate: -0.770857 m/s, LOS rate: -0.021240 deg/s, cmd heading: 119.952561 deg, new cmd heading: 119.931329 deg. 2025-10-24T19:47:12.275Z,1761335232.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093197 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:12.517Z,1761335232.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:12.639Z,1761335232.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491746,-0.868426,0.063426],[0.869172,-0.485189,0.095564],[-0.052217,0.102121,0.993401]] 2025-10-24T19:47:12.659Z,1761335232.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:12.662Z,1761335232.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 96.746971 m, bearing: 123.168962 deg, approach rate: -0.761188 m/s, LOS rate: -0.021288 deg/s, cmd heading: 119.931333 deg, new cmd heading: 119.905269 deg. 2025-10-24T19:47:12.665Z,1761335232.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092742 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:12.772Z,1761335232.772 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:13.021Z,1761335233.021 [DAT](INFO): DAT read: Rx Time:19:47:11.6955 2025-10-24T19:47:13.021Z,1761335233.021 [DAT](INFO): Rx dataTimestamp_ set to:1761335233.021132 2025-10-24T19:47:13.022Z,1761335233.022 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:13.039Z,1761335233.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492053,-0.868192,0.064235],[0.869246,-0.485908,0.091130],[-0.047906,0.100677,0.993765]] 2025-10-24T19:47:13.118Z,1761335233.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:13.121Z,1761335233.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 96.384384 m, bearing: 123.165037 deg, approach rate: -0.790722 m/s, LOS rate: -0.008592 deg/s, cmd heading: 119.905269 deg, new cmd heading: 119.893449 deg. 2025-10-24T19:47:13.122Z,1761335233.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092535 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:13.272Z,1761335233.272 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:13.443Z,1761335233.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492885,-0.867597,0.065882],[0.869005,-0.487066,0.087156],[-0.043527,0.100210,0.994014]] 2025-10-24T19:47:13.461Z,1761335233.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:13.464Z,1761335233.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:13.467Z,1761335233.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 96.109062 m, bearing: 123.161897 deg, approach rate: -0.794555 m/s, LOS rate: -0.009088 deg/s, cmd heading: 119.893452 deg, new cmd heading: 119.884005 deg. 2025-10-24T19:47:13.468Z,1761335233.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092371 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:13.525Z,1761335233.525 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:47:13.525Z,1761335233.525 [DAT](INFO): Received a bad header 2025-10-24T19:47:13.541Z,1761335233.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:13.779Z,1761335233.779 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:13.855Z,1761335233.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493805,-0.866961,0.067336],[0.868678,-0.488304,0.083416],[-0.039438,0.099685,0.994237]] 2025-10-24T19:47:13.955Z,1761335233.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:13.962Z,1761335233.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 95.716400 m, bearing: 123.159371 deg, approach rate: -0.799810 m/s, LOS rate: -0.005165 deg/s, cmd heading: 119.883999 deg, new cmd heading: 119.876392 deg. 2025-10-24T19:47:13.969Z,1761335233.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092238 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:14.029Z,1761335234.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:14.256Z,1761335234.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494688,-0.866321,0.069079],[0.868345,-0.489464,0.080005],[-0.035498,0.099562,0.994398]] 2025-10-24T19:47:14.307Z,1761335234.307 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:14.325Z,1761335234.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:14.328Z,1761335234.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 95.407776 m, bearing: 123.157200 deg, approach rate: -0.833748 m/s, LOS rate: -0.005886 deg/s, cmd heading: 119.876391 deg, new cmd heading: 119.869855 deg. 2025-10-24T19:47:14.330Z,1761335234.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092124 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:14.534Z,1761335234.534 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:47:14.534Z,1761335234.534 [DAT](INFO): response not received 2025-10-24T19:47:14.534Z,1761335234.534 [DAT](ERROR): No response from remote modem. 2025-10-24T19:47:14.535Z,1761335234.535 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:14.535Z,1761335234.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:14.722Z,1761335234.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495897,-0.865472,0.071017],[0.867810,-0.490945,0.076679],[-0.031498,0.099654,0.994523]] 2025-10-24T19:47:14.741Z,1761335234.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:14.744Z,1761335234.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 95.069366 m, bearing: 123.154535 deg, approach rate: -0.813093 m/s, LOS rate: -0.006425 deg/s, cmd heading: 119.869861 deg, new cmd heading: 119.861838 deg. 2025-10-24T19:47:14.746Z,1761335234.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091984 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:14.748Z,1761335234.748 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:47:14.787Z,1761335234.787 [DAT](INFO): DAT read: 2025-10-24T19:47:14.790Z,1761335234.790 [DAT](INFO): DAT read: Tx time:19:47:14.0312 2025-10-24T19:47:14.791Z,1761335234.791 [DAT](INFO): Ping request sent. 2025-10-24T19:47:14.792Z,1761335234.792 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:47:14.794Z,1761335234.794 [DAT](INFO): DAT read: TxSync time:19:47:14.0304 2025-10-24T19:47:14.796Z,1761335234.796 [DAT](INFO): publishing transmit ping time 2025-10-24T19:47:14.798Z,1761335234.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006771 2025-10-24T19:47:15.037Z,1761335235.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245933 2025-10-24T19:47:15.130Z,1761335235.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497430,-0.864467,0.072523],[0.867063,-0.492773,0.073319],[-0.027644,0.099353,0.994668]] 2025-10-24T19:47:15.176Z,1761335235.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:15.180Z,1761335235.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 94.710770 m, bearing: 123.153624 deg, approach rate: -0.825108 m/s, LOS rate: -0.002104 deg/s, cmd heading: 119.861842 deg, new cmd heading: 119.859099 deg. 2025-10-24T19:47:15.181Z,1761335235.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091936 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:15.289Z,1761335235.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497880 2025-10-24T19:47:15.541Z,1761335235.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750066 2025-10-24T19:47:15.597Z,1761335235.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500837,-0.861384,0.084738],[0.865232,-0.495635,0.075627],[-0.023144,0.111195,0.993529]] 2025-10-24T19:47:15.615Z,1761335235.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:15.633Z,1761335235.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:15.640Z,1761335235.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 94.348412 m, bearing: 123.151852 deg, approach rate: -0.792923 m/s, LOS rate: -0.003893 deg/s, cmd heading: 119.859097 deg, new cmd heading: 119.853759 deg. 2025-10-24T19:47:15.641Z,1761335235.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091843 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:15.796Z,1761335235.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004072 2025-10-24T19:47:16.046Z,1761335236.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254365 2025-10-24T19:47:16.055Z,1761335236.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503015,-0.860269,0.083145],[0.864040,-0.498289,0.071717],[-0.020266,0.107916,0.993954]] 2025-10-24T19:47:16.115Z,1761335236.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:16.122Z,1761335236.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 93.954514 m, bearing: 123.145764 deg, approach rate: -0.817604 m/s, LOS rate: -0.012688 deg/s, cmd heading: 119.853755 deg, new cmd heading: 119.835417 deg. 2025-10-24T19:47:16.123Z,1761335236.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091523 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:16.297Z,1761335236.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506161 2025-10-24T19:47:16.460Z,1761335236.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504778,-0.859390,0.081533],[0.863075,-0.500521,0.067679],[-0.017353,0.104532,0.994370]] 2025-10-24T19:47:16.480Z,1761335236.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:16.483Z,1761335236.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 93.655655 m, bearing: 123.140746 deg, approach rate: -0.820878 m/s, LOS rate: -0.013829 deg/s, cmd heading: 119.835423 deg, new cmd heading: 119.820319 deg. 2025-10-24T19:47:16.483Z,1761335236.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091259 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:16.549Z,1761335236.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758050 2025-10-24T19:47:16.802Z,1761335236.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010938 2025-10-24T19:47:16.914Z,1761335236.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504842,-0.859545,0.079475],[0.863062,-0.500896,0.065024],[-0.016083,0.101419,0.994714]] 2025-10-24T19:47:16.997Z,1761335236.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:17.004Z,1761335237.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 93.293236 m, bearing: 123.131958 deg, approach rate: -0.699677 m/s, LOS rate: -0.017031 deg/s, cmd heading: 119.820315 deg, new cmd heading: 119.793849 deg. 2025-10-24T19:47:17.005Z,1761335237.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090797 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:17.053Z,1761335237.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261980 2025-10-24T19:47:17.305Z,1761335237.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514173 2025-10-24T19:47:17.321Z,1761335237.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503195,-0.860789,0.076402],[0.864062,-0.499748,0.060403],[-0.013812,0.096411,0.995246]] 2025-10-24T19:47:17.341Z,1761335237.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:17.344Z,1761335237.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 93.006531 m, bearing: 123.125315 deg, approach rate: -0.833292 m/s, LOS rate: -0.019366 deg/s, cmd heading: 119.793855 deg, new cmd heading: 119.773865 deg. 2025-10-24T19:47:17.345Z,1761335237.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090448 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:17.557Z,1761335237.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766196 2025-10-24T19:47:17.718Z,1761335237.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501965,-0.861532,0.076111],[0.864797,-0.498689,0.058614],[-0.012542,0.095243,0.995375]] 2025-10-24T19:47:17.750Z,1761335237.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:17.757Z,1761335237.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:17.759Z,1761335237.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 92.702713 m, bearing: 123.118505 deg, approach rate: -0.730461 m/s, LOS rate: -0.016427 deg/s, cmd heading: 119.773869 deg, new cmd heading: 119.753372 deg. 2025-10-24T19:47:17.765Z,1761335237.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090091 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:17.810Z,1761335237.810 [DAT](INFO): DAT read: Rx Time:19:47:16.5575 2025-10-24T19:47:17.810Z,1761335237.810 [DAT](INFO): Rx dataTimestamp_ set to:1761335237.810105 2025-10-24T19:47:17.811Z,1761335237.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020218 2025-10-24T19:47:18.061Z,1761335238.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269834 2025-10-24T19:47:18.127Z,1761335238.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500513,-0.862477,0.074970],[0.865653,-0.497442,0.056536],[-0.011468,0.093195,0.995582]] 2025-10-24T19:47:18.234Z,1761335238.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:18.241Z,1761335238.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 92.358841 m, bearing: 123.105420 deg, approach rate: -0.720119 m/s, LOS rate: -0.027504 deg/s, cmd heading: 119.753379 deg, new cmd heading: 119.713978 deg. 2025-10-24T19:47:18.242Z,1761335238.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089403 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:18.379Z,1761335238.379 [DAT](INFO): DAT read: 19:47:16.5575 LVL= 32752, 32193, 26482, 32755, AGC= 68, IDX= 62, 0.05, 0.732,-0.630, 1.093, 0.551, PHS= 0.269,-1.134, 0.539, RAW= 158.7, 4.2, CAL= 159.6, -4.9, ROT= 350.4, 4.9 2025-10-24T19:47:18.385Z,1761335238.385 [DAT](INFO): got valid direction response: 19:47:16.5575 LVL= 32752, 32193, 26482, 32755, AGC= 68, IDX= 62, 0.05, 0.732,-0.630, 1.093, 0.551, PHS= 0.269,-1.134, 0.539, RAW= 158.7, 4.2, CAL= 159.6, -4.9, ROT= 350.4, 4.9 2025-10-24T19:47:18.386Z,1761335238.386 [DAT](INFO): DAT read: $Error in header 2025-10-24T19:47:18.387Z,1761335238.387 [DAT](INFO): Received a bad header 2025-10-24T19:47:18.405Z,1761335238.405 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:47:18.407Z,1761335238.407 [DAT](INFO): direction in FSK: [0.982392,-0.166159,-0.085417] 2025-10-24T19:47:18.427Z,1761335238.427 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:18.427Z,1761335238.427 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:18.427Z,1761335238.427 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:18.565Z,1761335238.565 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:18.565Z,1761335238.565 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:18.565Z,1761335238.565 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:18.637Z,1761335238.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:18.640Z,1761335238.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 92.066872 m, bearing: 123.094233 deg, approach rate: -0.724804 m/s, LOS rate: -0.027859 deg/s, cmd heading: 119.713982 deg, new cmd heading: 119.680315 deg. 2025-10-24T19:47:18.641Z,1761335238.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088815 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:18.816Z,1761335238.816 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:47:18.817Z,1761335238.817 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:18.817Z,1761335238.817 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:18.817Z,1761335238.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:19.058Z,1761335239.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:19.061Z,1761335239.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 91.789261 m, bearing: 123.074569 deg, approach rate: -0.660095 m/s, LOS rate: -0.046898 deg/s, cmd heading: 119.680310 deg, new cmd heading: 119.621139 deg. 2025-10-24T19:47:19.063Z,1761335239.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087783 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:19.069Z,1761335239.069 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:19.069Z,1761335239.069 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:19.069Z,1761335239.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:19.321Z,1761335239.321 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:19.321Z,1761335239.321 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:19.321Z,1761335239.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:19.398Z,1761335239.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493356,-0.866682,0.073914],[0.869774,-0.490597,0.052993],[-0.009666,0.090433,0.995856]] 2025-10-24T19:47:19.428Z,1761335239.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:19.431Z,1761335239.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 91.553375 m, bearing: 123.059002 deg, approach rate: -0.644225 m/s, LOS rate: -0.042624 deg/s, cmd heading: 119.621133 deg, new cmd heading: 119.574311 deg. 2025-10-24T19:47:19.437Z,1761335239.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086965 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:19.573Z,1761335239.573 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:19.573Z,1761335239.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:19.573Z,1761335239.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:19.802Z,1761335239.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.490564,-0.868218,0.074456],[0.871353,-0.487806,0.052811],[-0.009532,0.090785,0.995825]] 2025-10-24T19:47:19.824Z,1761335239.824 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:19.825Z,1761335239.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:19.825Z,1761335239.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:19.944Z,1761335239.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:19.946Z,1761335239.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:19.954Z,1761335239.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 91.209679 m, bearing: 123.036875 deg, approach rate: -0.658328 m/s, LOS rate: -0.042542 deg/s, cmd heading: 119.574305 deg, new cmd heading: 119.507674 deg. 2025-10-24T19:47:19.955Z,1761335239.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085802 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:20.079Z,1761335240.079 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:20.080Z,1761335240.080 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:20.080Z,1761335240.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:20.229Z,1761335240.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487698,-0.869862,0.074106],[0.872962,-0.484995,0.052135],[-0.009410,0.090118,0.995887]] 2025-10-24T19:47:20.264Z,1761335240.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:20.267Z,1761335240.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 91.005463 m, bearing: 123.024076 deg, approach rate: -0.641172 m/s, LOS rate: -0.040277 deg/s, cmd heading: 119.507670 deg, new cmd heading: 119.469185 deg. 2025-10-24T19:47:20.268Z,1761335240.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085131 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:20.329Z,1761335240.329 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:20.329Z,1761335240.329 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:20.329Z,1761335240.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:20.581Z,1761335240.581 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:20.581Z,1761335240.581 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:20.581Z,1761335240.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:20.649Z,1761335240.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.484459,-0.871642,0.074425],[0.874764,-0.481767,0.051855],[-0.009343,0.090226,0.995878]] 2025-10-24T19:47:20.669Z,1761335240.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:20.671Z,1761335240.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 90.729027 m, bearing: 123.007311 deg, approach rate: -0.683915 m/s, LOS rate: -0.041604 deg/s, cmd heading: 119.469188 deg, new cmd heading: 119.418739 deg. 2025-10-24T19:47:20.672Z,1761335240.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084250 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:20.833Z,1761335240.833 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:20.833Z,1761335240.833 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:20.833Z,1761335240.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:21.085Z,1761335241.085 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:21.085Z,1761335241.085 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:21.085Z,1761335241.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:21.114Z,1761335241.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481771,-0.873085,0.074967],[0.876251,-0.479098,0.051476],[-0.009027,0.090490,0.995856]] 2025-10-24T19:47:21.177Z,1761335241.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:21.184Z,1761335241.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 90.401566 m, bearing: 122.987961 deg, approach rate: -0.644408 m/s, LOS rate: -0.038216 deg/s, cmd heading: 119.418741 deg, new cmd heading: 119.360481 deg. 2025-10-24T19:47:21.185Z,1761335241.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083233 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:21.337Z,1761335241.337 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:21.337Z,1761335241.337 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:21.337Z,1761335241.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:21.519Z,1761335241.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478810,-0.874586,0.076424],[0.877874,-0.476093,0.051693],[-0.008825,0.091842,0.995735]] 2025-10-24T19:47:21.538Z,1761335241.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:21.541Z,1761335241.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 90.155365 m, bearing: 122.973852 deg, approach rate: -0.681813 m/s, LOS rate: -0.039179 deg/s, cmd heading: 119.360479 deg, new cmd heading: 119.318037 deg. 2025-10-24T19:47:21.542Z,1761335241.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082493 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:21.589Z,1761335241.589 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:21.589Z,1761335241.589 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:21.589Z,1761335241.589 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:21.840Z,1761335241.840 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:21.841Z,1761335241.841 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:21.841Z,1761335241.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:21.986Z,1761335241.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476206,-0.875892,0.077723],[0.879294,-0.473477,0.051601],[-0.008397,0.092914,0.995639]] 2025-10-24T19:47:22.087Z,1761335242.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:22.093Z,1761335242.093 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:22.093Z,1761335242.093 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:22.093Z,1761335242.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:22.094Z,1761335242.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:22.101Z,1761335242.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 89.836617 m, bearing: 122.940623 deg, approach rate: -0.572799 m/s, LOS rate: -0.059926 deg/s, cmd heading: 119.318036 deg, new cmd heading: 119.217994 deg. 2025-10-24T19:47:22.102Z,1761335242.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080746 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:22.345Z,1761335242.345 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:22.345Z,1761335242.345 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:22.345Z,1761335242.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:22.382Z,1761335242.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473717,-0.876973,0.080687],[0.880646,-0.470930,0.051853],[-0.007475,0.095620,0.995390]] 2025-10-24T19:47:22.427Z,1761335242.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:22.430Z,1761335242.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 89.632515 m, bearing: 122.919619 deg, approach rate: -0.614449 m/s, LOS rate: -0.063376 deg/s, cmd heading: 119.217988 deg, new cmd heading: 119.154832 deg. 2025-10-24T19:47:22.431Z,1761335242.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079644 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:22.598Z,1761335242.598 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:22.598Z,1761335242.598 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:22.598Z,1761335242.598 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:22.786Z,1761335242.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471421,-0.878058,0.082317],[0.881886,-0.468684,0.051114],[-0.006300,0.096690,0.995295]] 2025-10-24T19:47:22.823Z,1761335242.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:22.848Z,1761335242.848 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:22.849Z,1761335242.849 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:22.849Z,1761335242.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:22.861Z,1761335242.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 89.404968 m, bearing: 122.896486 deg, approach rate: -0.574497 m/s, LOS rate: -0.058553 deg/s, cmd heading: 119.154836 deg, new cmd heading: 119.085261 deg. 2025-10-24T19:47:22.863Z,1761335242.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078430 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:23.101Z,1761335243.101 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:23.102Z,1761335243.102 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:23.102Z,1761335243.102 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:23.275Z,1761335243.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467527,-0.879726,0.086610],[0.883973,-0.464932,0.049294],[-0.003097,0.099608,0.995022]] 2025-10-24T19:47:23.337Z,1761335243.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:23.340Z,1761335243.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 89.094284 m, bearing: 122.869304 deg, approach rate: -0.606924 m/s, LOS rate: -0.053286 deg/s, cmd heading: 119.085263 deg, new cmd heading: 119.003432 deg. 2025-10-24T19:47:23.341Z,1761335243.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077002 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:23.353Z,1761335243.353 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:23.353Z,1761335243.353 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:23.353Z,1761335243.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:23.605Z,1761335243.605 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:23.605Z,1761335243.605 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:23.605Z,1761335243.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:23.672Z,1761335243.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466251,-0.880247,0.088177],[0.884651,-0.463775,0.048004],[-0.001361,0.100387,0.994947]] 2025-10-24T19:47:23.702Z,1761335243.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:23.705Z,1761335243.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 88.857460 m, bearing: 122.848685 deg, approach rate: -0.643745 m/s, LOS rate: -0.056197 deg/s, cmd heading: 119.003438 deg, new cmd heading: 118.941416 deg. 2025-10-24T19:47:23.706Z,1761335243.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075919 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:23.857Z,1761335243.857 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:23.857Z,1761335243.857 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:23.857Z,1761335243.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:24.079Z,1761335244.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465207,-0.880660,0.089552],[0.885202,-0.462892,0.046355],[0.000630,0.100836,0.994903]] 2025-10-24T19:47:24.109Z,1761335244.109 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:24.109Z,1761335244.109 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:24.109Z,1761335244.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:24.178Z,1761335244.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:24.185Z,1761335244.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:24.187Z,1761335244.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 88.542000 m, bearing: 122.831697 deg, approach rate: -0.654069 m/s, LOS rate: -0.035348 deg/s, cmd heading: 118.941420 deg, new cmd heading: 118.890275 deg. 2025-10-24T19:47:24.193Z,1761335244.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075027 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:24.361Z,1761335244.361 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:24.361Z,1761335244.361 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:24.361Z,1761335244.361 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:24.499Z,1761335244.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464723,-0.880710,0.091562],[0.885452,-0.462559,0.044877],[0.002829,0.101929,0.994788]] 2025-10-24T19:47:24.538Z,1761335244.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:24.545Z,1761335244.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 88.300697 m, bearing: 122.818716 deg, approach rate: -0.683363 m/s, LOS rate: -0.036863 deg/s, cmd heading: 118.890275 deg, new cmd heading: 118.851225 deg. 2025-10-24T19:47:24.546Z,1761335244.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074345 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:24.613Z,1761335244.613 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:24.614Z,1761335244.614 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:24.614Z,1761335244.614 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:47:24.864Z,1761335244.864 [DAT](INFO): Reached modem response timeout 2025-10-24T19:47:24.865Z,1761335244.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:24.865Z,1761335244.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:24.906Z,1761335244.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.464691,-0.880513,0.093587],[0.885456,-0.462735,0.042950],[0.005488,0.102826,0.994684]] 2025-10-24T19:47:25.017Z,1761335245.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:25.024Z,1761335245.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 88.005630 m, bearing: 122.802758 deg, approach rate: -0.615587 m/s, LOS rate: -0.033404 deg/s, cmd heading: 118.851220 deg, new cmd heading: 118.803186 deg. 2025-10-24T19:47:25.025Z,1761335245.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073507 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:25.117Z,1761335245.117 [DAT](INFO): DAT read: 2025-10-24T19:47:25.117Z,1761335245.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:25.303Z,1761335245.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465073,-0.880201,0.094620],[0.885236,-0.463363,0.040653],[0.008060,0.102668,0.994683]] 2025-10-24T19:47:25.353Z,1761335245.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:25.369Z,1761335245.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:25.376Z,1761335245.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 87.723335 m, bearing: 122.795165 deg, approach rate: -0.839620 m/s, LOS rate: -0.022656 deg/s, cmd heading: 118.803190 deg, new cmd heading: 118.780339 deg. 2025-10-24T19:47:25.377Z,1761335245.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073108 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:25.621Z,1761335245.621 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:47:25.622Z,1761335245.622 [DAT](INFO): response not received 2025-10-24T19:47:25.622Z,1761335245.622 [DAT](INFO): DAT read: user:143>Tx time:19:47:24.9814 2025-10-24T19:47:25.623Z,1761335245.623 [DAT](ERROR): No response from remote modem. 2025-10-24T19:47:25.623Z,1761335245.623 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:25.623Z,1761335245.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:25.709Z,1761335245.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465401,-0.879899,0.095807],[0.885033,-0.463961,0.038165],[0.010869,0.102554,0.994668]] 2025-10-24T19:47:25.734Z,1761335245.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:25.737Z,1761335245.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 87.443336 m, bearing: 122.787507 deg, approach rate: -0.735403 m/s, LOS rate: -0.020178 deg/s, cmd heading: 118.780336 deg, new cmd heading: 118.757289 deg. 2025-10-24T19:47:25.738Z,1761335245.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072706 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:25.872Z,1761335245.872 [DAT](INFO): DAT read: 2025-10-24T19:47:25.873Z,1761335245.873 [DAT](INFO): DAT read: TxSync time:19:47:24.9806 2025-10-24T19:47:25.874Z,1761335245.874 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:26.125Z,1761335246.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:26.174Z,1761335246.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:26.177Z,1761335246.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 87.089211 m, bearing: 122.785741 deg, approach rate: -0.805350 m/s, LOS rate: -0.004032 deg/s, cmd heading: 118.757291 deg, new cmd heading: 118.751973 deg. 2025-10-24T19:47:26.178Z,1761335246.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072613 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:26.378Z,1761335246.378 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:26.515Z,1761335246.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469074,-0.878428,0.091285],[0.882961,-0.468642,0.027451],[0.018666,0.093478,0.995446]] 2025-10-24T19:47:26.533Z,1761335246.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:26.535Z,1761335246.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:26.554Z,1761335246.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 86.800514 m, bearing: 122.783358 deg, approach rate: -0.799367 m/s, LOS rate: -0.006621 deg/s, cmd heading: 118.751978 deg, new cmd heading: 118.744804 deg. 2025-10-24T19:47:26.555Z,1761335246.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072488 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:26.630Z,1761335246.630 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:26.881Z,1761335246.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:26.927Z,1761335246.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470142,-0.877335,0.096177],[0.882315,-0.469923,0.026339],[0.022088,0.097241,0.995016]] 2025-10-24T19:47:26.981Z,1761335246.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:27.011Z,1761335247.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 86.452904 m, bearing: 122.780233 deg, approach rate: -0.782723 m/s, LOS rate: -0.007066 deg/s, cmd heading: 118.744806 deg, new cmd heading: 118.735391 deg. 2025-10-24T19:47:27.041Z,1761335247.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072324 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:27.134Z,1761335247.134 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:27.323Z,1761335247.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469908,-0.877032,0.100009],[0.882372,-0.469861,0.025506],[0.024621,0.100230,0.994660]] 2025-10-24T19:47:27.343Z,1761335247.343 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +26.26, +1121.52, , 9.76, 0.00 2025-10-24T19:47:27.381Z,1761335247.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:27.383Z,1761335247.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 86.138275 m, bearing: 122.777469 deg, approach rate: -0.783660 m/s, LOS rate: -0.006909 deg/s, cmd heading: 118.735394 deg, new cmd heading: 118.727072 deg. 2025-10-24T19:47:27.385Z,1761335247.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:27.388Z,1761335247.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072178 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:27.637Z,1761335247.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:27.733Z,1761335247.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.470352,-0.876436,0.103095],[0.882062,-0.470500,0.024405],[0.027117,0.102415,0.994372]] 2025-10-24T19:47:27.753Z,1761335247.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:27.755Z,1761335247.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 85.823784 m, bearing: 122.774600 deg, approach rate: -0.845286 m/s, LOS rate: -0.007739 deg/s, cmd heading: 118.727075 deg, new cmd heading: 118.718436 deg. 2025-10-24T19:47:27.756Z,1761335247.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072028 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:27.889Z,1761335247.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:27.950Z,1761335247.950 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:47:28.132Z,1761335248.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471718,-0.875432,0.105361],[0.881246,-0.472109,0.022781],[0.029799,0.103595,0.994173]] 2025-10-24T19:47:28.142Z,1761335248.142 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:28.201Z,1761335248.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:28.204Z,1761335248.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 85.433693 m, bearing: 122.786015 deg, approach rate: -0.869099 m/s, LOS rate: 0.025548 deg/s, cmd heading: 118.718441 deg, new cmd heading: 118.752842 deg. 2025-10-24T19:47:28.205Z,1761335248.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072628 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:28.393Z,1761335248.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:28.537Z,1761335248.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473466,-0.874298,0.106928],[0.880212,-0.474123,0.020812],[0.032501,0.103973,0.994049]] 2025-10-24T19:47:28.554Z,1761335248.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:28.557Z,1761335248.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:28.559Z,1761335248.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 85.124901 m, bearing: 122.794704 deg, approach rate: -0.868782 m/s, LOS rate: 0.024535 deg/s, cmd heading: 118.752838 deg, new cmd heading: 118.779000 deg. 2025-10-24T19:47:28.561Z,1761335248.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073085 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:28.646Z,1761335248.646 [DAT](INFO): DAT read: Rx Time:19:47:27.4971 2025-10-24T19:47:28.647Z,1761335248.647 [DAT](INFO): Rx dataTimestamp_ set to:1761335248.646671 2025-10-24T19:47:28.648Z,1761335248.648 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:28.897Z,1761335248.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:28.952Z,1761335248.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:47:28.958Z,1761335248.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475151,-0.873290,0.107686],[0.879201,-0.476094,0.018429],[0.035175,0.103434,0.994014]] 2025-10-24T19:47:29.053Z,1761335249.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.20 m. 2025-10-24T19:47:29.069Z,1761335249.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.196167 m, nav range: 84.738747 m, bearing: 122.805138 deg, approach rate: -0.788414 m/s, LOS rate: 0.021402 deg/s, cmd heading: 118.778998 deg, new cmd heading: 118.810444 deg. 2025-10-24T19:47:29.070Z,1761335249.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073633 target range: 174.196167 and range: 175.20 m. 2025-10-24T19:47:29.169Z,1761335249.169 [DAT](INFO): DAT read: 19:47:27.4971 LVL= 22864, 30129, 17330, 32371, AGC= 67, IDX= 339,-0.24, 1.777, 0.578, 2.200, 1.625, PHS= 0.240,-1.000, 0.572, RAW= 161.6, 2.7, CAL= 162.7, -6.3, ROT= 347.3, 6.3 2025-10-24T19:47:29.171Z,1761335249.171 [DAT](INFO): got valid direction response: 19:47:27.4971 LVL= 22864, 30129, 17330, 32371, AGC= 67, IDX= 339,-0.24, 1.777, 0.578, 2.200, 1.625, PHS= 0.240,-1.000, 0.572, RAW= 161.6, 2.7, CAL= 162.7, -6.3, ROT= 347.3, 6.3 2025-10-24T19:47:29.173Z,1761335249.173 [DAT](INFO): DAT read: Bearing 347.3, 6.3 (Local) 2025-10-24T19:47:29.173Z,1761335249.173 [DAT](INFO): Local bearing/azimuth received: Bearing 347.3, 6.3 (Local) 2025-10-24T19:47:29.175Z,1761335249.175 [DAT](INFO): DAT read: Range 10 to 50 : 83.7 m (Round-trip 111.6 ms) speed 0.7 m/s 2025-10-24T19:47:29.184Z,1761335249.184 [DAT](INFO): DAT read: user:144>Tx time:19:47:28.5814 2025-10-24T19:47:29.185Z,1761335249.185 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:47:29.186Z,1761335249.186 [DAT](INFO): direction in FSK: [0.969643,-0.218519,-0.109734] 2025-10-24T19:47:29.186Z,1761335249.186 [DAT](INFO): publishing direction and range info 2025-10-24T19:47:29.199Z,1761335249.199 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:29.199Z,1761335249.199 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:29.401Z,1761335249.401 [DAT](INFO): DAT read: 2025-10-24T19:47:29.402Z,1761335249.402 [DAT](INFO): DAT read: TxSync time:19:47:28.5806 2025-10-24T19:47:29.403Z,1761335249.403 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:29.509Z,1761335249.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.699997 m, deltaT: 36.584723 s, deltaX: -91.500000 m, approachRate: -2.501044 m/s, rangeRepo size: 4 2025-10-24T19:47:29.511Z,1761335249.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.232933 m, bearing: 106.443135 deg, lat: 36.779442 deg, lon: -121.859580 deg, deltaT: 36.584723 s, deltaX: -90.963234 m, approachRate: -2.486372 m/s, posRepo size: 4 2025-10-24T19:47:29.511Z,1761335249.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.23 m. 2025-10-24T19:47:29.515Z,1761335249.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.232933 m, nav range: 88.543533 m, bearing: 121.064917 deg, approach rate: 0.000000 m/s, LOS rate: 0.021402 deg/s, cmd heading: 118.810444 deg, new cmd heading: 118.840046 deg. 2025-10-24T19:47:29.517Z,1761335249.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074150 target range: 83.232933 and range: 83.70 m. 2025-10-24T19:47:29.653Z,1761335249.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:29.835Z,1761335249.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478277,-0.871226,0.110532],[0.877265,-0.479797,0.014149],[0.040705,0.103733,0.993772]] 2025-10-24T19:47:29.855Z,1761335249.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.23 m. 2025-10-24T19:47:29.857Z,1761335249.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.232933 m, nav range: 88.227928 m, bearing: 121.063980 deg, approach rate: -0.910013 m/s, LOS rate: -0.002711 deg/s, cmd heading: 118.840046 deg, new cmd heading: 118.837225 deg. 2025-10-24T19:47:29.858Z,1761335249.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074101 target range: 83.232933 and range: 83.70 m. 2025-10-24T19:47:29.905Z,1761335249.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:30.156Z,1761335250.156 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:30.242Z,1761335250.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479788,-0.870054,0.113182],[0.876294,-0.481616,0.012403],[0.043719,0.105132,0.993497]] 2025-10-24T19:47:30.312Z,1761335250.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.23 m. 2025-10-24T19:47:30.315Z,1761335250.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.232933 m, nav range: 87.849045 m, bearing: 121.057699 deg, approach rate: -0.828771 m/s, LOS rate: -0.013797 deg/s, cmd heading: 118.837232 deg, new cmd heading: 118.818309 deg. 2025-10-24T19:47:30.316Z,1761335250.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073771 target range: 83.232933 and range: 83.70 m. 2025-10-24T19:47:30.409Z,1761335250.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:30.662Z,1761335250.662 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:30.714Z,1761335250.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481931,-0.868965,0.112438],[0.874991,-0.484046,0.009479],[0.046188,0.102950,0.993614]] 2025-10-24T19:47:30.738Z,1761335250.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:30.740Z,1761335250.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.23 m. 2025-10-24T19:47:30.742Z,1761335250.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.232933 m, nav range: 87.499771 m, bearing: 121.051291 deg, approach rate: -0.816094 m/s, LOS rate: -0.015033 deg/s, cmd heading: 118.818312 deg, new cmd heading: 118.799011 deg. 2025-10-24T19:47:30.743Z,1761335250.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073434 target range: 83.232933 and range: 83.70 m. 2025-10-24T19:47:30.914Z,1761335250.914 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:31.166Z,1761335251.166 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:31.183Z,1761335251.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.23 m. 2025-10-24T19:47:31.186Z,1761335251.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.232933 m, nav range: 87.153221 m, bearing: 121.037141 deg, approach rate: -0.782020 m/s, LOS rate: -0.032057 deg/s, cmd heading: 118.799010 deg, new cmd heading: 118.756392 deg. 2025-10-24T19:47:31.187Z,1761335251.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072690 target range: 83.232933 and range: 83.70 m. 2025-10-24T19:47:31.418Z,1761335251.418 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:31.599Z,1761335251.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478879,-0.870803,0.111255],[0.876519,-0.481337,0.005368],[0.048877,0.100087,0.993777]] 2025-10-24T19:47:31.635Z,1761335251.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.23 m. 2025-10-24T19:47:31.641Z,1761335251.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.232933 m, nav range: 86.818382 m, bearing: 121.024135 deg, approach rate: -0.741115 m/s, LOS rate: -0.028898 deg/s, cmd heading: 118.756390 deg, new cmd heading: 118.717221 deg. 2025-10-24T19:47:31.642Z,1761335251.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072006 target range: 83.232933 and range: 83.70 m. 2025-10-24T19:47:31.669Z,1761335251.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:31.922Z,1761335251.922 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:32.129Z,1761335252.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.477157,-0.871858,0.110383],[0.877459,-0.479628,0.004690],[0.048854,0.099094,0.993878]] 2025-10-24T19:47:32.136Z,1761335252.136 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for BIT error. Device response is::TS,25102411485499,35.0, +11.3, 2025-10-24T19:47:32.156Z,1761335252.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.23 m. 2025-10-24T19:47:32.159Z,1761335252.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.232933 m, nav range: 86.406662 m, bearing: 121.008549 deg, approach rate: -0.790296 m/s, LOS rate: -0.030059 deg/s, cmd heading: 118.717226 deg, new cmd heading: 118.670245 deg. 2025-10-24T19:47:32.175Z,1761335252.175 [DAT](INFO): DAT read: Rx Time:19:47:31.0939 2025-10-24T19:47:32.176Z,1761335252.176 [DAT](INFO): Rx dataTimestamp_ set to:1761335252.174986 2025-10-24T19:47:32.177Z,1761335252.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:32.188Z,1761335252.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071187 target range: 83.232933 and range: 83.70 m. 2025-10-24T19:47:32.425Z,1761335252.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:32.511Z,1761335252.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476057,-0.872582,0.109409],[0.878087,-0.478478,0.004651],[0.048292,0.098285,0.993986]] 2025-10-24T19:47:32.531Z,1761335252.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.23 m. 2025-10-24T19:47:32.534Z,1761335252.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.232933 m, nav range: 86.114830 m, bearing: 120.997663 deg, approach rate: -0.777495 m/s, LOS rate: -0.029102 deg/s, cmd heading: 118.670247 deg, new cmd heading: 118.637478 deg. 2025-10-24T19:47:32.535Z,1761335252.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070615 target range: 83.232933 and range: 83.70 m. 2025-10-24T19:47:32.677Z,1761335252.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:32.939Z,1761335252.939 [DAT](INFO): DAT read: 19:47:31.0939 LVL= 21328, 29937, 18018, 32755, AGC= 67, IDX= 402,-0.13,-1.009,-2.177,-0.590,-1.188, PHS= 0.267,-0.942, 0.595, RAW= 161.7, 1.2, CAL= 163.3, -7.5, ROT= 346.7, 7.5 2025-10-24T19:47:32.943Z,1761335252.943 [DAT](INFO): got valid direction response: 19:47:31.0939 LVL= 21328, 29937, 18018, 32755, AGC= 67, IDX= 402,-0.13,-1.009,-2.177,-0.590,-1.188, PHS= 0.267,-0.942, 0.595, RAW= 161.7, 1.2, CAL= 163.3, -7.5, ROT= 346.7, 7.5 2025-10-24T19:47:32.944Z,1761335252.944 [DAT](INFO): DAT read: Bearing 346.7, 7.5 (Local) 2025-10-24T19:47:32.944Z,1761335252.944 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, 7.5 (Local) 2025-10-24T19:47:32.947Z,1761335252.947 [DAT](INFO): DAT read: Range 10 to 50 : 81.2 m (Round-trip 108.3 ms) speed 0.4 m/s 2025-10-24T19:47:32.948Z,1761335252.948 [DAT](INFO): DAT read: user:145>Tx time:19:47:32.1814 2025-10-24T19:47:32.949Z,1761335252.949 [DAT](INFO): DAT read: TxSync time:19:47:32.1806 2025-10-24T19:47:32.950Z,1761335252.950 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:47:32.951Z,1761335252.951 [DAT](INFO): direction in FSK: [0.964853,-0.228081,-0.130526] 2025-10-24T19:47:32.951Z,1761335252.951 [DAT](INFO): publishing direction and range info 2025-10-24T19:47:32.927Z,1761335252.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474940,-0.873258,0.108872],[0.878740,-0.477273,0.005201],[0.047420,0.098141,0.994042]] 2025-10-24T19:47:32.959Z,1761335252.959 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:32.959Z,1761335252.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:32.983Z,1761335252.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.199997 m, deltaT: 3.778297 s, deltaX: -2.500000 m, approachRate: -0.661674 m/s, rangeRepo size: 4 2025-10-24T19:47:32.986Z,1761335252.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 80.745682 m, bearing: 105.952692 deg, lat: 36.779589 deg, lon: -121.859539 deg, deltaT: 3.778297 s, deltaX: -2.487251 m, approachRate: -0.658300 m/s, posRepo size: 4 2025-10-24T19:47:32.986Z,1761335252.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:33.018Z,1761335253.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 81.995560 m, bearing: 109.826079 deg, approach rate: 0.000000 m/s, LOS rate: -0.029102 deg/s, cmd heading: 118.637476 deg, new cmd heading: 118.598045 deg. 2025-10-24T19:47:33.019Z,1761335253.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069926 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:33.181Z,1761335253.181 [DAT](INFO): DAT read: 2025-10-24T19:47:33.181Z,1761335253.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:33.334Z,1761335253.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474347,-0.873582,0.108853],[0.879096,-0.476609,0.005881],[0.046743,0.098482,0.994040]] 2025-10-24T19:47:33.416Z,1761335253.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:33.418Z,1761335253.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:33.422Z,1761335253.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 81.735458 m, bearing: 109.756604 deg, approach rate: -0.597073 m/s, LOS rate: -0.159989 deg/s, cmd heading: 118.598039 deg, new cmd heading: 118.388953 deg. 2025-10-24T19:47:33.423Z,1761335253.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066277 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:33.433Z,1761335253.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:33.685Z,1761335253.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:33.724Z,1761335253.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.474434,-0.873683,0.107664],[0.879033,-0.476736,0.004896],[0.047050,0.096962,0.994175]] 2025-10-24T19:47:33.761Z,1761335253.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:33.768Z,1761335253.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 81.535759 m, bearing: 109.702926 deg, approach rate: -0.583396 m/s, LOS rate: -0.157199 deg/s, cmd heading: 118.388953 deg, new cmd heading: 118.227524 deg. 2025-10-24T19:47:33.769Z,1761335253.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063460 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:33.937Z,1761335253.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:34.177Z,1761335254.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473285,-0.874210,0.108430],[0.879682,-0.475527,0.005806],[0.046485,0.098132,0.994087]] 2025-10-24T19:47:34.188Z,1761335254.188 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:34.260Z,1761335254.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:34.269Z,1761335254.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 81.274872 m, bearing: 109.627431 deg, approach rate: -0.526858 m/s, LOS rate: -0.152951 deg/s, cmd heading: 118.227528 deg, new cmd heading: 118.000317 deg. 2025-10-24T19:47:34.271Z,1761335254.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059494 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:34.441Z,1761335254.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:34.693Z,1761335254.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:34.711Z,1761335254.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468665,-0.876698,0.108417],[0.882309,-0.470590,0.008687],[0.043405,0.099729,0.994068]] 2025-10-24T19:47:34.731Z,1761335254.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:34.734Z,1761335254.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 81.011360 m, bearing: 109.551797 deg, approach rate: -0.554367 m/s, LOS rate: -0.159633 deg/s, cmd heading: 118.000315 deg, new cmd heading: 117.772678 deg. 2025-10-24T19:47:34.735Z,1761335254.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055521 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:34.945Z,1761335254.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:35.175Z,1761335255.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465806,-0.878260,0.108095],[0.883908,-0.467550,0.010163],[0.041614,0.100280,0.994089]] 2025-10-24T19:47:35.197Z,1761335255.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:35.218Z,1761335255.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:35.221Z,1761335255.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 80.756340 m, bearing: 109.478599 deg, approach rate: -0.524034 m/s, LOS rate: -0.150887 deg/s, cmd heading: 117.772679 deg, new cmd heading: 117.552394 deg. 2025-10-24T19:47:35.222Z,1761335255.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051676 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:35.449Z,1761335255.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:35.536Z,1761335255.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463362,-0.879527,0.108293],[0.885262,-0.464946,0.011671],[0.040085,0.101276,0.994051]] 2025-10-24T19:47:35.564Z,1761335255.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:35.566Z,1761335255.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:35.569Z,1761335255.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 80.573914 m, bearing: 109.426359 deg, approach rate: -0.523511 m/s, LOS rate: -0.150255 deg/s, cmd heading: 117.552391 deg, new cmd heading: 117.395315 deg. 2025-10-24T19:47:35.570Z,1761335255.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048935 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:35.701Z,1761335255.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:35.953Z,1761335255.953 [DAT](INFO): DAT read: Rx Time:19:47:34.6909 2025-10-24T19:47:35.953Z,1761335255.953 [DAT](INFO): Rx dataTimestamp_ set to:1761335255.953173 2025-10-24T19:47:35.954Z,1761335255.954 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:35.956Z,1761335255.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461023,-0.880754,0.108306],[0.886539,-0.462476,0.012811],[0.038806,0.101924,0.994035]] 2025-10-24T19:47:35.976Z,1761335255.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:35.992Z,1761335255.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 80.358414 m, bearing: 109.364795 deg, approach rate: -0.525697 m/s, LOS rate: -0.150583 deg/s, cmd heading: 117.395311 deg, new cmd heading: 117.210125 deg. 2025-10-24T19:47:35.993Z,1761335255.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045703 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:36.205Z,1761335256.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:36.361Z,1761335256.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459879,-0.881546,0.106718],[0.887159,-0.461294,0.012500],[0.038209,0.100425,0.994211]] 2025-10-24T19:47:36.406Z,1761335256.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m. 2025-10-24T19:47:36.409Z,1761335256.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 80.745682 m, nav range: 80.129356 m, bearing: 109.302887 deg, approach rate: -0.533143 m/s, LOS rate: -0.144507 deg/s, cmd heading: 117.210131 deg, new cmd heading: 117.023875 deg. 2025-10-24T19:47:36.409Z,1761335256.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.042452 target range: 80.745682 and range: 81.20 m. 2025-10-24T19:47:36.463Z,1761335256.463 [DAT](INFO): DAT read: 19:47:34.6909 LVL= 22112, 29617, 17810, 32755, AGC= 64, IDX= 402, 0.43,-0.212,-1.398, 0.206,-0.400, PHS= 0.276,-0.951, 0.603, RAW= 161.5, 1.0, CAL= 163.2, -7.6, ROT= 346.8, 7.6 2025-10-24T19:47:36.465Z,1761335256.465 [DAT](INFO): got valid direction response: 19:47:34.6909 LVL= 22112, 29617, 17810, 32755, AGC= 64, IDX= 402, 0.43,-0.212,-1.398, 0.206,-0.400, PHS= 0.276,-0.951, 0.603, RAW= 161.5, 1.0, CAL= 163.2, -7.6, ROT= 346.8, 7.6 2025-10-24T19:47:36.466Z,1761335256.466 [DAT](INFO): DAT read: Bearing 346.8, 7.6 (Local) 2025-10-24T19:47:36.467Z,1761335256.467 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, 7.6 (Local) 2025-10-24T19:47:36.469Z,1761335256.469 [DAT](INFO): DAT read: Range 10 to 50 : 78.9 m (Round-trip 105.2 ms) speed 0.6 m/s 2025-10-24T19:47:36.470Z,1761335256.470 [DAT](INFO): DAT read: user:146>Tx time:19:47:35.7815 2025-10-24T19:47:36.470Z,1761335256.470 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:47:36.471Z,1761335256.471 [DAT](INFO): direction in FSK: [0.965026,-0.226345,-0.132256] 2025-10-24T19:47:36.472Z,1761335256.472 [DAT](INFO): publishing direction and range info 2025-10-24T19:47:36.475Z,1761335256.475 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:36.475Z,1761335256.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:36.709Z,1761335256.709 [DAT](INFO): DAT read: 2025-10-24T19:47:36.710Z,1761335256.710 [DAT](INFO): DAT read: TxSync time:19:47:35.7807 2025-10-24T19:47:36.710Z,1761335256.710 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:36.752Z,1761335256.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458397,-0.882448,0.105627],[0.887954,-0.459762,0.012495],[0.037537,0.099520,0.994327]] 2025-10-24T19:47:36.809Z,1761335256.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 78.900002 m, deltaT: 3.528054 s, deltaX: -2.299995 m, approachRate: -0.651916 m/s, rangeRepo size: 4 2025-10-24T19:47:36.811Z,1761335256.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.458672 m, bearing: 104.974944 deg, lat: 36.779640 deg, lon: -121.859539 deg, deltaT: 3.528054 s, deltaX: -2.287010 m, approachRate: -0.648236 m/s, posRepo size: 4 2025-10-24T19:47:36.816Z,1761335256.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.46 m. 2025-10-24T19:47:36.819Z,1761335256.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.458672 m, nav range: 78.220940 m, bearing: 105.272609 deg, approach rate: 0.000000 m/s, LOS rate: -0.144507 deg/s, cmd heading: 117.023871 deg, new cmd heading: 116.849198 deg. 2025-10-24T19:47:36.824Z,1761335256.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039403 target range: 78.458672 and range: 78.90 m. 2025-10-24T19:47:36.961Z,1761335256.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:37.194Z,1761335257.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459809,-0.881617,0.106427],[0.887178,-0.461274,0.011889],[0.038610,0.099887,0.994249]] 2025-10-24T19:47:37.213Z,1761335257.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:37.251Z,1761335257.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.46 m. 2025-10-24T19:47:37.254Z,1761335257.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.458672 m, nav range: 77.957588 m, bearing: 105.192663 deg, approach rate: -0.595400 m/s, LOS rate: -0.181357 deg/s, cmd heading: 116.849196 deg, new cmd heading: 116.608549 deg. 2025-10-24T19:47:37.255Z,1761335257.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.035203 target range: 78.458672 and range: 78.90 m. 2025-10-24T19:47:37.467Z,1761335257.467 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:37.562Z,1761335257.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459276,-0.881941,0.106047],[0.887456,-0.460743,0.011689],[0.038551,0.099480,0.994292]] 2025-10-24T19:47:37.589Z,1761335257.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:37.591Z,1761335257.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.46 m. 2025-10-24T19:47:37.594Z,1761335257.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.458672 m, nav range: 77.764984 m, bearing: 105.133916 deg, approach rate: -0.566633 m/s, LOS rate: -0.173259 deg/s, cmd heading: 116.608555 deg, new cmd heading: 116.431878 deg. 2025-10-24T19:47:37.595Z,1761335257.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.032120 target range: 78.458672 and range: 78.90 m. 2025-10-24T19:47:37.722Z,1761335257.722 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:37.963Z,1761335257.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459112,-0.882064,0.105729],[0.887568,-0.460515,0.012190],[0.037938,0.099438,0.994320]] 2025-10-24T19:47:37.973Z,1761335257.973 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:37.994Z,1761335257.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.46 m. 2025-10-24T19:47:38.014Z,1761335258.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.458672 m, nav range: 77.536613 m, bearing: 105.063893 deg, approach rate: -0.566774 m/s, LOS rate: -0.174296 deg/s, cmd heading: 116.431872 deg, new cmd heading: 116.221185 deg. 2025-10-24T19:47:38.015Z,1761335258.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.028442 target range: 78.458672 and range: 78.90 m. 2025-10-24T19:47:38.225Z,1761335258.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:38.367Z,1761335258.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.457084,-0.883230,0.104784],[0.888658,-0.458398,0.012607],[0.036898,0.098879,0.994415]] 2025-10-24T19:47:38.413Z,1761335258.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.46 m. 2025-10-24T19:47:38.416Z,1761335258.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.458672 m, nav range: 77.275124 m, bearing: 104.993468 deg, approach rate: -0.624717 m/s, LOS rate: -0.168819 deg/s, cmd heading: 116.221188 deg, new cmd heading: 116.009199 deg. 2025-10-24T19:47:38.417Z,1761335258.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.024742 target range: 78.458672 and range: 78.90 m. 2025-10-24T19:47:38.477Z,1761335258.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:38.729Z,1761335258.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:38.773Z,1761335258.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456344,-0.883816,0.103049],[0.889063,-0.457620,0.012297],[0.036289,0.097229,0.994600]] 2025-10-24T19:47:38.820Z,1761335258.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.46 m. 2025-10-24T19:47:38.823Z,1761335258.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.458672 m, nav range: 77.022087 m, bearing: 104.924993 deg, approach rate: -0.620816 m/s, LOS rate: -0.168554 deg/s, cmd heading: 116.009192 deg, new cmd heading: 115.803092 deg. 2025-10-24T19:47:38.824Z,1761335258.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.021145 target range: 78.458672 and range: 78.90 m. 2025-10-24T19:47:38.981Z,1761335258.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:39.230Z,1761335259.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455935,-0.884066,0.102720],[0.889280,-0.457200,0.012258],[0.036126,0.096936,0.994635]] 2025-10-24T19:47:39.234Z,1761335259.234 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:39.299Z,1761335259.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.46 m. 2025-10-24T19:47:39.306Z,1761335259.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.458672 m, nav range: 76.704514 m, bearing: 104.848343 deg, approach rate: -0.663253 m/s, LOS rate: -0.160746 deg/s, cmd heading: 115.803098 deg, new cmd heading: 115.572198 deg. 2025-10-24T19:47:39.307Z,1761335259.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.017115 target range: 78.458672 and range: 78.90 m. 2025-10-24T19:47:39.485Z,1761335259.485 [DAT](INFO): DAT read: Rx Time:19:47:38.2874 2025-10-24T19:47:39.485Z,1761335259.485 [DAT](INFO): Rx dataTimestamp_ set to:1761335259.484999 2025-10-24T19:47:39.486Z,1761335259.486 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:39.608Z,1761335259.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455642,-0.884292,0.102069],[0.889434,-0.456907,0.011984],[0.036039,0.096244,0.994705]] 2025-10-24T19:47:39.641Z,1761335259.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:39.643Z,1761335259.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.46 m. 2025-10-24T19:47:39.650Z,1761335259.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.458672 m, nav range: 76.449707 m, bearing: 104.786417 deg, approach rate: -0.739515 m/s, LOS rate: -0.180323 deg/s, cmd heading: 115.572197 deg, new cmd heading: 115.385801 deg. 2025-10-24T19:47:39.651Z,1761335259.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.013862 target range: 78.458672 and range: 78.90 m. 2025-10-24T19:47:39.737Z,1761335259.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:39.994Z,1761335259.994 [DAT](INFO): DAT read: 19:47:38.2874 LVL= 21600, 29489, 16242, 30259, AGC= 68, IDX= 398,-0.08,-1.823,-2.986,-1.412,-2.041, PHS= 0.307,-0.898, 0.626, RAW= 161.5, -0.5, CAL= 163.6, -8.9, ROT= 346.4, 8.9 2025-10-24T19:47:39.996Z,1761335259.996 [DAT](INFO): got valid direction response: 19:47:38.2874 LVL= 21600, 29489, 16242, 30259, AGC= 68, IDX= 398,-0.08,-1.823,-2.986,-1.412,-2.041, PHS= 0.307,-0.898, 0.626, RAW= 161.5, -0.5, CAL= 163.6, -8.9, ROT= 346.4, 8.9 2025-10-24T19:47:39.997Z,1761335259.997 [DAT](INFO): DAT read: Bearing 346.4, 8.9 (Local) 2025-10-24T19:47:39.998Z,1761335259.998 [DAT](INFO): Local bearing/azimuth received: Bearing 346.4, 8.9 (Local) 2025-10-24T19:47:39.999Z,1761335259.999 [DAT](INFO): DAT read: Range 10 to 50 : 76.2 m (Round-trip 101.7 ms) speed 0.7 m/s 2025-10-24T19:47:40.001Z,1761335260.001 [DAT](INFO): DAT read: user:147>Tx time:19:47:39.3815 2025-10-24T19:47:40.002Z,1761335260.002 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:47:40.003Z,1761335260.003 [DAT](INFO): direction in FSK: [0.960258,-0.232311,-0.154710] 2025-10-24T19:47:40.003Z,1761335260.003 [DAT](INFO): publishing direction and range info 2025-10-24T19:47:40.006Z,1761335260.006 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:40.006Z,1761335260.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:40.074Z,1761335260.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455343,-0.884531,0.101331],[0.889573,-0.456655,0.011205],[0.036362,0.095243,0.994790]] 2025-10-24T19:47:40.146Z,1761335260.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.199997 m, deltaT: 3.531636 s, deltaX: -2.700005 m, approachRate: -0.764520 m/s, rangeRepo size: 4 2025-10-24T19:47:40.163Z,1761335260.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 75.774574 m, bearing: 104.473861 deg, lat: 36.779642 deg, lon: -121.859539 deg, deltaT: 3.531636 s, deltaX: -2.684097 m, approachRate: -0.760015 m/s, posRepo size: 4 2025-10-24T19:47:40.178Z,1761335260.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:40.203Z,1761335260.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 76.085655 m, bearing: 104.596339 deg, approach rate: 0.000000 m/s, LOS rate: -0.180323 deg/s, cmd heading: 115.385801 deg, new cmd heading: 115.117448 deg. 2025-10-24T19:47:40.211Z,1761335260.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.009178 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:40.241Z,1761335260.241 [DAT](INFO): DAT read: 2025-10-24T19:47:40.242Z,1761335260.242 [DAT](INFO): DAT read: TxSync time:19:47:39.3807 2025-10-24T19:47:40.243Z,1761335260.243 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:40.493Z,1761335260.493 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:40.560Z,1761335260.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:40.563Z,1761335260.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 75.741638 m, bearing: 104.516980 deg, approach rate: -0.818566 m/s, LOS rate: -0.189688 deg/s, cmd heading: 115.117443 deg, new cmd heading: 114.878284 deg. 2025-10-24T19:47:40.564Z,1761335260.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.005004 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:40.745Z,1761335260.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:40.894Z,1761335260.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455931,-0.884455,0.099334],[0.889192,-0.457462,0.008110],[0.038268,0.092024,0.995021]] 2025-10-24T19:47:40.949Z,1761335260.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:40.955Z,1761335260.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 75.464310 m, bearing: 104.452252 deg, approach rate: -0.729503 m/s, LOS rate: -0.170888 deg/s, cmd heading: 114.878290 deg, new cmd heading: 114.683396 deg. 2025-10-24T19:47:40.960Z,1761335260.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001603 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:40.999Z,1761335260.999 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:41.254Z,1761335261.254 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:41.306Z,1761335261.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454308,-0.885575,0.096751],[0.890001,-0.455918,0.006039],[0.038763,0.088852,0.995290]] 2025-10-24T19:47:41.385Z,1761335261.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:41.392Z,1761335261.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 75.113152 m, bearing: 104.375487 deg, approach rate: -0.788893 m/s, LOS rate: -0.173264 deg/s, cmd heading: 114.683398 deg, new cmd heading: 114.452025 deg. 2025-10-24T19:47:41.394Z,1761335261.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.997565 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:41.505Z,1761335261.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:41.699Z,1761335261.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.453556,-0.886321,0.093387],[0.890357,-0.455250,0.003526],[0.039389,0.084747,0.995624]] 2025-10-24T19:47:41.723Z,1761335261.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:41.726Z,1761335261.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:41.729Z,1761335261.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 74.829109 m, bearing: 104.313002 deg, approach rate: -0.833335 m/s, LOS rate: -0.184017 deg/s, cmd heading: 114.452025 deg, new cmd heading: 114.263860 deg. 2025-10-24T19:47:41.730Z,1761335261.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.994281 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:41.770Z,1761335261.770 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:42.021Z,1761335262.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:42.107Z,1761335262.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.450159,-0.888375,0.090262],[0.892109,-0.451814,0.002332],[0.038710,0.081573,0.995915]] 2025-10-24T19:47:42.126Z,1761335262.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:42.130Z,1761335262.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 74.508537 m, bearing: 104.242873 deg, approach rate: -0.801071 m/s, LOS rate: -0.175998 deg/s, cmd heading: 114.263860 deg, new cmd heading: 114.052569 deg. 2025-10-24T19:47:42.131Z,1761335262.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.990593 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:42.274Z,1761335262.274 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:42.525Z,1761335262.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:42.528Z,1761335262.528 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102411490514,35.0, +11.4, 0.0, 0 2025-10-24T19:47:42.568Z,1761335262.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:42.571Z,1761335262.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 74.174950 m, bearing: 104.169227 deg, approach rate: -0.761417 m/s, LOS rate: -0.168853 deg/s, cmd heading: 114.052568 deg, new cmd heading: 113.830638 deg. 2025-10-24T19:47:42.578Z,1761335262.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.986719 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:42.777Z,1761335262.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:42.920Z,1761335262.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.443375,-0.892289,0.085085],[0.895518,-0.445025,-0.000478],[0.038292,0.075984,0.996374]] 2025-10-24T19:47:42.942Z,1761335262.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:42.945Z,1761335262.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 73.856453 m, bearing: 104.100238 deg, approach rate: -0.843043 m/s, LOS rate: -0.183396 deg/s, cmd heading: 113.830635 deg, new cmd heading: 113.622778 deg. 2025-10-24T19:47:42.946Z,1761335262.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.983092 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:43.030Z,1761335263.030 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:43.283Z,1761335263.283 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:43.338Z,1761335263.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439971,-0.894226,0.082371],[0.897171,-0.441675,-0.002770],[0.038858,0.072682,0.996598]] 2025-10-24T19:47:43.424Z,1761335263.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:43.427Z,1761335263.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 73.474243 m, bearing: 104.011710 deg, approach rate: -0.792071 m/s, LOS rate: -0.184416 deg/s, cmd heading: 113.622779 deg, new cmd heading: 113.355813 deg. 2025-10-24T19:47:43.432Z,1761335263.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.978432 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:43.533Z,1761335263.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:43.730Z,1761335263.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436070,-0.896302,0.080532],[0.899061,-0.437801,-0.004334],[0.039142,0.070514,0.996743]] 2025-10-24T19:47:43.748Z,1761335263.748 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:43.750Z,1761335263.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:43.753Z,1761335263.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 73.200684 m, bearing: 103.948761 deg, approach rate: -0.840493 m/s, LOS rate: -0.194127 deg/s, cmd heading: 113.355814 deg, new cmd heading: 113.166264 deg. 2025-10-24T19:47:43.754Z,1761335263.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.975124 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:43.785Z,1761335263.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:44.037Z,1761335264.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:44.130Z,1761335264.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.432086,-0.898479,0.077703],[0.900966,-0.433841,-0.006461],[0.039515,0.067216,0.996956]] 2025-10-24T19:47:44.149Z,1761335264.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:44.157Z,1761335264.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 72.876244 m, bearing: 103.874683 deg, approach rate: -0.813000 m/s, LOS rate: -0.186457 deg/s, cmd heading: 113.166262 deg, new cmd heading: 112.943038 deg. 2025-10-24T19:47:44.158Z,1761335264.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.971228 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:44.289Z,1761335264.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:44.541Z,1761335264.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:44.604Z,1761335264.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:44.607Z,1761335264.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 72.539513 m, bearing: 103.792541 deg, approach rate: -0.767835 m/s, LOS rate: -0.188173 deg/s, cmd heading: 112.943038 deg, new cmd heading: 112.695472 deg. 2025-10-24T19:47:44.613Z,1761335264.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.966907 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:44.792Z,1761335264.792 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:44.941Z,1761335264.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423278,-0.902867,0.075279],[0.905137,-0.425039,-0.008350],[0.039536,0.064603,0.997128]] 2025-10-24T19:47:44.969Z,1761335264.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:44.971Z,1761335264.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 72.249710 m, bearing: 103.723666 deg, approach rate: -0.761684 m/s, LOS rate: -0.181750 deg/s, cmd heading: 112.695471 deg, new cmd heading: 112.488017 deg. 2025-10-24T19:47:44.973Z,1761335264.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963286 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:45.046Z,1761335265.046 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:45.298Z,1761335265.298 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:45.357Z,1761335265.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.413823,-0.907373,0.073655],[0.909503,-0.415583,-0.009717],[0.039427,0.062969,0.997236]] 2025-10-24T19:47:45.456Z,1761335265.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:45.459Z,1761335265.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 71.889481 m, bearing: 103.630880 deg, approach rate: -0.738378 m/s, LOS rate: -0.191141 deg/s, cmd heading: 112.488018 deg, new cmd heading: 112.208266 deg. 2025-10-24T19:47:45.460Z,1761335265.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.958404 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:45.550Z,1761335265.550 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:45.753Z,1761335265.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.408245,-0.909896,0.073652],[0.912040,-0.409987,-0.009640],[0.038968,0.063239,0.997237]] 2025-10-24T19:47:45.770Z,1761335265.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:45.773Z,1761335265.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:45.775Z,1761335265.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 71.657936 m, bearing: 103.571973 deg, approach rate: -0.730459 m/s, LOS rate: -0.186435 deg/s, cmd heading: 112.208267 deg, new cmd heading: 112.030976 deg. 2025-10-24T19:47:45.777Z,1761335265.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955309 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:45.801Z,1761335265.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:46.053Z,1761335266.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:46.148Z,1761335266.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402830,-0.912388,0.072640],[0.914456,-0.404556,-0.010211],[0.038703,0.062312,0.997306]] 2025-10-24T19:47:46.192Z,1761335266.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:46.195Z,1761335266.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 71.367325 m, bearing: 103.499000 deg, approach rate: -0.700287 m/s, LOS rate: -0.176558 deg/s, cmd heading: 112.030976 deg, new cmd heading: 111.811168 deg. 2025-10-24T19:47:46.197Z,1761335266.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951473 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:46.306Z,1761335266.306 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:46.551Z,1761335266.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397713,-0.914740,0.071237],[0.916708,-0.399410,-0.010814],[0.038345,0.061003,0.997401]] 2025-10-24T19:47:46.557Z,1761335266.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:46.602Z,1761335266.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:46.604Z,1761335266.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 71.071228 m, bearing: 103.421103 deg, approach rate: -0.715671 m/s, LOS rate: -0.189063 deg/s, cmd heading: 111.811167 deg, new cmd heading: 111.576502 deg. 2025-10-24T19:47:46.605Z,1761335266.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947377 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:46.808Z,1761335266.808 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:46.955Z,1761335266.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392043,-0.917188,0.071191],[0.919163,-0.393728,-0.010836],[0.037968,0.061188,0.997404]] 2025-10-24T19:47:47.001Z,1761335267.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:47.003Z,1761335267.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 70.806084 m, bearing: 103.352234 deg, approach rate: -0.673470 m/s, LOS rate: -0.175583 deg/s, cmd heading: 111.576502 deg, new cmd heading: 111.369122 deg. 2025-10-24T19:47:47.008Z,1761335267.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.943758 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:47.062Z,1761335267.062 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:47.316Z,1761335267.316 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:47.433Z,1761335267.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:47.435Z,1761335267.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 70.529961 m, bearing: 103.270646 deg, approach rate: -0.631102 m/s, LOS rate: -0.187207 deg/s, cmd heading: 111.369124 deg, new cmd heading: 111.123402 deg. 2025-10-24T19:47:47.437Z,1761335267.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.939469 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:47.565Z,1761335267.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:47.771Z,1761335267.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380631,-0.921918,0.072018],[0.923989,-0.382282,-0.010199],[0.036934,0.062662,0.997351]] 2025-10-24T19:47:47.790Z,1761335267.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:47.808Z,1761335267.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:47.818Z,1761335267.818 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:47.825Z,1761335267.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 70.301544 m, bearing: 103.205246 deg, approach rate: -0.636394 m/s, LOS rate: -0.182805 deg/s, cmd heading: 111.123401 deg, new cmd heading: 110.926563 deg. 2025-10-24T19:47:47.827Z,1761335267.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.936034 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:48.069Z,1761335268.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:48.177Z,1761335268.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374575,-0.924216,0.074288],[0.926486,-0.376220,-0.009028],[0.036292,0.065446,0.997196]] 2025-10-24T19:47:48.198Z,1761335268.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:48.201Z,1761335268.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 70.045769 m, bearing: 103.133009 deg, approach rate: -0.629120 m/s, LOS rate: -0.178325 deg/s, cmd heading: 110.926561 deg, new cmd heading: 110.709062 deg. 2025-10-24T19:47:48.202Z,1761335268.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.932238 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:48.323Z,1761335268.323 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:48.572Z,1761335268.572 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:48.581Z,1761335268.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368968,-0.926425,0.074826],[0.928759,-0.370587,-0.008541],[0.035642,0.066344,0.997160]] 2025-10-24T19:47:48.633Z,1761335268.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:48.635Z,1761335268.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 69.786316 m, bearing: 103.053156 deg, approach rate: -0.597307 m/s, LOS rate: -0.184519 deg/s, cmd heading: 110.709061 deg, new cmd heading: 110.468613 deg. 2025-10-24T19:47:48.636Z,1761335268.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928041 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:48.825Z,1761335268.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:48.999Z,1761335268.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363565,-0.928516,0.075353],[0.930889,-0.365199,-0.008691],[0.035589,0.066986,0.997119]] 2025-10-24T19:47:49.017Z,1761335269.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:49.021Z,1761335269.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 69.555412 m, bearing: 102.982816 deg, approach rate: -0.600013 m/s, LOS rate: -0.183388 deg/s, cmd heading: 110.468611 deg, new cmd heading: 110.256891 deg. 2025-10-24T19:47:49.022Z,1761335269.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.924346 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:49.077Z,1761335269.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:49.332Z,1761335269.332 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:49.408Z,1761335269.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358387,-0.930477,0.075966],[0.932919,-0.359994,-0.008164],[0.034944,0.067945,0.997077]] 2025-10-24T19:47:49.463Z,1761335269.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:49.466Z,1761335269.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 69.303993 m, bearing: 102.902833 deg, approach rate: -0.565018 m/s, LOS rate: -0.180400 deg/s, cmd heading: 110.256889 deg, new cmd heading: 110.016069 deg. 2025-10-24T19:47:49.467Z,1761335269.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920143 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:49.581Z,1761335269.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:49.800Z,1761335269.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353455,-0.932257,0.077240],[0.934815,-0.355054,-0.007593],[0.034503,0.069521,0.996984]] 2025-10-24T19:47:49.833Z,1761335269.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:49.838Z,1761335269.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:49.849Z,1761335269.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:49.851Z,1761335269.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 69.099342 m, bearing: 102.838303 deg, approach rate: -0.529743 m/s, LOS rate: -0.167533 deg/s, cmd heading: 110.016070 deg, new cmd heading: 109.821907 deg. 2025-10-24T19:47:49.853Z,1761335269.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.916754 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:50.085Z,1761335270.085 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:50.204Z,1761335270.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348198,-0.934206,0.077575],[0.936808,-0.349770,-0.007250],[0.033907,0.070148,0.996960]] 2025-10-24T19:47:50.225Z,1761335270.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:50.227Z,1761335270.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 68.867355 m, bearing: 102.765902 deg, approach rate: -0.617169 m/s, LOS rate: -0.193262 deg/s, cmd heading: 109.821908 deg, new cmd heading: 109.603974 deg. 2025-10-24T19:47:50.230Z,1761335270.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.912950 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:50.342Z,1761335270.342 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:50.588Z,1761335270.588 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:50.608Z,1761335270.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343367,-0.935853,0.079234],[0.938596,-0.344950,-0.006817],[0.033711,0.072028,0.996833]] 2025-10-24T19:47:50.660Z,1761335270.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:50.664Z,1761335270.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 68.623474 m, bearing: 102.687074 deg, approach rate: -0.559653 m/s, LOS rate: -0.181535 deg/s, cmd heading: 109.603977 deg, new cmd heading: 109.366654 deg. 2025-10-24T19:47:50.665Z,1761335270.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.908808 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:50.841Z,1761335270.841 [DAT](INFO): DAT read: Response Not Received 2025-10-24T19:47:50.841Z,1761335270.841 [DAT](INFO): response not received 2025-10-24T19:47:50.841Z,1761335270.841 [DAT](ERROR): No response from remote modem. 2025-10-24T19:47:50.842Z,1761335270.842 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:47:50.842Z,1761335270.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:51.016Z,1761335271.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338632,-0.937484,0.080329],[0.940330,-0.340205,-0.006364],[0.033294,0.073381,0.996748]] 2025-10-24T19:47:51.046Z,1761335271.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:51.049Z,1761335271.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 68.407997 m, bearing: 102.617981 deg, approach rate: -0.559538 m/s, LOS rate: -0.179982 deg/s, cmd heading: 109.366656 deg, new cmd heading: 109.158725 deg. 2025-10-24T19:47:51.050Z,1761335271.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905179 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:51.093Z,1761335271.093 [DAT](INFO): DAT read: user:148> 2025-10-24T19:47:51.094Z,1761335271.094 [DAT](INFO): DAT read: Tx time:19:47:50.3316 2025-10-24T19:47:51.094Z,1761335271.094 [DAT](INFO): Ping request sent. 2025-10-24T19:47:51.094Z,1761335271.094 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:47:51.095Z,1761335271.095 [DAT](INFO): DAT read: TxSync time:19:47:50.3308 2025-10-24T19:47:51.096Z,1761335271.096 [DAT](INFO): publishing transmit ping time 2025-10-24T19:47:51.097Z,1761335271.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002469 2025-10-24T19:47:51.348Z,1761335271.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252820 2025-10-24T19:47:51.484Z,1761335271.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:51.487Z,1761335271.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 68.150620 m, bearing: 102.540050 deg, approach rate: -0.587663 m/s, LOS rate: -0.178610 deg/s, cmd heading: 109.158724 deg, new cmd heading: 108.924049 deg. 2025-10-24T19:47:51.489Z,1761335271.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.901083 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:51.598Z,1761335271.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503151 2025-10-24T19:47:51.819Z,1761335271.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333341,-0.940378,0.067627],[0.942147,-0.334931,-0.013396],[0.035248,0.059249,0.997621]] 2025-10-24T19:47:51.849Z,1761335271.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754914 2025-10-24T19:47:51.850Z,1761335271.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:51.852Z,1761335271.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:51.855Z,1761335271.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 67.935677 m, bearing: 102.475502 deg, approach rate: -0.582653 m/s, LOS rate: -0.175525 deg/s, cmd heading: 108.924052 deg, new cmd heading: 108.729797 deg. 2025-10-24T19:47:51.856Z,1761335271.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.897693 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:52.101Z,1761335272.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006557 2025-10-24T19:47:52.223Z,1761335272.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329547,-0.941402,0.071836],[0.943478,-0.331209,-0.012258],[0.035333,0.063736,0.997341]] 2025-10-24T19:47:52.248Z,1761335272.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:52.251Z,1761335272.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 67.701653 m, bearing: 102.405666 deg, approach rate: -0.591511 m/s, LOS rate: -0.177123 deg/s, cmd heading: 108.729795 deg, new cmd heading: 108.519566 deg. 2025-10-24T19:47:52.252Z,1761335272.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.894024 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:52.356Z,1761335272.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261693 2025-10-24T19:47:52.605Z,1761335272.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510596 2025-10-24T19:47:52.627Z,1761335272.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324855,-0.942723,0.075780],[0.945097,-0.326590,-0.011408],[0.035503,0.067914,0.997059]] 2025-10-24T19:47:52.698Z,1761335272.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:52.713Z,1761335272.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 67.439331 m, bearing: 102.329348 deg, approach rate: -0.582913 m/s, LOS rate: -0.170249 deg/s, cmd heading: 108.519569 deg, new cmd heading: 108.289724 deg. 2025-10-24T19:47:52.714Z,1761335272.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.890012 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:52.857Z,1761335272.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762704 2025-10-24T19:47:53.083Z,1761335273.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:53.086Z,1761335273.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 67.214005 m, bearing: 102.263290 deg, approach rate: -0.585906 m/s, LOS rate: -0.172342 deg/s, cmd heading: 108.289726 deg, new cmd heading: 108.090889 deg. 2025-10-24T19:47:53.087Z,1761335273.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.886542 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:53.109Z,1761335273.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014671 2025-10-24T19:47:53.364Z,1761335273.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268847 2025-10-24T19:47:53.441Z,1761335273.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314502,-0.945568,0.083603],[0.948618,-0.316300,-0.008858],[0.034820,0.076522,0.996460]] 2025-10-24T19:47:53.515Z,1761335273.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:53.528Z,1761335273.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 66.946846 m, bearing: 102.191464 deg, approach rate: -0.617612 m/s, LOS rate: -0.166710 deg/s, cmd heading: 108.090892 deg, new cmd heading: 107.874553 deg. 2025-10-24T19:47:53.529Z,1761335273.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.882766 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:53.614Z,1761335273.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519282 2025-10-24T19:47:53.839Z,1761335273.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310740,-0.946612,0.085832],[0.949839,-0.312610,-0.008943],[0.035298,0.078748,0.996269]] 2025-10-24T19:47:53.865Z,1761335273.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770704 2025-10-24T19:47:53.877Z,1761335273.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:53.884Z,1761335273.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:53.887Z,1761335273.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 66.718124 m, bearing: 102.130367 deg, approach rate: -0.627283 m/s, LOS rate: -0.168135 deg/s, cmd heading: 107.874553 deg, new cmd heading: 107.690636 deg. 2025-10-24T19:47:53.896Z,1761335273.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.879556 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:54.117Z,1761335274.117 [DAT](INFO): DAT read: Rx Time:19:47:52.8238 2025-10-24T19:47:54.117Z,1761335274.117 [DAT](INFO): Rx dataTimestamp_ set to:1761335274.117113 2025-10-24T19:47:54.118Z,1761335274.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023720 2025-10-24T19:47:54.246Z,1761335274.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307288,-0.947566,0.087712],[0.950934,-0.309251,-0.009402],[0.036034,0.080520,0.996101]] 2025-10-24T19:47:54.266Z,1761335274.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.77 m. 2025-10-24T19:47:54.269Z,1761335274.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 75.774574 m, nav range: 66.462006 m, bearing: 102.062325 deg, approach rate: -0.663455 m/s, LOS rate: -0.176938 deg/s, cmd heading: 107.690636 deg, new cmd heading: 107.485723 deg. 2025-10-24T19:47:54.270Z,1761335274.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.875980 target range: 75.774574 and range: 76.20 m. 2025-10-24T19:47:54.374Z,1761335274.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279155 2025-10-24T19:47:54.641Z,1761335274.641 [DAT](INFO): DAT read: 19:47:52.8238 LVL= 18416, 27409, 17810, 32755, AGC= 66, IDX= 274,-0.19,-0.926,-2.230,-0.946,-1.352, PHS= 0.514,-0.831, 0.403, RAW= 145.7, -1.3, CAL= 149.8, -10.4, ROT= 0.2, 10.4 2025-10-24T19:47:54.642Z,1761335274.642 [DAT](INFO): got valid direction response: 19:47:52.8238 LVL= 18416, 27409, 17810, 32755, AGC= 66, IDX= 274,-0.19,-0.926,-2.230,-0.946,-1.352, PHS= 0.514,-0.831, 0.403, RAW= 145.7, -1.3, CAL= 149.8, -10.4, ROT= 0.2, 10.4 2025-10-24T19:47:54.643Z,1761335274.643 [DAT](INFO): DAT read: Bearing 0.2, 10.4 (Local) 2025-10-24T19:47:54.643Z,1761335274.643 [DAT](INFO): Local bearing/azimuth received: Bearing 0.2, 10.4 (Local) 2025-10-24T19:47:54.667Z,1761335274.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304069,-0.948571,0.088061],[0.951938,-0.306115,-0.010407],[0.036828,0.080664,0.996061]] 2025-10-24T19:47:54.674Z,1761335274.674 [DAT](INFO): DAT read: Range 10 to 50 : 66.0 m (Round-trip 88.0 ms) speed 0.5 m/s 2025-10-24T19:47:54.677Z,1761335274.677 [DAT](INFO): DAT read: Tx time:19:47:53.8878 2025-10-24T19:47:54.678Z,1761335274.678 [DAT](INFO): Ping request sent. 2025-10-24T19:47:54.678Z,1761335274.678 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:47:54.688Z,1761335274.688 [DAT](INFO): DAT read: user:149>TxSync time:19:47:53.8871 2025-10-24T19:47:54.688Z,1761335274.688 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:47:54.689Z,1761335274.689 [DAT](INFO): direction in FSK: [0.983565,0.003433,-0.180519] 2025-10-24T19:47:54.690Z,1761335274.690 [DAT](INFO): publishing transmit ping time 2025-10-24T19:47:54.690Z,1761335274.690 [DAT](INFO): publishing direction and range info 2025-10-24T19:47:54.705Z,1761335274.705 [DAT](INFO): publishing transmit ping time 2025-10-24T19:47:54.706Z,1761335274.706 [DAT](INFO): publishing direction and range info 2025-10-24T19:47:54.792Z,1761335274.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.000000 m, deltaT: 14.636171 s, deltaX: -10.199997 m, approachRate: -0.696903 m/s, rangeRepo size: 4 2025-10-24T19:47:54.794Z,1761335274.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.629379 m, bearing: 108.756359 deg, lat: 36.779642 deg, lon: -121.859541 deg, deltaT: 14.636171 s, deltaX: -10.145195 m, approachRate: -0.693159 m/s, posRepo size: 4 2025-10-24T19:47:54.795Z,1761335274.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:54.823Z,1761335274.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 65.941551 m, bearing: 102.011306 deg, approach rate: 0.000000 m/s, LOS rate: -0.176938 deg/s, cmd heading: 107.485724 deg, new cmd heading: 107.208994 deg. 2025-10-24T19:47:54.828Z,1761335274.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871150 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:55.099Z,1761335275.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301637,-0.949289,0.088690],[0.952660,-0.303809,-0.011786],[0.038133,0.080937,0.995990]] 2025-10-24T19:47:55.153Z,1761335275.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:55.155Z,1761335275.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 65.698570 m, bearing: 101.948745 deg, approach rate: -0.664465 m/s, LOS rate: -0.171714 deg/s, cmd heading: 107.208992 deg, new cmd heading: 107.020616 deg. 2025-10-24T19:47:55.157Z,1761335275.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.867862 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:55.499Z,1761335275.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301678,-0.949035,0.091230],[0.952556,-0.304074,-0.013288],[0.040351,0.082893,0.995741]] 2025-10-24T19:47:55.548Z,1761335275.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:55.551Z,1761335275.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 65.421501 m, bearing: 101.879194 deg, approach rate: -0.700573 m/s, LOS rate: -0.176606 deg/s, cmd heading: 107.020615 deg, new cmd heading: 106.811079 deg. 2025-10-24T19:47:55.553Z,1761335275.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864205 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:55.901Z,1761335275.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300182,-0.949395,0.092408],[0.952952,-0.302755,-0.014885],[0.042109,0.083592,0.995610]] 2025-10-24T19:47:55.946Z,1761335275.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:55.953Z,1761335275.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:55.960Z,1761335275.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 65.159027 m, bearing: 101.813126 deg, approach rate: -0.649042 m/s, LOS rate: -0.164031 deg/s, cmd heading: 106.811079 deg, new cmd heading: 106.612076 deg. 2025-10-24T19:47:55.961Z,1761335275.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860732 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:56.136Z,1761335276.136 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:56.137Z,1761335276.137 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:56.137Z,1761335276.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:56.302Z,1761335276.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297841,-0.950137,0.092367],[0.953636,-0.300521,-0.016293],[0.043239,0.083232,0.995592]] 2025-10-24T19:47:56.320Z,1761335276.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:56.323Z,1761335276.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 64.908737 m, bearing: 101.750183 deg, approach rate: -0.680822 m/s, LOS rate: -0.171872 deg/s, cmd heading: 106.612074 deg, new cmd heading: 106.422520 deg. 2025-10-24T19:47:56.324Z,1761335276.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857423 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:56.392Z,1761335276.392 [DAT](INFO): DAT read: 2025-10-24T19:47:56.395Z,1761335276.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716583 2025-10-24T19:47:56.641Z,1761335276.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962834 2025-10-24T19:47:56.767Z,1761335276.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:56.770Z,1761335276.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 64.602112 m, bearing: 101.673514 deg, approach rate: -0.686473 m/s, LOS rate: -0.172462 deg/s, cmd heading: 106.422523 deg, new cmd heading: 106.191425 deg. 2025-10-24T19:47:56.771Z,1761335276.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.853390 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:56.894Z,1761335276.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215695 2025-10-24T19:47:57.116Z,1761335277.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290491,-0.952443,0.092018],[0.955872,-0.293249,-0.017726],[0.043868,0.082808,0.995600]] 2025-10-24T19:47:57.145Z,1761335277.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467025 2025-10-24T19:47:57.150Z,1761335277.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:57.173Z,1761335277.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 64.343193 m, bearing: 101.610091 deg, approach rate: -0.675540 m/s, LOS rate: -0.166141 deg/s, cmd heading: 106.191424 deg, new cmd heading: 106.000390 deg. 2025-10-24T19:47:57.183Z,1761335277.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850056 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:57.400Z,1761335277.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722420 2025-10-24T19:47:57.578Z,1761335277.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:57.581Z,1761335277.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 64.046524 m, bearing: 101.539197 deg, approach rate: -0.693585 m/s, LOS rate: -0.166513 deg/s, cmd heading: 106.000390 deg, new cmd heading: 105.786722 deg. 2025-10-24T19:47:57.582Z,1761335277.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846327 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:57.650Z,1761335277.650 [DAT](INFO): DAT read: Rx Time:19:47:56.3772 2025-10-24T19:47:57.651Z,1761335277.651 [DAT](INFO): Rx dataTimestamp_ set to:1761335277.650396 2025-10-24T19:47:57.652Z,1761335277.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973685 2025-10-24T19:47:57.901Z,1761335277.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223214 2025-10-24T19:47:57.924Z,1761335277.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284873,-0.954233,0.091032],[0.957508,-0.287731,-0.019712],[0.045003,0.081549,0.995653]] 2025-10-24T19:47:57.954Z,1761335277.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:57.962Z,1761335277.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m. 2025-10-24T19:47:57.997Z,1761335277.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.629379 m, nav range: 63.785461 m, bearing: 101.477707 deg, approach rate: -0.681827 m/s, LOS rate: -0.161253 deg/s, cmd heading: 105.786721 deg, new cmd heading: 105.601496 deg. 2025-10-24T19:47:58.005Z,1761335278.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.843094 target range: 65.629379 and range: 66.00 m. 2025-10-24T19:47:58.158Z,1761335278.158 [DAT](INFO): DAT read: 19:47:56.3772 LVL= 18992, 23185, 16978, 25667, AGC= 65, IDX= 147, 0.24, 0.042,-1.430,-0.089,-0.529, PHS= 0.659,-0.854, 0.437, RAW= 142.2, -3.5, CAL= 147.3, -12.7, ROT= 2.7, 12.7 2025-10-24T19:47:58.160Z,1761335278.160 [DAT](INFO): got valid direction response: 19:47:56.3772 LVL= 18992, 23185, 16978, 25667, AGC= 65, IDX= 147, 0.24, 0.042,-1.430,-0.089,-0.529, PHS= 0.659,-0.854, 0.437, RAW= 142.2, -3.5, CAL= 147.3, -12.7, ROT= 2.7, 12.7 2025-10-24T19:47:58.161Z,1761335278.161 [DAT](INFO): DAT read: Bearing 2.7, 12.7 (Local) 2025-10-24T19:47:58.161Z,1761335278.161 [DAT](INFO): Local bearing/azimuth received: Bearing 2.7, 12.7 (Local) 2025-10-24T19:47:58.163Z,1761335278.163 [DAT](INFO): DAT read: Range 10 to 50 : 63.8 m (Round-trip 85.1 ms) speed 0.7 m/s 2025-10-24T19:47:58.164Z,1761335278.164 [DAT](INFO): DAT read: user:150>Tx time:19:47:57.4817 2025-10-24T19:47:58.165Z,1761335278.165 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:47:58.166Z,1761335278.166 [DAT](INFO): direction in FSK: [0.974452,0.045954,-0.219846] 2025-10-24T19:47:58.166Z,1761335278.166 [DAT](INFO): publishing direction and range info 2025-10-24T19:47:58.173Z,1761335278.173 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:47:58.173Z,1761335278.173 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:47:58.173Z,1761335278.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:47:58.319Z,1761335278.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282253,-0.955067,0.090443],[0.958245,-0.285178,-0.020978],[0.045828,0.080745,0.995681]] 2025-10-24T19:47:58.359Z,1761335278.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.799999 m, deltaT: 3.527881 s, deltaX: -2.200001 m, approachRate: -0.623604 m/s, rangeRepo size: 4 2025-10-24T19:47:58.367Z,1761335278.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.433758 m, bearing: 110.111651 deg, lat: 36.779640 deg, lon: -121.859550 deg, deltaT: 3.527881 s, deltaX: -2.195621 m, approachRate: -0.622363 m/s, posRepo size: 4 2025-10-24T19:47:58.372Z,1761335278.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:47:58.375Z,1761335278.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 62.755207 m, bearing: 101.693805 deg, approach rate: 0.000000 m/s, LOS rate: -0.161253 deg/s, cmd heading: 105.601493 deg, new cmd heading: 105.409349 deg. 2025-10-24T19:47:58.380Z,1761335278.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.839740 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:47:58.405Z,1761335278.405 [DAT](INFO): DAT read: 2025-10-24T19:47:58.406Z,1761335278.406 [DAT](INFO): DAT read: TxSync time:19:47:57.4809 2025-10-24T19:47:58.406Z,1761335278.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.728506 2025-10-24T19:47:58.660Z,1761335278.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.982037 2025-10-24T19:47:58.805Z,1761335278.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:47:58.815Z,1761335278.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 62.442276 m, bearing: 101.620486 deg, approach rate: -0.700386 m/s, LOS rate: -0.164922 deg/s, cmd heading: 105.409346 deg, new cmd heading: 105.188287 deg. 2025-10-24T19:47:58.816Z,1761335278.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.835882 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:47:58.910Z,1761335278.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.231877 2025-10-24T19:47:59.076Z,1761335279.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:47:59.131Z,1761335279.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278755,-0.955836,0.093123],[0.959152,-0.281958,-0.022945],[0.048188,0.082924,0.995390]] 2025-10-24T19:47:59.159Z,1761335279.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:47:59.161Z,1761335279.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.482999 2025-10-24T19:47:59.169Z,1761335279.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 62.185371 m, bearing: 101.560642 deg, approach rate: -0.725361 m/s, LOS rate: -0.169664 deg/s, cmd heading: 105.188287 deg, new cmd heading: 105.008016 deg. 2025-10-24T19:47:59.170Z,1761335279.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.832736 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:47:59.414Z,1761335279.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.736141 2025-10-24T19:47:59.533Z,1761335279.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277422,-0.956338,0.091947],[0.959483,-0.280695,-0.024544],[0.049281,0.081413,0.995461]] 2025-10-24T19:47:59.599Z,1761335279.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:47:59.606Z,1761335279.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 61.880306 m, bearing: 101.487688 deg, approach rate: -0.694583 m/s, LOS rate: -0.166924 deg/s, cmd heading: 105.008018 deg, new cmd heading: 104.788077 deg. 2025-10-24T19:47:59.607Z,1761335279.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.828897 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:47:59.666Z,1761335279.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.988251 2025-10-24T19:47:59.918Z,1761335279.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.239754 2025-10-24T19:47:59.938Z,1761335279.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274059,-0.957338,0.091623],[0.960433,-0.277362,-0.025257],[0.049592,0.081076,0.995473]] 2025-10-24T19:47:59.977Z,1761335279.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:47:59.979Z,1761335279.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:47:59.982Z,1761335279.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 61.599796 m, bearing: 101.420915 deg, approach rate: -0.737524 m/s, LOS rate: -0.176359 deg/s, cmd heading: 104.788079 deg, new cmd heading: 104.586851 deg. 2025-10-24T19:47:59.983Z,1761335279.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825385 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:48:00.082Z,1761335280.082 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:48:00.169Z,1761335280.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.490935 2025-10-24T19:48:00.348Z,1761335280.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266318,-0.959614,0.090640],[0.962640,-0.269574,-0.025578],[0.048979,0.080442,0.995555]] 2025-10-24T19:48:00.368Z,1761335280.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:48:00.371Z,1761335280.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 61.324223 m, bearing: 101.356910 deg, approach rate: -0.708092 m/s, LOS rate: -0.165202 deg/s, cmd heading: 104.586848 deg, new cmd heading: 104.393970 deg. 2025-10-24T19:48:00.372Z,1761335280.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.822019 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:48:00.424Z,1761335280.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.746161 2025-10-24T19:48:00.674Z,1761335280.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.996207 2025-10-24T19:48:00.750Z,1761335280.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263179,-0.960526,0.090145],[0.963482,-0.266467,-0.026409],[0.049388,0.079903,0.995578]] 2025-10-24T19:48:00.817Z,1761335280.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:48:00.826Z,1761335280.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 61.025059 m, bearing: 101.288257 deg, approach rate: -0.666102 m/s, LOS rate: -0.153609 deg/s, cmd heading: 104.393970 deg, new cmd heading: 104.187002 deg. 2025-10-24T19:48:00.827Z,1761335280.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818406 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:48:00.926Z,1761335280.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.247381 2025-10-24T19:48:01.147Z,1761335281.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260507,-0.961187,0.090863],[0.964177,-0.263875,-0.027056],[0.049983,0.080560,0.995496]] 2025-10-24T19:48:01.174Z,1761335281.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:48:01.177Z,1761335281.177 [DAT](INFO): DAT read: Rx Time:19:47:59.9676 2025-10-24T19:48:01.177Z,1761335281.177 [DAT](INFO): Rx dataTimestamp_ set to:1761335281.177129 2025-10-24T19:48:01.178Z,1761335281.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.500061 2025-10-24T19:48:01.180Z,1761335281.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 60.756607 m, bearing: 101.226803 deg, approach rate: -0.752231 m/s, LOS rate: -0.172959 deg/s, cmd heading: 104.187002 deg, new cmd heading: 104.001829 deg. 2025-10-24T19:48:01.181Z,1761335281.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815174 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:48:01.430Z,1761335281.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.752522 2025-10-24T19:48:01.556Z,1761335281.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257619,-0.961922,0.091315],[0.964928,-0.261052,-0.027678],[0.050462,0.080982,0.995437]] 2025-10-24T19:48:01.663Z,1761335281.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.43 m. 2025-10-24T19:48:01.666Z,1761335281.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.433758 m, nav range: 60.410095 m, bearing: 101.147532 deg, approach rate: -0.709074 m/s, LOS rate: -0.163144 deg/s, cmd heading: 104.001829 deg, new cmd heading: 103.762653 deg. 2025-10-24T19:48:01.667Z,1761335281.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.811000 target range: 63.433758 and range: 63.80 m. 2025-10-24T19:48:01.687Z,1761335281.687 [DAT](INFO): DAT read: 19:47:59.9676 LVL= 17312, 26801, 16370, 27427, AGC= 63, IDX= 401, 0.23, 1.293,-0.235, 1.076, 0.616, PHS= 0.765,-0.804, 0.458, RAW= 139.3, -5.9, CAL= 145.1, -15.6, ROT= 4.9, 15.6 2025-10-24T19:48:01.689Z,1761335281.689 [DAT](INFO): got valid direction response: 19:47:59.9676 LVL= 17312, 26801, 16370, 27427, AGC= 63, IDX= 401, 0.23, 1.293,-0.235, 1.076, 0.616, PHS= 0.765,-0.804, 0.458, RAW= 139.3, -5.9, CAL= 145.1, -15.6, ROT= 4.9, 15.6 2025-10-24T19:48:01.691Z,1761335281.691 [DAT](INFO): DAT read: Bearing 4.9, 15.6 (Local) 2025-10-24T19:48:01.691Z,1761335281.691 [DAT](INFO): Local bearing/azimuth received: Bearing 4.9, 15.6 (Local) 2025-10-24T19:48:01.695Z,1761335281.695 [DAT](INFO): DAT read: Range 10 to 50 : 61.3 m (Round-trip 81.8 ms) speed 0.7 m/s 2025-10-24T19:48:01.697Z,1761335281.697 [DAT](INFO): DAT read: user:151>Tx time:19:48:01.0317 2025-10-24T19:48:01.699Z,1761335281.699 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:01.701Z,1761335281.701 [DAT](INFO): direction in FSK: [0.959642,0.082270,-0.268920] 2025-10-24T19:48:01.702Z,1761335281.702 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:01.713Z,1761335281.713 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:01.713Z,1761335281.713 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:01.714Z,1761335281.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:01.944Z,1761335281.944 [DAT](INFO): DAT read: 2025-10-24T19:48:01.946Z,1761335281.946 [DAT](INFO): DAT read: TxSync time:19:48:01.0309 2025-10-24T19:48:01.947Z,1761335281.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.268820 2025-10-24T19:48:01.967Z,1761335281.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255344,-0.962472,0.091904],[0.965506,-0.258845,-0.028239],[0.050968,0.081523,0.995367]] 2025-10-24T19:48:02.025Z,1761335282.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.299999 m, deltaT: 3.528175 s, deltaX: -2.500000 m, approachRate: -0.708582 m/s, rangeRepo size: 4 2025-10-24T19:48:02.027Z,1761335282.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.947224 m, bearing: 110.919557 deg, lat: 36.779577 deg, lon: -121.859575 deg, deltaT: 3.528175 s, deltaX: -2.486534 m, approachRate: -0.704765 m/s, posRepo size: 4 2025-10-24T19:48:02.027Z,1761335282.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:02.038Z,1761335282.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 59.811825 m, bearing: 108.103718 deg, approach rate: 0.000000 m/s, LOS rate: -0.163144 deg/s, cmd heading: 103.762656 deg, new cmd heading: 103.587863 deg. 2025-10-24T19:48:02.039Z,1761335282.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807949 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:02.197Z,1761335282.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.519235 2025-10-24T19:48:02.362Z,1761335282.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254933,-0.961587,0.101782],[0.965537,-0.258849,-0.027102],[0.052407,0.091365,0.994438]] 2025-10-24T19:48:02.379Z,1761335282.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:02.382Z,1761335282.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:02.385Z,1761335282.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 59.533188 m, bearing: 108.073130 deg, approach rate: -0.768592 m/s, LOS rate: -0.084770 deg/s, cmd heading: 103.587865 deg, new cmd heading: 103.495670 deg. 2025-10-24T19:48:02.386Z,1761335282.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806340 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:02.450Z,1761335282.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.771983 2025-10-24T19:48:02.701Z,1761335282.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.022795 2025-10-24T19:48:02.765Z,1761335282.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253733,-0.962166,0.099275],[0.965812,-0.257653,-0.028666],[0.053160,0.088607,0.994647]] 2025-10-24T19:48:02.820Z,1761335282.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:02.823Z,1761335282.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 59.230518 m, bearing: 108.038236 deg, approach rate: -0.717997 m/s, LOS rate: -0.083199 deg/s, cmd heading: 103.495671 deg, new cmd heading: 103.390454 deg. 2025-10-24T19:48:02.828Z,1761335282.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804504 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:02.953Z,1761335282.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.274960 2025-10-24T19:48:03.167Z,1761335283.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251841,-0.962954,0.096419],[0.966298,-0.255698,-0.029789],[0.053339,0.085668,0.994895]] 2025-10-24T19:48:03.194Z,1761335283.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:03.198Z,1761335283.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 58.950279 m, bearing: 108.006130 deg, approach rate: -0.717741 m/s, LOS rate: -0.082619 deg/s, cmd heading: 103.390452 deg, new cmd heading: 103.293677 deg. 2025-10-24T19:48:03.199Z,1761335283.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802815 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:03.205Z,1761335283.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.527221 2025-10-24T19:48:03.457Z,1761335283.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.778733 2025-10-24T19:48:03.585Z,1761335283.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248093,-0.964224,0.093397],[0.967297,-0.251823,-0.030345],[0.052779,0.082814,0.995166]] 2025-10-24T19:48:03.667Z,1761335283.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:03.678Z,1761335283.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 58.625008 m, bearing: 107.968160 deg, approach rate: -0.689409 m/s, LOS rate: -0.080923 deg/s, cmd heading: 103.293675 deg, new cmd heading: 103.179133 deg. 2025-10-24T19:48:03.679Z,1761335283.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800816 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:03.709Z,1761335283.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.030989 2025-10-24T19:48:03.961Z,1761335283.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.282845 2025-10-24T19:48:03.981Z,1761335283.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245083,-0.965112,0.092157],[0.968056,-0.248798,-0.031082],[0.052926,0.081595,0.995259]] 2025-10-24T19:48:04.033Z,1761335284.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:04.035Z,1761335284.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 58.378914 m, bearing: 107.939905 deg, approach rate: -0.679684 m/s, LOS rate: -0.078366 deg/s, cmd heading: 103.179133 deg, new cmd heading: 103.094011 deg. 2025-10-24T19:48:04.045Z,1761335284.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.799330 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:04.214Z,1761335284.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.535789 2025-10-24T19:48:04.381Z,1761335284.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242133,-0.965964,0.091022],[0.968796,-0.245827,-0.031668],[0.052966,0.080514,0.995345]] 2025-10-24T19:48:04.398Z,1761335284.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:04.401Z,1761335284.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:04.403Z,1761335284.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 58.095673 m, bearing: 107.907944 deg, approach rate: -0.760065 m/s, LOS rate: -0.086184 deg/s, cmd heading: 103.094008 deg, new cmd heading: 102.997657 deg. 2025-10-24T19:48:04.405Z,1761335284.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797648 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:04.465Z,1761335284.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.787196 2025-10-24T19:48:04.717Z,1761335284.717 [DAT](INFO): DAT read: Rx Time:19:48:03.5140 2025-10-24T19:48:04.717Z,1761335284.717 [DAT](INFO): Rx dataTimestamp_ set to:1761335284.717067 2025-10-24T19:48:04.718Z,1761335284.718 [DAT](INFO): Reached modem response timeout 2025-10-24T19:48:04.718Z,1761335284.718 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:48:04.718Z,1761335284.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:04.783Z,1761335284.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239540,-0.966641,0.090702],[0.969447,-0.243224,-0.031861],[0.052859,0.080298,0.995368]] 2025-10-24T19:48:04.839Z,1761335284.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:04.843Z,1761335284.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 57.783733 m, bearing: 107.875278 deg, approach rate: -0.710999 m/s, LOS rate: -0.074856 deg/s, cmd heading: 102.997654 deg, new cmd heading: 102.899128 deg. 2025-10-24T19:48:04.844Z,1761335284.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795929 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:04.969Z,1761335284.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:48:05.188Z,1761335285.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236032,-0.967601,0.089652],[0.970335,-0.239653,-0.031889],[0.052342,0.079466,0.995462]] 2025-10-24T19:48:05.219Z,1761335285.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.95 m. 2025-10-24T19:48:05.227Z,1761335285.227 [DAT](INFO): DAT read: 19:48:03.5140 LVL= 21056, 32753, 21394, 32755, AGC= 66, IDX= 397,-0.30, 2.286, 0.739, 1.970, 1.598, PHS= 0.777,-0.811, 0.369, RAW= 135.7, -4.7, CAL= 141.3, -14.9, ROT= 8.7, 14.9 2025-10-24T19:48:05.228Z,1761335285.228 [DAT](INFO): got valid direction response: 19:48:03.5140 LVL= 21056, 32753, 21394, 32755, AGC= 66, IDX= 397,-0.30, 2.286, 0.739, 1.970, 1.598, PHS= 0.777,-0.811, 0.369, RAW= 135.7, -4.7, CAL= 141.3, -14.9, ROT= 8.7, 14.9 2025-10-24T19:48:05.230Z,1761335285.230 [DAT](INFO): DAT read: Bearing 8.7, 14.9 (Local) 2025-10-24T19:48:05.230Z,1761335285.230 [DAT](INFO): Local bearing/azimuth received: Bearing 8.7, 14.9 (Local) 2025-10-24T19:48:05.231Z,1761335285.231 [DAT](INFO): DAT read: Range 10 to 50 : 58.6 m (Round-trip 78.2 ms) speed 0.6 m/s 2025-10-24T19:48:05.233Z,1761335285.233 [DAT](INFO): DAT read: user:152> 2025-10-24T19:48:05.233Z,1761335285.233 [DAT](INFO): DAT read: Tx time:19:48:04.5817 2025-10-24T19:48:05.234Z,1761335285.234 [DAT](INFO): Ping request sent. 2025-10-24T19:48:05.234Z,1761335285.234 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:05.234Z,1761335285.234 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:05.235Z,1761335285.235 [DAT](INFO): direction in FSK: [0.955257,0.146175,-0.257133] 2025-10-24T19:48:05.235Z,1761335285.235 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:05.235Z,1761335285.235 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:05.239Z,1761335285.239 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:05.239Z,1761335285.239 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:05.247Z,1761335285.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.947224 m, nav range: 57.522278 m, bearing: 107.848578 deg, approach rate: -0.688612 m/s, LOS rate: -0.070642 deg/s, cmd heading: 102.899129 deg, new cmd heading: 102.818664 deg. 2025-10-24T19:48:05.252Z,1761335285.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794524 target range: 60.947224 and range: 61.30 m. 2025-10-24T19:48:05.473Z,1761335285.473 [DAT](INFO): DAT read: TxSync time:19:48:04.5809 2025-10-24T19:48:05.617Z,1761335285.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233259,-0.968299,0.089374],[0.971016,-0.236864,-0.031975],[0.052131,0.079325,0.995485]] 2025-10-24T19:48:05.693Z,1761335285.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.599998 m, deltaT: 3.540044 s, deltaX: -2.700001 m, approachRate: -0.762703 m/s, rangeRepo size: 4 2025-10-24T19:48:05.695Z,1761335285.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.263222 m, bearing: 113.259187 deg, lat: 36.779561 deg, lon: -121.859581 deg, deltaT: 3.540044 s, deltaX: -2.684002 m, approachRate: -0.758183 m/s, posRepo size: 4 2025-10-24T19:48:05.700Z,1761335285.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.26 m. 2025-10-24T19:48:05.701Z,1761335285.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m. 2025-10-24T19:48:05.709Z,1761335285.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.263222 m, nav range: 57.239044 m, bearing: 109.666594 deg, approach rate: 0.000000 m/s, LOS rate: -0.070642 deg/s, cmd heading: 102.818662 deg, new cmd heading: 102.719299 deg. 2025-10-24T19:48:05.710Z,1761335285.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792790 target range: 58.263222 and range: 58.60 m. 2025-10-24T19:48:05.792Z,1761335285.792 [DockingStepper](INFO): Changing to mode: 2 2025-10-24T19:48:06.084Z,1761335286.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231745,-0.968762,0.088289],[0.971332,-0.235391,-0.033257],[0.053001,0.078051,0.995539]] 2025-10-24T19:48:06.120Z,1761335286.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.26 m. 2025-10-24T19:48:06.121Z,1761335286.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m. 2025-10-24T19:48:06.128Z,1761335286.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.263222 m, nav range: 56.953384 m, bearing: 109.643904 deg, approach rate: -0.687236 m/s, LOS rate: -0.054861 deg/s, cmd heading: 102.719297 deg, new cmd heading: 102.650886 deg. 2025-10-24T19:48:06.130Z,1761335286.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.791596 target range: 58.263222 and range: 58.60 m. 2025-10-24T19:48:06.486Z,1761335286.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229308,-0.969304,0.088699],[0.971888,-0.233009,-0.033759],[0.053390,0.078464,0.995486]] 2025-10-24T19:48:06.527Z,1761335286.527 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:06.535Z,1761335286.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.26 m. 2025-10-24T19:48:06.549Z,1761335286.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m. 2025-10-24T19:48:06.574Z,1761335286.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.263222 m, nav range: 56.682899 m, bearing: 109.622895 deg, approach rate: -0.629146 m/s, LOS rate: -0.049101 deg/s, cmd heading: 102.650886 deg, new cmd heading: 102.587557 deg. 2025-10-24T19:48:06.582Z,1761335286.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790491 target range: 58.263222 and range: 58.60 m. 2025-10-24T19:48:06.733Z,1761335286.733 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:06.733Z,1761335286.733 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:06.733Z,1761335286.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:06.891Z,1761335286.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225284,-0.970215,0.089049],[0.972865,-0.228959,-0.033328],[0.052724,0.079124,0.995469]] 2025-10-24T19:48:06.949Z,1761335286.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.26 m. 2025-10-24T19:48:06.949Z,1761335286.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m. 2025-10-24T19:48:06.952Z,1761335286.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.263222 m, nav range: 56.397976 m, bearing: 109.598217 deg, approach rate: -0.686225 m/s, LOS rate: -0.059736 deg/s, cmd heading: 102.587556 deg, new cmd heading: 102.513149 deg. 2025-10-24T19:48:06.953Z,1761335286.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789192 target range: 58.263222 and range: 58.60 m. 2025-10-24T19:48:06.987Z,1761335286.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753147 2025-10-24T19:48:07.237Z,1761335287.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002948 2025-10-24T19:48:07.293Z,1761335287.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219878,-0.971460,0.088990],[0.974179,-0.223454,-0.032317],[0.051279,0.079587,0.995508]] 2025-10-24T19:48:07.317Z,1761335287.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.26 m. 2025-10-24T19:48:07.317Z,1761335287.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m. 2025-10-24T19:48:07.320Z,1761335287.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.263222 m, nav range: 56.160583 m, bearing: 109.578826 deg, approach rate: -0.645407 m/s, LOS rate: -0.052943 deg/s, cmd heading: 102.513148 deg, new cmd heading: 102.454728 deg. 2025-10-24T19:48:07.321Z,1761335287.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.788172 target range: 58.263222 and range: 58.60 m. 2025-10-24T19:48:07.489Z,1761335287.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255100 2025-10-24T19:48:07.704Z,1761335287.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215417,-0.972444,0.089147],[0.975224,-0.218939,-0.031698],[0.050342,0.080110,0.995514]] 2025-10-24T19:48:07.741Z,1761335287.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507224 2025-10-24T19:48:07.771Z,1761335287.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.26 m. 2025-10-24T19:48:07.772Z,1761335287.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m. 2025-10-24T19:48:07.774Z,1761335287.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.263222 m, nav range: 55.884998 m, bearing: 109.549566 deg, approach rate: -0.606469 m/s, LOS rate: -0.064708 deg/s, cmd heading: 102.454730 deg, new cmd heading: 102.366518 deg. 2025-10-24T19:48:07.775Z,1761335287.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.786633 target range: 58.263222 and range: 58.60 m. 2025-10-24T19:48:07.996Z,1761335287.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761785 2025-10-24T19:48:08.100Z,1761335288.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211042,-0.973416,0.089009],[0.976237,-0.214483,-0.030943],[0.049211,0.080363,0.995550]] 2025-10-24T19:48:08.149Z,1761335288.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.26 m. 2025-10-24T19:48:08.149Z,1761335288.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m. 2025-10-24T19:48:08.156Z,1761335288.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.263222 m, nav range: 55.671192 m, bearing: 109.527667 deg, approach rate: -0.566078 m/s, LOS rate: -0.058203 deg/s, cmd heading: 102.366518 deg, new cmd heading: 102.300569 deg. 2025-10-24T19:48:08.157Z,1761335288.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785482 target range: 58.263222 and range: 58.60 m. 2025-10-24T19:48:08.246Z,1761335288.246 [DAT](INFO): DAT read: Rx Time:19:48:07.0608 2025-10-24T19:48:08.246Z,1761335288.246 [DAT](INFO): Rx dataTimestamp_ set to:1761335288.245844 2025-10-24T19:48:08.247Z,1761335288.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012962 2025-10-24T19:48:08.497Z,1761335288.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263375 2025-10-24T19:48:08.511Z,1761335288.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206749,-0.974318,0.089217],[0.977209,-0.210126,-0.030171],[0.048143,0.080946,0.995555]] 2025-10-24T19:48:08.529Z,1761335288.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:08.531Z,1761335288.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.26 m. 2025-10-24T19:48:08.532Z,1761335288.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.60 m. 2025-10-24T19:48:08.535Z,1761335288.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.263222 m, nav range: 55.423489 m, bearing: 109.503225 deg, approach rate: -0.647671 m/s, LOS rate: -0.064195 deg/s, cmd heading: 102.300565 deg, new cmd heading: 102.226911 deg. 2025-10-24T19:48:08.539Z,1761335288.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784196 target range: 58.263222 and range: 58.60 m. 2025-10-24T19:48:08.759Z,1761335288.759 [DAT](INFO): DAT read: 19:48:07.0608 LVL= 17392, 24417, 16882, 26835, AGC= 59, IDX= 412, 0.08,-1.440,-3.096,-1.852,-2.193, PHS= 0.840,-0.857, 0.338, RAW= 133.3, -4.3, CAL= 138.7, -14.7, ROT= 11.3, 14.7 2025-10-24T19:48:08.760Z,1761335288.760 [DAT](INFO): got valid direction response: 19:48:07.0608 LVL= 17392, 24417, 16882, 26835, AGC= 59, IDX= 412, 0.08,-1.440,-3.096,-1.852,-2.193, PHS= 0.840,-0.857, 0.338, RAW= 133.3, -4.3, CAL= 138.7, -14.7, ROT= 11.3, 14.7 2025-10-24T19:48:08.761Z,1761335288.761 [DAT](INFO): DAT read: Bearing 11.3, 14.7 (Local) 2025-10-24T19:48:08.761Z,1761335288.761 [DAT](INFO): Local bearing/azimuth received: Bearing 11.3, 14.7 (Local) 2025-10-24T19:48:08.763Z,1761335288.763 [DAT](INFO): DAT read: Range 10 to 50 : 56.2 m (Round-trip 75.0 ms) speed 0.5 m/s 2025-10-24T19:48:08.768Z,1761335288.768 [DAT](INFO): DAT read: user:153> 2025-10-24T19:48:08.769Z,1761335288.769 [DAT](INFO): DAT read: Tx time:19:48:08.1317 2025-10-24T19:48:08.769Z,1761335288.769 [DAT](INFO): Ping request sent. 2025-10-24T19:48:08.769Z,1761335288.769 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:08.769Z,1761335288.769 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:08.770Z,1761335288.770 [DAT](INFO): direction in FSK: [0.948517,0.189532,-0.253758] 2025-10-24T19:48:08.771Z,1761335288.771 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:08.771Z,1761335288.771 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:08.785Z,1761335288.785 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:08.786Z,1761335288.786 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:09.001Z,1761335289.001 [DAT](INFO): DAT read: TxSync time:19:48:08.1309 2025-10-24T19:48:09.034Z,1761335289.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.200001 m, deltaT: 3.529106 s, deltaX: -2.399998 m, approachRate: -0.680058 m/s, rangeRepo size: 4 2025-10-24T19:48:09.041Z,1761335289.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.882442 m, bearing: 114.269337 deg, lat: 36.779553 deg, lon: -121.859589 deg, deltaT: 3.529106 s, deltaX: -2.380779 m, approachRate: -0.674613 m/s, posRepo size: 4 2025-10-24T19:48:09.042Z,1761335289.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:09.042Z,1761335289.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:09.049Z,1761335289.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 54.844864 m, bearing: 110.602788 deg, approach rate: 0.000000 m/s, LOS rate: -0.064195 deg/s, cmd heading: 102.226909 deg, new cmd heading: 102.130116 deg. 2025-10-24T19:48:09.050Z,1761335289.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782507 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:09.370Z,1761335289.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:09.371Z,1761335289.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:09.374Z,1761335289.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 54.633793 m, bearing: 110.583654 deg, approach rate: -0.626997 m/s, LOS rate: -0.057058 deg/s, cmd heading: 102.130118 deg, new cmd heading: 102.072494 deg. 2025-10-24T19:48:09.375Z,1761335289.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.781501 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:09.738Z,1761335289.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199338,-0.977190,0.073241],[0.978797,-0.202146,-0.033081],[0.047132,0.065094,0.996765]] 2025-10-24T19:48:09.780Z,1761335289.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:09.781Z,1761335289.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:09.800Z,1761335289.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 54.393333 m, bearing: 110.561761 deg, approach rate: -0.586668 m/s, LOS rate: -0.053651 deg/s, cmd heading: 102.072492 deg, new cmd heading: 102.006522 deg. 2025-10-24T19:48:09.801Z,1761335289.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780350 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:10.132Z,1761335290.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197527,-0.977301,0.076595],[0.979186,-0.200420,-0.032052],[0.046675,0.068670,0.996547]] 2025-10-24T19:48:10.169Z,1761335290.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:10.169Z,1761335290.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:10.176Z,1761335290.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 54.175659 m, bearing: 110.542222 deg, approach rate: -0.559941 m/s, LOS rate: -0.050462 deg/s, cmd heading: 102.006519 deg, new cmd heading: 101.947668 deg. 2025-10-24T19:48:10.177Z,1761335290.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.779323 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:10.536Z,1761335290.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.194734,-0.977525,0.080767],[0.979784,-0.197710,-0.030567],[0.045848,0.073181,0.996264]] 2025-10-24T19:48:10.583Z,1761335290.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:10.585Z,1761335290.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:10.586Z,1761335290.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:10.589Z,1761335290.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 53.939293 m, bearing: 110.521576 deg, approach rate: -0.567873 m/s, LOS rate: -0.049819 deg/s, cmd heading: 101.947670 deg, new cmd heading: 101.885461 deg. 2025-10-24T19:48:10.590Z,1761335290.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778237 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:10.765Z,1761335290.765 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:10.765Z,1761335290.765 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:10.765Z,1761335290.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:11.010Z,1761335291.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:11.010Z,1761335291.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:11.014Z,1761335291.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 53.666340 m, bearing: 110.499481 deg, approach rate: -0.642598 m/s, LOS rate: -0.052283 deg/s, cmd heading: 101.885461 deg, new cmd heading: 101.818837 deg. 2025-10-24T19:48:11.015Z,1761335291.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777074 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:11.017Z,1761335291.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247871 2025-10-24T19:48:11.269Z,1761335291.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499569 2025-10-24T19:48:11.343Z,1761335291.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187492,-0.978373,0.087366],[0.981295,-0.190518,-0.027617],[0.043664,0.080553,0.995793]] 2025-10-24T19:48:11.364Z,1761335291.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:11.364Z,1761335291.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:11.367Z,1761335291.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 53.454857 m, bearing: 110.483970 deg, approach rate: -0.598207 m/s, LOS rate: -0.044048 deg/s, cmd heading: 101.818839 deg, new cmd heading: 101.772122 deg. 2025-10-24T19:48:11.368Z,1761335291.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.776259 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:11.523Z,1761335291.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753254 2025-10-24T19:48:11.758Z,1761335291.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183924,-0.978685,0.091364],[0.982027,-0.186963,-0.025826],[0.042357,0.084972,0.995483]] 2025-10-24T19:48:11.773Z,1761335291.773 [DAT](INFO): DAT read: Rx Time:19:48:10.6080 2025-10-24T19:48:11.773Z,1761335291.773 [DAT](INFO): Rx dataTimestamp_ set to:1761335291.773093 2025-10-24T19:48:11.774Z,1761335291.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004761 2025-10-24T19:48:11.840Z,1761335291.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:11.840Z,1761335291.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:11.843Z,1761335291.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 53.157650 m, bearing: 110.471212 deg, approach rate: -0.624443 m/s, LOS rate: -0.026956 deg/s, cmd heading: 101.772120 deg, new cmd heading: 101.733631 deg. 2025-10-24T19:48:11.844Z,1761335291.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775587 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:12.025Z,1761335292.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255595 2025-10-24T19:48:12.152Z,1761335292.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180776,-0.978945,0.094799],[0.982657,-0.183822,-0.024380],[0.041293,0.088747,0.995198]] 2025-10-24T19:48:12.183Z,1761335292.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.88 m. 2025-10-24T19:48:12.188Z,1761335292.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m. 2025-10-24T19:48:12.191Z,1761335292.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.882442 m, nav range: 52.951801 m, bearing: 110.463060 deg, approach rate: -0.598759 m/s, LOS rate: -0.023804 deg/s, cmd heading: 101.733632 deg, new cmd heading: 101.709081 deg. 2025-10-24T19:48:12.197Z,1761335292.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775158 target range: 55.882442 and range: 56.20 m. 2025-10-24T19:48:12.285Z,1761335292.285 [DAT](INFO): DAT read: 19:48:10.6081 LVL= 17552, 21713, 18114, 25379, AGC= 60, IDX= 414, 0.38, 1.222,-0.520, 0.726, 0.407, PHS= 0.903,-0.880, 0.316, RAW= 131.2, -4.4, CAL= 136.5, -15.0, ROT= 13.5, 15.0 2025-10-24T19:48:12.287Z,1761335292.287 [DAT](INFO): got valid direction response: 19:48:10.6081 LVL= 17552, 21713, 18114, 25379, AGC= 60, IDX= 414, 0.38, 1.222,-0.520, 0.726, 0.407, PHS= 0.903,-0.880, 0.316, RAW= 131.2, -4.4, CAL= 136.5, -15.0, ROT= 13.5, 15.0 2025-10-24T19:48:12.288Z,1761335292.288 [DAT](INFO): DAT read: Bearing 13.5, 15.0 (Local) 2025-10-24T19:48:12.289Z,1761335292.289 [DAT](INFO): Local bearing/azimuth received: Bearing 13.5, 15.0 (Local) 2025-10-24T19:48:12.291Z,1761335292.291 [DAT](INFO): DAT read: Range 10 to 50 : 54.0 m (Round-trip 72.1 ms) speed 0.5 m/s 2025-10-24T19:48:12.304Z,1761335292.304 [DAT](INFO): DAT read: user:154> 2025-10-24T19:48:12.305Z,1761335292.305 [DAT](INFO): DAT read: Tx time:19:48:11.6818 2025-10-24T19:48:12.305Z,1761335292.305 [DAT](INFO): Ping request sent. 2025-10-24T19:48:12.306Z,1761335292.306 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:12.306Z,1761335292.306 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:12.307Z,1761335292.307 [DAT](INFO): direction in FSK: [0.939237,0.225491,-0.258819] 2025-10-24T19:48:12.307Z,1761335292.307 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:12.307Z,1761335292.307 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:12.315Z,1761335292.315 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:12.315Z,1761335292.315 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:12.530Z,1761335292.530 [DAT](INFO): DAT read: TxSync time:19:48:11.6810 2025-10-24T19:48:12.695Z,1761335292.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.176944,-0.979141,0.099865],[0.983386,-0.180061,-0.023035],[0.040536,0.094129,0.994734]] 2025-10-24T19:48:12.774Z,1761335292.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.000000 m, deltaT: 3.529014 s, deltaX: -2.200001 m, approachRate: -0.623404 m/s, rangeRepo size: 4 2025-10-24T19:48:12.783Z,1761335292.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.695160 m, bearing: 114.909037 deg, lat: 36.779532 deg, lon: -121.859597 deg, deltaT: 3.529014 s, deltaX: -2.187283 m, approachRate: -0.619800 m/s, posRepo size: 4 2025-10-24T19:48:12.788Z,1761335292.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-10-24T19:48:12.789Z,1761335292.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-24T19:48:12.796Z,1761335292.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.695160 m, nav range: 52.764214 m, bearing: 113.162532 deg, approach rate: 0.000000 m/s, LOS rate: -0.023804 deg/s, cmd heading: 101.709078 deg, new cmd heading: 101.667389 deg. 2025-10-24T19:48:12.797Z,1761335292.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774431 target range: 53.695160 and range: 54.00 m. 2025-10-24T19:48:13.127Z,1761335293.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180170,-0.979842,0.086307],[0.982733,-0.183068,-0.026858],[0.042117,0.079978,0.995906]] 2025-10-24T19:48:13.171Z,1761335293.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:13.175Z,1761335293.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-10-24T19:48:13.175Z,1761335293.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-24T19:48:13.190Z,1761335293.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.695160 m, nav range: 52.482723 m, bearing: 113.166948 deg, approach rate: -0.690835 m/s, LOS rate: 0.010896 deg/s, cmd heading: 101.667386 deg, new cmd heading: 101.680705 deg. 2025-10-24T19:48:13.191Z,1761335293.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774663 target range: 53.695160 and range: 54.00 m. 2025-10-24T19:48:13.285Z,1761335293.285 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:13.285Z,1761335293.285 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:13.285Z,1761335293.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:13.537Z,1761335293.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231414 2025-10-24T19:48:13.618Z,1761335293.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.180852,-0.979394,0.089892],[0.982612,-0.183836,-0.026036],[0.042025,0.083620,0.995611]] 2025-10-24T19:48:13.681Z,1761335293.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-10-24T19:48:13.683Z,1761335293.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-24T19:48:13.718Z,1761335293.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.695160 m, nav range: 52.160549 m, bearing: 113.171899 deg, approach rate: -0.664467 m/s, LOS rate: 0.010273 deg/s, cmd heading: 101.680705 deg, new cmd heading: 101.695647 deg. 2025-10-24T19:48:13.728Z,1761335293.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774924 target range: 53.695160 and range: 54.00 m. 2025-10-24T19:48:13.791Z,1761335293.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485097 2025-10-24T19:48:14.035Z,1761335294.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.182404,-0.978689,0.094322],[0.982287,-0.185576,-0.025950],[0.042901,0.087918,0.995203]] 2025-10-24T19:48:14.041Z,1761335294.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735272 2025-10-24T19:48:14.099Z,1761335294.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-10-24T19:48:14.104Z,1761335294.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-24T19:48:14.107Z,1761335294.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.695160 m, nav range: 51.858734 m, bearing: 113.186902 deg, approach rate: -0.686073 m/s, LOS rate: 0.034305 deg/s, cmd heading: 101.695650 deg, new cmd heading: 101.740923 deg. 2025-10-24T19:48:14.112Z,1761335294.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775714 target range: 53.695160 and range: 54.00 m. 2025-10-24T19:48:14.293Z,1761335294.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987161 2025-10-24T19:48:14.428Z,1761335294.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183189,-0.978100,0.098808],[0.982151,-0.186454,-0.024802],[0.042682,0.092501,0.994797]] 2025-10-24T19:48:14.463Z,1761335294.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-10-24T19:48:14.464Z,1761335294.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-24T19:48:14.467Z,1761335294.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.695160 m, nav range: 51.595497 m, bearing: 113.199992 deg, approach rate: -0.723483 m/s, LOS rate: 0.036160 deg/s, cmd heading: 101.740920 deg, new cmd heading: 101.780390 deg. 2025-10-24T19:48:14.468Z,1761335294.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.776403 target range: 53.695160 and range: 54.00 m. 2025-10-24T19:48:14.550Z,1761335294.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243526 2025-10-24T19:48:14.798Z,1761335294.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492322 2025-10-24T19:48:14.838Z,1761335294.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184943,-0.977290,0.103439],[0.981811,-0.188339,-0.023999],[0.042936,0.097119,0.994346]] 2025-10-24T19:48:14.915Z,1761335294.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-10-24T19:48:14.921Z,1761335294.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-24T19:48:14.930Z,1761335294.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.695160 m, nav range: 51.275375 m, bearing: 113.224758 deg, approach rate: -0.709803 m/s, LOS rate: 0.055257 deg/s, cmd heading: 101.780392 deg, new cmd heading: 101.855154 deg. 2025-10-24T19:48:14.931Z,1761335294.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777708 target range: 53.695160 and range: 54.00 m. 2025-10-24T19:48:15.049Z,1761335295.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743875 2025-10-24T19:48:15.244Z,1761335295.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187404,-0.976296,0.108288],[0.981324,-0.190951,-0.023271],[0.043397,0.101905,0.993847]] 2025-10-24T19:48:15.262Z,1761335295.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:15.265Z,1761335295.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-10-24T19:48:15.266Z,1761335295.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-24T19:48:15.269Z,1761335295.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.695160 m, nav range: 50.990330 m, bearing: 113.246342 deg, approach rate: -0.811405 m/s, LOS rate: 0.061783 deg/s, cmd heading: 101.855155 deg, new cmd heading: 101.920268 deg. 2025-10-24T19:48:15.270Z,1761335295.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778844 target range: 53.695160 and range: 54.00 m. 2025-10-24T19:48:15.301Z,1761335295.301 [DAT](INFO): DAT read: Rx Time:19:48:14.1548 2025-10-24T19:48:15.301Z,1761335295.301 [DAT](INFO): Rx dataTimestamp_ set to:1761335295.301186 2025-10-24T19:48:15.302Z,1761335295.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996426 2025-10-24T19:48:15.553Z,1761335295.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247161 2025-10-24T19:48:15.649Z,1761335295.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190964,-0.975169,0.112153],[0.980600,-0.194668,-0.022958],[0.044221,0.105593,0.993426]] 2025-10-24T19:48:15.674Z,1761335295.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.70 m. 2025-10-24T19:48:15.674Z,1761335295.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 54.00 m. 2025-10-24T19:48:15.677Z,1761335295.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.695160 m, nav range: 50.690971 m, bearing: 113.268098 deg, approach rate: -0.733398 m/s, LOS rate: 0.053614 deg/s, cmd heading: 101.920267 deg, new cmd heading: 101.985920 deg. 2025-10-24T19:48:15.678Z,1761335295.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.779990 target range: 53.695160 and range: 54.00 m. 2025-10-24T19:48:15.819Z,1761335295.819 [DAT](INFO): DAT read: 19:48:14.1548 LVL= 20608, 27729, 20050, 32755, AGC= 59, IDX= 414, 0.34, 1.147,-0.510, 0.670, 0.422, PHS= 0.813,-0.885, 0.245, RAW= 130.8, -2.3, CAL= 136.4, -12.0, ROT= 13.6, 12.0 2025-10-24T19:48:15.821Z,1761335295.821 [DAT](INFO): got valid direction response: 19:48:14.1548 LVL= 20608, 27729, 20050, 32755, AGC= 59, IDX= 414, 0.34, 1.147,-0.510, 0.670, 0.422, PHS= 0.813,-0.885, 0.245, RAW= 130.8, -2.3, CAL= 136.4, -12.0, ROT= 13.6, 12.0 2025-10-24T19:48:15.823Z,1761335295.823 [DAT](INFO): DAT read: Bearing 13.6, 12.0 (Local) 2025-10-24T19:48:15.828Z,1761335295.828 [DAT](INFO): Local bearing/azimuth received: Bearing 13.6, 12.0 (Local) 2025-10-24T19:48:15.831Z,1761335295.831 [DAT](INFO): DAT read: Range 10 to 50 : 51.6 m (Round-trip 68.9 ms) speed 0.8 m/s 2025-10-24T19:48:15.836Z,1761335295.836 [DAT](INFO): DAT read: user:155> 2025-10-24T19:48:15.837Z,1761335295.837 [DAT](INFO): DAT read: Tx time:19:48:15.2318 2025-10-24T19:48:15.837Z,1761335295.837 [DAT](INFO): Ping request sent. 2025-10-24T19:48:15.837Z,1761335295.837 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:15.838Z,1761335295.838 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:15.839Z,1761335295.839 [DAT](INFO): direction in FSK: [0.950721,0.230004,-0.207912] 2025-10-24T19:48:15.839Z,1761335295.839 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:15.839Z,1761335295.839 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:15.847Z,1761335295.847 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:15.847Z,1761335295.847 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:16.057Z,1761335296.057 [DAT](INFO): DAT read: TxSync time:19:48:15.2310 2025-10-24T19:48:16.191Z,1761335296.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 3.527570 s, deltaX: -2.400002 m, approachRate: -0.680355 m/s, rangeRepo size: 4 2025-10-24T19:48:16.198Z,1761335296.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.308170 m, bearing: 115.686439 deg, lat: 36.779524 deg, lon: -121.859602 deg, deltaT: 3.527570 s, deltaX: -2.386990 m, approachRate: -0.676667 m/s, posRepo size: 4 2025-10-24T19:48:16.199Z,1761335296.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.31 m. 2025-10-24T19:48:16.199Z,1761335296.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.60 m. 2025-10-24T19:48:16.206Z,1761335296.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.308170 m, nav range: 50.266666 m, bearing: 114.388503 deg, approach rate: 0.000000 m/s, LOS rate: 0.053614 deg/s, cmd heading: 101.985919 deg, new cmd heading: 102.069024 deg. 2025-10-24T19:48:16.207Z,1761335296.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.781440 target range: 51.308170 and range: 51.60 m. 2025-10-24T19:48:16.478Z,1761335296.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198414,-0.973119,0.116922],[0.979040,-0.202375,-0.022920],[0.045966,0.109923,0.992877]] 2025-10-24T19:48:16.543Z,1761335296.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.31 m. 2025-10-24T19:48:16.552Z,1761335296.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.60 m. 2025-10-24T19:48:16.555Z,1761335296.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.308170 m, nav range: 49.996269 m, bearing: 114.414866 deg, approach rate: -0.766000 m/s, LOS rate: 0.075086 deg/s, cmd heading: 102.069022 deg, new cmd heading: 102.148538 deg. 2025-10-24T19:48:16.561Z,1761335296.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782828 target range: 51.308170 and range: 51.60 m. 2025-10-24T19:48:16.887Z,1761335296.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204860,-0.972203,0.113375],[0.977633,-0.208873,-0.024602],[0.047599,0.105799,0.993248]] 2025-10-24T19:48:16.963Z,1761335296.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.31 m. 2025-10-24T19:48:16.963Z,1761335296.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.60 m. 2025-10-24T19:48:16.966Z,1761335296.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.308170 m, nav range: 49.660500 m, bearing: 114.444923 deg, approach rate: -0.800954 m/s, LOS rate: 0.072184 deg/s, cmd heading: 102.148539 deg, new cmd heading: 102.239321 deg. 2025-10-24T19:48:16.967Z,1761335296.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784413 target range: 51.308170 and range: 51.60 m. 2025-10-24T19:48:17.284Z,1761335297.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209701,-0.970856,0.116034],[0.976567,-0.213839,-0.024302],[0.048406,0.108219,0.992948]] 2025-10-24T19:48:17.323Z,1761335297.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:17.325Z,1761335297.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.31 m. 2025-10-24T19:48:17.326Z,1761335297.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 51.60 m. 2025-10-24T19:48:17.326Z,1761335297.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 51.60 m. 2025-10-24T19:48:17.326Z,1761335297.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-24T19:48:17.330Z,1761335297.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.308170 m, nav range: 49.387440 m, bearing: 114.468113 deg, approach rate: -0.753003 m/s, LOS rate: 0.064303 deg/s, cmd heading: 102.239319 deg, new cmd heading: 102.309273 deg. 2025-10-24T19:48:17.331Z,1761335297.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785634 target range: 51.308170 and range: 51.60 m. 2025-10-24T19:48:17.569Z,1761335297.569 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:17.569Z,1761335297.569 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:17.570Z,1761335297.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:17.687Z,1761335297.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214544,-0.969360,0.119630],[0.975471,-0.218835,-0.023807],[0.049256,0.111588,0.992533]] 2025-10-24T19:48:17.793Z,1761335297.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.31 m. 2025-10-24T19:48:17.800Z,1761335297.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.308170 m, nav range: 49.074593 m, bearing: 114.493217 deg, approach rate: -0.668973 m/s, LOS rate: 0.054024 deg/s, cmd heading: 102.309274 deg, new cmd heading: 102.385067 deg. 2025-10-24T19:48:17.801Z,1761335297.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.786957 target range: 51.308170 and range: 51.60 m. 2025-10-24T19:48:17.821Z,1761335297.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983333 2025-10-24T19:48:18.073Z,1761335298.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235468 2025-10-24T19:48:18.203Z,1761335298.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219816,-0.967839,0.122346],[0.974348,-0.224015,-0.021522],[0.048237,0.114477,0.992254]] 2025-10-24T19:48:18.271Z,1761335298.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.31 m. 2025-10-24T19:48:18.286Z,1761335298.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.308170 m, nav range: 48.695808 m, bearing: 114.522541 deg, approach rate: -0.792286 m/s, LOS rate: 0.061811 deg/s, cmd heading: 102.385068 deg, new cmd heading: 102.473722 deg. 2025-10-24T19:48:18.292Z,1761335298.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.788504 target range: 51.308170 and range: 51.60 m. 2025-10-24T19:48:18.325Z,1761335298.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487362 2025-10-24T19:48:18.577Z,1761335298.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739336 2025-10-24T19:48:18.609Z,1761335298.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223086,-0.967025,0.122865],[0.973623,-0.227229,-0.020623],[0.047861,0.115024,0.992209]] 2025-10-24T19:48:18.632Z,1761335298.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.31 m. 2025-10-24T19:48:18.635Z,1761335298.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.308170 m, nav range: 48.421570 m, bearing: 114.542969 deg, approach rate: -0.760500 m/s, LOS rate: 0.056971 deg/s, cmd heading: 102.473724 deg, new cmd heading: 102.535356 deg. 2025-10-24T19:48:18.636Z,1761335298.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789580 target range: 51.308170 and range: 51.60 m. 2025-10-24T19:48:18.829Z,1761335298.829 [DAT](INFO): DAT read: Rx Time:19:48:17.7016 2025-10-24T19:48:18.829Z,1761335298.829 [DAT](INFO): Rx dataTimestamp_ set to:1761335298.829022 2025-10-24T19:48:18.830Z,1761335298.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992343 2025-10-24T19:48:19.009Z,1761335299.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226083,-0.966427,0.122085],[0.972971,-0.230093,-0.019620],[0.047052,0.114349,0.992326]] 2025-10-24T19:48:19.059Z,1761335299.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.31 m. 2025-10-24T19:48:19.064Z,1761335299.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.308170 m, nav range: 48.117542 m, bearing: 114.563936 deg, approach rate: -0.710395 m/s, LOS rate: 0.049303 deg/s, cmd heading: 102.535353 deg, new cmd heading: 102.598654 deg. 2025-10-24T19:48:19.065Z,1761335299.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790684 target range: 51.308170 and range: 51.60 m. 2025-10-24T19:48:19.081Z,1761335299.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243599 2025-10-24T19:48:19.363Z,1761335299.363 [DAT](INFO): DAT read: 19:48:17.7016 LVL= 15568, 26817, 19186, 28739, AGC= 59, IDX= 412, 0.29,-1.005,-2.473,-1.355,-1.711, PHS= 0.794,-0.715, 0.353, RAW= 133.5, -6.5, CAL= 139.0, -17.6, ROT= 11.0, 17.6 2025-10-24T19:48:19.372Z,1761335299.372 [DAT](INFO): got valid direction response: 19:48:17.7016 LVL= 15568, 26817, 19186, 28739, AGC= 59, IDX= 412, 0.29,-1.005,-2.473,-1.355,-1.711, PHS= 0.794,-0.715, 0.353, RAW= 133.5, -6.5, CAL= 139.0, -17.6, ROT= 11.0, 17.6 2025-10-24T19:48:19.373Z,1761335299.373 [DAT](INFO): DAT read: Bearing 11.0, 17.6 (Local) 2025-10-24T19:48:19.373Z,1761335299.373 [DAT](INFO): Local bearing/azimuth received: Bearing 11.0, 17.6 (Local) 2025-10-24T19:48:19.375Z,1761335299.375 [DAT](INFO): DAT read: Range 10 to 50 : 49.2 m (Round-trip 65.7 ms) speed 0.6 m/s 2025-10-24T19:48:19.375Z,1761335299.375 [DAT](INFO): DAT read: user:156> 2025-10-24T19:48:19.376Z,1761335299.376 [DAT](INFO): DAT read: Tx time:19:48:18.7818 2025-10-24T19:48:19.377Z,1761335299.377 [DAT](INFO): Ping request sent. 2025-10-24T19:48:19.377Z,1761335299.377 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:19.377Z,1761335299.377 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:19.379Z,1761335299.379 [DAT](INFO): direction in FSK: [0.935678,0.181877,-0.302370] 2025-10-24T19:48:19.379Z,1761335299.379 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:19.380Z,1761335299.380 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:19.383Z,1761335299.383 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:19.383Z,1761335299.383 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:19.438Z,1761335299.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228397,-0.965865,0.122224],[0.972508,-0.232200,-0.017638],[0.045416,0.114836,0.992346]] 2025-10-24T19:48:19.489Z,1761335299.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.200001 m, deltaT: 3.527978 s, deltaX: -2.399998 m, approachRate: -0.680276 m/s, rangeRepo size: 4 2025-10-24T19:48:19.491Z,1761335299.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.919395 m, bearing: 116.027272 deg, lat: 36.779519 deg, lon: -121.859604 deg, deltaT: 3.527978 s, deltaX: -2.388775 m, approachRate: -0.677095 m/s, posRepo size: 4 2025-10-24T19:48:19.491Z,1761335299.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:19.498Z,1761335299.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 47.909477 m, bearing: 115.270622 deg, approach rate: 0.000000 m/s, LOS rate: 0.049303 deg/s, cmd heading: 102.598655 deg, new cmd heading: 102.660637 deg. 2025-10-24T19:48:19.499Z,1761335299.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.791766 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:19.585Z,1761335299.585 [DAT](INFO): DAT read: TxSync time:19:48:18.7810 2025-10-24T19:48:19.840Z,1761335299.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230938,-0.965312,0.121819],[0.971980,-0.234529,-0.015818],[0.043839,0.114753,0.992426]] 2025-10-24T19:48:19.935Z,1761335299.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:19.941Z,1761335299.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:19.949Z,1761335299.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 47.621014 m, bearing: 115.293255 deg, approach rate: -0.623185 m/s, LOS rate: 0.049191 deg/s, cmd heading: 102.660639 deg, new cmd heading: 102.728949 deg. 2025-10-24T19:48:19.949Z,1761335299.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792958 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:20.089Z,1761335300.089 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:20.089Z,1761335300.089 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:20.089Z,1761335300.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:20.224Z,1761335300.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235810,-0.964589,0.118158],[0.970839,-0.239232,-0.015463],[0.043183,0.111066,0.992874]] 2025-10-24T19:48:20.243Z,1761335300.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:20.266Z,1761335300.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 47.415554 m, bearing: 115.308296 deg, approach rate: -0.680433 m/s, LOS rate: 0.050030 deg/s, cmd heading: 102.728948 deg, new cmd heading: 102.774268 deg. 2025-10-24T19:48:20.267Z,1761335300.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.793749 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:20.342Z,1761335300.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.964377 2025-10-24T19:48:20.593Z,1761335300.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215916 2025-10-24T19:48:20.623Z,1761335300.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236765,-0.964222,0.119242],[0.970687,-0.239985,-0.013208],[0.041352,0.112619,0.992777]] 2025-10-24T19:48:20.663Z,1761335300.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:20.671Z,1761335300.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 47.161755 m, bearing: 115.326762 deg, approach rate: -0.604456 m/s, LOS rate: 0.044216 deg/s, cmd heading: 102.774266 deg, new cmd heading: 102.829963 deg. 2025-10-24T19:48:20.671Z,1761335300.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794721 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:20.845Z,1761335300.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467813 2025-10-24T19:48:21.032Z,1761335301.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237653,-0.964017,0.119132],[0.970556,-0.240624,-0.011002],[0.039272,0.113010,0.992817]] 2025-10-24T19:48:21.070Z,1761335301.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:21.090Z,1761335301.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 46.909096 m, bearing: 115.337410 deg, approach rate: -0.620501 m/s, LOS rate: 0.026291 deg/s, cmd heading: 102.829960 deg, new cmd heading: 102.862076 deg. 2025-10-24T19:48:21.090Z,1761335301.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795282 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:21.097Z,1761335301.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720091 2025-10-24T19:48:21.349Z,1761335301.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971962 2025-10-24T19:48:21.433Z,1761335301.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236402,-0.964494,0.117750],[0.970997,-0.238960,-0.007901],[0.035758,0.112468,0.993012]] 2025-10-24T19:48:21.452Z,1761335301.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:21.455Z,1761335301.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 46.683598 m, bearing: 115.347384 deg, approach rate: -0.591348 m/s, LOS rate: 0.026280 deg/s, cmd heading: 102.862075 deg, new cmd heading: 102.892139 deg. 2025-10-24T19:48:21.456Z,1761335301.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795807 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:21.601Z,1761335301.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224018 2025-10-24T19:48:21.855Z,1761335301.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478002 2025-10-24T19:48:21.856Z,1761335301.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235369,-0.964884,0.116622],[0.971347,-0.237603,-0.005443],[0.032962,0.112000,0.993161]] 2025-10-24T19:48:21.940Z,1761335301.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:21.943Z,1761335301.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 46.421642 m, bearing: 115.357991 deg, approach rate: -0.541203 m/s, LOS rate: 0.022038 deg/s, cmd heading: 102.892142 deg, new cmd heading: 102.924142 deg. 2025-10-24T19:48:21.948Z,1761335301.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796365 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:22.109Z,1761335302.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731845 2025-10-24T19:48:22.239Z,1761335302.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234484,-0.965167,0.116057],[0.971660,-0.236370,-0.002567],[0.029910,0.112166,0.993239]] 2025-10-24T19:48:22.259Z,1761335302.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:22.261Z,1761335302.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:22.265Z,1761335302.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 46.226463 m, bearing: 115.366204 deg, approach rate: -0.600272 m/s, LOS rate: 0.025366 deg/s, cmd heading: 102.924141 deg, new cmd heading: 102.948885 deg. 2025-10-24T19:48:22.266Z,1761335302.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796797 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:22.361Z,1761335302.361 [DAT](INFO): DAT read: Rx Time:19:48:21.2484 2025-10-24T19:48:22.362Z,1761335302.362 [DAT](INFO): Rx dataTimestamp_ set to:1761335302.361166 2025-10-24T19:48:22.363Z,1761335302.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985669 2025-10-24T19:48:22.613Z,1761335302.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236431 2025-10-24T19:48:22.644Z,1761335302.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233652,-0.965526,0.114745],[0.971943,-0.235215,-0.000085],[0.027072,0.111506,0.993395]] 2025-10-24T19:48:22.665Z,1761335302.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.92 m. 2025-10-24T19:48:22.684Z,1761335302.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.919395 m, nav range: 45.996849 m, bearing: 115.376210 deg, approach rate: -0.568375 m/s, LOS rate: 0.024892 deg/s, cmd heading: 102.948887 deg, new cmd heading: 102.979054 deg. 2025-10-24T19:48:22.685Z,1761335302.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797324 target range: 48.919395 and range: 49.20 m. 2025-10-24T19:48:22.902Z,1761335302.902 [DAT](INFO): DAT read: 19:48:21.2484 LVL= 14432, 22993, 17314, 24563, AGC= 60, IDX= 411, 0.27,-1.167,-2.739,-1.431,-1.851, PHS= 0.772,-0.841, 0.418, RAW= 137.9, -4.8, CAL= 143.5, -14.6, ROT= 6.5, 14.6 2025-10-24T19:48:22.929Z,1761335302.929 [DAT](INFO): got valid direction response: 19:48:21.2484 LVL= 14432, 22993, 17314, 24563, AGC= 60, IDX= 411, 0.27,-1.167,-2.739,-1.431,-1.851, PHS= 0.772,-0.841, 0.418, RAW= 137.9, -4.8, CAL= 143.5, -14.6, ROT= 6.5, 14.6 2025-10-24T19:48:22.931Z,1761335302.931 [DAT](INFO): DAT read: Bearing 6.5, 14.6 (Local) 2025-10-24T19:48:22.931Z,1761335302.931 [DAT](INFO): Local bearing/azimuth received: Bearing 6.5, 14.6 (Local) 2025-10-24T19:48:22.953Z,1761335302.953 [DAT](INFO): DAT read: Range 10 to 50 : 46.8 m (Round-trip 62.5 ms) speed 0.6 m/s 2025-10-24T19:48:22.954Z,1761335302.954 [DAT](INFO): DAT read: user:157> 2025-10-24T19:48:22.955Z,1761335302.955 [DAT](INFO): DAT read: Tx time:19:48:22.3318 2025-10-24T19:48:22.961Z,1761335302.961 [DAT](INFO): Ping request sent. 2025-10-24T19:48:22.961Z,1761335302.961 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:22.961Z,1761335302.961 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:22.963Z,1761335302.963 [DAT](INFO): direction in FSK: [0.961489,0.109548,-0.252069] 2025-10-24T19:48:22.963Z,1761335302.963 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:22.963Z,1761335302.963 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:22.975Z,1761335302.975 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:22.975Z,1761335302.975 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:23.086Z,1761335303.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233652,-0.965594,0.114172],[0.972005,-0.234953,0.002115],[0.024783,0.111470,0.993459]] 2025-10-24T19:48:23.137Z,1761335303.137 [DAT](INFO): DAT read: TxSync time:19:48:22.3310 2025-10-24T19:48:23.138Z,1761335303.138 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +32.+1160.04, -13.30, 7.72, 0.00 2025-10-24T19:48:23.187Z,1761335303.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.552031 s, deltaX: -2.400002 m, approachRate: -0.675670 m/s, rangeRepo size: 4 2025-10-24T19:48:23.194Z,1761335303.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.530804 m, bearing: 111.577634 deg, lat: 36.779519 deg, lon: -121.859604 deg, deltaT: 3.552031 s, deltaX: -2.388592 m, approachRate: -0.672458 m/s, posRepo size: 4 2025-10-24T19:48:23.194Z,1761335303.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:23.198Z,1761335303.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 45.713463 m, bearing: 115.388707 deg, approach rate: 0.000000 m/s, LOS rate: 0.024892 deg/s, cmd heading: 102.979056 deg, new cmd heading: 103.017997 deg. 2025-10-24T19:48:23.199Z,1761335303.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798003 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:23.477Z,1761335303.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233747,-0.965608,0.113854],[0.972030,-0.234822,0.004062],[0.022814,0.111619,0.993489]] 2025-10-24T19:48:23.497Z,1761335303.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:23.500Z,1761335303.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 45.524940 m, bearing: 115.397090 deg, approach rate: -0.606679 m/s, LOS rate: 0.027088 deg/s, cmd heading: 103.017995 deg, new cmd heading: 103.043247 deg. 2025-10-24T19:48:23.501Z,1761335303.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798444 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:23.899Z,1761335303.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236994,-0.965416,0.108656],[0.971258,-0.237997,0.003833],[0.022159,0.106441,0.994072]] 2025-10-24T19:48:23.982Z,1761335303.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:23.989Z,1761335303.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 45.259499 m, bearing: 115.410475 deg, approach rate: -0.547170 m/s, LOS rate: 0.027752 deg/s, cmd heading: 103.043246 deg, new cmd heading: 103.083635 deg. 2025-10-24T19:48:23.990Z,1761335303.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.799149 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:24.286Z,1761335304.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237282,-0.965253,0.109467],[0.971219,-0.238126,0.005493],[0.020765,0.107620,0.993975]] 2025-10-24T19:48:24.306Z,1761335304.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:24.309Z,1761335304.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:24.312Z,1761335304.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 45.077896 m, bearing: 115.419671 deg, approach rate: -0.556247 m/s, LOS rate: 0.028281 deg/s, cmd heading: 103.083633 deg, new cmd heading: 103.111332 deg. 2025-10-24T19:48:24.313Z,1761335304.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.799632 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:24.398Z,1761335304.398 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:24.399Z,1761335304.399 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:24.399Z,1761335304.399 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:24.653Z,1761335304.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.692071 2025-10-24T19:48:24.734Z,1761335304.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:24.737Z,1761335304.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 44.850430 m, bearing: 115.431294 deg, approach rate: -0.534442 m/s, LOS rate: 0.027448 deg/s, cmd heading: 103.111329 deg, new cmd heading: 103.146376 deg. 2025-10-24T19:48:24.738Z,1761335304.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800244 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:24.906Z,1761335304.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944135 2025-10-24T19:48:25.151Z,1761335305.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:25.154Z,1761335305.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 44.596378 m, bearing: 115.445777 deg, approach rate: -0.609382 m/s, LOS rate: 0.034937 deg/s, cmd heading: 103.146375 deg, new cmd heading: 103.190070 deg. 2025-10-24T19:48:25.155Z,1761335305.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801006 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:25.157Z,1761335305.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195847 2025-10-24T19:48:25.409Z,1761335305.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447750 2025-10-24T19:48:25.495Z,1761335305.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236504,-0.965135,0.112158],[0.971551,-0.236377,0.014620],[0.012401,0.112425,0.993583]] 2025-10-24T19:48:25.523Z,1761335305.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:25.526Z,1761335305.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 44.375572 m, bearing: 115.458830 deg, approach rate: -0.593720 m/s, LOS rate: 0.035273 deg/s, cmd heading: 103.190068 deg, new cmd heading: 103.229423 deg. 2025-10-24T19:48:25.527Z,1761335305.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801693 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:25.661Z,1761335305.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.700052 2025-10-24T19:48:25.914Z,1761335305.914 [DAT](INFO): DAT read: Rx Time:19:48:24.7954 2025-10-24T19:48:25.914Z,1761335305.914 [DAT](INFO): Rx dataTimestamp_ set to:1761335305.913951 2025-10-24T19:48:25.915Z,1761335305.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954059 2025-10-24T19:48:25.951Z,1761335305.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:25.958Z,1761335305.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 44.129597 m, bearing: 115.473525 deg, approach rate: -0.575076 m/s, LOS rate: 0.034547 deg/s, cmd heading: 103.229423 deg, new cmd heading: 103.273754 deg. 2025-10-24T19:48:25.959Z,1761335305.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802467 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:26.125Z,1761335306.125 [CTD_Seabird](ERROR): Failed to parse device response: ,10.5656,3.73491,8074.25 2025-10-24T19:48:26.166Z,1761335306.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.204903 2025-10-24T19:48:26.306Z,1761335306.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239311,-0.964669,0.110200],[0.970903,-0.238780,0.018187],[0.008769,0.111346,0.993743]] 2025-10-24T19:48:26.330Z,1761335306.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:26.332Z,1761335306.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.53 m. 2025-10-24T19:48:26.335Z,1761335306.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.530804 m, nav range: 43.898560 m, bearing: 115.486602 deg, approach rate: -0.606465 m/s, LOS rate: 0.034507 deg/s, cmd heading: 103.273751 deg, new cmd heading: 103.313188 deg. 2025-10-24T19:48:26.336Z,1761335306.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803155 target range: 46.530804 and range: 46.80 m. 2025-10-24T19:48:26.420Z,1761335306.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458073 2025-10-24T19:48:26.675Z,1761335306.675 [DAT](INFO): DAT read: 19:48:24.7954 LVL= 20016, 27953, 18418, 31091, AGC= 61, IDX= 412,-0.14, 0.523,-0.838, 0.293,-0.035, PHS= 0.646,-0.756, 0.325, RAW= 137.4, -3.4, CAL= 142.8, -13.1, ROT= 7.2, 13.1 2025-10-24T19:48:26.676Z,1761335306.676 [DAT](INFO): got valid direction response: 19:48:24.7954 LVL= 20016, 27953, 18418, 31091, AGC= 61, IDX= 412,-0.14, 0.523,-0.838, 0.293,-0.035, PHS= 0.646,-0.756, 0.325, RAW= 137.4, -3.4, CAL= 142.8, -13.1, ROT= 7.2, 13.1 2025-10-24T19:48:26.677Z,1761335306.677 [DAT](INFO): DAT read: Bearing 7.2, 13.1 (Local) 2025-10-24T19:48:26.677Z,1761335306.677 [DAT](INFO): Local bearing/azimuth received: Bearing 7.2, 13.1 (Local) 2025-10-24T19:48:26.680Z,1761335306.680 [DAT](INFO): DAT read: Range 10 to 50 : 44.4 m (Round-trip 59.3 ms) speed 0.6 m/s 2025-10-24T19:48:26.681Z,1761335306.681 [DAT](INFO): DAT read: user:158> 2025-10-24T19:48:26.681Z,1761335306.681 [DAT](INFO): DAT read: Tx time:19:48:25.8819 2025-10-24T19:48:26.682Z,1761335306.682 [DAT](INFO): Ping request sent. 2025-10-24T19:48:26.682Z,1761335306.682 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:26.682Z,1761335306.682 [DAT](INFO): DAT read: TxSync time:19:48:25.8811 2025-10-24T19:48:26.683Z,1761335306.683 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:26.685Z,1761335306.685 [DAT](INFO): direction in FSK: [0.966296,0.122072,-0.226651] 2025-10-24T19:48:26.685Z,1761335306.685 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:26.685Z,1761335306.685 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:26.711Z,1761335306.711 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:26.712Z,1761335306.712 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:26.832Z,1761335306.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.400002 m, deltaT: 3.782112 s, deltaX: -2.399998 m, approachRate: -0.634565 m/s, rangeRepo size: 4 2025-10-24T19:48:26.843Z,1761335306.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.144432 m, bearing: 112.454331 deg, lat: 36.779519 deg, lon: -121.859602 deg, deltaT: 3.782112 s, deltaX: -2.386372 m, approachRate: -0.630963 m/s, posRepo size: 4 2025-10-24T19:48:26.854Z,1761335306.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.14 m. 2025-10-24T19:48:26.885Z,1761335306.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.144432 m, nav range: 43.772926 m, bearing: 115.406227 deg, approach rate: 0.000000 m/s, LOS rate: 0.034507 deg/s, cmd heading: 103.313189 deg, new cmd heading: 103.364450 deg. 2025-10-24T19:48:26.902Z,1761335306.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804050 target range: 44.144432 and range: 44.40 m. 2025-10-24T19:48:27.215Z,1761335307.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246845,-0.964472,0.094130],[0.969041,-0.246202,0.018574],[0.005260,0.095801,0.995387]] 2025-10-24T19:48:27.301Z,1761335307.301 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, +9+1161.87, -13.27, 7.67, 0.00 2025-10-24T19:48:27.361Z,1761335307.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.14 m. 2025-10-24T19:48:27.371Z,1761335307.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.144432 m, nav range: 43.455521 m, bearing: 115.420329 deg, approach rate: -0.594638 m/s, LOS rate: 0.026611 deg/s, cmd heading: 103.364449 deg, new cmd heading: 103.407063 deg. 2025-10-24T19:48:27.393Z,1761335307.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804794 target range: 44.144432 and range: 44.40 m. 2025-10-24T19:48:27.721Z,1761335307.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248315,-0.963901,0.096092],[0.968670,-0.247524,0.020264],[0.004253,0.098114,0.995166]] 2025-10-24T19:48:27.742Z,1761335307.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.14 m. 2025-10-24T19:48:27.746Z,1761335307.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.144432 m, nav range: 43.214443 m, bearing: 115.430731 deg, approach rate: -0.631801 m/s, LOS rate: 0.027412 deg/s, cmd heading: 103.407063 deg, new cmd heading: 103.438441 deg. 2025-10-24T19:48:27.747Z,1761335307.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.805341 target range: 44.144432 and range: 44.40 m. 2025-10-24T19:48:28.111Z,1761335308.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250891,-0.962983,0.098577],[0.968011,-0.249890,0.022570],[0.002899,0.101086,0.994873]] 2025-10-24T19:48:28.176Z,1761335308.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.14 m. 2025-10-24T19:48:28.179Z,1761335308.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.144432 m, nav range: 42.912132 m, bearing: 115.452377 deg, approach rate: -0.697868 m/s, LOS rate: 0.050322 deg/s, cmd heading: 103.438441 deg, new cmd heading: 103.503838 deg. 2025-10-24T19:48:28.182Z,1761335308.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806483 target range: 44.144432 and range: 44.40 m. 2025-10-24T19:48:28.517Z,1761335308.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252709,-0.962351,0.100090],[0.967541,-0.251542,0.024328],[0.001765,0.102989,0.994681]] 2025-10-24T19:48:28.534Z,1761335308.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:28.537Z,1761335308.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.14 m. 2025-10-24T19:48:28.539Z,1761335308.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.144432 m, nav range: 42.660706 m, bearing: 115.469990 deg, approach rate: -0.696176 m/s, LOS rate: 0.049056 deg/s, cmd heading: 103.503840 deg, new cmd heading: 103.556990 deg. 2025-10-24T19:48:28.541Z,1761335308.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807410 target range: 44.144432 and range: 44.40 m. 2025-10-24T19:48:28.685Z,1761335308.685 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:28.685Z,1761335308.685 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:28.685Z,1761335308.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:28.937Z,1761335308.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255299 2025-10-24T19:48:28.943Z,1761335308.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254991,-0.961519,0.102278],[0.966943,-0.253685,0.025792],[0.001147,0.105474,0.994421]] 2025-10-24T19:48:29.002Z,1761335309.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.14 m. 2025-10-24T19:48:29.005Z,1761335309.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.144432 m, nav range: 42.322510 m, bearing: 115.497160 deg, approach rate: -0.726238 m/s, LOS rate: 0.058811 deg/s, cmd heading: 103.556992 deg, new cmd heading: 103.639153 deg. 2025-10-24T19:48:29.006Z,1761335309.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.808844 target range: 44.144432 and range: 44.40 m. 2025-10-24T19:48:29.189Z,1761335309.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506948 2025-10-24T19:48:29.377Z,1761335309.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.14 m. 2025-10-24T19:48:29.381Z,1761335309.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.144432 m, nav range: 42.065514 m, bearing: 115.518100 deg, approach rate: -0.686717 m/s, LOS rate: 0.056294 deg/s, cmd heading: 103.639153 deg, new cmd heading: 103.702355 deg. 2025-10-24T19:48:29.382Z,1761335309.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.809947 target range: 44.144432 and range: 44.40 m. 2025-10-24T19:48:29.442Z,1761335309.442 [DAT](INFO): DAT read: Rx Time:19:48:28.3426 2025-10-24T19:48:29.442Z,1761335309.442 [DAT](INFO): Rx dataTimestamp_ set to:1761335309.441866 2025-10-24T19:48:29.443Z,1761335309.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760896 2025-10-24T19:48:29.693Z,1761335309.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011115 2025-10-24T19:48:29.741Z,1761335309.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259487,-0.960042,0.104814],[0.965746,-0.257930,0.028384],[-0.000215,0.108589,0.994087]] 2025-10-24T19:48:29.767Z,1761335309.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.14 m. 2025-10-24T19:48:29.770Z,1761335309.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.144432 m, nav range: 41.774315 m, bearing: 115.540280 deg, approach rate: -0.760385 m/s, LOS rate: 0.058321 deg/s, cmd heading: 103.702352 deg, new cmd heading: 103.769357 deg. 2025-10-24T19:48:29.771Z,1761335309.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.811117 target range: 44.144432 and range: 44.40 m. 2025-10-24T19:48:29.950Z,1761335309.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266942 2025-10-24T19:48:30.204Z,1761335310.204 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:48:30.205Z,1761335310.205 [DAT](INFO): DAT read: 19:48:28.3426 LVL= 14608, 26993, 17298, 28323, AGC= 58, IDX= 415, 0.09, 2.579, 1.153, 2.417, 2.066, PHS= 0.601,-0.866, 0.348, RAW= 140.7, -1.2, CAL= 145.4, -10.4, ROT= 4.6, 10.4 2025-10-24T19:48:30.206Z,1761335310.206 [DAT](INFO): got valid direction response: 19:48:28.3426 LVL= 14608, 26993, 17298, 28323, AGC= 58, IDX= 415, 0.09, 2.579, 1.153, 2.417, 2.066, PHS= 0.601,-0.866, 0.348, RAW= 140.7, -1.2, CAL= 145.4, -10.4, ROT= 4.6, 10.4 2025-10-24T19:48:30.207Z,1761335310.207 [DAT](INFO): DAT read: Bearing 4.6, 10.4 (Local) 2025-10-24T19:48:30.208Z,1761335310.208 [DAT](INFO): Local bearing/azimuth received: Bearing 4.6, 10.4 (Local) 2025-10-24T19:48:30.210Z,1761335310.210 [DAT](INFO): DAT read: Range 10 to 50 : 42.4 m (Round-trip 56.6 ms) speed 0.5 m/s 2025-10-24T19:48:30.210Z,1761335310.210 [DAT](INFO): DAT read: user:159> 2025-10-24T19:48:30.211Z,1761335310.211 [DAT](INFO): DAT read: Tx time:19:48:29.4319 2025-10-24T19:48:30.212Z,1761335310.212 [DAT](INFO): Ping request sent. 2025-10-24T19:48:30.212Z,1761335310.212 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:30.214Z,1761335310.214 [DAT](INFO): DAT read: TxSync time:19:48:29.4311 2025-10-24T19:48:30.214Z,1761335310.214 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:30.215Z,1761335310.215 [DAT](INFO): direction in FSK: [0.980403,0.078881,-0.180519] 2025-10-24T19:48:30.215Z,1761335310.215 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:30.215Z,1761335310.215 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:30.282Z,1761335310.282 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:30.282Z,1761335310.282 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:30.387Z,1761335310.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.400002 m, deltaT: 3.529044 s, deltaX: -2.000000 m, approachRate: -0.566726 m/s, rangeRepo size: 4 2025-10-24T19:48:30.398Z,1761335310.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.156513 m, bearing: 110.749122 deg, lat: 36.779539 deg, lon: -121.859597 deg, deltaT: 3.529044 s, deltaX: -1.987919 m, approachRate: -0.563302 m/s, posRepo size: 4 2025-10-24T19:48:30.398Z,1761335310.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:30.409Z,1761335310.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 40.807270 m, bearing: 112.432751 deg, approach rate: 0.000000 m/s, LOS rate: 0.058321 deg/s, cmd heading: 103.769357 deg, new cmd heading: 103.879022 deg. 2025-10-24T19:48:30.410Z,1761335310.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813031 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:30.720Z,1761335310.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263458,-0.958996,0.104485],[0.964669,-0.261674,0.030677],[-0.002078,0.108875,0.994053]] 2025-10-24T19:48:30.762Z,1761335310.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:30.773Z,1761335310.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:30.775Z,1761335310.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 40.537712 m, bearing: 112.421929 deg, approach rate: -0.697890 m/s, LOS rate: -0.028205 deg/s, cmd heading: 103.879022 deg, new cmd heading: 103.846340 deg. 2025-10-24T19:48:30.785Z,1761335310.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.812461 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:30.955Z,1761335310.955 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:30.956Z,1761335310.956 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:30.957Z,1761335310.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:31.087Z,1761335311.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264868,-0.959150,0.099379],[0.964281,-0.263182,0.029951],[-0.002573,0.103762,0.994599]] 2025-10-24T19:48:31.165Z,1761335311.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:31.173Z,1761335311.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 40.274040 m, bearing: 112.407404 deg, approach rate: -0.671690 m/s, LOS rate: -0.037244 deg/s, cmd heading: 103.846340 deg, new cmd heading: 103.802479 deg. 2025-10-24T19:48:31.175Z,1761335311.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.811695 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:31.205Z,1761335311.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992971 2025-10-24T19:48:31.209Z,1761335311.209 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:48:31.457Z,1761335311.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244718 2025-10-24T19:48:31.485Z,1761335311.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266848,-0.958455,0.100779],[0.963733,-0.265027,0.031291],[-0.003282,0.105474,0.994417]] 2025-10-24T19:48:31.504Z,1761335311.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:31.507Z,1761335311.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 40.029560 m, bearing: 112.393037 deg, approach rate: -0.722515 m/s, LOS rate: -0.042719 deg/s, cmd heading: 103.802476 deg, new cmd heading: 103.759111 deg. 2025-10-24T19:48:31.507Z,1761335311.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810938 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:31.709Z,1761335311.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496882 2025-10-24T19:48:31.888Z,1761335311.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267145,-0.958264,0.101806],[0.963646,-0.265157,0.032838],[-0.004473,0.106877,0.994262]] 2025-10-24T19:48:31.977Z,1761335311.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751529 2025-10-24T19:48:31.994Z,1761335311.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:32.001Z,1761335312.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 39.752621 m, bearing: 112.376416 deg, approach rate: -0.565978 m/s, LOS rate: -0.034203 deg/s, cmd heading: 103.759111 deg, new cmd heading: 103.708903 deg. 2025-10-24T19:48:32.002Z,1761335312.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810062 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:32.213Z,1761335312.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001349 2025-10-24T19:48:32.302Z,1761335312.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266327,-0.958478,0.101932],[0.963861,-0.264126,0.034768],[-0.006401,0.107508,0.994184]] 2025-10-24T19:48:32.352Z,1761335312.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:32.355Z,1761335312.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 39.468868 m, bearing: 112.343928 deg, approach rate: -0.789214 m/s, LOS rate: -0.091012 deg/s, cmd heading: 103.708903 deg, new cmd heading: 103.610736 deg. 2025-10-24T19:48:32.356Z,1761335312.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.808349 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:32.465Z,1761335312.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252984 2025-10-24T19:48:32.699Z,1761335312.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264896,-0.958848,0.102182],[0.964246,-0.262543,0.036072],[-0.007760,0.108084,0.994111]] 2025-10-24T19:48:32.717Z,1761335312.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504991 2025-10-24T19:48:32.749Z,1761335312.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:32.751Z,1761335312.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 39.226875 m, bearing: 112.316372 deg, approach rate: -0.624443 m/s, LOS rate: -0.071543 deg/s, cmd heading: 103.610739 deg, new cmd heading: 103.527563 deg. 2025-10-24T19:48:32.756Z,1761335312.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806897 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:32.980Z,1761335312.980 [DAT](INFO): DAT read: Rx Time:19:48:31.8897 2025-10-24T19:48:32.982Z,1761335312.982 [DAT](INFO): Rx dataTimestamp_ set to:1761335312.980700 2025-10-24T19:48:32.983Z,1761335312.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771260 2025-10-24T19:48:33.169Z,1761335313.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:33.192Z,1761335313.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:33.195Z,1761335313.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 38.951023 m, bearing: 112.270604 deg, approach rate: -0.639503 m/s, LOS rate: -0.106856 deg/s, cmd heading: 103.527561 deg, new cmd heading: 103.389283 deg. 2025-10-24T19:48:33.200Z,1761335313.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804483 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:33.230Z,1761335313.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017610 2025-10-24T19:48:33.481Z,1761335313.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269479 2025-10-24T19:48:33.558Z,1761335313.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259852,-0.960386,0.100681],[0.965565,-0.257041,0.040184],[-0.012713,0.107656,0.994107]] 2025-10-24T19:48:33.577Z,1761335313.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.16 m. 2025-10-24T19:48:33.590Z,1761335313.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.156513 m, nav range: 38.700222 m, bearing: 112.230378 deg, approach rate: -0.617589 m/s, LOS rate: -0.099696 deg/s, cmd heading: 103.389284 deg, new cmd heading: 103.267825 deg. 2025-10-24T19:48:33.591Z,1761335313.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802364 target range: 42.156513 and range: 42.40 m. 2025-10-24T19:48:33.739Z,1761335313.739 [DAT](INFO): DAT read: 19:48:31.8897 LVL= 14560, 29313, 16674, 28867, AGC= 60, IDX= 417, 0.11,-1.096,-2.482,-1.210,-1.558, PHS= 0.550,-0.877, 0.346, RAW= 142.4, -0.3, CAL= 146.6, -9.3, ROT= 3.4, 9.3 2025-10-24T19:48:33.740Z,1761335313.740 [DAT](INFO): got valid direction response: 19:48:31.8897 LVL= 14560, 29313, 16674, 28867, AGC= 60, IDX= 417, 0.11,-1.096,-2.482,-1.210,-1.558, PHS= 0.550,-0.877, 0.346, RAW= 142.4, -0.3, CAL= 146.6, -9.3, ROT= 3.4, 9.3 2025-10-24T19:48:33.741Z,1761335313.741 [DAT](INFO): DAT read: Bearing 3.4, 9.3 (Local) 2025-10-24T19:48:33.742Z,1761335313.742 [DAT](INFO): Local bearing/azimuth received: Bearing 3.4, 9.3 (Local) 2025-10-24T19:48:33.743Z,1761335313.743 [DAT](INFO): DAT read: Range 10 to 50 : 40.2 m (Round-trip 53.7 ms) speed 0.6 m/s 2025-10-24T19:48:33.744Z,1761335313.744 [DAT](INFO): DAT read: user:160> 2025-10-24T19:48:33.746Z,1761335313.746 [DAT](INFO): DAT read: Tx time:19:48:32.9819 2025-10-24T19:48:33.746Z,1761335313.746 [DAT](INFO): Ping request sent. 2025-10-24T19:48:33.746Z,1761335313.746 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:33.747Z,1761335313.747 [DAT](INFO): DAT read: TxSync time:19:48:32.9811 2025-10-24T19:48:33.748Z,1761335313.748 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:33.749Z,1761335313.749 [DAT](INFO): direction in FSK: [0.985119,0.058527,-0.161604] 2025-10-24T19:48:33.750Z,1761335313.750 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:33.750Z,1761335313.750 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:33.753Z,1761335313.753 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:33.753Z,1761335313.753 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:33.918Z,1761335313.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258688,-0.960836,0.099371],[0.965855,-0.255765,0.041329],[-0.014295,0.106670,0.994192]] 2025-10-24T19:48:34.052Z,1761335314.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.200001 m, deltaT: 3.535103 s, deltaX: -2.200001 m, approachRate: -0.622330 m/s, rangeRepo size: 4 2025-10-24T19:48:34.061Z,1761335314.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.968529 m, bearing: 109.382750 deg, lat: 36.779545 deg, lon: -121.859593 deg, deltaT: 3.535103 s, deltaX: -2.187984 m, approachRate: -0.618931 m/s, posRepo size: 4 2025-10-24T19:48:34.062Z,1761335314.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:34.070Z,1761335314.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 38.552750 m, bearing: 111.121911 deg, approach rate: 0.000000 m/s, LOS rate: -0.099696 deg/s, cmd heading: 103.267823 deg, new cmd heading: 103.127419 deg. 2025-10-24T19:48:34.077Z,1761335314.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.799913 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:34.325Z,1761335314.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259248,-0.960642,0.099786],[0.965705,-0.256304,0.041492],[-0.014283,0.107121,0.994143]] 2025-10-24T19:48:34.385Z,1761335314.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:34.412Z,1761335314.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 38.349579 m, bearing: 111.080659 deg, approach rate: -0.601068 m/s, LOS rate: -0.122689 deg/s, cmd heading: 103.127421 deg, new cmd heading: 103.003009 deg. 2025-10-24T19:48:34.413Z,1761335314.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797742 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:34.724Z,1761335314.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258681,-0.960907,0.098696],[0.965836,-0.255641,0.042519],[-0.015626,0.106323,0.994209]] 2025-10-24T19:48:34.744Z,1761335314.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:34.747Z,1761335314.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 38.132820 m, bearing: 111.036347 deg, approach rate: -0.604221 m/s, LOS rate: -0.124223 deg/s, cmd heading: 103.003009 deg, new cmd heading: 102.869318 deg. 2025-10-24T19:48:34.749Z,1761335314.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795408 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:35.126Z,1761335315.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256522,-0.961531,0.098257],[0.966383,-0.253328,0.043920],[-0.017339,0.106221,0.994191]] 2025-10-24T19:48:35.236Z,1761335315.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:35.239Z,1761335315.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:35.246Z,1761335315.246 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:35.246Z,1761335315.246 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:35.247Z,1761335315.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:35.257Z,1761335315.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 37.866295 m, bearing: 110.982940 deg, approach rate: -0.539267 m/s, LOS rate: -0.108819 deg/s, cmd heading: 102.869315 deg, new cmd heading: 102.707969 deg. 2025-10-24T19:48:35.258Z,1761335315.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792592 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:35.497Z,1761335315.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750707 2025-10-24T19:48:35.526Z,1761335315.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254424,-0.962093,0.098217],[0.966899,-0.251025,0.045749],[-0.019360,0.106605,0.994113]] 2025-10-24T19:48:35.547Z,1761335315.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:35.550Z,1761335315.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 37.663113 m, bearing: 110.942399 deg, approach rate: -0.657373 m/s, LOS rate: -0.131872 deg/s, cmd heading: 102.707966 deg, new cmd heading: 102.585688 deg. 2025-10-24T19:48:35.551Z,1761335315.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790458 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:35.749Z,1761335315.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002410 2025-10-24T19:48:35.932Z,1761335315.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252219,-0.962838,0.096580],[0.967426,-0.248655,0.047509],[-0.021729,0.105417,0.994191]] 2025-10-24T19:48:35.974Z,1761335315.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:35.981Z,1761335315.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 37.426468 m, bearing: 110.895446 deg, approach rate: -0.554395 m/s, LOS rate: -0.110695 deg/s, cmd heading: 102.585685 deg, new cmd heading: 102.443934 deg. 2025-10-24T19:48:35.982Z,1761335315.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.787984 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:36.021Z,1761335316.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256994 2025-10-24T19:48:36.255Z,1761335316.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508180 2025-10-24T19:48:36.347Z,1761335316.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250532,-0.963262,0.096752],[0.967820,-0.246763,0.049326],[-0.023639,0.105996,0.994085]] 2025-10-24T19:48:36.397Z,1761335316.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:36.399Z,1761335316.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 37.155399 m, bearing: 110.856255 deg, approach rate: -0.641226 m/s, LOS rate: -0.093385 deg/s, cmd heading: 102.443931 deg, new cmd heading: 102.325500 deg. 2025-10-24T19:48:36.400Z,1761335316.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785917 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:36.505Z,1761335316.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758515 2025-10-24T19:48:36.743Z,1761335316.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249248,-0.963685,0.095847],[0.968111,-0.245360,0.050596],[-0.025241,0.105402,0.994109]] 2025-10-24T19:48:36.757Z,1761335316.757 [DAT](INFO): DAT read: Rx Time:19:48:35.4364 2025-10-24T19:48:36.757Z,1761335316.757 [DAT](INFO): Rx dataTimestamp_ set to:1761335316.757040 2025-10-24T19:48:36.758Z,1761335316.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011439 2025-10-24T19:48:36.791Z,1761335316.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:36.802Z,1761335316.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 36.920006 m, bearing: 110.822231 deg, approach rate: -0.596758 m/s, LOS rate: -0.086806 deg/s, cmd heading: 102.325502 deg, new cmd heading: 102.222780 deg. 2025-10-24T19:48:36.803Z,1761335316.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784124 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:37.013Z,1761335317.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265028 2025-10-24T19:48:37.195Z,1761335317.195 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD +1168.98, -13.28, 7.51, 0.00 2025-10-24T19:48:37.211Z,1761335317.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:37.215Z,1761335317.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 36.659370 m, bearing: 110.784047 deg, approach rate: -0.620342 m/s, LOS rate: -0.091528 deg/s, cmd heading: 102.222783 deg, new cmd heading: 102.107418 deg. 2025-10-24T19:48:37.253Z,1761335317.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782111 target range: 39.968529 and range: 40.20 m. 2025-10-24T19:48:37.266Z,1761335317.266 [DAT](INFO): DAT read: 19:48:35.4364 LVL= 15264, 26609, 17442, 26419, AGC= 62, IDX= 399,-0.02, 0.968,-0.423, 0.84, PHS= 0.481,-0.950, 0.270, RAW= 142.2, 3.0, CAL= 145.9, -5.5, ROT= 4.1, 5.5 2025-10-24T19:48:37.267Z,1761335317.267 [DAT](INFO): unknown deviceResponse_: 19:48:35.4364 LVL= 15264, 26609, 17442, 26419, AGC= 62, IDX= 399,-0.02, 0.968,-0.423, 0.84, PHS= 0.481,-0.950, 0.270, RAW= 142.2, 3.0, CAL= 145.9, -5.5, ROT= 4.1, 5.5 2025-10-24T19:48:37.268Z,1761335317.268 [DAT](INFO): DAT read: Bearing 4.1, 5.5 (Local) 2025-10-24T19:48:37.269Z,1761335317.269 [DAT](INFO): Local bearing/azimuth received: Bearing 4.1, 5.5 (Local) 2025-10-24T19:48:37.275Z,1761335317.275 [DAT](INFO): DAT read: Range 10 to 50 : 37.6 m (Round-trip 50.2 ms) speed 0.7 m/s 2025-10-24T19:48:37.282Z,1761335317.282 [DAT](INFO): DAT read: user:161> 2025-10-24T19:48:37.292Z,1761335317.292 [DAT](INFO): DAT read: Tx time:19:48:36.5320 2025-10-24T19:48:37.292Z,1761335317.292 [DAT](INFO): Ping request sent. 2025-10-24T19:48:37.293Z,1761335317.293 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:37.293Z,1761335317.293 [DAT](INFO): DAT read: TxSync time:19:48:36.5312 2025-10-24T19:48:37.294Z,1761335317.294 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:48:37.294Z,1761335317.294 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:37.294Z,1761335317.294 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:37.573Z,1761335317.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248770,-0.963989,0.094009],[0.968179,-0.244765,0.052154],[-0.027266,0.103992,0.994204]] 2025-10-24T19:48:37.590Z,1761335317.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:37.593Z,1761335317.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.599998 m, deltaT: 3.528005 s, deltaX: -2.600002 m, approachRate: -0.736961 m/s, rangeRepo size: 4 2025-10-24T19:48:37.594Z,1761335317.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:37.598Z,1761335317.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 36.427414 m, bearing: 110.749762 deg, approach rate: -0.607972 m/s, LOS rate: -0.090436 deg/s, cmd heading: 102.107414 deg, new cmd heading: 102.003904 deg. 2025-10-24T19:48:37.599Z,1761335317.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780304 target range: 39.968529 and range: 37.60 m. 2025-10-24T19:48:37.764Z,1761335317.764 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:37.765Z,1761335317.765 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:37.765Z,1761335317.765 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:48:38.005Z,1761335318.005 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-24T19:48:38.005Z,1761335318.005 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T19:48:38.005Z,1761335318.005 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-24T19:48:38.007Z,1761335318.007 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 37.599998 m (mode 2.000000 count ). 2025-10-24T19:48:38.007Z,1761335318.007 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-24T19:48:38.007Z,1761335318.007 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-24T19:48:38.009Z,1761335318.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:38.013Z,1761335318.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 36.177898 m, bearing: 110.712389 deg, approach rate: -0.598909 m/s, LOS rate: -0.090325 deg/s, cmd heading: 102.003903 deg, new cmd heading: 101.891011 deg. 2025-10-24T19:48:38.020Z,1761335318.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.726883 2025-10-24T19:48:38.023Z,1761335318.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778334 target range: 39.968529 and range: 37.60 m. 2025-10-24T19:48:38.273Z,1761335318.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979642 2025-10-24T19:48:38.381Z,1761335318.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249734,-0.964736,0.083171],[0.967947,-0.246350,0.048888],[-0.026675,0.092714,0.995335]] 2025-10-24T19:48:38.419Z,1761335318.419 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-24T19:48:38.419Z,1761335318.419 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-24T19:48:38.438Z,1761335318.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:38.452Z,1761335318.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 35.913727 m, bearing: 110.693430 deg, approach rate: -0.616336 m/s, LOS rate: -0.044559 deg/s, cmd heading: 101.891014 deg, new cmd heading: 101.833718 deg. 2025-10-24T19:48:38.453Z,1761335318.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777334 target range: 39.968529 and range: 37.60 m. 2025-10-24T19:48:38.522Z,1761335318.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228922 2025-10-24T19:48:38.773Z,1761335318.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480361 2025-10-24T19:48:38.782Z,1761335318.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247450,-0.965210,0.084486],[0.968500,-0.243899,0.050203],[-0.027850,0.094247,0.995159]] 2025-10-24T19:48:38.830Z,1761335318.830 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-24T19:48:38.830Z,1761335318.830 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-24T19:48:38.832Z,1761335318.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:38.835Z,1761335318.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 35.654278 m, bearing: 110.675533 deg, approach rate: -0.657587 m/s, LOS rate: -0.045690 deg/s, cmd heading: 101.833715 deg, new cmd heading: 101.779635 deg. 2025-10-24T19:48:38.837Z,1761335318.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.776390 target range: 39.968529 and range: 37.60 m. 2025-10-24T19:48:39.027Z,1761335319.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734339 2025-10-24T19:48:39.257Z,1761335319.257 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-24T19:48:39.257Z,1761335319.257 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T19:48:39.257Z,1761335319.257 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-24T19:48:39.257Z,1761335319.257 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T19:48:39.259Z,1761335319.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:39.266Z,1761335319.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 35.390957 m, bearing: 110.661191 deg, approach rate: -0.617019 m/s, LOS rate: -0.033856 deg/s, cmd heading: 101.779634 deg, new cmd heading: 101.736288 deg. 2025-10-24T19:48:39.267Z,1761335319.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775633 target range: 39.968529 and range: 37.60 m. 2025-10-24T19:48:39.277Z,1761335319.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984340 2025-10-24T19:48:39.530Z,1761335319.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237042 2025-10-24T19:48:39.588Z,1761335319.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241585,-0.966660,0.084883],[0.969876,-0.237717,0.053203],[-0.031251,0.095179,0.994969]] 2025-10-24T19:48:39.605Z,1761335319.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:39.607Z,1761335319.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:39.610Z,1761335319.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 35.153275 m, bearing: 110.650398 deg, approach rate: -0.682360 m/s, LOS rate: -0.031197 deg/s, cmd heading: 101.736289 deg, new cmd heading: 101.703689 deg. 2025-10-24T19:48:39.624Z,1761335319.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775064 target range: 39.968529 and range: 37.60 m. 2025-10-24T19:48:39.781Z,1761335319.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488553 2025-10-24T19:48:39.993Z,1761335319.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240660,-0.966869,0.085126],[0.970075,-0.236691,0.054147],[-0.032205,0.095610,0.994898]] 2025-10-24T19:48:40.021Z,1761335320.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:40.024Z,1761335320.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 34.887108 m, bearing: 110.638550 deg, approach rate: -0.643745 m/s, LOS rate: -0.028872 deg/s, cmd heading: 101.703689 deg, new cmd heading: 101.667876 deg. 2025-10-24T19:48:40.027Z,1761335320.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774439 target range: 39.968529 and range: 37.60 m. 2025-10-24T19:48:40.033Z,1761335320.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740363 2025-10-24T19:48:40.287Z,1761335320.287 [DAT](INFO): DAT read: Rx Time:19:48:38.9835 2025-10-24T19:48:40.287Z,1761335320.287 [DAT](INFO): Rx dataTimestamp_ set to:1761335320.286930 2025-10-24T19:48:40.288Z,1761335320.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995332 2025-10-24T19:48:40.396Z,1761335320.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238997,-0.967280,0.085146],[0.970459,-0.234957,0.054811],[-0.033012,0.095731,0.994860]] 2025-10-24T19:48:40.446Z,1761335320.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.97 m. 2025-10-24T19:48:40.449Z,1761335320.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.968529 m, nav range: 34.611141 m, bearing: 110.622821 deg, approach rate: -0.650599 m/s, LOS rate: -0.037379 deg/s, cmd heading: 101.667878 deg, new cmd heading: 101.620313 deg. 2025-10-24T19:48:40.450Z,1761335320.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.773609 target range: 39.968529 and range: 37.60 m. 2025-10-24T19:48:40.538Z,1761335320.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244939 2025-10-24T19:48:40.795Z,1761335320.795 [DAT](INFO): DAT read: 19:48:38.9835 LVL= 16560, 30545, 16882, 28403, AGC= 58, IDX= 418,-0.23,-1.889, 3.034,-2.038,-2.269, PHS= 0.469,-0.932, 0.228, RAW= 140.7, 3.7, CAL= 144.6, -4.6, ROT= 5.4, 4.6 2025-10-24T19:48:40.797Z,1761335320.797 [DAT](INFO): got valid direction response: 19:48:38.9835 LVL= 16560, 30545, 16882, 28403, AGC= 58, IDX= 418,-0.23,-1.889, 3.034,-2.038,-2.269, PHS= 0.469,-0.932, 0.228, RAW= 140.7, 3.7, CAL= 144.6, -4.6, ROT= 5.4, 4.6 2025-10-24T19:48:40.798Z,1761335320.798 [DAT](INFO): DAT read: Bearing 5.4, 4.6 (Local) 2025-10-24T19:48:40.798Z,1761335320.798 [DAT](INFO): Local bearing/azimuth received: Bearing 5.4, 4.6 (Local) 2025-10-24T19:48:40.800Z,1761335320.800 [DAT](INFO): DAT read: Range 10 to 50 : 35.5 m (Round-trip 47.4 ms) speed 0.5 m/s 2025-10-24T19:48:40.801Z,1761335320.801 [DAT](INFO): DAT read: user:162> 2025-10-24T19:48:40.802Z,1761335320.802 [DAT](INFO): DAT read: Tx time:19:48:40.0820 2025-10-24T19:48:40.802Z,1761335320.802 [DAT](INFO): Ping request sent. 2025-10-24T19:48:40.802Z,1761335320.802 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:40.803Z,1761335320.803 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:40.804Z,1761335320.804 [DAT](INFO): direction in FSK: [0.992355,0.093805,-0.080199] 2025-10-24T19:48:40.804Z,1761335320.804 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:40.804Z,1761335320.804 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:40.807Z,1761335320.807 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:40.807Z,1761335320.807 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:40.854Z,1761335320.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238885,-0.967334,0.084843],[0.970462,-0.234792,0.055471],[-0.033738,0.095588,0.994849]] 2025-10-24T19:48:40.942Z,1761335320.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.500000 m, deltaT: 3.527949 s, deltaX: -2.099998 m, approachRate: -0.595246 m/s, rangeRepo size: 4 2025-10-24T19:48:40.949Z,1761335320.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.294289 m, bearing: 109.660060 deg, lat: 36.779547 deg, lon: -121.859585 deg, deltaT: 7.055954 s, deltaX: -4.674240 m, approachRate: -0.662453 m/s, posRepo size: 4 2025-10-24T19:48:40.949Z,1761335320.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:40.964Z,1761335320.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 34.918434 m, bearing: 109.808962 deg, approach rate: 0.000000 m/s, LOS rate: -0.037379 deg/s, cmd heading: 101.620313 deg, new cmd heading: 101.564656 deg. 2025-10-24T19:48:40.965Z,1761335320.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.772638 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:41.042Z,1761335321.042 [DAT](INFO): DAT read: TxSync time:19:48:40.0812 2025-10-24T19:48:41.257Z,1761335321.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238686,-0.967395,0.084708],[0.970494,-0.234556,0.055899],[-0.034207,0.095551,0.994837]] 2025-10-24T19:48:41.358Z,1761335321.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:41.372Z,1761335321.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 34.637905 m, bearing: 109.786929 deg, approach rate: -0.675384 m/s, LOS rate: -0.053476 deg/s, cmd heading: 101.564653 deg, new cmd heading: 101.498018 deg. 2025-10-24T19:48:41.373Z,1761335321.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.771475 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:41.637Z,1761335321.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240762,-0.966072,0.093477],[0.970030,-0.236251,0.056811],[-0.032800,0.104354,0.993999]] 2025-10-24T19:48:41.655Z,1761335321.655 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:41.658Z,1761335321.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:41.684Z,1761335321.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 34.437992 m, bearing: 109.770284 deg, approach rate: -0.664825 m/s, LOS rate: -0.055675 deg/s, cmd heading: 101.498018 deg, new cmd heading: 101.447794 deg. 2025-10-24T19:48:41.685Z,1761335321.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.770598 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:41.797Z,1761335321.797 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:48:41.797Z,1761335321.797 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:48:41.797Z,1761335321.797 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:48:42.040Z,1761335322.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241493,-0.966085,0.091441],[0.969844,-0.237085,0.056505],[-0.032910,0.102329,0.994206]] 2025-10-24T19:48:42.049Z,1761335322.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246485 2025-10-24T19:48:42.066Z,1761335322.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:42.069Z,1761335322.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 34.180443 m, bearing: 109.748230 deg, approach rate: -0.630468 m/s, LOS rate: -0.054394 deg/s, cmd heading: 101.447796 deg, new cmd heading: 101.381135 deg. 2025-10-24T19:48:42.070Z,1761335322.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769435 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:42.301Z,1761335322.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498379 2025-10-24T19:48:42.445Z,1761335322.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240170,-0.966576,0.089714],[0.970135,-0.235758,0.057062],[-0.034004,0.100739,0.994332]] 2025-10-24T19:48:42.492Z,1761335322.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:42.497Z,1761335322.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 33.904346 m, bearing: 109.717313 deg, approach rate: -0.647533 m/s, LOS rate: -0.073100 deg/s, cmd heading: 101.381133 deg, new cmd heading: 101.287627 deg. 2025-10-24T19:48:42.498Z,1761335322.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.767803 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:42.554Z,1761335322.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751776 2025-10-24T19:48:42.805Z,1761335322.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002590 2025-10-24T19:48:42.853Z,1761335322.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237682,-0.967277,0.088783],[0.970668,-0.233114,0.058839],[-0.036217,0.100164,0.994312]] 2025-10-24T19:48:42.877Z,1761335322.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:42.881Z,1761335322.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 33.656414 m, bearing: 109.690190 deg, approach rate: -0.644359 m/s, LOS rate: -0.071010 deg/s, cmd heading: 101.287628 deg, new cmd heading: 101.205659 deg. 2025-10-24T19:48:42.882Z,1761335322.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.766372 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:43.059Z,1761335323.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256475 2025-10-24T19:48:43.259Z,1761335323.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235790,-0.967812,0.087992],[0.971076,-0.231140,0.059889],[-0.037622,0.099568,0.994319]] 2025-10-24T19:48:43.309Z,1761335323.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506431 2025-10-24T19:48:43.323Z,1761335323.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:43.341Z,1761335323.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 33.391296 m, bearing: 109.653017 deg, approach rate: -0.594826 m/s, LOS rate: -0.084065 deg/s, cmd heading: 101.205659 deg, new cmd heading: 101.093254 deg. 2025-10-24T19:48:43.342Z,1761335323.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764410 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:43.561Z,1761335323.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758737 2025-10-24T19:48:43.657Z,1761335323.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234482,-0.968145,0.087821],[0.971337,-0.229708,0.061149],[-0.039028,0.099642,0.994258]] 2025-10-24T19:48:43.675Z,1761335323.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:43.677Z,1761335323.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:43.681Z,1761335323.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 33.161663 m, bearing: 109.620866 deg, approach rate: -0.648909 m/s, LOS rate: -0.091483 deg/s, cmd heading: 101.093254 deg, new cmd heading: 100.996134 deg. 2025-10-24T19:48:43.682Z,1761335323.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.762715 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:43.814Z,1761335323.814 [DAT](INFO): DAT read: Rx Time:19:48:42.5308 2025-10-24T19:48:43.815Z,1761335323.815 [DAT](INFO): Rx dataTimestamp_ set to:1761335323.814263 2025-10-24T19:48:43.815Z,1761335323.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012741 2025-10-24T19:48:44.061Z,1761335324.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233468,-0.968511,0.086484],[0.971555,-0.228721,0.061386],[-0.039672,0.098356,0.994360]] 2025-10-24T19:48:44.065Z,1761335324.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262569 2025-10-24T19:48:44.083Z,1761335324.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.29 m. 2025-10-24T19:48:44.111Z,1761335324.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.294289 m, nav range: 32.910500 m, bearing: 109.585639 deg, approach rate: -0.618826 m/s, LOS rate: -0.087457 deg/s, cmd heading: 100.996136 deg, new cmd heading: 100.889647 deg. 2025-10-24T19:48:44.124Z,1761335324.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.760857 target range: 35.294289 and range: 35.50 m. 2025-10-24T19:48:44.324Z,1761335324.324 [DAT](INFO): DAT read: 19:48:42.5308 LVL= 15696, 26481, 16914, 27427, AGC= 57, IDX= 406,-0.09, 1.116,-0.213, 0.911, 0.749, PHS= 0.455,-0.915, 0.159, RAW= 138.1, 4.9, CAL= 142.4, -2.9, ROT= 7.6, 2.9 2025-10-24T19:48:44.325Z,1761335324.325 [DAT](INFO): got valid direction response: 19:48:42.5308 LVL= 15696, 26481, 16914, 27427, AGC= 57, IDX= 406,-0.09, 1.116,-0.213, 0.911, 0.749, PHS= 0.455,-0.915, 0.159, RAW= 138.1, 4.9, CAL= 142.4, -2.9, ROT= 7.6, 2.9 2025-10-24T19:48:44.326Z,1761335324.326 [DAT](INFO): DAT read: Bearing 7.6, 2.9 (Local) 2025-10-24T19:48:44.326Z,1761335324.326 [DAT](INFO): Local bearing/azimuth received: Bearing 7.6, 2.9 (Local) 2025-10-24T19:48:44.328Z,1761335324.328 [DAT](INFO): DAT read: Range 10 to 50 : 33.5 m (Round-trip 44.7 ms) speed 0.6 m/s 2025-10-24T19:48:44.329Z,1761335324.329 [DAT](INFO): DAT read: user:163> 2025-10-24T19:48:44.330Z,1761335324.330 [DAT](INFO): DAT read: Tx time:19:48:43.6320 2025-10-24T19:48:44.330Z,1761335324.330 [DAT](INFO): Ping request sent. 2025-10-24T19:48:44.330Z,1761335324.330 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:48:44.331Z,1761335324.331 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T19:48:44.331Z,1761335324.331 [DAT](INFO): direction in FSK: [0.989946,0.132087,-0.050593] 2025-10-24T19:48:44.332Z,1761335324.332 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:44.332Z,1761335324.332 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:44.335Z,1761335324.335 [DAT](INFO): publishing transmit ping time 2025-10-24T19:48:44.335Z,1761335324.335 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:44.343Z,1761335324.343 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.012872 2025-10-24T19:48:44.569Z,1761335324.569 [DAT](INFO): DAT read: TxSync time:19:48:43.6312 2025-10-24T19:48:44.570Z,1761335324.570 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.239557 2025-10-24T19:48:44.573Z,1761335324.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 3.528517 s, deltaX: -2.000000 m, approachRate: -0.566810 m/s, rangeRepo size: 4 2025-10-24T19:48:44.575Z,1761335324.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.306236 m, bearing: 111.376494 deg, lat: 36.779547 deg, lon: -121.859583 deg, deltaT: 3.528517 s, deltaX: -1.988052 m, approachRate: -0.563424 m/s, posRepo size: 4 2025-10-24T19:48:44.581Z,1761335324.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.31 m. 2025-10-24T19:48:44.583Z,1761335324.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.306236 m, nav range: 32.792877 m, bearing: 109.437291 deg, approach rate: 0.000000 m/s, LOS rate: -0.087457 deg/s, cmd heading: 100.889646 deg, new cmd heading: 100.761078 deg. 2025-10-24T19:48:44.585Z,1761335324.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.758613 target range: 33.306236 and range: 33.50 m. 2025-10-24T19:48:44.821Z,1761335324.821 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.490868 2025-10-24T19:48:44.875Z,1761335324.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231367,-0.969039,0.086211],[0.972008,-0.226532,0.062319],[-0.040860,0.098216,0.994326]] 2025-10-24T19:48:44.901Z,1761335324.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.31 m. 2025-10-24T19:48:44.906Z,1761335324.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.306236 m, nav range: 32.579010 m, bearing: 109.406587 deg, approach rate: -0.651833 m/s, LOS rate: -0.094194 deg/s, cmd heading: 100.761075 deg, new cmd heading: 100.668359 deg. 2025-10-24T19:48:44.907Z,1761335324.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756994 target range: 33.306236 and range: 33.50 m. 2025-10-24T19:48:45.073Z,1761335325.073 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.742451 2025-10-24T19:48:45.271Z,1761335325.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232385,-0.969200,0.081543],[0.971819,-0.227964,0.060008],[-0.039571,0.093190,0.994862]] 2025-10-24T19:48:45.325Z,1761335325.325 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.994886 2025-10-24T19:48:45.352Z,1761335325.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.31 m. 2025-10-24T19:48:45.358Z,1761335325.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.306236 m, nav range: 32.318916 m, bearing: 109.368776 deg, approach rate: -0.604904 m/s, LOS rate: -0.088645 deg/s, cmd heading: 100.668362 deg, new cmd heading: 100.554016 deg. 2025-10-24T19:48:45.365Z,1761335325.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754999 target range: 33.306236 and range: 33.50 m. 2025-10-24T19:48:45.577Z,1761335325.577 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.246865 2025-10-24T19:48:45.675Z,1761335325.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231335,-0.969298,0.083338],[0.972095,-0.226874,0.059656],[-0.038917,0.094813,0.994734]] 2025-10-24T19:48:45.698Z,1761335325.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:45.700Z,1761335325.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.31 m. 2025-10-24T19:48:45.703Z,1761335325.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.306236 m, nav range: 32.086182 m, bearing: 109.334885 deg, approach rate: -0.631112 m/s, LOS rate: -0.092570 deg/s, cmd heading: 100.554018 deg, new cmd heading: 100.451607 deg. 2025-10-24T19:48:45.705Z,1761335325.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753211 target range: 33.306236 and range: 33.50 m. 2025-10-24T19:48:45.830Z,1761335325.830 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.499408 2025-10-24T19:48:46.081Z,1761335326.081 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.750596 2025-10-24T19:48:46.115Z,1761335326.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.31 m. 2025-10-24T19:48:46.162Z,1761335326.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.306236 m, nav range: 31.830847 m, bearing: 109.297131 deg, approach rate: -0.615639 m/s, LOS rate: -0.091759 deg/s, cmd heading: 100.451606 deg, new cmd heading: 100.337436 deg. 2025-10-24T19:48:46.170Z,1761335326.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751219 target range: 33.306236 and range: 33.50 m. 2025-10-24T19:48:46.334Z,1761335326.334 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003609 2025-10-24T19:48:46.497Z,1761335326.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226216,-0.970474,0.083709],[0.973210,-0.221553,0.061460],[-0.041099,0.095369,0.994593]] 2025-10-24T19:48:46.543Z,1761335326.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.31 m. 2025-10-24T19:48:46.563Z,1761335326.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.306236 m, nav range: 31.563850 m, bearing: 109.245987 deg, approach rate: -0.622208 m/s, LOS rate: -0.120194 deg/s, cmd heading: 100.337439 deg, new cmd heading: 100.182710 deg. 2025-10-24T19:48:46.569Z,1761335326.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748518 target range: 33.306236 and range: 33.50 m. 2025-10-24T19:48:46.585Z,1761335326.585 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.254621 2025-10-24T19:48:46.838Z,1761335326.838 [DAT](INFO): DAT read: Rx Time:19:48:45.8029 2025-10-24T19:48:46.838Z,1761335326.838 [DAT](INFO): Rx dataTimestamp_ set to:1761335326.837802 2025-10-24T19:48:46.839Z,1761335326.839 [DAT](INFO): DAT read: Bearing 9.5, 0.6 (Local) 2025-10-24T19:48:46.840Z,1761335326.840 [DAT](INFO): Local bearing/azimuth received: Bearing 9.5, 0.6 (Local) 2025-10-24T19:48:46.842Z,1761335326.842 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.8 2025-10-24T19:48:46.847Z,1761335326.847 [DAT](INFO): DAT read: 19:48:45.8029 LVL= 12384, 11889, 11730, 15779, AGC= 61, IDX= 152,-0.20,-2.831, 2.112,-3.097, 3.091, PHS= 0.449,-0.933, 0.092, RAW= 135.6, 6.3, CAL= 140.5, -0.6, ROT= 9.5, 0.6 2025-10-24T19:48:46.848Z,1761335326.848 [DAT](INFO): got valid direction response: 19:48:45.8029 LVL= 12384, 11889, 11730, 15779, AGC= 61, IDX= 152,-0.20,-2.831, 2.112,-3.097, 3.091, PHS= 0.449,-0.933, 0.092, RAW= 135.6, 6.3, CAL= 140.5, -0.6, ROT= 9.5, 0.6 2025-10-24T19:48:46.849Z,1761335326.849 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-24T19:48:46.850Z,1761335326.850 [DAT](INFO): direction in FSK: [0.986232,0.165039,-0.010472] 2025-10-24T19:48:46.850Z,1761335326.850 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:46.855Z,1761335326.855 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.524392 2025-10-24T19:48:46.938Z,1761335326.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222182,-0.971453,0.083149],[0.974054,-0.217392,0.062917],[-0.043045,0.094971,0.994549]] 2025-10-24T19:48:47.009Z,1761335327.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 2.520985 s, deltaX: -2.299999 m, approachRate: -0.912341 m/s, rangeRepo size: 4 2025-10-24T19:48:47.011Z,1761335327.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.019573 m, bearing: 112.369893 deg, lat: 36.779547 deg, lon: -121.859583 deg, deltaT: 2.520985 s, deltaX: -2.286663 m, approachRate: -0.907051 m/s, posRepo size: 4 2025-10-24T19:48:47.016Z,1761335327.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.02 m. 2025-10-24T19:48:47.019Z,1761335327.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.019573 m, nav range: 31.292831 m, bearing: 109.195236 deg, approach rate: 0.000000 m/s, LOS rate: -0.120194 deg/s, cmd heading: 100.182708 deg, new cmd heading: 100.016737 deg. 2025-10-24T19:48:47.024Z,1761335327.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745621 target range: 31.019573 and range: 31.20 m. 2025-10-24T19:48:47.090Z,1761335327.090 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.759256 2025-10-24T19:48:47.341Z,1761335327.341 [DAT](INFO): DAT read: Rx Time:19:48:46.3028 2025-10-24T19:48:47.342Z,1761335327.342 [DAT](INFO): Rx dataTimestamp_ set to:1761335327.341427 2025-10-24T19:48:47.343Z,1761335327.343 [DAT](INFO): DAT read: Bearing 8.9, 0.8 (Local) 2025-10-24T19:48:47.343Z,1761335327.343 [DAT](INFO): Local bearing/azimuth received: Bearing 8.9, 0.8 (Local) 2025-10-24T19:48:47.347Z,1761335327.347 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.6 2025-10-24T19:48:47.356Z,1761335327.356 [DAT](INFO): DAT read: 19:48:46.3028 LVL= 17120, 32353, 19122, 32115, AGC= 60, IDX= 502,-0.38,-2.867, 2.078,-3.113, 3.062, PHS= 0.442,-0.937, 0.105, RAW= 136.5, 6.3, CAL= 141.1, -0.8, ROT= 8.9, 0.8 2025-10-24T19:48:47.358Z,1761335327.358 [DAT](INFO): got valid direction response: 19:48:46.3028 LVL= 17120, 32353, 19122, 32115, AGC= 60, IDX= 502,-0.38,-2.867, 2.078,-3.113, 3.062, PHS= 0.442,-0.937, 0.105, RAW= 136.5, 6.3, CAL= 141.1, -0.8, ROT= 8.9, 0.8 2025-10-24T19:48:47.358Z,1761335327.358 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-24T19:48:47.359Z,1761335327.359 [DAT](INFO): direction in FSK: [0.987864,0.154695,-0.013962] 2025-10-24T19:48:47.359Z,1761335327.359 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:47.366Z,1761335327.366 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.035281 2025-10-24T19:48:47.505Z,1761335327.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.503625 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:48:47.507Z,1761335327.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.019789 m, bearing: 111.792680 deg, lat: 36.779536 deg, lon: -121.859583 deg, deltaT: 0.503625 s, deltaX: 0.000216 m, approachRate: 0.000428 m/s, posRepo size: 4 2025-10-24T19:48:47.516Z,1761335327.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.02 m. 2025-10-24T19:48:47.518Z,1761335327.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.019789 m, nav range: 31.392122 m, bearing: 111.197662 deg, approach rate: 0.000000 m/s, LOS rate: -0.120194 deg/s, cmd heading: 100.016734 deg, new cmd heading: 99.840755 deg. 2025-10-24T19:48:47.519Z,1761335327.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742550 target range: 31.019789 and range: 31.20 m. 2025-10-24T19:48:47.595Z,1761335327.595 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.264229 2025-10-24T19:48:47.846Z,1761335327.846 [DAT](INFO): DAT read: Rx Time:19:48:46.8025 2025-10-24T19:48:47.846Z,1761335327.846 [DAT](INFO): Rx dataTimestamp_ set to:1761335327.846198 2025-10-24T19:48:47.848Z,1761335327.848 [DAT](INFO): DAT read: Bearing 8.7, 1.9 (Local) 2025-10-24T19:48:47.848Z,1761335327.848 [DAT](INFO): Local bearing/azimuth received: Bearing 8.7, 1.9 (Local) 2025-10-24T19:48:47.850Z,1761335327.850 [DAT](INFO): DAT read: Range 10 to 50 : 30.8 m (trip time 20.5 ms) speed 0.6 2025-10-24T19:48:47.855Z,1761335327.855 [DAT](INFO): DAT read: 19:48:46.8025 LVL= 16688, 29793, 16978, 28083, AGC= 59, IDX= 498, 0.48, 2.730, 1.347, 2.479, 2.346, PHS= 0.472,-0.952, 0.130, RAW= 136.7, 5.5, CAL= 141.3, -1.9, ROT= 8.7, 1.9 2025-10-24T19:48:47.857Z,1761335327.857 [DAT](INFO): got valid direction response: 19:48:46.8025 LVL= 16688, 29793, 16978, 28083, AGC= 59, IDX= 498, 0.48, 2.730, 1.347, 2.479, 2.346, PHS= 0.472,-0.952, 0.130, RAW= 136.7, 5.5, CAL= 141.3, -1.9, ROT= 8.7, 1.9 2025-10-24T19:48:47.857Z,1761335327.857 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-24T19:48:47.858Z,1761335327.858 [DAT](INFO): direction in FSK: [0.987950,0.151178,-0.033155] 2025-10-24T19:48:47.858Z,1761335327.858 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:47.862Z,1761335327.862 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.531844 2025-10-24T19:48:47.961Z,1761335327.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504771 s, deltaX: -0.400002 m, approachRate: -0.792442 m/s, rangeRepo size: 4 2025-10-24T19:48:47.963Z,1761335327.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.622097 m, bearing: 111.704264 deg, lat: 36.779536 deg, lon: -121.859588 deg, deltaT: 0.504771 s, deltaX: -0.397692 m, approachRate: -0.787866 m/s, posRepo size: 4 2025-10-24T19:48:47.976Z,1761335327.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.62 m. 2025-10-24T19:48:47.993Z,1761335327.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.622097 m, nav range: 30.698217 m, bearing: 111.605088 deg, approach rate: 0.000000 m/s, LOS rate: -0.120194 deg/s, cmd heading: 99.840755 deg, new cmd heading: 99.677843 deg. 2025-10-24T19:48:47.994Z,1761335327.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739707 target range: 30.622097 and range: 30.80 m. 2025-10-24T19:48:48.101Z,1761335328.101 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.770949 2025-10-24T19:48:48.290Z,1761335328.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217655,-0.972459,0.083358],[0.975004,-0.212726,0.064145],[-0.044646,0.095236,0.994453]] 2025-10-24T19:48:48.354Z,1761335328.354 [DAT](INFO): DAT read: Rx Time:19:48:47.3024 2025-10-24T19:48:48.354Z,1761335328.354 [DAT](INFO): Rx dataTimestamp_ set to:1761335328.353708 2025-10-24T19:48:48.355Z,1761335328.355 [DAT](INFO): DAT read: Bearing 9.0, 1.5 (Local) 2025-10-24T19:48:48.356Z,1761335328.356 [DAT](INFO): Local bearing/azimuth received: Bearing 9.0, 1.5 (Local) 2025-10-24T19:48:48.358Z,1761335328.358 [DAT](INFO): DAT read: Range 10 to 50 : 30.6 m (trip time 20.4 ms) speed 0.7 2025-10-24T19:48:48.365Z,1761335328.365 [DAT](INFO): DAT read: 19:48:47.3024 LVL= 17744, 27585, 18834, 30515, AGC= 60, IDX= 497, 0.41,-2.848, 2.034,-3.112, 3.048, PHS= 0.475,-0.966, 0.120, RAW= 136.3, 5.8, CAL= 141.0, -1.5, ROT= 9.0, 1.5 2025-10-24T19:48:48.367Z,1761335328.367 [DAT](INFO): got valid direction response: 19:48:47.3024 LVL= 17744, 27585, 18834, 30515, AGC= 60, IDX= 497, 0.41,-2.848, 2.034,-3.112, 3.048, PHS= 0.475,-0.966, 0.120, RAW= 136.3, 5.8, CAL= 141.0, -1.5, ROT= 9.0, 1.5 2025-10-24T19:48:48.367Z,1761335328.367 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-24T19:48:48.377Z,1761335328.377 [DAT](INFO): direction in FSK: [0.987350,0.156381,-0.026177] 2025-10-24T19:48:48.377Z,1761335328.377 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:48.398Z,1761335328.398 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.067624 2025-10-24T19:48:48.453Z,1761335328.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.507510 s, deltaX: -0.199999 m, approachRate: -0.394079 m/s, rangeRepo size: 4 2025-10-24T19:48:48.455Z,1761335328.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.424625 m, bearing: 111.698491 deg, lat: 36.779535 deg, lon: -121.859588 deg, deltaT: 0.507510 s, deltaX: -0.197472 m, approachRate: -0.389099 m/s, posRepo size: 4 2025-10-24T19:48:48.461Z,1761335328.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m. 2025-10-24T19:48:48.463Z,1761335328.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.424625 m, nav range: 30.378222 m, bearing: 111.698382 deg, approach rate: 0.000000 m/s, LOS rate: -0.120194 deg/s, cmd heading: 99.677841 deg, new cmd heading: 99.494221 deg. 2025-10-24T19:48:48.469Z,1761335328.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.736502 target range: 30.424625 and range: 30.60 m. 2025-10-24T19:48:48.605Z,1761335328.605 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.274717 2025-10-24T19:48:48.821Z,1761335328.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.216439,-0.972715,0.083546],[0.975262,-0.211479,0.064349],[-0.044924,0.095407,0.994424]] 2025-10-24T19:48:48.848Z,1761335328.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:48.850Z,1761335328.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m. 2025-10-24T19:48:48.857Z,1761335328.857 [DAT](INFO): DAT read: Rx Time:19:48:47.8021 2025-10-24T19:48:48.858Z,1761335328.858 [DAT](INFO): Rx dataTimestamp_ set to:1761335328.857638 2025-10-24T19:48:48.859Z,1761335328.859 [DAT](INFO): DAT read: Bearing 9.0, 1.2 (Local) 2025-10-24T19:48:48.860Z,1761335328.860 [DAT](INFO): Local bearing/azimuth received: Bearing 9.0, 1.2 (Local) 2025-10-24T19:48:48.863Z,1761335328.863 [DAT](INFO): DAT read: Range 10 to 50 : 30.2 m (trip time 20.1 ms) speed 0.5 2025-10-24T19:48:48.868Z,1761335328.868 [DAT](INFO): DAT read: 19:48:47.8021 LVL= 17440, 27633, 18690, 28403, AGC= 60, IDX= 494, 0.33, 2.225, 0.808, 1.956, 1.837, PHS= 0.476,-0.982, 0.117, RAW= 136.3, 6.0, CAL= 141.0, -1.2, ROT= 9.0, 1.2 2025-10-24T19:48:48.869Z,1761335328.869 [DAT](INFO): got valid direction response: 19:48:47.8021 LVL= 17440, 27633, 18690, 28403, AGC= 60, IDX= 494, 0.33, 2.225, 0.808, 1.956, 1.837, PHS= 0.476,-0.982, 0.117, RAW= 136.3, 6.0, CAL= 141.0, -1.2, ROT= 9.0, 1.2 2025-10-24T19:48:48.869Z,1761335328.869 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-24T19:48:48.870Z,1761335328.870 [DAT](INFO): direction in FSK: [0.987472,0.156400,-0.020942] 2025-10-24T19:48:48.870Z,1761335328.870 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:48.881Z,1761335328.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.424625 m, nav range: 30.098038 m, bearing: 111.675308 deg, approach rate: -0.704978 m/s, LOS rate: -0.058596 deg/s, cmd heading: 99.494218 deg, new cmd heading: 99.424353 deg. 2025-10-24T19:48:48.882Z,1761335328.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735282 target range: 30.424625 and range: 30.60 m. 2025-10-24T19:48:48.890Z,1761335328.890 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.559648 2025-10-24T19:48:49.109Z,1761335329.109 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.778630 2025-10-24T19:48:49.272Z,1761335329.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215253,-0.972958,0.083777],[0.975500,-0.210236,0.064807],[-0.045442,0.095675,0.994375]] 2025-10-24T19:48:49.345Z,1761335329.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.503930 s, deltaX: -0.400000 m, approachRate: -0.793760 m/s, rangeRepo size: 4 2025-10-24T19:48:49.347Z,1761335329.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.026882 m, bearing: 111.527914 deg, lat: 36.779535 deg, lon: -121.859588 deg, deltaT: 0.503930 s, deltaX: -0.397743 m, approachRate: -0.789283 m/s, posRepo size: 4 2025-10-24T19:48:49.352Z,1761335329.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.03 m. 2025-10-24T19:48:49.355Z,1761335329.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.026882 m, nav range: 29.797832 m, bearing: 111.672298 deg, approach rate: 0.000000 m/s, LOS rate: -0.058596 deg/s, cmd heading: 99.424352 deg, new cmd heading: 99.337469 deg. 2025-10-24T19:48:49.362Z,1761335329.362 [DAT](INFO): DAT read: Rx Time:19:48:48.3020 2025-10-24T19:48:49.362Z,1761335329.362 [DAT](INFO): Rx dataTimestamp_ set to:1761335329.361714 2025-10-24T19:48:49.363Z,1761335329.363 [DAT](INFO): DAT read: Bearing 9.3, 1.2 (Local) 2025-10-24T19:48:49.364Z,1761335329.364 [DAT](INFO): Local bearing/azimuth received: Bearing 9.3, 1.2 (Local) 2025-10-24T19:48:49.366Z,1761335329.366 [DAT](INFO): DAT read: Range 10 to 50 : 30.0 m (trip time 20.0 ms) speed 0.5 2025-10-24T19:48:49.371Z,1761335329.371 [DAT](INFO): DAT read: 19:48:48.3020 LVL= 18608, 30241, 19954, 30963, AGC= 60, IDX= 509, 0.30,-2.455, 2.419,-2.731,-2.845, PHS= 0.478,-0.973, 0.111, RAW= 135.9, 5.9, CAL= 140.7, -1.2, ROT= 9.3, 1.2 2025-10-24T19:48:49.372Z,1761335329.372 [DAT](INFO): got valid direction response: 19:48:48.3020 LVL= 18608, 30241, 19954, 30963, AGC= 60, IDX= 509, 0.30,-2.455, 2.419,-2.731,-2.845, PHS= 0.478,-0.973, 0.111, RAW= 135.9, 5.9, CAL= 140.7, -1.2, ROT= 9.3, 1.2 2025-10-24T19:48:49.373Z,1761335329.373 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-24T19:48:49.373Z,1761335329.373 [DAT](INFO): direction in FSK: [0.986639,0.161568,-0.020942] 2025-10-24T19:48:49.374Z,1761335329.374 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:49.379Z,1761335329.379 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.048839 2025-10-24T19:48:49.380Z,1761335329.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733766 target range: 30.026882 and range: 30.20 m. 2025-10-24T19:48:49.614Z,1761335329.614 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.283301 2025-10-24T19:48:49.647Z,1761335329.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.214101,-0.973219,0.083704],[0.975743,-0.209073,0.064913],[-0.045674,0.095572,0.994374]] 2025-10-24T19:48:49.740Z,1761335329.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.504076 s, deltaX: -0.200001 m, approachRate: -0.396767 m/s, rangeRepo size: 4 2025-10-24T19:48:49.759Z,1761335329.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.828028 m, bearing: 111.759219 deg, lat: 36.779535 deg, lon: -121.859588 deg, deltaT: 0.504076 s, deltaX: -0.198854 m, approachRate: -0.394493 m/s, posRepo size: 4 2025-10-24T19:48:49.765Z,1761335329.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.83 m. 2025-10-24T19:48:49.767Z,1761335329.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.828028 m, nav range: 29.573853 m, bearing: 111.647683 deg, approach rate: 0.000000 m/s, LOS rate: -0.058596 deg/s, cmd heading: 99.337472 deg, new cmd heading: 99.272238 deg. 2025-10-24T19:48:49.774Z,1761335329.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.732627 target range: 29.828028 and range: 30.00 m. 2025-10-24T19:48:49.867Z,1761335329.867 [DAT](INFO): DAT read: Rx Time:19:48:48.8017 2025-10-24T19:48:49.868Z,1761335329.868 [DAT](INFO): Rx dataTimestamp_ set to:1761335329.867917 2025-10-24T19:48:49.871Z,1761335329.871 [DAT](INFO): DAT read: Bearing 9.9, 0.7 (Local) 2025-10-24T19:48:49.871Z,1761335329.871 [DAT](INFO): Local bearing/azimuth received: Bearing 9.9, 0.7 (Local) 2025-10-24T19:48:49.878Z,1761335329.878 [DAT](INFO): DAT read: Range 10 to 50 : 29.6 m (trip time 19.7 ms) speed 0.6 2025-10-24T19:48:49.895Z,1761335329.895 [DAT](INFO): DAT read: 19:48:48.8017 LVL= 18528, 29409, 19410, 31219, AGC= 60, IDX= 506, 0.29, 2.552, 1.150, 2.259, 2.164, PHS= 0.476,-0.967, 0.092, RAW= 135.1, 6.2, CAL= 140.1, -0.7, ROT= 9.9, 0.7 2025-10-24T19:48:49.906Z,1761335329.906 [DAT](INFO): got valid direction response: 19:48:48.8017 LVL= 18528, 29409, 19410, 31219, AGC= 60, IDX= 506, 0.29, 2.552, 1.150, 2.259, 2.164, PHS= 0.476,-0.967, 0.092, RAW= 135.1, 6.2, CAL= 140.1, -0.7, ROT= 9.9, 0.7 2025-10-24T19:48:49.907Z,1761335329.907 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-24T19:48:49.909Z,1761335329.909 [DAT](INFO): direction in FSK: [0.985036,0.171916,-0.012217] 2025-10-24T19:48:49.909Z,1761335329.909 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:49.919Z,1761335329.919 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.588797 2025-10-24T19:48:50.064Z,1761335330.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212956,-0.973477,0.083614],[0.975979,-0.207913,0.065093],[-0.045982,0.095467,0.994370]] 2025-10-24T19:48:50.117Z,1761335330.117 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.786878 2025-10-24T19:48:50.135Z,1761335330.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.506203 s, deltaX: -0.400000 m, approachRate: -0.790196 m/s, rangeRepo size: 4 2025-10-24T19:48:50.142Z,1761335330.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.430321 m, bearing: 112.238713 deg, lat: 36.779535 deg, lon: -121.859588 deg, deltaT: 0.506203 s, deltaX: -0.397707 m, approachRate: -0.785667 m/s, posRepo size: 4 2025-10-24T19:48:50.142Z,1761335330.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.43 m. 2025-10-24T19:48:50.149Z,1761335330.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.430321 m, nav range: 29.286469 m, bearing: 111.633575 deg, approach rate: 0.000000 m/s, LOS rate: -0.058596 deg/s, cmd heading: 99.272237 deg, new cmd heading: 99.198599 deg. 2025-10-24T19:48:50.150Z,1761335330.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.731342 target range: 29.430321 and range: 29.60 m. 2025-10-24T19:48:50.373Z,1761335330.373 [DAT](INFO): DAT read: Rx Time:19:48:49.3015 2025-10-24T19:48:50.373Z,1761335330.373 [DAT](INFO): Rx dataTimestamp_ set to:1761335330.373181 2025-10-24T19:48:50.375Z,1761335330.375 [DAT](INFO): DAT read: Bearing 9.8, 0.3 (Local) 2025-10-24T19:48:50.375Z,1761335330.375 [DAT](INFO): Local bearing/azimuth received: Bearing 9.8, 0.3 (Local) 2025-10-24T19:48:50.377Z,1761335330.377 [DAT](INFO): DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed 0.5 2025-10-24T19:48:50.411Z,1761335330.411 [DAT](INFO): DAT read: 19:48:49.3015 LVL= 18128, 28785, 20610, 30963, AGC= 60, IDX= 504, 0.34, 1.903, 0.482, 1.608, 1.517, PHS= 0.474,-0.988, 0.088, RAW= 135.2, 6.6, CAL= 140.2, -0.3, ROT= 9.8, 0.3 2025-10-24T19:48:50.424Z,1761335330.424 [DAT](INFO): got valid direction response: 19:48:49.3015 LVL= 18128, 28785, 20610, 30963, AGC= 60, IDX= 504, 0.34, 1.903, 0.482, 1.608, 1.517, PHS= 0.474,-0.988, 0.088, RAW= 135.2, 6.6, CAL= 140.2, -0.3, ROT= 9.8, 0.3 2025-10-24T19:48:50.425Z,1761335330.425 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-24T19:48:50.426Z,1761335330.426 [DAT](INFO): direction in FSK: [0.985394,0.170207,-0.005236] 2025-10-24T19:48:50.427Z,1761335330.427 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:50.447Z,1761335330.447 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.116420 2025-10-24T19:48:50.589Z,1761335330.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.505264 s, deltaX: -0.300001 m, approachRate: -0.593751 m/s, rangeRepo size: 4 2025-10-24T19:48:50.591Z,1761335330.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.131462 m, bearing: 112.098339 deg, lat: 36.779534 deg, lon: -121.859588 deg, deltaT: 0.505264 s, deltaX: -0.298859 m, approachRate: -0.591490 m/s, posRepo size: 4 2025-10-24T19:48:50.591Z,1761335330.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.13 m. 2025-10-24T19:48:50.594Z,1761335330.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.131462 m, nav range: 29.062199 m, bearing: 111.843518 deg, approach rate: 0.000000 m/s, LOS rate: -0.058596 deg/s, cmd heading: 99.198601 deg, new cmd heading: 99.118991 deg. 2025-10-24T19:48:50.596Z,1761335330.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.729953 target range: 29.131462 and range: 29.30 m. 2025-10-24T19:48:50.621Z,1761335330.621 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.290550 2025-10-24T19:48:50.873Z,1761335330.873 [DAT](INFO): DAT read: Rx Time:19:48:49.8012 2025-10-24T19:48:50.874Z,1761335330.874 [DAT](INFO): Rx dataTimestamp_ set to:1761335330.873446 2025-10-24T19:48:50.875Z,1761335330.875 [DAT](INFO): DAT read: Bearing 10.0, 0.6 (Local) 2025-10-24T19:48:50.875Z,1761335330.875 [DAT](INFO): Local bearing/azimuth received: Bearing 10.0, 0.6 (Local) 2025-10-24T19:48:50.878Z,1761335330.878 [DAT](INFO): DAT read: Range 10 to 50 : 28.8 m (trip time 19.2 ms) speed 0.5 2025-10-24T19:48:50.883Z,1761335330.883 [DAT](INFO): DAT read: 19:48:49.8012 LVL= 17280, 27713, 17394, 28819, AGC= 57, IDX= 501, 0.46,-0.543,-1.972,-0.846,-0.940, PHS= 0.485,-0.986, 0.090, RAW= 135.0, 6.3, CAL= 140.0, -0.6, ROT= 10.0, 0.6 2025-10-24T19:48:50.884Z,1761335330.884 [DAT](INFO): got valid direction response: 19:48:49.8012 LVL= 17280, 27713, 17394, 28819, AGC= 57, IDX= 501, 0.46,-0.543,-1.972,-0.846,-0.940, PHS= 0.485,-0.986, 0.090, RAW= 135.0, 6.3, CAL= 140.0, -0.6, ROT= 10.0, 0.6 2025-10-24T19:48:50.885Z,1761335330.885 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-24T19:48:50.885Z,1761335330.885 [DAT](INFO): direction in FSK: [0.984754,0.173639,-0.010472] 2025-10-24T19:48:50.886Z,1761335330.886 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:50.895Z,1761335330.895 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.564226 2025-10-24T19:48:50.970Z,1761335330.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.500265 s, deltaX: -0.500000 m, approachRate: -0.999470 m/s, rangeRepo size: 4 2025-10-24T19:48:50.982Z,1761335330.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.634338 m, bearing: 112.328050 deg, lat: 36.779533 deg, lon: -121.859588 deg, deltaT: 0.500265 s, deltaX: -0.497124 m, approachRate: -0.993721 m/s, posRepo size: 4 2025-10-24T19:48:50.983Z,1761335330.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.63 m. 2025-10-24T19:48:50.998Z,1761335330.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.634338 m, nav range: 28.882662 m, bearing: 112.092532 deg, approach rate: 0.000000 m/s, LOS rate: -0.058596 deg/s, cmd heading: 99.118988 deg, new cmd heading: 99.051816 deg. 2025-10-24T19:48:51.008Z,1761335331.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728780 target range: 28.634338 and range: 28.80 m. 2025-10-24T19:48:51.125Z,1761335331.125 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.794672 2025-10-24T19:48:51.372Z,1761335331.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:51.374Z,1761335331.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.63 m. 2025-10-24T19:48:51.378Z,1761335331.378 [DAT](INFO): DAT read: Rx Time:19:48:50.3011 2025-10-24T19:48:51.378Z,1761335331.378 [DAT](INFO): Rx dataTimestamp_ set to:1761335331.378112 2025-10-24T19:48:51.380Z,1761335331.380 [DAT](INFO): DAT read: Bearing 9.9, 0.2 (Local) 2025-10-24T19:48:51.380Z,1761335331.380 [DAT](INFO): Local bearing/azimuth received: Bearing 9.9, 0.2 (Local) 2025-10-24T19:48:51.382Z,1761335331.382 [DAT](INFO): DAT read: Range 10 to 50 : 28.7 m (trip time 19.1 ms) speed 0.5 2025-10-24T19:48:51.387Z,1761335331.387 [DAT](INFO): DAT read: 19:48:50.3011 LVL= 16928, 24545, 16482, 26643, AGC= 56, IDX= 500, 0.45, 0.725,-0.738, 0.415, 0.325, PHS= 0.488,-1.016, 0.087, RAW= 135.1, 6.6, CAL= 140.1, -0.2, ROT= 9.9, 0.2 2025-10-24T19:48:51.388Z,1761335331.388 [DAT](INFO): got valid direction response: 19:48:50.3011 LVL= 16928, 24545, 16482, 26643, AGC= 56, IDX= 500, 0.45, 0.725,-0.738, 0.415, 0.325, PHS= 0.488,-1.016, 0.087, RAW= 135.1, 6.6, CAL= 140.1, -0.2, ROT= 9.9, 0.2 2025-10-24T19:48:51.388Z,1761335331.388 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-24T19:48:51.389Z,1761335331.389 [DAT](INFO): direction in FSK: [0.985103,0.171928,-0.003491] 2025-10-24T19:48:51.390Z,1761335331.390 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:51.397Z,1761335331.397 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.067191 2025-10-24T19:48:51.399Z,1761335331.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.634338 m, nav range: 28.625229 m, bearing: 112.083595 deg, approach rate: -0.636336 m/s, LOS rate: -0.022290 deg/s, cmd heading: 99.051813 deg, new cmd heading: 99.024761 deg. 2025-10-24T19:48:51.405Z,1761335331.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728308 target range: 28.634338 and range: 28.80 m. 2025-10-24T19:48:51.629Z,1761335331.629 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.299192 2025-10-24T19:48:51.687Z,1761335331.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206885,-0.974898,0.082299],[0.977245,-0.201890,0.065066],[-0.046817,0.093888,0.994481]] 2025-10-24T19:48:51.792Z,1761335331.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504666 s, deltaX: -0.099998 m, approachRate: -0.198148 m/s, rangeRepo size: 4 2025-10-24T19:48:51.794Z,1761335331.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.534725 m, bearing: 111.833478 deg, lat: 36.779533 deg, lon: -121.859588 deg, deltaT: 0.504666 s, deltaX: -0.099613 m, approachRate: -0.197384 m/s, posRepo size: 4 2025-10-24T19:48:51.800Z,1761335331.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.53 m. 2025-10-24T19:48:51.803Z,1761335331.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.534725 m, nav range: 28.375742 m, bearing: 112.077903 deg, approach rate: 0.000000 m/s, LOS rate: -0.022290 deg/s, cmd heading: 99.024759 deg, new cmd heading: 98.997136 deg. 2025-10-24T19:48:51.808Z,1761335331.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727826 target range: 28.534725 and range: 28.70 m. 2025-10-24T19:48:51.882Z,1761335331.882 [DAT](INFO): DAT read: Rx Time:19:48:50.8008 2025-10-24T19:48:51.882Z,1761335331.882 [DAT](INFO): Rx dataTimestamp_ set to:1761335331.881811 2025-10-24T19:48:51.883Z,1761335331.883 [DAT](INFO): DAT read: Bearing 10.6, 0.4 (Local) 2025-10-24T19:48:51.884Z,1761335331.884 [DAT](INFO): Local bearing/azimuth received: Bearing 10.6, 0.4 (Local) 2025-10-24T19:48:51.886Z,1761335331.886 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.5 2025-10-24T19:48:51.893Z,1761335331.893 [DAT](INFO): DAT read: 19:48:50.8008 LVL= 19504, 31985, 20466, 32755, AGC= 57, IDX= 497, 0.50,-0.216,-1.640,-0.539,-0.619, PHS= 0.491,-0.974, 0.077, RAW= 134.1, 6.3, CAL= 139.4, -0.4, ROT= 10.6, 0.4 2025-10-24T19:48:51.895Z,1761335331.895 [DAT](INFO): got valid direction response: 19:48:50.8008 LVL= 19504, 31985, 20466, 32755, AGC= 57, IDX= 497, 0.50,-0.216,-1.640,-0.539,-0.619, PHS= 0.491,-0.974, 0.077, RAW= 134.1, 6.3, CAL= 139.4, -0.4, ROT= 10.6, 0.4 2025-10-24T19:48:51.897Z,1761335331.897 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-24T19:48:51.898Z,1761335331.898 [DAT](INFO): direction in FSK: [0.982911,0.183947,-0.006981] 2025-10-24T19:48:51.899Z,1761335331.899 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:51.905Z,1761335331.905 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.575222 2025-10-24T19:48:52.134Z,1761335332.134 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.803602 2025-10-24T19:48:52.138Z,1761335332.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204528,-0.975463,0.081490],[0.977710,-0.199543,0.065309],[-0.047446,0.093031,0.994532]] 2025-10-24T19:48:52.187Z,1761335332.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503699 s, deltaX: -0.500000 m, approachRate: -0.992656 m/s, rangeRepo size: 4 2025-10-24T19:48:52.194Z,1761335332.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.037605 m, bearing: 112.413533 deg, lat: 36.779533 deg, lon: -121.859588 deg, deltaT: 0.503699 s, deltaX: -0.497120 m, approachRate: -0.986938 m/s, posRepo size: 4 2025-10-24T19:48:52.195Z,1761335332.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m. 2025-10-24T19:48:52.202Z,1761335332.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.037605 m, nav range: 28.084194 m, bearing: 112.114690 deg, approach rate: 0.000000 m/s, LOS rate: -0.022290 deg/s, cmd heading: 98.997137 deg, new cmd heading: 98.970410 deg. 2025-10-24T19:48:52.210Z,1761335332.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727360 target range: 28.037605 and range: 28.20 m. 2025-10-24T19:48:52.386Z,1761335332.386 [DAT](INFO): DAT read: Rx Time:19:48:51.3007 2025-10-24T19:48:52.387Z,1761335332.387 [DAT](INFO): Rx dataTimestamp_ set to:1761335332.386882 2025-10-24T19:48:52.389Z,1761335332.389 [DAT](INFO): DAT read: Bearing 11.8, -1.3 (Local) 2025-10-24T19:48:52.389Z,1761335332.389 [DAT](INFO): Local bearing/azimuth received: Bearing 11.8, -1.3 (Local) 2025-10-24T19:48:52.391Z,1761335332.391 [DAT](INFO): DAT read: Range 10 to 50 : 28.1 m (trip time 18.7 ms) speed 0.5 2025-10-24T19:48:52.396Z,1761335332.396 [DAT](INFO): DAT read: 19:48:51.3007 LVL= 18800, 32753, 22354, 32755, AGC= 58, IDX= 497,-0.33,-1.724,-3.074,-2.060,-2.090, PHS= 0.454,-0.938, 0.027, RAW= 132.6, 7.4, CAL= 138.2, 1.3, ROT= 11.8, -1.3 2025-10-24T19:48:52.397Z,1761335332.397 [DAT](INFO): got valid direction response: 19:48:51.3007 LVL= 18800, 32753, 22354, 32755, AGC= 58, IDX= 497,-0.33,-1.724,-3.074,-2.060,-2.090, PHS= 0.454,-0.938, 0.027, RAW= 132.6, 7.4, CAL= 138.2, 1.3, ROT= 11.8, -1.3 2025-10-24T19:48:52.397Z,1761335332.397 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-24T19:48:52.398Z,1761335332.398 [DAT](INFO): direction in FSK: [0.978615,0.204443,0.022687] 2025-10-24T19:48:52.399Z,1761335332.399 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:52.406Z,1761335332.406 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.075656 2025-10-24T19:48:52.600Z,1761335332.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.202638,-0.975876,0.081259],[0.978090,-0.197654,0.065372],[-0.047734,0.092726,0.994547]] 2025-10-24T19:48:52.637Z,1761335332.637 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.306470 2025-10-24T19:48:52.683Z,1761335332.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.505071 s, deltaX: -0.100000 m, approachRate: -0.197993 m/s, rangeRepo size: 4 2025-10-24T19:48:52.685Z,1761335332.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.938297 m, bearing: 113.326966 deg, lat: 36.779533 deg, lon: -121.859589 deg, deltaT: 0.505071 s, deltaX: -0.099308 m, approachRate: -0.196622 m/s, posRepo size: 4 2025-10-24T19:48:52.686Z,1761335332.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.94 m. 2025-10-24T19:48:52.697Z,1761335332.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.938297 m, nav range: 27.701893 m, bearing: 112.167443 deg, approach rate: 0.000000 m/s, LOS rate: -0.022290 deg/s, cmd heading: 98.970411 deg, new cmd heading: 98.937288 deg. 2025-10-24T19:48:52.698Z,1761335332.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726781 target range: 27.938297 and range: 28.10 m. 2025-10-24T19:48:52.891Z,1761335332.891 [DAT](INFO): DAT read: Rx Time:19:48:51.8004 2025-10-24T19:48:52.891Z,1761335332.891 [DAT](INFO): Rx dataTimestamp_ set to:1761335332.890961 2025-10-24T19:48:52.894Z,1761335332.894 [DAT](INFO): DAT read: Bearing 12.2, -1.4 (Local) 2025-10-24T19:48:52.894Z,1761335332.894 [DAT](INFO): Local bearing/azimuth received: Bearing 12.2, -1.4 (Local) 2025-10-24T19:48:52.898Z,1761335332.898 [DAT](INFO): DAT read: Range 10 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5 2025-10-24T19:48:52.907Z,1761335332.907 [DAT](INFO): DAT read: 19:48:51.8004 LVL= 18992, 32753, 21074, 32755, AGC= 57, IDX= 510,-0.33,-2.953, 2.000, 2.987, 2.967, PHS= 0.451,-0.921, 0.017, RAW= 132.0, 7.5, CAL= 137.8, 1.4, ROT= 12.2, -1.4 2025-10-24T19:48:52.909Z,1761335332.909 [DAT](INFO): got valid direction response: 19:48:51.8004 LVL= 18992, 32753, 21074, 32755, AGC= 57, IDX= 510,-0.33,-2.953, 2.000, 2.987, 2.967, PHS= 0.451,-0.921, 0.017, RAW= 132.0, 7.5, CAL= 137.8, 1.4, ROT= 12.2, -1.4 2025-10-24T19:48:52.909Z,1761335332.909 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-24T19:48:52.911Z,1761335332.911 [DAT](INFO): direction in FSK: [0.977124,0.211262,0.024432] 2025-10-24T19:48:52.912Z,1761335332.912 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:52.949Z,1761335332.949 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.618956 2025-10-24T19:48:53.026Z,1761335333.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200373,-0.976402,0.080555],[0.978537,-0.195414,0.065413],[-0.048128,0.091933,0.994601]] 2025-10-24T19:48:53.076Z,1761335333.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.504079 s, deltaX: -0.500000 m, approachRate: -0.991908 m/s, rangeRepo size: 4 2025-10-24T19:48:53.079Z,1761335333.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.441175 m, bearing: 113.584407 deg, lat: 36.779532 deg, lon: -121.859590 deg, deltaT: 0.504079 s, deltaX: -0.497122 m, approachRate: -0.986198 m/s, posRepo size: 4 2025-10-24T19:48:53.096Z,1761335333.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.44 m. 2025-10-24T19:48:53.098Z,1761335333.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.441175 m, nav range: 27.480371 m, bearing: 112.406837 deg, approach rate: 0.000000 m/s, LOS rate: -0.022290 deg/s, cmd heading: 98.937291 deg, new cmd heading: 98.911276 deg. 2025-10-24T19:48:53.099Z,1761335333.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726327 target range: 27.441175 and range: 27.60 m. 2025-10-24T19:48:53.141Z,1761335333.141 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.810941 2025-10-24T19:48:53.393Z,1761335333.393 [DAT](INFO): DAT read: Rx Time:19:48:52.3003 2025-10-24T19:48:53.394Z,1761335333.394 [DAT](INFO): Rx dataTimestamp_ set to:1761335333.393252 2025-10-24T19:48:53.395Z,1761335333.395 [DAT](INFO): DAT read: Range 10 to 50 : 27.5 m (trip time 18.3 ms) speed 0.5 2025-10-24T19:48:53.395Z,1761335333.395 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-10-24T19:48:53.396Z,1761335333.396 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.066093 2025-10-24T19:48:53.538Z,1761335333.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:53.545Z,1761335333.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.502291 s, deltaX: -0.100000 m, approachRate: -0.199089 m/s, rangeRepo size: 4 2025-10-24T19:48:53.545Z,1761335333.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.44 m. 2025-10-24T19:48:53.553Z,1761335333.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.441175 m, nav range: 27.203608 m, bearing: 112.399813 deg, approach rate: -0.590489 m/s, LOS rate: -0.015138 deg/s, cmd heading: 98.911275 deg, new cmd heading: 98.889989 deg. 2025-10-24T19:48:53.553Z,1761335333.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725956 target range: 27.441175 and range: 27.50 m. 2025-10-24T19:48:53.646Z,1761335333.646 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.315869 2025-10-24T19:48:53.855Z,1761335333.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195675,-0.977394,0.080081],[0.979449,-0.190707,0.065661],[-0.048905,0.091283,0.994623]] 2025-10-24T19:48:53.898Z,1761335333.898 [DAT](INFO): DAT read: Rx Time:19:48:52.8000 2025-10-24T19:48:53.899Z,1761335333.899 [DAT](INFO): Rx dataTimestamp_ set to:1761335333.898266 2025-10-24T19:48:53.901Z,1761335333.901 [DAT](INFO): DAT read: Bearing 12.4, -1.4 (Local) 2025-10-24T19:48:53.901Z,1761335333.901 [DAT](INFO): Local bearing/azimuth received: Bearing 12.4, -1.4 (Local) 2025-10-24T19:48:53.904Z,1761335333.904 [DAT](INFO): DAT read: Range 10 to 50 : 27.0 m (trip time 18.0 ms) speed 0.5 2025-10-24T19:48:53.911Z,1761335333.911 [DAT](INFO): DAT read: 19:48:52.8000 LVL= 18656, 31825, 19090, 32755, AGC= 56, IDX= 506,-0.45,-2.415, 2.545,-2.761,-2.780, PHS= 0.453,-0.912, 0.016, RAW= 131.7, 7.4, CAL= 137.6, 1.4, ROT= 12.4, -1.4 2025-10-24T19:48:53.913Z,1761335333.913 [DAT](INFO): got valid direction response: 19:48:52.8000 LVL= 18656, 31825, 19090, 32755, AGC= 56, IDX= 506,-0.45,-2.415, 2.545,-2.761,-2.780, PHS= 0.453,-0.912, 0.016, RAW= 131.7, 7.4, CAL= 137.6, 1.4, ROT= 12.4, -1.4 2025-10-24T19:48:53.913Z,1761335333.913 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-24T19:48:53.915Z,1761335333.915 [DAT](INFO): direction in FSK: [0.976381,0.214671,0.024432] 2025-10-24T19:48:53.915Z,1761335333.915 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:53.922Z,1761335333.922 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.591177 2025-10-24T19:48:53.937Z,1761335333.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.505014 s, deltaX: -0.500000 m, approachRate: -0.990072 m/s, rangeRepo size: 4 2025-10-24T19:48:53.939Z,1761335333.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.844711 m, bearing: 113.510573 deg, lat: 36.779528 deg, lon: -121.859590 deg, deltaT: 1.007305 s, deltaX: -0.596464 m, approachRate: -0.592139 m/s, posRepo size: 4 2025-10-24T19:48:53.939Z,1761335333.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.84 m. 2025-10-24T19:48:53.952Z,1761335333.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.844711 m, nav range: 27.156050 m, bearing: 113.224849 deg, approach rate: 0.000000 m/s, LOS rate: -0.015138 deg/s, cmd heading: 98.889992 deg, new cmd heading: 98.872004 deg. 2025-10-24T19:48:53.953Z,1761335333.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725642 target range: 26.844711 and range: 27.00 m. 2025-10-24T19:48:54.155Z,1761335334.155 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.824433 2025-10-24T19:48:54.327Z,1761335334.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193185,-0.977877,0.080220],[0.979921,-0.188184,0.065890],[-0.049336,0.091338,0.994597]] 2025-10-24T19:48:54.411Z,1761335334.411 [DAT](INFO): DAT read: Rx Time:19:48:53.3000 2025-10-24T19:48:54.413Z,1761335334.413 [DAT](INFO): Rx dataTimestamp_ set to:1761335334.411335 2025-10-24T19:48:54.416Z,1761335334.416 [DAT](INFO): DAT read: Bearing 12.3, -0.8 (Local) 2025-10-24T19:48:54.417Z,1761335334.417 [DAT](INFO): Local bearing/azimuth received: Bearing 12.3, -0.8 (Local) 2025-10-24T19:48:54.419Z,1761335334.419 [DAT](INFO): DAT read: Range 10 to 50 : 26.9 m (trip time 17.9 ms) speed 0.5 2025-10-24T19:48:54.427Z,1761335334.427 [DAT](INFO): DAT read: 19:48:53.3000 LVL= 19424, 32561, 20242, 32755, AGC= 56, IDX= 503, 0.46,-1.704,-3.056,-2.060,-2.088, PHS= 0.472,-0.922, 0.025, RAW= 131.7, 6.9, CAL= 137.7, 0.8, ROT= 12.3, -0.8 2025-10-24T19:48:54.430Z,1761335334.430 [DAT](INFO): got valid direction response: 19:48:53.3000 LVL= 19424, 32561, 20242, 32755, AGC= 56, IDX= 503, 0.46,-1.704,-3.056,-2.060,-2.088, PHS= 0.472,-0.922, 0.025, RAW= 131.7, 6.9, CAL= 137.7, 0.8, ROT= 12.3, -0.8 2025-10-24T19:48:54.431Z,1761335334.431 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-24T19:48:54.432Z,1761335334.432 [DAT](INFO): direction in FSK: [0.976950,0.213010,0.013962] 2025-10-24T19:48:54.432Z,1761335334.432 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:54.436Z,1761335334.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.84 m. 2025-10-24T19:48:54.439Z,1761335334.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.844711 m, nav range: 26.880337 m, bearing: 113.218336 deg, approach rate: -0.605017 m/s, LOS rate: -0.014439 deg/s, cmd heading: 98.872002 deg, new cmd heading: 98.852261 deg. 2025-10-24T19:48:54.444Z,1761335334.444 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.105283 2025-10-24T19:48:54.445Z,1761335334.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725297 target range: 26.844711 and range: 27.00 m. 2025-10-24T19:48:54.662Z,1761335334.662 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.331581 2025-10-24T19:48:54.741Z,1761335334.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190380,-0.978377,0.080836],[0.980449,-0.185316,0.066163],[-0.049752,0.091851,0.994529]] 2025-10-24T19:48:54.789Z,1761335334.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.513069 s, deltaX: -0.100000 m, approachRate: -0.194906 m/s, rangeRepo size: 4 2025-10-24T19:48:54.791Z,1761335334.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.745390 m, bearing: 113.160725 deg, lat: 36.779528 deg, lon: -121.859590 deg, deltaT: 0.513069 s, deltaX: -0.099321 m, approachRate: -0.193583 m/s, posRepo size: 4 2025-10-24T19:48:54.792Z,1761335334.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-24T19:48:54.796Z,1761335334.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.745390 m, nav range: 26.646671 m, bearing: 113.248651 deg, approach rate: 0.000000 m/s, LOS rate: -0.014439 deg/s, cmd heading: 98.852262 deg, new cmd heading: 98.835062 deg. 2025-10-24T19:48:54.797Z,1761335334.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724997 target range: 26.745390 and range: 26.90 m. 2025-10-24T19:48:54.915Z,1761335334.915 [DAT](INFO): DAT read: Rx Time:19:48:53.7997 2025-10-24T19:48:54.915Z,1761335334.915 [DAT](INFO): Rx dataTimestamp_ set to:1761335334.914931 2025-10-24T19:48:54.918Z,1761335334.918 [DAT](INFO): DAT read: Bearing 12.4, -1.1 (Local) 2025-10-24T19:48:54.918Z,1761335334.918 [DAT](INFO): Local bearing/azimuth received: Bearing 12.4, -1.1 (Local) 2025-10-24T19:48:54.921Z,1761335334.921 [DAT](INFO): DAT read: Range 10 to 50 : 26.4 m (trip time 17.6 ms) speed 0.6 2025-10-24T19:48:54.929Z,1761335334.929 [DAT](INFO): DAT read: 19:48:53.7997 LVL= 19296, 31473, 18418, 32611, AGC= 57, IDX= 500, 0.33,-2.427, 2.482,-2.792,-2.815, PHS= 0.476,-0.939, 0.020, RAW= 131.6, 7.1, CAL= 137.6, 1.1, ROT= 12.4, -1.1 2025-10-24T19:48:54.930Z,1761335334.930 [DAT](INFO): got valid direction response: 19:48:53.7997 LVL= 19296, 31473, 18418, 32611, AGC= 57, IDX= 500, 0.33,-2.427, 2.482,-2.792,-2.815, PHS= 0.476,-0.939, 0.020, RAW= 131.6, 7.1, CAL= 137.6, 1.1, ROT= 12.4, -1.1 2025-10-24T19:48:54.930Z,1761335334.930 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-24T19:48:54.931Z,1761335334.931 [DAT](INFO): direction in FSK: [0.976492,0.214696,0.019197] 2025-10-24T19:48:54.931Z,1761335334.931 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:54.935Z,1761335334.935 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.605001 2025-10-24T19:48:55.111Z,1761335335.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187493,-0.978965,0.080464],[0.980990,-0.182446,0.066119],[-0.050048,0.091332,0.994562]] 2025-10-24T19:48:55.165Z,1761335335.165 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.834674 2025-10-24T19:48:55.166Z,1761335335.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.503596 s, deltaX: -0.500000 m, approachRate: -0.992859 m/s, rangeRepo size: 4 2025-10-24T19:48:55.172Z,1761335335.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.248264 m, bearing: 113.062847 deg, lat: 36.779528 deg, lon: -121.859591 deg, deltaT: 0.503596 s, deltaX: -0.497126 m, approachRate: -0.987152 m/s, posRepo size: 4 2025-10-24T19:48:55.173Z,1761335335.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-24T19:48:55.176Z,1761335335.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.248264 m, nav range: 26.307295 m, bearing: 113.369654 deg, approach rate: 0.000000 m/s, LOS rate: -0.014439 deg/s, cmd heading: 98.835064 deg, new cmd heading: 98.818839 deg. 2025-10-24T19:48:55.181Z,1761335335.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724714 target range: 26.248264 and range: 26.40 m. 2025-10-24T19:48:55.417Z,1761335335.417 [DAT](INFO): DAT read: Rx Time:19:48:54.2996 2025-10-24T19:48:55.418Z,1761335335.418 [DAT](INFO): Rx dataTimestamp_ set to:1761335335.417627 2025-10-24T19:48:55.419Z,1761335335.419 [DAT](INFO): DAT read: Bearing 12.3, -1.0 (Local) 2025-10-24T19:48:55.419Z,1761335335.419 [DAT](INFO): Local bearing/azimuth received: Bearing 12.3, -1.0 (Local) 2025-10-24T19:48:55.422Z,1761335335.422 [DAT](INFO): DAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed 0.5 2025-10-24T19:48:55.426Z,1761335335.426 [DAT](INFO): DAT read: 19:48:54.2996 LVL= 19568, 32753, 19570, 32755, AGC= 57, IDX= 499, 0.15,-0.201,-1.625,-0.578,-0.606, PHS= 0.493,-0.972, 0.025, RAW= 131.8, 7.1, CAL= 137.7, 1.0, ROT= 12.3, -1.0 2025-10-24T19:48:55.427Z,1761335335.427 [DAT](INFO): got valid direction response: 19:48:54.2996 LVL= 19568, 32753, 19570, 32755, AGC= 57, IDX= 499, 0.15,-0.201,-1.625,-0.578,-0.606, PHS= 0.493,-0.972, 0.025, RAW= 131.8, 7.1, CAL= 137.7, 1.0, ROT= 12.3, -1.0 2025-10-24T19:48:55.428Z,1761335335.428 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-24T19:48:55.429Z,1761335335.429 [DAT](INFO): direction in FSK: [0.976897,0.212998,0.017452] 2025-10-24T19:48:55.430Z,1761335335.430 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:55.433Z,1761335335.433 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.102852 2025-10-24T19:48:55.638Z,1761335335.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.502696 s, deltaX: -0.100000 m, approachRate: -0.198928 m/s, rangeRepo size: 4 2025-10-24T19:48:55.640Z,1761335335.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.149359 m, bearing: 112.973352 deg, lat: 36.779528 deg, lon: -121.859591 deg, deltaT: 0.502696 s, deltaX: -0.098906 m, approachRate: -0.196750 m/s, posRepo size: 4 2025-10-24T19:48:55.641Z,1761335335.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.15 m. 2025-10-24T19:48:55.643Z,1761335335.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.149359 m, nav range: 26.009954 m, bearing: 113.342864 deg, approach rate: 0.000000 m/s, LOS rate: -0.014439 deg/s, cmd heading: 98.818842 deg, new cmd heading: 98.798318 deg. 2025-10-24T19:48:55.645Z,1761335335.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724356 target range: 26.149359 and range: 26.30 m. 2025-10-24T19:48:55.669Z,1761335335.669 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.338385 2025-10-24T19:48:55.922Z,1761335335.922 [DAT](INFO): DAT read: Rx Time:19:48:54.7992 2025-10-24T19:48:55.923Z,1761335335.923 [DAT](INFO): Rx dataTimestamp_ set to:1761335335.922330 2025-10-24T19:48:55.925Z,1761335335.925 [DAT](INFO): DAT read: Bearing 11.7, -0.6 (Local) 2025-10-24T19:48:55.925Z,1761335335.925 [DAT](INFO): Local bearing/azimuth received: Bearing 11.7, -0.6 (Local) 2025-10-24T19:48:55.927Z,1761335335.927 [DAT](INFO): DAT read: Range 10 to 50 : 25.7 m (trip time 17.1 ms) speed 0.5 2025-10-24T19:48:55.937Z,1761335335.937 [DAT](INFO): DAT read: 19:48:54.7992 LVL= 18128, 28897, 17698, 32035, AGC= 57, IDX= 496, 0.06,-1.112,-2.590,-1.487,-1.532, PHS= 0.508,-1.011, 0.042, RAW= 132.6, 6.9, CAL= 138.3, 0.6, ROT= 11.7, -0.6 2025-10-24T19:48:55.938Z,1761335335.938 [DAT](INFO): got valid direction response: 19:48:54.7992 LVL= 18128, 28897, 17698, 32035, AGC= 57, IDX= 496, 0.06,-1.112,-2.590,-1.487,-1.532, PHS= 0.508,-1.011, 0.042, RAW= 132.6, 6.9, CAL= 138.3, 0.6, ROT= 11.7, -0.6 2025-10-24T19:48:55.938Z,1761335335.938 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-24T19:48:55.939Z,1761335335.939 [DAT](INFO): direction in FSK: [0.979169,0.202776,0.010472] 2025-10-24T19:48:55.939Z,1761335335.939 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:55.943Z,1761335335.943 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.612733 2025-10-24T19:48:56.014Z,1761335336.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179447,-0.980193,0.083785],[0.982474,-0.174192,0.066351],[-0.050442,0.094223,0.994272]] 2025-10-24T19:48:56.070Z,1761335336.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504703 s, deltaX: -0.599998 m, approachRate: -1.188815 m/s, rangeRepo size: 4 2025-10-24T19:48:56.077Z,1761335336.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.552797 m, bearing: 111.941813 deg, lat: 36.779529 deg, lon: -121.859591 deg, deltaT: 0.504703 s, deltaX: -0.596561 m, approachRate: -1.182005 m/s, posRepo size: 4 2025-10-24T19:48:56.077Z,1761335336.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m. 2025-10-24T19:48:56.085Z,1761335336.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.552797 m, nav range: 25.764605 m, bearing: 113.109294 deg, approach rate: 0.000000 m/s, LOS rate: -0.014439 deg/s, cmd heading: 98.798318 deg, new cmd heading: 98.779584 deg. 2025-10-24T19:48:56.086Z,1761335336.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724029 target range: 25.552797 and range: 25.70 m. 2025-10-24T19:48:56.173Z,1761335336.173 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.842644 2025-10-24T19:48:56.425Z,1761335336.425 [DAT](INFO): DAT read: Rx Time:19:48:55.2991 2025-10-24T19:48:56.426Z,1761335336.426 [DAT](INFO): Rx dataTimestamp_ set to:1761335336.425623 2025-10-24T19:48:56.427Z,1761335336.427 [DAT](INFO): DAT read: Bearing 12.4, -1.4 (Local) 2025-10-24T19:48:56.427Z,1761335336.427 [DAT](INFO): Local bearing/azimuth received: Bearing 12.4, -1.4 (Local) 2025-10-24T19:48:56.431Z,1761335336.431 [DAT](INFO): DAT read: Range 10 to 50 : 25.5 m (trip time 17.0 ms) speed 0.5 2025-10-24T19:48:56.438Z,1761335336.438 [DAT](INFO): DAT read: 19:48:55.2991 LVL= 18352, 26225, 16850, 29171, AGC= 56, IDX= 511, 0.03,-0.808,-2.258,-1.194,-1.214, PHS= 0.493,-0.997, 0.017, RAW= 131.7, 7.4, CAL= 137.6, 1.4, ROT= 12.4, -1.4 2025-10-24T19:48:56.439Z,1761335336.439 [DAT](INFO): got valid direction response: 19:48:55.2991 LVL= 18352, 26225, 16850, 29171, AGC= 56, IDX= 511, 0.03,-0.808,-2.258,-1.194,-1.214, PHS= 0.493,-0.997, 0.017, RAW= 131.7, 7.4, CAL= 137.6, 1.4, ROT= 12.4, -1.4 2025-10-24T19:48:56.440Z,1761335336.440 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-24T19:48:56.441Z,1761335336.441 [DAT](INFO): direction in FSK: [0.976381,0.214671,0.024432] 2025-10-24T19:48:56.441Z,1761335336.441 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:56.469Z,1761335336.469 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.139202 2025-10-24T19:48:56.562Z,1761335336.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.503293 s, deltaX: -0.200001 m, approachRate: -0.397384 m/s, rangeRepo size: 4 2025-10-24T19:48:56.569Z,1761335336.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.354284 m, bearing: 112.555904 deg, lat: 36.779529 deg, lon: -121.859591 deg, deltaT: 0.503293 s, deltaX: -0.198513 m, approachRate: -0.394428 m/s, posRepo size: 4 2025-10-24T19:48:56.569Z,1761335336.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m. 2025-10-24T19:48:56.578Z,1761335336.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.354284 m, nav range: 25.464483 m, bearing: 113.053657 deg, approach rate: 0.000000 m/s, LOS rate: -0.014439 deg/s, cmd heading: 98.779582 deg, new cmd heading: 98.758258 deg. 2025-10-24T19:48:56.579Z,1761335336.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723657 target range: 25.354284 and range: 25.50 m. 2025-10-24T19:48:56.679Z,1761335336.679 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.348894 2025-10-24T19:48:56.851Z,1761335336.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174102,-0.980971,0.085933],[0.983424,-0.168719,0.066415],[-0.050652,0.096072,0.994085]] 2025-10-24T19:48:56.891Z,1761335336.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:56.898Z,1761335336.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m. 2025-10-24T19:48:56.906Z,1761335336.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.354284 m, nav range: 25.250736 m, bearing: 113.068559 deg, approach rate: -0.636313 m/s, LOS rate: 0.044736 deg/s, cmd heading: 98.758258 deg, new cmd heading: 98.803341 deg. 2025-10-24T19:48:56.913Z,1761335336.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724444 target range: 25.354284 and range: 25.50 m. 2025-10-24T19:48:56.931Z,1761335336.931 [DAT](INFO): DAT read: Rx Time:19:48:55.7988 2025-10-24T19:48:56.931Z,1761335336.931 [DAT](INFO): Rx dataTimestamp_ set to:1761335336.931027 2025-10-24T19:48:56.933Z,1761335336.933 [DAT](INFO): DAT read: Bearing 13.6, -2.5 (Local) 2025-10-24T19:48:56.933Z,1761335336.933 [DAT](INFO): Local bearing/azimuth received: Bearing 13.6, -2.5 (Local) 2025-10-24T19:48:56.935Z,1761335336.935 [DAT](INFO): DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.6 2025-10-24T19:48:56.942Z,1761335336.942 [DAT](INFO): DAT read: 19:48:55.7988 LVL= 16848, 27249, 17010, 28531, AGC= 58, IDX= 508,-0.05,-2.785, 2.089, 3.090, 3.109, PHS= 0.476,-0.974,-0.022, RAW= 130.2, 8.2, CAL= 136.4, 2.5, ROT= 13.6, -2.5 2025-10-24T19:48:56.944Z,1761335336.944 [DAT](INFO): got valid direction response: 19:48:55.7988 LVL= 16848, 27249, 17010, 28531, AGC= 58, IDX= 508,-0.05,-2.785, 2.089, 3.090, 3.109, PHS= 0.476,-0.974,-0.022, RAW= 130.2, 8.2, CAL= 136.4, 2.5, ROT= 13.6, -2.5 2025-10-24T19:48:56.944Z,1761335336.944 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-24T19:48:56.946Z,1761335336.946 [DAT](INFO): direction in FSK: [0.971036,0.234918,0.043619] 2025-10-24T19:48:56.946Z,1761335336.946 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:56.950Z,1761335336.950 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.619662 2025-10-24T19:48:57.181Z,1761335337.181 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.850875 2025-10-24T19:48:57.338Z,1761335337.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.172280,-0.981291,0.085949],[0.983763,-0.166944,0.065879],[-0.050298,0.095903,0.994119]] 2025-10-24T19:48:57.429Z,1761335337.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.505404 s, deltaX: -0.400000 m, approachRate: -0.791445 m/s, rangeRepo size: 4 2025-10-24T19:48:57.431Z,1761335337.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.956604 m, bearing: 113.211190 deg, lat: 36.779529 deg, lon: -121.859591 deg, deltaT: 0.505404 s, deltaX: -0.397680 m, approachRate: -0.786856 m/s, posRepo size: 4 2025-10-24T19:48:57.434Z,1761335337.434 [DAT](INFO): DAT read: Rx Time:19:48:56.2987 2025-10-24T19:48:57.434Z,1761335337.434 [DAT](INFO): Rx dataTimestamp_ set to:1761335337.433716 2025-10-24T19:48:57.435Z,1761335337.435 [DAT](INFO): DAT read: Bearing 13.9, -2.8 (Local) 2025-10-24T19:48:57.436Z,1761335337.436 [DAT](INFO): Local bearing/azimuth received: Bearing 13.9, -2.8 (Local) 2025-10-24T19:48:57.438Z,1761335337.438 [DAT](INFO): DAT read: Range 10 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-24T19:48:57.443Z,1761335337.443 [DAT](INFO): DAT read: 19:48:56.2987 LVL= 19120, 28209, 18866, 30899, AGC= 59, IDX= 507,-0.15,-0.513,-1.878,-0.915,-0.886, PHS= 0.460,-0.946,-0.032, RAW= 129.8, 8.4, CAL= 136.1, 2.8, ROT= 13.9, -2.8 2025-10-24T19:48:57.445Z,1761335337.445 [DAT](INFO): got valid direction response: 19:48:56.2987 LVL= 19120, 28209, 18866, 30899, AGC= 59, IDX= 507,-0.15,-0.513,-1.878,-0.915,-0.886, PHS= 0.460,-0.946,-0.032, RAW= 129.8, 8.4, CAL= 136.1, 2.8, ROT= 13.9, -2.8 2025-10-24T19:48:57.446Z,1761335337.446 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-24T19:48:57.447Z,1761335337.447 [DAT](INFO): direction in FSK: [0.969558,0.239941,0.048850] 2025-10-24T19:48:57.447Z,1761335337.447 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:57.451Z,1761335337.451 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.120571 2025-10-24T19:48:57.456Z,1761335337.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-24T19:48:57.459Z,1761335337.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.956604 m, nav range: 24.924583 m, bearing: 113.095246 deg, approach rate: 0.000000 m/s, LOS rate: 0.044736 deg/s, cmd heading: 98.803345 deg, new cmd heading: 98.873898 deg. 2025-10-24T19:48:57.464Z,1761335337.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725675 target range: 24.956604 and range: 25.10 m. 2025-10-24T19:48:57.685Z,1761335337.685 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.354679 2025-10-24T19:48:57.801Z,1761335337.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170624,-0.981559,0.086198],[0.984067,-0.165313,0.065447],[-0.049990,0.095992,0.994126]] 2025-10-24T19:48:57.841Z,1761335337.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.502689 s, deltaX: -0.200001 m, approachRate: -0.397862 m/s, rangeRepo size: 4 2025-10-24T19:48:57.843Z,1761335337.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.757746 m, bearing: 113.380873 deg, lat: 36.779529 deg, lon: -121.859591 deg, deltaT: 0.502689 s, deltaX: -0.198858 m, approachRate: -0.395589 m/s, posRepo size: 4 2025-10-24T19:48:57.843Z,1761335337.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-24T19:48:57.854Z,1761335337.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.757746 m, nav range: 24.675621 m, bearing: 113.187892 deg, approach rate: 0.000000 m/s, LOS rate: 0.044736 deg/s, cmd heading: 98.873900 deg, new cmd heading: 98.929226 deg. 2025-10-24T19:48:57.855Z,1761335337.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726641 target range: 24.757746 and range: 24.90 m. 2025-10-24T19:48:57.939Z,1761335337.939 [DAT](INFO): DAT read: Rx Time:19:48:56.7984 2025-10-24T19:48:57.939Z,1761335337.939 [DAT](INFO): Rx dataTimestamp_ set to:1761335337.939045 2025-10-24T19:48:57.941Z,1761335337.941 [DAT](INFO): DAT read: Bearing 14.1, -3.2 (Local) 2025-10-24T19:48:57.942Z,1761335337.942 [DAT](INFO): Local bearing/azimuth received: Bearing 14.1, -3.2 (Local) 2025-10-24T19:48:57.945Z,1761335337.945 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.5 2025-10-24T19:48:57.954Z,1761335337.954 [DAT](INFO): DAT read: 19:48:56.7984 LVL= 21152, 32753, 19666, 32755, AGC= 59, IDX= 504,-0.14,-1.676,-3.024,-2.074,-2.037, PHS= 0.449,-0.940,-0.041, RAW= 129.7, 8.8, CAL= 135.9, 3.2, ROT= 14.1, -3.2 2025-10-24T19:48:57.969Z,1761335337.969 [DAT](INFO): got valid direction response: 19:48:56.7984 LVL= 21152, 32753, 19666, 32755, AGC= 59, IDX= 504,-0.14,-1.676,-3.024,-2.074,-2.037, PHS= 0.449,-0.940,-0.041, RAW= 129.7, 8.8, CAL= 135.9, 3.2, ROT= 14.1, -3.2 2025-10-24T19:48:57.969Z,1761335337.969 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-24T19:48:57.970Z,1761335337.970 [DAT](INFO): direction in FSK: [0.968360,0.243235,0.055822] 2025-10-24T19:48:57.971Z,1761335337.971 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:57.987Z,1761335337.987 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.656872 2025-10-24T19:48:58.177Z,1761335338.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169198,-0.981723,0.087138],[0.984341,-0.163887,0.064916],[-0.049449,0.096757,0.994079]] 2025-10-24T19:48:58.189Z,1761335338.189 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.858381 2025-10-24T19:48:58.282Z,1761335338.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.505329 s, deltaX: -0.299999 m, approachRate: -0.593671 m/s, rangeRepo size: 4 2025-10-24T19:48:58.288Z,1761335338.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.459461 m, bearing: 113.450857 deg, lat: 36.779528 deg, lon: -121.859591 deg, deltaT: 0.505329 s, deltaX: -0.298285 m, approachRate: -0.590278 m/s, posRepo size: 4 2025-10-24T19:48:58.289Z,1761335338.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-24T19:48:58.291Z,1761335338.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.459461 m, nav range: 24.432531 m, bearing: 113.265784 deg, approach rate: 0.000000 m/s, LOS rate: 0.044736 deg/s, cmd heading: 98.929225 deg, new cmd heading: 98.989008 deg. 2025-10-24T19:48:58.299Z,1761335338.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727684 target range: 24.459461 and range: 24.60 m. 2025-10-24T19:48:58.442Z,1761335338.442 [DAT](INFO): DAT read: Rx Time:19:48:57.2982 2025-10-24T19:48:58.442Z,1761335338.442 [DAT](INFO): Rx dataTimestamp_ set to:1761335338.441730 2025-10-24T19:48:58.443Z,1761335338.443 [DAT](INFO): DAT read: Bearing 14.2, -3.4 (Local) 2025-10-24T19:48:58.444Z,1761335338.444 [DAT](INFO): Local bearing/azimuth received: Bearing 14.2, -3.4 (Local) 2025-10-24T19:48:58.447Z,1761335338.447 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.5 2025-10-24T19:48:58.458Z,1761335338.458 [DAT](INFO): DAT read: 19:48:57.2982 LVL= 21344, 31921, 19954, 32755, AGC= 58, IDX= 502,-0.08,-2.191, 2.739,-2.594,-2.551, PHS= 0.448,-0.945,-0.046, RAW= 129.5, 8.9, CAL= 135.8, 3.4, ROT= 14.2, -3.4 2025-10-24T19:48:58.459Z,1761335338.459 [DAT](INFO): got valid direction response: 19:48:57.2982 LVL= 21344, 31921, 19954, 32755, AGC= 58, IDX= 502,-0.08,-2.191, 2.739,-2.594,-2.551, PHS= 0.448,-0.945,-0.046, RAW= 129.5, 8.9, CAL= 135.8, 3.4, ROT= 14.2, -3.4 2025-10-24T19:48:58.459Z,1761335338.459 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-24T19:48:58.461Z,1761335338.461 [DAT](INFO): direction in FSK: [0.967739,0.244876,0.059306] 2025-10-24T19:48:58.462Z,1761335338.462 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:58.466Z,1761335338.466 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.136014 2025-10-24T19:48:58.693Z,1761335338.693 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.362604 2025-10-24T19:48:58.746Z,1761335338.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.502685 s, deltaX: -0.300001 m, approachRate: -0.596797 m/s, rangeRepo size: 4 2025-10-24T19:48:58.755Z,1761335338.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.161285 m, bearing: 113.528978 deg, lat: 36.779528 deg, lon: -121.859591 deg, deltaT: 0.502685 s, deltaX: -0.298176 m, approachRate: -0.593166 m/s, posRepo size: 4 2025-10-24T19:48:58.760Z,1761335338.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.16 m. 2025-10-24T19:48:58.768Z,1761335338.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.161285 m, nav range: 24.138638 m, bearing: 113.485084 deg, approach rate: 0.000000 m/s, LOS rate: 0.044736 deg/s, cmd heading: 98.989010 deg, new cmd heading: 99.051185 deg. 2025-10-24T19:48:58.769Z,1761335338.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728769 target range: 24.161285 and range: 24.30 m. 2025-10-24T19:48:58.945Z,1761335338.945 [DAT](INFO): DAT read: Rx Time:19:48:57.7979 2025-10-24T19:48:58.946Z,1761335338.946 [DAT](INFO): Rx dataTimestamp_ set to:1761335338.945616 2025-10-24T19:48:58.948Z,1761335338.948 [DAT](INFO): DAT read: Range 10 to 50 : 23.9 m (trip time 15.9 ms) speed 0.6 2025-10-24T19:48:58.948Z,1761335338.948 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-24T19:48:58.949Z,1761335338.949 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.618912 2025-10-24T19:48:59.081Z,1761335339.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:48:59.100Z,1761335339.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.503886 s, deltaX: -0.400000 m, approachRate: -0.793830 m/s, rangeRepo size: 4 2025-10-24T19:48:59.101Z,1761335339.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.16 m. 2025-10-24T19:48:59.103Z,1761335339.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.161285 m, nav range: 23.896961 m, bearing: 113.521980 deg, approach rate: -0.713722 m/s, LOS rate: 0.110064 deg/s, cmd heading: 99.051185 deg, new cmd heading: 99.162992 deg. 2025-10-24T19:48:59.105Z,1761335339.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730721 target range: 24.161285 and range: 23.90 m. 2025-10-24T19:48:59.202Z,1761335339.202 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.871976 2025-10-24T19:48:59.440Z,1761335339.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165669,-0.982220,0.088310],[0.985029,-0.160482,0.062952],[-0.047661,0.097417,0.994102]] 2025-10-24T19:48:59.453Z,1761335339.453 [DAT](INFO): DAT read: Rx Time:19:48:58.2978 2025-10-24T19:48:59.454Z,1761335339.454 [DAT](INFO): Rx dataTimestamp_ set to:1761335339.453628 2025-10-24T19:48:59.455Z,1761335339.455 [DAT](INFO): DAT read: Bearing 13.8, -3.2 (Local) 2025-10-24T19:48:59.455Z,1761335339.455 [DAT](INFO): Local bearing/azimuth received: Bearing 13.8, -3.2 (Local) 2025-10-24T19:48:59.458Z,1761335339.458 [DAT](INFO): DAT read: Range 10 to 50 : 23.7 m (trip time 15.8 ms) speed 0.5 2025-10-24T19:48:59.498Z,1761335339.498 [DAT](INFO): DAT read: 19:48:58.2978 LVL= 21088, 30689, 20258, 32755, AGC= 59, IDX= 498,-0.06,-1.649,-3.019,-2.045,-2.012, PHS= 0.451,-0.959,-0.036, RAW= 130.1, 8.8, CAL= 136.2, 3.2, ROT= 13.8, -3.2 2025-10-24T19:48:59.499Z,1761335339.499 [DAT](INFO): got valid direction response: 19:48:58.2978 LVL= 21088, 30689, 20258, 32755, AGC= 59, IDX= 498,-0.06,-1.649,-3.019,-2.045,-2.012, PHS= 0.451,-0.959,-0.036, RAW= 130.1, 8.8, CAL= 136.2, 3.2, ROT= 13.8, -3.2 2025-10-24T19:48:59.516Z,1761335339.516 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-24T19:48:59.517Z,1761335339.517 [DAT](INFO): direction in FSK: [0.969620,0.238162,0.055822] 2025-10-24T19:48:59.517Z,1761335339.517 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:59.529Z,1761335339.529 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.198576 2025-10-24T19:48:59.624Z,1761335339.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.508012 s, deltaX: -0.199999 m, approachRate: -0.393689 m/s, rangeRepo size: 4 2025-10-24T19:48:59.632Z,1761335339.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.564671 m, bearing: 112.944451 deg, lat: 36.779528 deg, lon: -121.859591 deg, deltaT: 1.011898 s, deltaX: -0.596615 m, approachRate: -0.589600 m/s, posRepo size: 4 2025-10-24T19:48:59.632Z,1761335339.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m. 2025-10-24T19:48:59.635Z,1761335339.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.564671 m, nav range: 23.570822 m, bearing: 113.580743 deg, approach rate: 0.000000 m/s, LOS rate: 0.110064 deg/s, cmd heading: 99.162995 deg, new cmd heading: 99.339961 deg. 2025-10-24T19:48:59.640Z,1761335339.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733809 target range: 23.564671 and range: 23.70 m. 2025-10-24T19:48:59.708Z,1761335339.708 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.376946 2025-10-24T19:48:59.934Z,1761335339.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165315,-0.982226,0.088904],[0.985132,-0.160184,0.062096],[-0.046752,0.097848,0.994103]] 2025-10-24T19:48:59.958Z,1761335339.958 [DAT](INFO): DAT read: Rx Time:19:48:58.7975 2025-10-24T19:48:59.958Z,1761335339.958 [DAT](INFO): Rx dataTimestamp_ set to:1761335339.957714 2025-10-24T19:48:59.959Z,1761335339.959 [DAT](INFO): DAT read: Bearing 14.7, -3.5 (Local) 2025-10-24T19:48:59.960Z,1761335339.960 [DAT](INFO): Local bearing/azimuth received: Bearing 14.7, -3.5 (Local) 2025-10-24T19:48:59.963Z,1761335339.963 [DAT](INFO): DAT read: Range 10 to 50 : 23.3 m (trip time 15.5 ms) speed 0.5 2025-10-24T19:48:59.969Z,1761335339.969 [DAT](INFO): DAT read: 19:48:58.7975 LVL= 23168, 32753, 23346, 32755, AGC= 58, IDX= 495,-0.07,-2.687, 2.267,-3.096,-3.046, PHS= 0.446,-0.924,-0.053, RAW= 128.9, 8.9, CAL= 135.3, 3.5, ROT= 14.7, -3.5 2025-10-24T19:48:59.970Z,1761335339.970 [DAT](INFO): got valid direction response: 19:48:58.7975 LVL= 23168, 32753, 23346, 32755, AGC= 58, IDX= 495,-0.07,-2.687, 2.267,-3.096,-3.046, PHS= 0.446,-0.924,-0.053, RAW= 128.9, 8.9, CAL= 135.3, 3.5, ROT= 14.7, -3.5 2025-10-24T19:48:59.970Z,1761335339.970 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-24T19:48:59.971Z,1761335339.971 [DAT](INFO): direction in FSK: [0.965464,0.253285,0.061049] 2025-10-24T19:48:59.988Z,1761335339.988 [DAT](INFO): publishing direction and range info 2025-10-24T19:48:59.991Z,1761335339.991 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.661071 2025-10-24T19:49:00.017Z,1761335340.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504086 s, deltaX: -0.400002 m, approachRate: -0.793518 m/s, rangeRepo size: 4 2025-10-24T19:49:00.033Z,1761335340.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.166954 m, bearing: 113.783943 deg, lat: 36.779528 deg, lon: -121.859591 deg, deltaT: 0.504086 s, deltaX: -0.397717 m, approachRate: -0.788985 m/s, posRepo size: 4 2025-10-24T19:49:00.033Z,1761335340.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-24T19:49:00.040Z,1761335340.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.166954 m, nav range: 23.314381 m, bearing: 113.641010 deg, approach rate: 0.000000 m/s, LOS rate: 0.110064 deg/s, cmd heading: 99.339958 deg, new cmd heading: 99.469148 deg. 2025-10-24T19:49:00.041Z,1761335340.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.736064 target range: 23.166954 and range: 23.30 m. 2025-10-24T19:49:00.213Z,1761335340.213 [DAT](INFO): DAT read: Rx Time:19:48:59.2974 2025-10-24T19:49:00.215Z,1761335340.215 [DAT](INFO): Rx dataTimestamp_ set to:1761335340.214296 2025-10-24T19:49:00.219Z,1761335340.219 [DAT](INFO): DAT read: Bearing 13.1, -2.3 (Local) 2025-10-24T19:49:00.223Z,1761335340.223 [DAT](INFO): Local bearing/azimuth received: Bearing 13.1, -2.3 (Local) 2025-10-24T19:49:00.229Z,1761335340.229 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.897431 2025-10-24T19:49:00.339Z,1761335340.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.165105,-0.982065,0.091045],[0.985237,-0.159991,0.060920],[-0.045261,0.099759,0.993982]] 2025-10-24T19:49:00.444Z,1761335340.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-24T19:49:00.464Z,1761335340.464 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 2025-10-24T19:49:00.474Z,1761335340.474 [DAT](INFO): DAT read: 19:48:59.2974 LVL= 18192, 24993, 16882, 27123, AGC= 57, IDX= 510, 0.01,-2.200, 2.620,-2.612,-2.604, PHS= 0.491,-1.013,-0.011, RAW= 130.8, 8.1, CAL= 136.9, 2.3, ROT= 13.1, -2.3 2025-10-24T19:49:00.475Z,1761335340.475 [DAT](INFO): got valid direction response: 19:48:59.2974 LVL= 18192, 24993, 16882, 27123, AGC= 57, IDX= 510, 0.01,-2.200, 2.620,-2.612,-2.604, PHS= 0.491,-1.013,-0.011, RAW= 130.8, 8.1, CAL= 136.9, 2.3, ROT= 13.1, -2.3 2025-10-24T19:49:00.476Z,1761335340.476 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-24T19:49:00.477Z,1761335340.477 [DAT](INFO): direction in FSK: [0.973191,0.226469,0.040132] 2025-10-24T19:49:00.477Z,1761335340.477 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:00.482Z,1761335340.482 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.151731 2025-10-24T19:49:00.483Z,1761335340.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.166954 m, nav range: 23.002861 m, bearing: 113.707508 deg, approach rate: -0.725439 m/s, LOS rate: 0.156953 deg/s, cmd heading: 99.469151 deg, new cmd heading: 99.671348 deg. 2025-10-24T19:49:00.488Z,1761335340.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739593 target range: 23.166954 and range: 23.30 m. 2025-10-24T19:49:00.717Z,1761335340.717 [DAT](INFO): DAT read: Rx Time:19:48:59.7971 2025-10-24T19:49:00.719Z,1761335340.719 [DAT](INFO): Rx dataTimestamp_ set to:1761335340.718126 2025-10-24T19:49:00.723Z,1761335340.723 [DAT](INFO): DAT read: Bearing 13.2, -2.7 (Local) 2025-10-24T19:49:00.724Z,1761335340.724 [DAT](INFO): Local bearing/azimuth received: Bearing 13.2, -2.7 (Local) 2025-10-24T19:49:00.727Z,1761335340.727 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.395672 2025-10-24T19:49:00.874Z,1761335340.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.502854 s, deltaX: -0.199999 m, approachRate: -0.397727 m/s, rangeRepo size: 4 2025-10-24T19:49:00.877Z,1761335340.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.968069 m, bearing: 112.302504 deg, lat: 36.779528 deg, lon: -121.859591 deg, deltaT: 0.502854 s, deltaX: -0.198885 m, approachRate: -0.395512 m/s, posRepo size: 4 2025-10-24T19:49:00.877Z,1761335340.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-24T19:49:00.881Z,1761335340.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.968069 m, nav range: 22.696735 m, bearing: 113.741377 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 99.671345 deg, new cmd heading: 99.874769 deg. 2025-10-24T19:49:00.882Z,1761335340.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.743144 target range: 22.968069 and range: 23.10 m. 2025-10-24T19:49:00.969Z,1761335340.969 [DAT](INFO): DAT read: Range 10 to 50 : 22.7 m (trip time 15.1 ms) speed 0.6 2025-10-24T19:49:00.975Z,1761335340.975 [DAT](INFO): DAT read: 19:48:59.7971 LVL= 18864, 30881, 18082, 32099, AGC= 55, IDX= 507,-0.00, 2.530, 1.079, 2.121, 2.138, PHS= 0.480,-1.012,-0.020, RAW= 130.8, 8.4, CAL= 136.8, 2.7, ROT= 13.2, -2.7 2025-10-24T19:49:00.977Z,1761335340.977 [DAT](INFO): got valid direction response: 19:48:59.7971 LVL= 18864, 30881, 18082, 32099, AGC= 55, IDX= 507,-0.00, 2.530, 1.079, 2.121, 2.138, PHS= 0.480,-1.012,-0.020, RAW= 130.8, 8.4, CAL= 136.8, 2.7, ROT= 13.2, -2.7 2025-10-24T19:49:00.977Z,1761335340.977 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-24T19:49:00.978Z,1761335340.978 [DAT](INFO): direction in FSK: [0.972498,0.228097,0.047106] 2025-10-24T19:49:00.978Z,1761335340.978 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:00.983Z,1761335340.983 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.652407 2025-10-24T19:49:01.179Z,1761335341.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167230,-0.981340,0.094902],[0.984946,-0.162015,0.060274],[-0.043773,0.103553,0.993660]] 2025-10-24T19:49:01.203Z,1761335341.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.504236 s, deltaX: -0.400000 m, approachRate: -0.793279 m/s, rangeRepo size: 4 2025-10-24T19:49:01.220Z,1761335341.220 [DAT](INFO): DAT read: Rx Time:19:49:00.2970 2025-10-24T19:49:01.222Z,1761335341.222 [DAT](INFO): Rx dataTimestamp_ set to:1761335341.220849 2025-10-24T19:49:01.225Z,1761335341.225 [DAT](INFO): DAT read: Bearing 13.9, -3.0 (Local) 2025-10-24T19:49:01.227Z,1761335341.227 [DAT](INFO): Local bearing/azimuth received: Bearing 13.9, -3.0 (Local) 2025-10-24T19:49:01.232Z,1761335341.232 [DAT](INFO): DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed 0.5 2025-10-24T19:49:01.235Z,1761335341.235 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-24T19:49:01.239Z,1761335341.239 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.908360 2025-10-24T19:49:01.251Z,1761335341.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.570353 m, bearing: 112.466876 deg, lat: 36.779530 deg, lon: -121.859590 deg, deltaT: 0.504236 s, deltaX: -0.397717 m, approachRate: -0.788751 m/s, posRepo size: 4 2025-10-24T19:49:01.259Z,1761335341.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.57 m. 2025-10-24T19:49:01.267Z,1761335341.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.570353 m, nav range: 22.464912 m, bearing: 113.146619 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 99.874769 deg, new cmd heading: 100.030315 deg. 2025-10-24T19:49:01.272Z,1761335341.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745858 target range: 22.570353 and range: 22.70 m. 2025-10-24T19:49:01.330Z,1761335341.330 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:49:01.473Z,1761335341.473 [DAT](INFO): DAT read: 19:49:00.2970 LVL= 19136, 31985, 19042, 32755, AGC= 56, IDX= 505,-0.07, 2.443, 1.040, 2.030, 2.062, PHS= 0.469,-0.976,-0.036, RAW= 129.9, 8.6, CAL= 136.1, 3.0, ROT= 13.9, -3.0 2025-10-24T19:49:01.474Z,1761335341.474 [DAT](INFO): got valid direction response: 19:49:00.2970 LVL= 19136, 31985, 19042, 32755, AGC= 56, IDX= 505,-0.07, 2.443, 1.040, 2.030, 2.062, PHS= 0.469,-0.976,-0.036, RAW= 129.9, 8.6, CAL= 136.1, 3.0, ROT= 13.9, -3.0 2025-10-24T19:49:01.474Z,1761335341.474 [DAT](INFO): #Rx 32: Read direction message, but no range. 2025-10-24T19:49:01.475Z,1761335341.475 [DAT](INFO): direction in FSK: [0.969386,0.239899,0.052336] 2025-10-24T19:49:01.483Z,1761335341.483 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.152931 2025-10-24T19:49:01.584Z,1761335341.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.168596,-0.980981,0.096184],[0.984750,-0.163383,0.059779],[-0.042927,0.104796,0.993567]] 2025-10-24T19:49:01.725Z,1761335341.725 [DAT](INFO): DAT read: Rx Time:19:49:00.7967 2025-10-24T19:49:01.727Z,1761335341.727 [DAT](INFO): Rx dataTimestamp_ set to:1761335341.725895 2025-10-24T19:49:01.731Z,1761335341.731 [DAT](INFO): DAT read: Bearing 13.7, -2.7 (Local) 2025-10-24T19:49:01.733Z,1761335341.733 [DAT](INFO): Local bearing/azimuth received: Bearing 13.7, -2.7 (Local) 2025-10-24T19:49:01.751Z,1761335341.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.256045 s, deltaX: -0.200001 m, approachRate: -0.781116 m/s, rangeRepo size: 4 2025-10-24T19:49:01.743Z,1761335341.743 [DAT](INFO): DAT read: Range 10 to 50 : 22.1 m (trip time 14.7 ms) speed 0.6 2025-10-24T19:49:01.755Z,1761335341.755 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-24T19:49:01.769Z,1761335341.769 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.438261 2025-10-24T19:49:01.770Z,1761335341.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.371408 m, bearing: 113.202742 deg, lat: 36.779530 deg, lon: -121.859587 deg, deltaT: 0.256045 s, deltaX: -0.198944 m, approachRate: -0.776989 m/s, posRepo size: 4 2025-10-24T19:49:01.771Z,1761335341.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.37 m. 2025-10-24T19:49:01.778Z,1761335341.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.371408 m, nav range: 22.321753 m, bearing: 113.024394 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 100.030313 deg, new cmd heading: 100.282550 deg. 2025-10-24T19:49:01.784Z,1761335341.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750261 target range: 22.371408 and range: 22.50 m. 2025-10-24T19:49:01.982Z,1761335341.982 [DAT](INFO): DAT read: 19:49:00.7967 LVL= 19696, 32753, 19762, 32755, AGC= 56, IDX= 502,-0.07, 0.216,-1.145,-0.178,-0.154, PHS= 0.458,-0.943,-0.027, RAW= 130.1, 8.4, CAL= 136.3, 2.7, ROT= 13.7, -2.7 2025-10-24T19:49:01.983Z,1761335341.983 [DAT](INFO): got valid direction response: 19:49:00.7967 LVL= 19696, 32753, 19762, 32755, AGC= 56, IDX= 502,-0.07, 0.216,-1.145,-0.178,-0.154, PHS= 0.458,-0.943,-0.027, RAW= 130.1, 8.4, CAL= 136.3, 2.7, ROT= 13.7, -2.7 2025-10-24T19:49:01.984Z,1761335341.984 [DAT](INFO): #Rx 34: Read direction message, but no range. 2025-10-24T19:49:01.985Z,1761335341.985 [DAT](INFO): direction in FSK: [0.970471,0.236575,0.047106] 2025-10-24T19:49:02.006Z,1761335342.006 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.675900 2025-10-24T19:49:02.066Z,1761335342.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.169753,-0.980731,0.096701],[0.984581,-0.164572,0.059300],[-0.042243,0.105276,0.993545]] 2025-10-24T19:49:02.147Z,1761335342.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.505046 s, deltaX: -0.400000 m, approachRate: -0.792006 m/s, rangeRepo size: 4 2025-10-24T19:49:02.153Z,1761335342.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.973696 m, bearing: 113.103083 deg, lat: 36.779530 deg, lon: -121.859587 deg, deltaT: 0.505046 s, deltaX: -0.397713 m, approachRate: -0.787478 m/s, posRepo size: 4 2025-10-24T19:49:02.154Z,1761335342.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m. 2025-10-24T19:49:02.161Z,1761335342.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.973696 m, nav range: 22.033630 m, bearing: 113.025051 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 100.282552 deg, new cmd heading: 100.474566 deg. 2025-10-24T19:49:02.163Z,1761335342.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753612 target range: 21.973696 and range: 22.10 m. 2025-10-24T19:49:02.229Z,1761335342.229 [DAT](INFO): DAT read: Rx Time:19:49:01.2966 2025-10-24T19:49:02.231Z,1761335342.231 [DAT](INFO): Rx dataTimestamp_ set to:1761335342.229994 2025-10-24T19:49:02.235Z,1761335342.235 [DAT](INFO): DAT read: Bearing 13.1, -2.8 (Local) 2025-10-24T19:49:02.236Z,1761335342.236 [DAT](INFO): Local bearing/azimuth received: Bearing 13.1, -2.8 (Local) 2025-10-24T19:49:02.243Z,1761335342.243 [DAT](INFO): DAT read: Range 10 to 50 : 21.9 m (trip time 14.6 ms) speed 0.6 2025-10-24T19:49:02.246Z,1761335342.246 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-24T19:49:02.269Z,1761335342.269 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.938349 2025-10-24T19:49:02.332Z,1761335342.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:49:02.481Z,1761335342.481 [DAT](INFO): DAT read: 19:49:01.2966 LVL= 18816, 31393, 18626, 32755, AGC= 56, IDX= 501,-0.40, 2.782, 1.401, 2.401, 2.417, PHS= 0.453,-0.969,-0.019, RAW= 131.0, 8.6, CAL= 136.9, 2.8, ROT= 13.1, -2.8 2025-10-24T19:49:02.483Z,1761335342.483 [DAT](INFO): got valid direction response: 19:49:01.2966 LVL= 18816, 31393, 18626, 32755, AGC= 56, IDX= 501,-0.40, 2.782, 1.401, 2.401, 2.417, PHS= 0.453,-0.969,-0.019, RAW= 131.0, 8.6, CAL= 136.9, 2.8, ROT= 13.1, -2.8 2025-10-24T19:49:02.483Z,1761335342.483 [DAT](INFO): #Rx 36: Read direction message, but no range. 2025-10-24T19:49:02.490Z,1761335342.490 [DAT](INFO): direction in FSK: [0.972813,0.226381,0.048850] 2025-10-24T19:49:02.493Z,1761335342.493 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.162756 2025-10-24T19:49:02.527Z,1761335342.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.171392,-0.980218,0.098979],[0.984326,-0.166134,0.059178],[-0.041564,0.107570,0.993328]] 2025-10-24T19:49:02.666Z,1761335342.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.504099 s, deltaX: -0.200001 m, approachRate: -0.396749 m/s, rangeRepo size: 4 2025-10-24T19:49:02.675Z,1761335342.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.774794 m, bearing: 112.581776 deg, lat: 36.779532 deg, lon: -121.859587 deg, deltaT: 0.504099 s, deltaX: -0.198902 m, approachRate: -0.394570 m/s, posRepo size: 4 2025-10-24T19:49:02.680Z,1761335342.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.77 m. 2025-10-24T19:49:02.683Z,1761335342.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.774794 m, nav range: 21.633087 m, bearing: 112.725245 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 100.474569 deg, new cmd heading: 100.719329 deg. 2025-10-24T19:49:02.688Z,1761335342.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757884 target range: 21.774794 and range: 21.90 m. 2025-10-24T19:49:02.737Z,1761335342.737 [DAT](INFO): DAT read: Rx Time:19:49:01.7963 2025-10-24T19:49:02.739Z,1761335342.739 [DAT](INFO): Rx dataTimestamp_ set to:1761335342.737343 2025-10-24T19:49:02.743Z,1761335342.743 [DAT](INFO): DAT read: Bearing 11.8, -1.1 (Local) 2025-10-24T19:49:02.744Z,1761335342.744 [DAT](INFO): Local bearing/azimuth received: Bearing 11.8, -1.1 (Local) 2025-10-24T19:49:02.763Z,1761335342.763 [DAT](INFO): DAT read: Range 10 to 50 : 21.5 m (trip time 14.3 ms) speed 0.6 2025-10-24T19:49:02.788Z,1761335342.788 [DAT](INFO): DAT read: 19:49:01.7963 LVL= 19744, 31329, 19698, 32755, AGC= 56, IDX= 497, 0.17,-1.704,-3.104,-2.056,-2.089, PHS= 0.473,-0.968, 0.031, RAW= 132.6, 7.3, CAL= 138.2, 1.1, ROT= 11.8, -1.1 2025-10-24T19:49:02.790Z,1761335342.790 [DAT](INFO): got valid direction response: 19:49:01.7963 LVL= 19744, 31329, 19698, 32755, AGC= 56, IDX= 497, 0.17,-1.704,-3.104,-2.056,-2.089, PHS= 0.473,-0.968, 0.031, RAW= 132.6, 7.3, CAL= 138.2, 1.1, ROT= 11.8, -1.1 2025-10-24T19:49:02.790Z,1761335342.790 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-24T19:49:02.791Z,1761335342.791 [DAT](INFO): direction in FSK: [0.978687,0.204458,0.019197] 2025-10-24T19:49:02.796Z,1761335342.796 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:02.806Z,1761335342.806 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.475910 2025-10-24T19:49:02.981Z,1761335342.981 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.651098 2025-10-24T19:49:03.009Z,1761335343.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173149,-0.979632,0.101687],[0.984041,-0.167774,0.059284],[-0.041016,0.110329,0.993048]] 2025-10-24T19:49:03.070Z,1761335343.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.507349 s, deltaX: -0.400000 m, approachRate: -0.788411 m/s, rangeRepo size: 4 2025-10-24T19:49:03.077Z,1761335343.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.377081 m, bearing: 111.580052 deg, lat: 36.779532 deg, lon: -121.859587 deg, deltaT: 0.507349 s, deltaX: -0.397713 m, approachRate: -0.783904 m/s, posRepo size: 4 2025-10-24T19:49:03.078Z,1761335343.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-24T19:49:03.089Z,1761335343.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.377081 m, nav range: 21.384903 m, bearing: 112.772411 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 100.719329 deg, new cmd heading: 100.909692 deg. 2025-10-24T19:49:03.090Z,1761335343.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.761206 target range: 21.377081 and range: 21.50 m. 2025-10-24T19:49:03.241Z,1761335343.241 [DAT](INFO): DAT read: Rx Time:19:49:02.2961 2025-10-24T19:49:03.242Z,1761335343.242 [DAT](INFO): Rx dataTimestamp_ set to:1761335343.241168 2025-10-24T19:49:03.247Z,1761335343.247 [DAT](INFO): DAT read: Bearing 11.6, -2.1 (Local) 2025-10-24T19:49:03.251Z,1761335343.251 [DAT](INFO): Local bearing/azimuth received: Bearing 11.6, -2.1 (Local) 2025-10-24T19:49:03.270Z,1761335343.270 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.6 2025-10-24T19:49:03.279Z,1761335343.279 [DAT](INFO): DAT read: 19:49:02.2961 LVL= 19168, 31953, 18834, 32755, AGC= 57, IDX= 496,-0.10,-1.314,-2.737,-1.663,-1.683, PHS= 0.456,-1.008, 0.016, RAW= 133.0, 8.3, CAL= 138.4, 2.1, ROT= 11.6, -2.1 2025-10-24T19:49:03.299Z,1761335343.299 [DAT](INFO): got valid direction response: 19:49:02.2961 LVL= 19168, 31953, 18834, 32755, AGC= 57, IDX= 496,-0.10,-1.314,-2.737,-1.663,-1.683, PHS= 0.456,-1.008, 0.016, RAW= 133.0, 8.3, CAL= 138.4, 2.1, ROT= 11.6, -2.1 2025-10-24T19:49:03.299Z,1761335343.299 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-24T19:49:03.307Z,1761335343.307 [DAT](INFO): direction in FSK: [0.978917,0.200943,0.036644] 2025-10-24T19:49:03.315Z,1761335343.315 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:03.323Z,1761335343.323 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.992905 2025-10-24T19:49:03.482Z,1761335343.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174488,-0.979387,0.101756],[0.983828,-0.169161,0.058887],[-0.040460,0.110385,0.993065]] 2025-10-24T19:49:03.485Z,1761335343.485 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.154835 2025-10-24T19:49:03.590Z,1761335343.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.503825 s, deltaX: -0.299999 m, approachRate: -0.595443 m/s, rangeRepo size: 4 2025-10-24T19:49:03.596Z,1761335343.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.078722 m, bearing: 111.342798 deg, lat: 36.779532 deg, lon: -121.859586 deg, deltaT: 0.503825 s, deltaX: -0.298359 m, approachRate: -0.592188 m/s, posRepo size: 4 2025-10-24T19:49:03.597Z,1761335343.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m. 2025-10-24T19:49:03.599Z,1761335343.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.078722 m, nav range: 21.184822 m, bearing: 112.678159 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 100.909693 deg, new cmd heading: 101.154311 deg. 2025-10-24T19:49:03.605Z,1761335343.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.765476 target range: 21.078722 and range: 21.20 m. 2025-10-24T19:49:03.743Z,1761335343.743 [DAT](INFO): DAT read: Rx Time:19:49:02.7958 2025-10-24T19:49:03.745Z,1761335343.745 [DAT](INFO): Rx dataTimestamp_ set to:1761335343.743419 2025-10-24T19:49:03.750Z,1761335343.750 [DAT](INFO): DAT read: Bearing 11.5, -2.5 (Local) 2025-10-24T19:49:03.751Z,1761335343.751 [DAT](INFO): Local bearing/azimuth received: Bearing 11.5, -2.5 (Local) 2025-10-24T19:49:03.757Z,1761335343.757 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed 0.6 2025-10-24T19:49:03.763Z,1761335343.763 [DAT](INFO): DAT read: 19:49:02.7958 LVL= 17648, 28433, 16690, 30995, AGC= 56, IDX= 509,-0.31, 3.101, 1.705, 2.765, 2.750, PHS= 0.439,-0.998, 0.012, RAW= 133.2, 8.6, CAL= 138.5, 2.5, ROT= 11.5, -2.5 2025-10-24T19:49:03.764Z,1761335343.764 [DAT](INFO): got valid direction response: 19:49:02.7958 LVL= 17648, 28433, 16690, 30995, AGC= 56, IDX= 509,-0.31, 3.101, 1.705, 2.765, 2.750, PHS= 0.439,-0.998, 0.012, RAW= 133.2, 8.6, CAL= 138.5, 2.5, ROT= 11.5, -2.5 2025-10-24T19:49:03.765Z,1761335343.765 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-24T19:49:03.766Z,1761335343.766 [DAT](INFO): direction in FSK: [0.978992,0.199178,0.043619] 2025-10-24T19:49:03.766Z,1761335343.766 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:03.775Z,1761335343.775 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.444239 2025-10-24T19:49:03.934Z,1761335343.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.177493,-0.978689,0.103270],[0.983334,-0.172174,0.058394],[-0.039369,0.111914,0.992938]] 2025-10-24T19:49:03.987Z,1761335343.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.502251 s, deltaX: -0.500000 m, approachRate: -0.995518 m/s, rangeRepo size: 4 2025-10-24T19:49:03.989Z,1761335343.989 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.658615 2025-10-24T19:49:03.994Z,1761335343.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.581583 m, bearing: 111.366164 deg, lat: 36.779535 deg, lon: -121.859586 deg, deltaT: 0.502251 s, deltaX: -0.497139 m, approachRate: -0.989822 m/s, posRepo size: 4 2025-10-24T19:49:03.994Z,1761335343.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.58 m. 2025-10-24T19:49:04.002Z,1761335344.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.581583 m, nav range: 20.783962 m, bearing: 111.659621 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 101.154309 deg, new cmd heading: 101.341461 deg. 2025-10-24T19:49:04.003Z,1761335344.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768742 target range: 20.581583 and range: 20.70 m. 2025-10-24T19:49:04.245Z,1761335344.245 [DAT](INFO): DAT read: Rx Time:19:49:03.2958 2025-10-24T19:49:04.247Z,1761335344.247 [DAT](INFO): Rx dataTimestamp_ set to:1761335344.245972 2025-10-24T19:49:04.251Z,1761335344.251 [DAT](INFO): DAT read: Bearing 10.7, -1.0 (Local) 2025-10-24T19:49:04.252Z,1761335344.252 [DAT](INFO): Local bearing/azimuth received: Bearing 10.7, -1.0 (Local) 2025-10-24T19:49:04.258Z,1761335344.258 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.7 2025-10-24T19:49:04.269Z,1761335344.269 [DAT](INFO): DAT read: 19:49:03.2958 LVL= 18352, 32753, 18610, 32755, AGC= 55, IDX= 507, 0.50,-1.335,-2.732,-1.651,-1.704, PHS= 0.457,-0.981, 0.050, RAW= 134.1, 7.4, CAL= 139.3, 1.0, ROT= 10.7, -1.0 2025-10-24T19:49:04.270Z,1761335344.270 [DAT](INFO): got valid direction response: 19:49:03.2958 LVL= 18352, 32753, 18610, 32755, AGC= 55, IDX= 507, 0.50,-1.335,-2.732,-1.651,-1.704, PHS= 0.457,-0.981, 0.050, RAW= 134.1, 7.4, CAL= 139.3, 1.0, ROT= 10.7, -1.0 2025-10-24T19:49:04.270Z,1761335344.270 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-24T19:49:04.271Z,1761335344.271 [DAT](INFO): direction in FSK: [0.982463,0.185638,0.017452] 2025-10-24T19:49:04.271Z,1761335344.271 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:04.275Z,1761335344.275 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.945032 2025-10-24T19:49:04.353Z,1761335344.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.178655,-0.978311,0.104837],[0.983138,-0.173272,0.058455],[-0.039021,0.113513,0.992770]] 2025-10-24T19:49:04.473Z,1761335344.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.502553 s, deltaX: -0.100000 m, approachRate: -0.198985 m/s, rangeRepo size: 4 2025-10-24T19:49:04.475Z,1761335344.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.481997 m, bearing: 110.812075 deg, lat: 36.779536 deg, lon: -121.859586 deg, deltaT: 0.502553 s, deltaX: -0.099586 m, approachRate: -0.198161 m/s, posRepo size: 4 2025-10-24T19:49:04.480Z,1761335344.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m. 2025-10-24T19:49:04.483Z,1761335344.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.481997 m, nav range: 20.506620 m, bearing: 111.451365 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 101.341463 deg, new cmd heading: 101.567008 deg. 2025-10-24T19:49:04.489Z,1761335344.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.772679 target range: 20.481997 and range: 20.60 m. 2025-10-24T19:49:04.493Z,1761335344.493 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.162838 2025-10-24T19:49:04.751Z,1761335344.751 [DAT](INFO): DAT read: Rx Time:19:49:03.7955 2025-10-24T19:49:04.753Z,1761335344.753 [DAT](INFO): Rx dataTimestamp_ set to:1761335344.751809 2025-10-24T19:49:04.757Z,1761335344.757 [DAT](INFO): DAT read: Bearing 10.2, -0.9 (Local) 2025-10-24T19:49:04.758Z,1761335344.758 [DAT](INFO): Local bearing/azimuth received: Bearing 10.2, -0.9 (Local) 2025-10-24T19:49:04.794Z,1761335344.794 [DAT](INFO): DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed 0.7 2025-10-24T19:49:04.816Z,1761335344.816 [DAT](INFO): DAT read: 19:49:03.7955 LVL= 18992, 32753, 20194, 32755, AGC= 55, IDX= 504, 0.36, 2.479, 1.087, 2.182, 2.119, PHS= 0.448,-0.985, 0.060, RAW= 134.8, 7.5, CAL= 139.8, 0.9, ROT= 10.2, -0.9 2025-10-24T19:49:04.817Z,1761335344.817 [DAT](INFO): got valid direction response: 19:49:03.7955 LVL= 18992, 32753, 20194, 32755, AGC= 55, IDX= 504, 0.36, 2.479, 1.087, 2.182, 2.119, PHS= 0.448,-0.985, 0.060, RAW= 134.8, 7.5, CAL= 139.8, 0.9, ROT= 10.2, -0.9 2025-10-24T19:49:04.818Z,1761335344.818 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-24T19:49:04.818Z,1761335344.818 [DAT](INFO): direction in FSK: [0.984074,0.177063,0.015707] 2025-10-24T19:49:04.819Z,1761335344.819 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:04.821Z,1761335344.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179863,-0.977912,0.106480],[0.982929,-0.174408,0.058581],[-0.038716,0.115198,0.992588]] 2025-10-24T19:49:04.840Z,1761335344.840 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.510065 2025-10-24T19:49:04.993Z,1761335344.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.505837 s, deltaX: -0.500000 m, approachRate: -0.988461 m/s, rangeRepo size: 4 2025-10-24T19:49:04.998Z,1761335344.998 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.667456 2025-10-24T19:49:05.007Z,1761335345.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.984861 m, bearing: 110.394309 deg, lat: 36.779537 deg, lon: -121.859586 deg, deltaT: 0.505837 s, deltaX: -0.497135 m, approachRate: -0.982797 m/s, posRepo size: 4 2025-10-24T19:49:05.016Z,1761335345.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.98 m. 2025-10-24T19:49:05.019Z,1761335345.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.984861 m, nav range: 20.147728 m, bearing: 111.222551 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 101.567010 deg, new cmd heading: 101.815205 deg. 2025-10-24T19:49:05.029Z,1761335345.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777011 target range: 19.984861 and range: 20.10 m. 2025-10-24T19:49:05.254Z,1761335345.254 [DAT](INFO): DAT read: Rx Time:19:49:04.2953 2025-10-24T19:49:05.259Z,1761335345.259 [DAT](INFO): Rx dataTimestamp_ set to:1761335345.254714 2025-10-24T19:49:05.263Z,1761335345.263 [DAT](INFO): DAT read: Bearing 10.0, -0.9 (Local) 2025-10-24T19:49:05.263Z,1761335345.263 [DAT](INFO): Local bearing/azimuth received: Bearing 10.0, -0.9 (Local) 2025-10-24T19:49:05.265Z,1761335345.265 [DAT](INFO): DAT read: Range 10 to 50 : 19.8 m (trip time 13.2 ms) speed 0.6 2025-10-24T19:49:05.313Z,1761335345.313 [DAT](INFO): DAT read: 19:49:04.2953 LVL= 17808, 29681, 18130, 31603, AGC= 55, IDX= 502, 0.16, 2.165, 0.773, 1.876, 1.809, PHS= 0.444,-0.990, 0.063, RAW= 135.2, 7.6, CAL= 140.0, 0.9, ROT= 10.0, -0.9 2025-10-24T19:49:05.314Z,1761335345.314 [DAT](INFO): got valid direction response: 19:49:04.2953 LVL= 17808, 29681, 18130, 31603, AGC= 55, IDX= 502, 0.16, 2.165, 0.773, 1.876, 1.809, PHS= 0.444,-0.990, 0.063, RAW= 135.2, 7.6, CAL= 140.0, 0.9, ROT= 10.0, -0.9 2025-10-24T19:49:05.315Z,1761335345.315 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-24T19:49:05.315Z,1761335345.315 [DAT](INFO): direction in FSK: [0.984686,0.173627,0.015707] 2025-10-24T19:49:05.323Z,1761335345.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.181473,-0.977380,0.108608],[0.982648,-0.175919,0.058788],[-0.038352,0.117392,0.992345]] 2025-10-24T19:49:05.336Z,1761335345.336 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:05.349Z,1761335345.349 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.018194 2025-10-24T19:49:05.413Z,1761335345.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.502905 s, deltaX: -0.300001 m, approachRate: -0.596536 m/s, rangeRepo size: 4 2025-10-24T19:49:05.451Z,1761335345.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.686600 m, bearing: 110.284888 deg, lat: 36.779538 deg, lon: -121.859586 deg, deltaT: 0.502905 s, deltaX: -0.298262 m, approachRate: -0.593077 m/s, posRepo size: 4 2025-10-24T19:49:05.473Z,1761335345.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-24T19:49:05.480Z,1761335345.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.686600 m, nav range: 19.823753 m, bearing: 110.933762 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 101.815205 deg, new cmd heading: 102.008044 deg. 2025-10-24T19:49:05.481Z,1761335345.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780376 target range: 19.686600 and range: 19.80 m. 2025-10-24T19:49:05.501Z,1761335345.501 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.170500 2025-10-24T19:49:05.757Z,1761335345.757 [DAT](INFO): DAT read: Rx Time:19:49:04.7949 2025-10-24T19:49:05.758Z,1761335345.758 [DAT](INFO): Rx dataTimestamp_ set to:1761335345.757745 2025-10-24T19:49:05.761Z,1761335345.761 [DAT](INFO): DAT read: Bearing 8.7, -1.3 (Local) 2025-10-24T19:49:05.762Z,1761335345.762 [DAT](INFO): Local bearing/azimuth received: Bearing 8.7, -1.3 (Local) 2025-10-24T19:49:05.766Z,1761335345.766 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed 0.6 2025-10-24T19:49:05.773Z,1761335345.773 [DAT](INFO): DAT read: 19:49:04.7949 LVL= 21488, 32689, 20434, 32755, AGC= 55, IDX= 499,-0.07, 0.940,-0.518, 0.679, 0.593, PHS= 0.434,-1.065, 0.083, RAW= 137.0, 8.1, CAL= 141.3, 1.3, ROT= 8.7, -1.3 2025-10-24T19:49:05.774Z,1761335345.774 [DAT](INFO): got valid direction response: 19:49:04.7949 LVL= 21488, 32689, 20434, 32755, AGC= 55, IDX= 499,-0.07, 0.940,-0.518, 0.679, 0.593, PHS= 0.434,-1.065, 0.083, RAW= 137.0, 8.1, CAL= 141.3, 1.3, ROT= 8.7, -1.3 2025-10-24T19:49:05.774Z,1761335345.774 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-24T19:49:05.775Z,1761335345.775 [DAT](INFO): direction in FSK: [0.988239,0.151222,0.022687] 2025-10-24T19:49:05.775Z,1761335345.775 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:05.780Z,1761335345.780 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.450214 2025-10-24T19:49:05.811Z,1761335345.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183038,-0.977041,0.109030],[0.982374,-0.177496,0.058619],[-0.037921,0.117838,0.992308]] 2025-10-24T19:49:05.941Z,1761335345.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503031 s, deltaX: -0.599998 m, approachRate: -1.192766 m/s, rangeRepo size: 4 2025-10-24T19:49:05.943Z,1761335345.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.090036 m, bearing: 109.036061 deg, lat: 36.779540 deg, lon: -121.859587 deg, deltaT: 0.503031 s, deltaX: -0.596563 m, approachRate: -1.185938 m/s, posRepo size: 4 2025-10-24T19:49:05.949Z,1761335345.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m. 2025-10-24T19:49:05.956Z,1761335345.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.090036 m, nav range: 19.399593 m, bearing: 110.414588 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 102.008042 deg, new cmd heading: 102.261620 deg. 2025-10-24T19:49:05.957Z,1761335345.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784802 target range: 19.090036 and range: 19.20 m. 2025-10-24T19:49:06.005Z,1761335346.005 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.674833 2025-10-24T19:49:06.258Z,1761335346.258 [DAT](INFO): DAT read: Rx Time:19:49:05.2948 2025-10-24T19:49:06.259Z,1761335346.259 [DAT](INFO): Rx dataTimestamp_ set to:1761335346.258523 2025-10-24T19:49:06.260Z,1761335346.260 [DAT](INFO): DAT read: Bearing 8.4, -1.4 (Local) 2025-10-24T19:49:06.261Z,1761335346.261 [DAT](INFO): Local bearing/azimuth received: Bearing 8.4, -1.4 (Local) 2025-10-24T19:49:06.264Z,1761335346.264 [DAT](INFO): DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.5 2025-10-24T19:49:06.269Z,1761335346.269 [DAT](INFO): DAT read: 19:49:05.2948 LVL= 18096, 32241, 18994, 32755, AGC= 54, IDX= 498,-0.09, 0.988,-0.425, 0.749, 0.663, PHS= 0.413,-1.041, 0.082, RAW= 137.5, 8.3, CAL= 141.6, 1.4, ROT= 8.4, -1.4 2025-10-24T19:49:06.270Z,1761335346.270 [DAT](INFO): got valid direction response: 19:49:05.2948 LVL= 18096, 32241, 18994, 32755, AGC= 54, IDX= 498,-0.09, 0.988,-0.425, 0.749, 0.663, PHS= 0.413,-1.041, 0.082, RAW= 137.5, 8.3, CAL= 141.6, 1.4, ROT= 8.4, -1.4 2025-10-24T19:49:06.271Z,1761335346.271 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-24T19:49:06.272Z,1761335346.272 [DAT](INFO): direction in FSK: [0.988977,0.146039,0.024432] 2025-10-24T19:49:06.272Z,1761335346.272 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:06.275Z,1761335346.275 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.945202 2025-10-24T19:49:06.313Z,1761335346.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.186234,-0.976302,0.110234],[0.981803,-0.180684,0.058440],[-0.037138,0.119111,0.992186]] 2025-10-24T19:49:06.373Z,1761335346.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.500778 s, deltaX: -0.100000 m, approachRate: -0.199690 m/s, rangeRepo size: 4 2025-10-24T19:49:06.375Z,1761335346.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.990692 m, bearing: 108.909236 deg, lat: 36.779540 deg, lon: -121.859587 deg, deltaT: 0.500778 s, deltaX: -0.099344 m, approachRate: -0.198380 m/s, posRepo size: 4 2025-10-24T19:49:06.375Z,1761335346.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m. 2025-10-24T19:49:06.382Z,1761335346.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.990692 m, nav range: 19.146238 m, bearing: 110.225879 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 102.261620 deg, new cmd heading: 102.460258 deg. 2025-10-24T19:49:06.383Z,1761335346.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.788269 target range: 18.990692 and range: 19.10 m. 2025-10-24T19:49:06.510Z,1761335346.510 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.179379 2025-10-24T19:49:06.741Z,1761335346.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188085,-0.975847,0.111117],[0.981458,-0.182491,0.058625],[-0.036931,0.120083,0.992077]] 2025-10-24T19:49:06.762Z,1761335346.762 [DAT](INFO): DAT read: Rx Time:19:49:05.7945 2025-10-24T19:49:06.762Z,1761335346.762 [DAT](INFO): Rx dataTimestamp_ set to:1761335346.761724 2025-10-24T19:49:06.763Z,1761335346.763 [DAT](INFO): DAT read: Bearing 8.2, -1.5 (Local) 2025-10-24T19:49:06.764Z,1761335346.764 [DAT](INFO): Local bearing/azimuth received: Bearing 8.2, -1.5 (Local) 2025-10-24T19:49:06.768Z,1761335346.768 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-24T19:49:06.787Z,1761335346.787 [DAT](INFO): DAT read: 19:49:05.7945 LVL= 16880, 29745, 18674, 32755, AGC= 56, IDX= 495,-0.17, 0.350,-1.008, 0.130, 0.046, PHS= 0.392,-1.006, 0.081, RAW= 137.8, 8.4, CAL= 141.8, 1.5, ROT= 8.2, -1.5 2025-10-24T19:49:06.802Z,1761335346.802 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 83.332768,-32768,-32768,V 2025-10-24T19:49:06.804Z,1761335346.804 [DAT](INFO): got valid direction response: 19:49:05.7945 LVL= 16880, 29745, 18674, 32755, AGC= 56, IDX= 495,-0.17, 0.350,-1.008, 0.130, 0.046, PHS= 0.392,-1.006, 0.081, RAW= 137.8, 8.4, CAL= 141.8, 1.5, ROT= 8.2, -1.5 2025-10-24T19:49:06.805Z,1761335346.805 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-24T19:49:06.806Z,1761335346.806 [DAT](INFO): direction in FSK: [0.989437,0.142580,0.026177] 2025-10-24T19:49:06.806Z,1761335346.806 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:06.810Z,1761335346.810 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.480156 2025-10-24T19:49:06.851Z,1761335346.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503201 s, deltaX: -0.300001 m, approachRate: -0.596186 m/s, rangeRepo size: 4 2025-10-24T19:49:06.857Z,1761335346.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.692410 m, bearing: 108.804084 deg, lat: 36.779545 deg, lon: -121.859587 deg, deltaT: 0.503201 s, deltaX: -0.298283 m, approachRate: -0.592770 m/s, posRepo size: 4 2025-10-24T19:49:06.858Z,1761335346.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-24T19:49:06.865Z,1761335346.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.692410 m, nav range: 18.719572 m, bearing: 108.857747 deg, approach rate: 0.000000 m/s, LOS rate: 0.156953 deg/s, cmd heading: 102.460255 deg, new cmd heading: 102.689657 deg. 2025-10-24T19:49:06.866Z,1761335346.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792273 target range: 18.692410 and range: 18.80 m. 2025-10-24T19:49:07.013Z,1761335347.013 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.683182 2025-10-24T19:49:07.170Z,1761335347.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.190196,-0.975269,0.112584],[0.981073,-0.184564,0.058585],[-0.036357,0.121595,0.991914]] 2025-10-24T19:49:07.227Z,1761335347.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:07.254Z,1761335347.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-24T19:49:07.259Z,1761335347.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.692410 m, nav range: 18.516848 m, bearing: 108.816010 deg, approach rate: -0.514845 m/s, LOS rate: -0.107157 deg/s, cmd heading: 102.689654 deg, new cmd heading: 102.563072 deg. 2025-10-24T19:49:07.265Z,1761335347.265 [DAT](INFO): DAT read: Rx Time:19:49:06.2944 2025-10-24T19:49:07.266Z,1761335347.266 [DAT](INFO): Rx dataTimestamp_ set to:1761335347.265619 2025-10-24T19:49:07.267Z,1761335347.267 [DAT](INFO): DAT read: Bearing 7.4, -1.3 (Local) 2025-10-24T19:49:07.267Z,1761335347.267 [DAT](INFO): Local bearing/azimuth received: Bearing 7.4, -1.3 (Local) 2025-10-24T19:49:07.270Z,1761335347.270 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 2025-10-24T19:49:07.274Z,1761335347.274 [DAT](INFO): DAT read: 19:49:06.2944 LVL= 18160, 32753, 19490, 32755, AGC= 56, IDX= 510,-0.10, 1.552, 0.196, 1.356, 1.257, PHS= 0.383,-1.013, 0.096, RAW= 138.8, 8.4, CAL= 142.6, 1.3, ROT= 7.4, -1.3 2025-10-24T19:49:07.275Z,1761335347.275 [DAT](INFO): got valid direction response: 19:49:06.2944 LVL= 18160, 32753, 19490, 32755, AGC= 56, IDX= 510,-0.10, 1.552, 0.196, 1.356, 1.257, PHS= 0.383,-1.013, 0.096, RAW= 138.8, 8.4, CAL= 142.6, 1.3, ROT= 7.4, -1.3 2025-10-24T19:49:07.276Z,1761335347.276 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-24T19:49:07.277Z,1761335347.277 [DAT](INFO): direction in FSK: [0.991416,0.128762,0.022687] 2025-10-24T19:49:07.277Z,1761335347.277 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:07.282Z,1761335347.282 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.951801 2025-10-24T19:49:07.283Z,1761335347.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790063 target range: 18.692410 and range: 18.80 m. 2025-10-24T19:49:07.517Z,1761335347.517 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.187023 2025-10-24T19:49:07.587Z,1761335347.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.192311,-0.974607,0.114710],[0.980669,-0.186561,0.059017],[-0.036118,0.123842,0.991644]] 2025-10-24T19:49:07.679Z,1761335347.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503895 s, deltaX: -0.199999 m, approachRate: -0.396906 m/s, rangeRepo size: 4 2025-10-24T19:49:07.687Z,1761335347.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.493530 m, bearing: 108.273371 deg, lat: 36.779545 deg, lon: -121.859587 deg, deltaT: 0.503895 s, deltaX: -0.198879 m, approachRate: -0.394684 m/s, posRepo size: 4 2025-10-24T19:49:07.692Z,1761335347.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m. 2025-10-24T19:49:07.695Z,1761335347.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.493530 m, nav range: 18.256180 m, bearing: 108.704559 deg, approach rate: 0.000000 m/s, LOS rate: -0.107157 deg/s, cmd heading: 102.563070 deg, new cmd heading: 102.423645 deg. 2025-10-24T19:49:07.708Z,1761335347.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.787630 target range: 18.493530 and range: 18.60 m. 2025-10-24T19:49:07.769Z,1761335347.769 [DAT](INFO): DAT read: Rx Time:19:49:06.7942 2025-10-24T19:49:07.770Z,1761335347.770 [DAT](INFO): Rx dataTimestamp_ set to:1761335347.769556 2025-10-24T19:49:07.771Z,1761335347.771 [DAT](INFO): DAT read: Bearing 6.2, 0.4 (Local) 2025-10-24T19:49:07.771Z,1761335347.771 [DAT](INFO): Local bearing/azimuth received: Bearing 6.2, 0.4 (Local) 2025-10-24T19:49:07.774Z,1761335347.774 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 2025-10-24T19:49:07.778Z,1761335347.778 [DAT](INFO): DAT read: 19:49:06.7942 LVL= 18816, 32753, 20162, 32755, AGC= 56, IDX= 507, 0.11, 0.607,-0.792, 0.443, 0.288, PHS= 0.407,-1.034, 0.151, RAW= 140.4, 7.2, CAL= 143.8, -0.4, ROT= 6.2, 0.4 2025-10-24T19:49:07.779Z,1761335347.779 [DAT](INFO): got valid direction response: 19:49:06.7942 LVL= 18816, 32753, 20162, 32755, AGC= 56, IDX= 507, 0.11, 0.607,-0.792, 0.443, 0.288, PHS= 0.407,-1.034, 0.151, RAW= 140.4, 7.2, CAL= 143.8, -0.4, ROT= 6.2, 0.4 2025-10-24T19:49:07.780Z,1761335347.780 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-24T19:49:07.781Z,1761335347.781 [DAT](INFO): direction in FSK: [0.994127,0.107997,-0.006981] 2025-10-24T19:49:07.781Z,1761335347.781 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:07.785Z,1761335347.785 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.454405 2025-10-24T19:49:08.021Z,1761335348.021 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.690611 2025-10-24T19:49:08.110Z,1761335348.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503937 s, deltaX: -0.300001 m, approachRate: -0.595315 m/s, rangeRepo size: 4 2025-10-24T19:49:08.113Z,1761335348.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.195246 m, bearing: 107.299423 deg, lat: 36.779545 deg, lon: -121.859587 deg, deltaT: 0.503937 s, deltaX: -0.298285 m, approachRate: -0.591908 m/s, posRepo size: 4 2025-10-24T19:49:08.114Z,1761335348.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-24T19:49:08.117Z,1761335348.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.195246 m, nav range: 18.010448 m, bearing: 108.618587 deg, approach rate: 0.000000 m/s, LOS rate: -0.107157 deg/s, cmd heading: 102.423645 deg, new cmd heading: 102.284624 deg. 2025-10-24T19:49:08.118Z,1761335348.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785203 target range: 18.195246 and range: 18.30 m. 2025-10-24T19:49:08.274Z,1761335348.274 [DAT](INFO): DAT read: Rx Time:19:49:07.2942 2025-10-24T19:49:08.274Z,1761335348.274 [DAT](INFO): Rx dataTimestamp_ set to:1761335348.273969 2025-10-24T19:49:08.276Z,1761335348.276 [DAT](INFO): DAT read: Bearing 5.6, 0.3 (Local) 2025-10-24T19:49:08.276Z,1761335348.276 [DAT](INFO): Local bearing/azimuth received: Bearing 5.6, 0.3 (Local) 2025-10-24T19:49:08.279Z,1761335348.279 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4 2025-10-24T19:49:08.284Z,1761335348.284 [DAT](INFO): DAT read: 19:49:07.2942 LVL= 19232, 32753, 20562, 32755, AGC= 57, IDX= 506, 0.33, 1.535, 0.142, 1.393, 1.229, PHS= 0.393,-1.040, 0.161, RAW= 141.3, 7.3, CAL= 144.4, -0.3, ROT= 5.6, 0.3 2025-10-24T19:49:08.285Z,1761335348.285 [DAT](INFO): got valid direction response: 19:49:07.2942 LVL= 19232, 32753, 20562, 32755, AGC= 57, IDX= 506, 0.33, 1.535, 0.142, 1.393, 1.229, PHS= 0.393,-1.040, 0.161, RAW= 141.3, 7.3, CAL= 144.4, -0.3, ROT= 5.6, 0.3 2025-10-24T19:49:08.286Z,1761335348.286 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-24T19:49:08.287Z,1761335348.287 [DAT](INFO): direction in FSK: [0.995214,0.097582,-0.005236] 2025-10-24T19:49:08.287Z,1761335348.287 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:08.291Z,1761335348.291 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.960348 2025-10-24T19:49:08.478Z,1761335348.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.197827,-0.973401,0.115561],[0.979600,-0.192072,0.059089],[-0.035321,0.124892,0.991541]] 2025-10-24T19:49:08.529Z,1761335348.529 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.197361 2025-10-24T19:49:08.570Z,1761335348.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504413 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:08.576Z,1761335348.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.195299 m, bearing: 107.012914 deg, lat: 36.779545 deg, lon: -121.859584 deg, deltaT: 0.504413 s, deltaX: 0.000053 m, approachRate: 0.000106 m/s, posRepo size: 4 2025-10-24T19:49:08.577Z,1761335348.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-24T19:49:08.585Z,1761335348.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.195299 m, nav range: 18.006620 m, bearing: 108.137561 deg, approach rate: 0.000000 m/s, LOS rate: -0.107157 deg/s, cmd heading: 102.284624 deg, new cmd heading: 102.136876 deg. 2025-10-24T19:49:08.586Z,1761335348.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782625 target range: 18.195299 and range: 18.30 m. 2025-10-24T19:49:08.778Z,1761335348.778 [DAT](INFO): DAT read: Rx Time:19:49:07.7939 2025-10-24T19:49:08.779Z,1761335348.779 [DAT](INFO): Rx dataTimestamp_ set to:1761335348.778837 2025-10-24T19:49:08.781Z,1761335348.781 [DAT](INFO): DAT read: Bearing 5.9, -1.1 (Local) 2025-10-24T19:49:08.781Z,1761335348.781 [DAT](INFO): Local bearing/azimuth received: Bearing 5.9, -1.1 (Local) 2025-10-24T19:49:08.783Z,1761335348.783 [DAT](INFO): DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4 2025-10-24T19:49:08.825Z,1761335348.825 [DAT](INFO): DAT read: 19:49:07.7939 LVL= 18096, 32753, 20706, 32755, AGC= 55, IDX= 504,-0.25,-1.843,-3.119,-1.976,-2.097, PHS= 0.342,-0.975, 0.119, RAW= 140.9, 8.5, CAL= 144.1, 1.1, ROT= 5.9, -1.1 2025-10-24T19:49:08.826Z,1761335348.826 [DAT](INFO): got valid direction response: 19:49:07.7939 LVL= 18096, 32753, 20706, 32755, AGC= 55, IDX= 504,-0.25,-1.843,-3.119,-1.976,-2.097, PHS= 0.342,-0.975, 0.119, RAW= 140.9, 8.5, CAL= 144.1, 1.1, ROT= 5.9, -1.1 2025-10-24T19:49:08.826Z,1761335348.826 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-24T19:49:08.827Z,1761335348.827 [DAT](INFO): direction in FSK: [0.994520,0.102774,0.019197] 2025-10-24T19:49:08.827Z,1761335348.827 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:08.835Z,1761335348.835 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.504843 2025-10-24T19:49:08.998Z,1761335348.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504868 s, deltaX: -0.400000 m, approachRate: -0.792286 m/s, rangeRepo size: 4 2025-10-24T19:49:09.004Z,1761335349.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797588 m, bearing: 107.131506 deg, lat: 36.779548 deg, lon: -121.859583 deg, deltaT: 0.504868 s, deltaX: -0.397711 m, approachRate: -0.787752 m/s, posRepo size: 4 2025-10-24T19:49:09.005Z,1761335349.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-24T19:49:09.007Z,1761335349.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.797588 m, nav range: 17.709154 m, bearing: 107.219570 deg, approach rate: 0.000000 m/s, LOS rate: -0.107157 deg/s, cmd heading: 102.136873 deg, new cmd heading: 101.999433 deg. 2025-10-24T19:49:09.014Z,1761335349.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780226 target range: 17.797588 and range: 17.90 m. 2025-10-24T19:49:09.030Z,1761335349.030 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.699734 2025-10-24T19:49:09.271Z,1761335349.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203290,-0.972277,0.115547],[0.978526,-0.197641,0.058532],[-0.034073,0.124965,0.991576]] 2025-10-24T19:49:09.282Z,1761335349.282 [DAT](INFO): DAT read: Rx Time:19:49:08.2937 2025-10-24T19:49:09.282Z,1761335349.282 [DAT](INFO): Rx dataTimestamp_ set to:1761335349.281816 2025-10-24T19:49:09.283Z,1761335349.283 [DAT](INFO): DAT read: Bearing 3.6, 0.9 (Local) 2025-10-24T19:49:09.284Z,1761335349.284 [DAT](INFO): Local bearing/azimuth received: Bearing 3.6, 0.9 (Local) 2025-10-24T19:49:09.286Z,1761335349.286 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 2025-10-24T19:49:09.292Z,1761335349.292 [DAT](INFO): DAT read: 19:49:08.2937 LVL= 17328, 32753, 20706, 32755, AGC= 57, IDX= 502, 0.04,-0.182,-1.566,-0.257,-0.463, PHS= 0.368,-1.057, 0.203, RAW= 143.9, 7.2, CAL= 146.4, -0.9, ROT= 3.6, 0.9 2025-10-24T19:49:09.293Z,1761335349.293 [DAT](INFO): got valid direction response: 19:49:08.2937 LVL= 17328, 32753, 20706, 32755, AGC= 57, IDX= 502, 0.04,-0.182,-1.566,-0.257,-0.463, PHS= 0.368,-1.057, 0.203, RAW= 143.9, 7.2, CAL= 146.4, -0.9, ROT= 3.6, 0.9 2025-10-24T19:49:09.293Z,1761335349.293 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-24T19:49:09.294Z,1761335349.294 [DAT](INFO): direction in FSK: [0.997904,0.062783,-0.015707] 2025-10-24T19:49:09.294Z,1761335349.294 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:09.303Z,1761335349.303 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.972828 2025-10-24T19:49:09.355Z,1761335349.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.502979 s, deltaX: -0.299999 m, approachRate: -0.596445 m/s, rangeRepo size: 4 2025-10-24T19:49:09.363Z,1761335349.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.499382 m, bearing: 105.423590 deg, lat: 36.779548 deg, lon: -121.859582 deg, deltaT: 0.502979 s, deltaX: -0.298206 m, approachRate: -0.592880 m/s, posRepo size: 4 2025-10-24T19:49:09.372Z,1761335349.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T19:49:09.375Z,1761335349.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.499382 m, nav range: 17.590830 m, bearing: 106.989464 deg, approach rate: 0.000000 m/s, LOS rate: -0.107157 deg/s, cmd heading: 101.999436 deg, new cmd heading: 101.884593 deg. 2025-10-24T19:49:09.381Z,1761335349.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778222 target range: 17.499382 and range: 17.60 m. 2025-10-24T19:49:09.534Z,1761335349.534 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.203938 2025-10-24T19:49:09.708Z,1761335349.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.205963,-0.971695,0.115703],[0.977990,-0.200366,0.058207],[-0.033377,0.125145,0.991577]] 2025-10-24T19:49:09.786Z,1761335349.786 [DAT](INFO): DAT read: Rx Time:19:49:08.7935 2025-10-24T19:49:09.786Z,1761335349.786 [DAT](INFO): Rx dataTimestamp_ set to:1761335349.785692 2025-10-24T19:49:09.787Z,1761335349.787 [DAT](INFO): DAT read: Bearing 2.4, 1.9 (Local) 2025-10-24T19:49:09.788Z,1761335349.788 [DAT](INFO): Local bearing/azimuth received: Bearing 2.4, 1.9 (Local) 2025-10-24T19:49:09.793Z,1761335349.793 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 2025-10-24T19:49:09.799Z,1761335349.799 [DAT](INFO): DAT read: 19:49:08.7935 LVL= 17344, 32753, 19554, 32755, AGC= 57, IDX= 499, 0.29,-0.376,-1.785,-0.417,-0.667, PHS= 0.379,-1.071, 0.247, RAW= 145.3, 6.5, CAL= 147.6, -1.9, ROT= 2.4, 1.9 2025-10-24T19:49:09.800Z,1761335349.800 [DAT](INFO): got valid direction response: 19:49:08.7935 LVL= 17344, 32753, 19554, 32755, AGC= 57, IDX= 499, 0.29,-0.376,-1.785,-0.417,-0.667, PHS= 0.379,-1.071, 0.247, RAW= 145.3, 6.5, CAL= 147.6, -1.9, ROT= 2.4, 1.9 2025-10-24T19:49:09.800Z,1761335349.800 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-24T19:49:09.801Z,1761335349.801 [DAT](INFO): direction in FSK: [0.998574,0.041853,-0.033155] 2025-10-24T19:49:09.802Z,1761335349.802 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:09.818Z,1761335349.818 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.487963 2025-10-24T19:49:09.886Z,1761335349.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.503876 s, deltaX: -0.300001 m, approachRate: -0.595387 m/s, rangeRepo size: 4 2025-10-24T19:49:09.889Z,1761335349.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.201096 m, bearing: 104.515362 deg, lat: 36.779548 deg, lon: -121.859582 deg, deltaT: 0.503876 s, deltaX: -0.298286 m, approachRate: -0.591984 m/s, posRepo size: 4 2025-10-24T19:49:09.890Z,1761335349.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-24T19:49:09.902Z,1761335349.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.201096 m, nav range: 17.302780 m, bearing: 106.813718 deg, approach rate: 0.000000 m/s, LOS rate: -0.107157 deg/s, cmd heading: 101.884593 deg, new cmd heading: 101.713929 deg. 2025-10-24T19:49:09.908Z,1761335349.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775243 target range: 17.201096 and range: 17.30 m. 2025-10-24T19:49:10.037Z,1761335350.037 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.706573 2025-10-24T19:49:10.251Z,1761335350.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212212,-0.970574,0.113807],[0.976712,-0.206888,0.056844],[-0.031626,0.123220,0.991875]] 2025-10-24T19:49:10.281Z,1761335350.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:10.283Z,1761335350.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-24T19:49:10.286Z,1761335350.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.201096 m, nav range: 17.051413 m, bearing: 106.714365 deg, approach rate: -0.632144 m/s, LOS rate: -0.253539 deg/s, cmd heading: 101.713927 deg, new cmd heading: 101.411476 deg. 2025-10-24T19:49:10.287Z,1761335350.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769964 target range: 17.201096 and range: 17.30 m. 2025-10-24T19:49:10.289Z,1761335350.289 [DAT](INFO): DAT read: Rx Time:19:49:09.2934 2025-10-24T19:49:10.290Z,1761335350.290 [DAT](INFO): Rx dataTimestamp_ set to:1761335350.289674 2025-10-24T19:49:10.291Z,1761335350.291 [DAT](INFO): DAT read: Bearing 1.5, 1.6 (Local) 2025-10-24T19:49:10.292Z,1761335350.292 [DAT](INFO): Local bearing/azimuth received: Bearing 1.5, 1.6 (Local) 2025-10-24T19:49:10.294Z,1761335350.294 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-24T19:49:10.300Z,1761335350.300 [DAT](INFO): DAT read: 19:49:09.2934 LVL= 18640, 32753, 20770, 32755, AGC= 56, IDX= 498, 0.49, 1.916, 0.528, 1.914, 1.656, PHS= 0.348,-1.081, 0.255, RAW= 146.6, 7.0, CAL= 148.5, -1.6, ROT= 1.5, 1.6 2025-10-24T19:49:10.301Z,1761335350.301 [DAT](INFO): got valid direction response: 19:49:09.2934 LVL= 18640, 32753, 20770, 32755, AGC= 56, IDX= 498, 0.49, 1.916, 0.528, 1.914, 1.656, PHS= 0.348,-1.081, 0.255, RAW= 146.6, 7.0, CAL= 148.5, -1.6, ROT= 1.5, 1.6 2025-10-24T19:49:10.302Z,1761335350.302 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-24T19:49:10.303Z,1761335350.303 [DAT](INFO): direction in FSK: [0.999268,0.026167,-0.027922] 2025-10-24T19:49:10.303Z,1761335350.303 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:10.307Z,1761335350.307 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.976257 2025-10-24T19:49:10.546Z,1761335350.546 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.214567 2025-10-24T19:49:10.673Z,1761335350.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503982 s, deltaX: -0.199999 m, approachRate: -0.396837 m/s, rangeRepo size: 4 2025-10-24T19:49:10.675Z,1761335350.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.002251 m, bearing: 103.946143 deg, lat: 36.779552 deg, lon: -121.859581 deg, deltaT: 0.503982 s, deltaX: -0.198845 m, approachRate: -0.394548 m/s, posRepo size: 4 2025-10-24T19:49:10.675Z,1761335350.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m. 2025-10-24T19:49:10.678Z,1761335350.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.002251 m, nav range: 16.733963 m, bearing: 104.984842 deg, approach rate: 0.000000 m/s, LOS rate: -0.253539 deg/s, cmd heading: 101.411480 deg, new cmd heading: 101.115448 deg. 2025-10-24T19:49:10.679Z,1761335350.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764797 target range: 17.002251 and range: 17.10 m. 2025-10-24T19:49:10.793Z,1761335350.793 [DAT](INFO): DAT read: Rx Time:19:49:09.7931 2025-10-24T19:49:10.794Z,1761335350.794 [DAT](INFO): Rx dataTimestamp_ set to:1761335350.793648 2025-10-24T19:49:10.795Z,1761335350.795 [DAT](INFO): DAT read: Bearing 0.9, 1.3 (Local) 2025-10-24T19:49:10.796Z,1761335350.796 [DAT](INFO): Local bearing/azimuth received: Bearing 0.9, 1.3 (Local) 2025-10-24T19:49:10.798Z,1761335350.798 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-24T19:49:10.803Z,1761335350.803 [DAT](INFO): DAT read: 19:49:09.7931 LVL= 18336, 32753, 20370, 32755, AGC= 56, IDX= 496,-0.20,-0.861,-2.218,-0.834,-1.094, PHS= 0.321,-1.077, 0.257, RAW= 147.7, 7.4, CAL= 149.1, -1.3, ROT= 0.9, 1.3 2025-10-24T19:49:10.804Z,1761335350.804 [DAT](INFO): got valid direction response: 19:49:09.7931 LVL= 18336, 32753, 20370, 32755, AGC= 56, IDX= 496,-0.20,-0.861,-2.218,-0.834,-1.094, PHS= 0.321,-1.077, 0.257, RAW= 147.7, 7.4, CAL= 149.1, -1.3, ROT= 0.9, 1.3 2025-10-24T19:49:10.805Z,1761335350.805 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-24T19:49:10.807Z,1761335350.807 [DAT](INFO): direction in FSK: [0.999619,0.015703,-0.022687] 2025-10-24T19:49:10.810Z,1761335350.810 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:10.859Z,1761335350.859 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.520969 2025-10-24T19:49:11.026Z,1761335351.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217541,-0.969887,0.109521],[0.975585,-0.212595,0.055122],[-0.030178,0.118838,0.992455]] 2025-10-24T19:49:11.046Z,1761335351.046 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.715332 2025-10-24T19:49:11.077Z,1761335351.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503974 s, deltaX: -0.400000 m, approachRate: -0.793691 m/s, rangeRepo size: 4 2025-10-24T19:49:11.084Z,1761335351.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.604538 m, bearing: 103.619784 deg, lat: 36.779554 deg, lon: -121.859581 deg, deltaT: 0.503974 s, deltaX: -0.397713 m, approachRate: -0.789153 m/s, posRepo size: 4 2025-10-24T19:49:11.085Z,1761335351.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m. 2025-10-24T19:49:11.087Z,1761335351.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.604538 m, nav range: 16.433928 m, bearing: 104.103822 deg, approach rate: 0.000000 m/s, LOS rate: -0.253539 deg/s, cmd heading: 101.115446 deg, new cmd heading: 100.807749 deg. 2025-10-24T19:49:11.093Z,1761335351.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.759427 target range: 16.604538 and range: 16.70 m. 2025-10-24T19:49:11.300Z,1761335351.300 [DAT](INFO): DAT read: Rx Time:19:49:10.2930 2025-10-24T19:49:11.300Z,1761335351.300 [DAT](INFO): Rx dataTimestamp_ set to:1761335351.299850 2025-10-24T19:49:11.303Z,1761335351.303 [DAT](INFO): DAT read: Bearing 359.1, 2.0 (Local) 2025-10-24T19:49:11.303Z,1761335351.303 [DAT](INFO): Local bearing/azimuth received: Bearing 359.1, 2.0 (Local) 2025-10-24T19:49:11.307Z,1761335351.307 [DAT](INFO): DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed 0.5 2025-10-24T19:49:11.314Z,1761335351.314 [DAT](INFO): DAT read: 19:49:10.2930 LVL= 17904, 32049, 20258, 32755, AGC= 54, IDX= 511, 0.01, 0.241,-1.187, 0.324, 0.004, PHS= 0.325,-1.144, 0.317, RAW= 149.7, 6.9, CAL= 150.9, -2.0, ROT= 359.1, 2.0 2025-10-24T19:49:11.315Z,1761335351.315 [DAT](INFO): got valid direction response: 19:49:10.2930 LVL= 17904, 32049, 20258, 32755, AGC= 54, IDX= 511, 0.01, 0.241,-1.187, 0.324, 0.004, PHS= 0.325,-1.144, 0.317, RAW= 149.7, 6.9, CAL= 150.9, -2.0, ROT= 359.1, 2.0 2025-10-24T19:49:11.315Z,1761335351.315 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-24T19:49:11.341Z,1761335351.341 [DAT](INFO): direction in FSK: [0.999268,-0.015698,-0.034899] 2025-10-24T19:49:11.342Z,1761335351.342 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:11.358Z,1761335351.358 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.028193 2025-10-24T19:49:11.420Z,1761335351.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.220238,-0.969587,0.106757],[0.974992,-0.215473,0.054422],[-0.029763,0.116073,0.992795]] 2025-10-24T19:49:11.554Z,1761335351.554 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.222809 2025-10-24T19:49:11.572Z,1761335351.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.506202 s, deltaX: -0.200001 m, approachRate: -0.395101 m/s, rangeRepo size: 4 2025-10-24T19:49:11.574Z,1761335351.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.405754 m, bearing: 102.066135 deg, lat: 36.779554 deg, lon: -121.859579 deg, deltaT: 0.506202 s, deltaX: -0.198784 m, approachRate: -0.392697 m/s, posRepo size: 4 2025-10-24T19:49:11.575Z,1761335351.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-24T19:49:11.587Z,1761335351.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.405754 m, nav range: 16.355064 m, bearing: 103.753827 deg, approach rate: 0.000000 m/s, LOS rate: -0.253539 deg/s, cmd heading: 100.807752 deg, new cmd heading: 100.452655 deg. 2025-10-24T19:49:11.588Z,1761335351.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753230 target range: 16.405754 and range: 16.50 m. 2025-10-24T19:49:11.804Z,1761335351.804 [DAT](INFO): DAT read: Rx Time:19:49:10.7927 2025-10-24T19:49:11.805Z,1761335351.805 [DAT](INFO): Rx dataTimestamp_ set to:1761335351.804485 2025-10-24T19:49:11.806Z,1761335351.806 [DAT](INFO): DAT read: Bearing 358.3, 2.1 (Local) 2025-10-24T19:49:11.806Z,1761335351.806 [DAT](INFO): Local bearing/azimuth received: Bearing 358.3, 2.1 (Local) 2025-10-24T19:49:11.809Z,1761335351.809 [DAT](INFO): DAT read: Range 10 to 50 : 16.1 m (trip time 10.7 ms) speed 0.5 2025-10-24T19:49:11.814Z,1761335351.814 [DAT](INFO): DAT read: 19:49:10.7927 LVL= 17696, 31521, 20018, 32755, AGC= 53, IDX= 508, 0.07,-0.152,-1.565,-0.044,-0.379, PHS= 0.315,-1.139, 0.331, RAW= 150.6, 6.8, CAL= 151.7, -2.1, ROT= 358.3, 2.1 2025-10-24T19:49:11.816Z,1761335351.816 [DAT](INFO): got valid direction response: 19:49:10.7927 LVL= 17696, 31521, 20018, 32755, AGC= 53, IDX= 508, 0.07,-0.152,-1.565,-0.044,-0.379, PHS= 0.315,-1.139, 0.331, RAW= 150.6, 6.8, CAL= 151.7, -2.1, ROT= 358.3, 2.1 2025-10-24T19:49:11.817Z,1761335351.817 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-24T19:49:11.818Z,1761335351.818 [DAT](INFO): direction in FSK: [0.998889,-0.029647,-0.036644] 2025-10-24T19:49:11.819Z,1761335351.819 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:11.827Z,1761335351.827 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.496990 2025-10-24T19:49:11.987Z,1761335351.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222259,-0.969378,0.104437],[0.974532,-0.217600,0.054210],[-0.029824,0.113825,0.993053]] 2025-10-24T19:49:12.053Z,1761335352.053 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.722660 2025-10-24T19:49:12.079Z,1761335352.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504635 s, deltaX: -0.400000 m, approachRate: -0.792651 m/s, rangeRepo size: 4 2025-10-24T19:49:12.086Z,1761335352.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.008039 m, bearing: 101.395371 deg, lat: 36.779555 deg, lon: -121.859578 deg, deltaT: 0.504635 s, deltaX: -0.397715 m, approachRate: -0.788123 m/s, posRepo size: 4 2025-10-24T19:49:12.086Z,1761335352.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-24T19:49:12.101Z,1761335352.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.008039 m, nav range: 16.061077 m, bearing: 103.102987 deg, approach rate: 0.000000 m/s, LOS rate: -0.253539 deg/s, cmd heading: 100.452658 deg, new cmd heading: 100.046101 deg. 2025-10-24T19:49:12.102Z,1761335352.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.746134 target range: 16.008039 and range: 16.10 m. 2025-10-24T19:49:12.307Z,1761335352.307 [DAT](INFO): DAT read: Rx Time:19:49:11.2926 2025-10-24T19:49:12.307Z,1761335352.307 [DAT](INFO): Rx dataTimestamp_ set to:1761335352.306763 2025-10-24T19:49:12.309Z,1761335352.309 [DAT](INFO): DAT read: Bearing 358.3, 2.4 (Local) 2025-10-24T19:49:12.310Z,1761335352.310 [DAT](INFO): Local bearing/azimuth received: Bearing 358.3, 2.4 (Local) 2025-10-24T19:49:12.315Z,1761335352.315 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.5 2025-10-24T19:49:12.320Z,1761335352.320 [DAT](INFO): DAT read: 19:49:11.2926 LVL= 20048, 32753, 22370, 32755, AGC= 54, IDX= 507, 0.18, 1.194,-0.183, 1.299, 0.968, PHS= 0.314,-1.104, 0.328, RAW= 150.5, 6.5, CAL= 151.7, -2.4, ROT= 358.3, 2.4 2025-10-24T19:49:12.321Z,1761335352.321 [DAT](INFO): got valid direction response: 19:49:11.2926 LVL= 20048, 32753, 22370, 32755, AGC= 54, IDX= 507, 0.18, 1.194,-0.183, 1.299, 0.968, PHS= 0.314,-1.104, 0.328, RAW= 150.5, 6.5, CAL= 151.7, -2.4, ROT= 358.3, 2.4 2025-10-24T19:49:12.322Z,1761335352.322 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-24T19:49:12.323Z,1761335352.323 [DAT](INFO): direction in FSK: [0.998683,-0.029641,-0.041876] 2025-10-24T19:49:12.323Z,1761335352.323 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:12.342Z,1761335352.342 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.011431 2025-10-24T19:49:12.561Z,1761335352.561 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.230429 2025-10-24T19:49:12.610Z,1761335352.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.502278 s, deltaX: -0.200001 m, approachRate: -0.398187 m/s, rangeRepo size: 4 2025-10-24T19:49:12.616Z,1761335352.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.809275 m, bearing: 101.429415 deg, lat: 36.779559 deg, lon: -121.859578 deg, deltaT: 0.502278 s, deltaX: -0.198765 m, approachRate: -0.395727 m/s, posRepo size: 4 2025-10-24T19:49:12.617Z,1761335352.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-24T19:49:12.619Z,1761335352.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.809275 m, nav range: 15.676459 m, bearing: 101.524012 deg, approach rate: 0.000000 m/s, LOS rate: -0.253539 deg/s, cmd heading: 100.046097 deg, new cmd heading: 99.642196 deg. 2025-10-24T19:49:12.629Z,1761335352.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739084 target range: 15.809275 and range: 15.90 m. 2025-10-24T19:49:12.810Z,1761335352.810 [DAT](INFO): DAT read: Rx Time:19:49:11.7923 2025-10-24T19:49:12.810Z,1761335352.810 [DAT](INFO): Rx dataTimestamp_ set to:1761335352.809742 2025-10-24T19:49:12.811Z,1761335352.811 [DAT](INFO): DAT read: Bearing 357.1, 2.4 (Local) 2025-10-24T19:49:12.812Z,1761335352.812 [DAT](INFO): Local bearing/azimuth received: Bearing 357.1, 2.4 (Local) 2025-10-24T19:49:12.815Z,1761335352.815 [DAT](INFO): DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.6 2025-10-24T19:49:12.822Z,1761335352.822 [DAT](INFO): DAT read: 19:49:11.7923 LVL= 17776, 29137, 18594, 32099, AGC= 54, IDX= 504, 0.18,-0.200,-1.572,-0.056,-0.409, PHS= 0.296,-1.117, 0.350, RAW= 151.9, 6.6, CAL= 152.9, -2.4, ROT= 357.1, 2.4 2025-10-24T19:49:12.823Z,1761335352.823 [DAT](INFO): got valid direction response: 19:49:11.7923 LVL= 17776, 29137, 18594, 32099, AGC= 54, IDX= 504, 0.18,-0.200,-1.572,-0.056,-0.409, PHS= 0.296,-1.117, 0.350, RAW= 151.9, 6.6, CAL= 152.9, -2.4, ROT= 357.1, 2.4 2025-10-24T19:49:12.824Z,1761335352.824 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-24T19:49:12.825Z,1761335352.825 [DAT](INFO): direction in FSK: [0.997843,-0.050549,-0.041876] 2025-10-24T19:49:12.825Z,1761335352.825 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:12.829Z,1761335352.829 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.498375 2025-10-24T19:49:12.927Z,1761335352.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225084,-0.969317,0.098798],[0.973830,-0.220529,0.054966],[-0.031492,0.108584,0.993588]] 2025-10-24T19:49:13.036Z,1761335353.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502979 s, deltaX: -0.400000 m, approachRate: -0.795261 m/s, rangeRepo size: 4 2025-10-24T19:49:13.038Z,1761335353.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.411557 m, bearing: 100.386924 deg, lat: 36.779559 deg, lon: -121.859578 deg, deltaT: 0.502979 s, deltaX: -0.397717 m, approachRate: -0.790724 m/s, posRepo size: 4 2025-10-24T19:49:13.038Z,1761335353.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-24T19:49:13.046Z,1761335353.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.411557 m, nav range: 15.371010 m, bearing: 101.246434 deg, approach rate: 0.000000 m/s, LOS rate: -0.253539 deg/s, cmd heading: 99.642194 deg, new cmd heading: 99.321180 deg. 2025-10-24T19:49:13.047Z,1761335353.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733482 target range: 15.411557 and range: 15.50 m. 2025-10-24T19:49:13.061Z,1761335353.061 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.730547 2025-10-24T19:49:13.314Z,1761335353.314 [DAT](INFO): DAT read: Rx Time:19:49:12.2922 2025-10-24T19:49:13.314Z,1761335353.314 [DAT](INFO): Rx dataTimestamp_ set to:1761335353.313965 2025-10-24T19:49:13.316Z,1761335353.316 [DAT](INFO): DAT read: Bearing 357.8, 2.1 (Local) 2025-10-24T19:49:13.316Z,1761335353.316 [DAT](INFO): Local bearing/azimuth received: Bearing 357.8, 2.1 (Local) 2025-10-24T19:49:13.318Z,1761335353.318 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.6 2025-10-24T19:49:13.323Z,1761335353.323 [DAT](INFO): DAT read: 19:49:12.2922 LVL= 20832, 32753, 22498, 32755, AGC= 53, IDX= 503, 0.09, 0.766,-0.569, 0.890, 0.565, PHS= 0.289,-1.088, 0.322, RAW= 151.2, 6.9, CAL= 152.2, -2.1, ROT= 357.8, 2.1 2025-10-24T19:49:13.324Z,1761335353.324 [DAT](INFO): got valid direction response: 19:49:12.2922 LVL= 20832, 32753, 22498, 32755, AGC= 53, IDX= 503, 0.09, 0.766,-0.569, 0.890, 0.565, PHS= 0.289,-1.088, 0.322, RAW= 151.2, 6.9, CAL= 152.2, -2.1, ROT= 357.8, 2.1 2025-10-24T19:49:13.325Z,1761335353.325 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-24T19:49:13.325Z,1761335353.325 [DAT](INFO): direction in FSK: [0.998592,-0.038362,-0.036644] 2025-10-24T19:49:13.326Z,1761335353.326 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:13.330Z,1761335353.330 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.999748 2025-10-24T19:49:13.350Z,1761335353.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225283,-0.969503,0.096494],[0.973735,-0.220695,0.055979],[-0.032976,0.106571,0.993758]] 2025-10-24T19:49:13.415Z,1761335353.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504223 s, deltaX: -0.200000 m, approachRate: -0.396650 m/s, rangeRepo size: 4 2025-10-24T19:49:13.421Z,1761335353.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.212654 m, bearing: 101.059458 deg, lat: 36.779559 deg, lon: -121.859577 deg, deltaT: 0.504223 s, deltaX: -0.198903 m, approachRate: -0.394474 m/s, posRepo size: 4 2025-10-24T19:49:13.422Z,1761335353.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-24T19:49:13.429Z,1761335353.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.212654 m, nav range: 15.154009 m, bearing: 101.006585 deg, approach rate: 0.000000 m/s, LOS rate: -0.253539 deg/s, cmd heading: 99.321182 deg, new cmd heading: 99.029809 deg. 2025-10-24T19:49:13.430Z,1761335353.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728396 target range: 15.212654 and range: 15.30 m. 2025-10-24T19:49:13.569Z,1761335353.569 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.238115 2025-10-24T19:49:13.775Z,1761335353.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223579,-0.970510,0.090126],[0.973994,-0.218981,0.058160],[-0.036709,0.100786,0.994231]] 2025-10-24T19:49:13.817Z,1761335353.817 [DAT](INFO): DAT read: Rx Time:19:49:12.7919 2025-10-24T19:49:13.818Z,1761335353.818 [DAT](INFO): Rx dataTimestamp_ set to:1761335353.817632 2025-10-24T19:49:13.819Z,1761335353.819 [DAT](INFO): DAT read: Bearing 356.3, 1.9 (Local) 2025-10-24T19:49:13.819Z,1761335353.819 [DAT](INFO): Local bearing/azimuth received: Bearing 356.3, 1.9 (Local) 2025-10-24T19:49:13.822Z,1761335353.822 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.6 2025-10-24T19:49:13.826Z,1761335353.826 [DAT](INFO): DAT read: 19:49:12.7919 LVL= 19088, 32753, 20722, 32755, AGC= 54, IDX= 500,-0.07,-0.954,-2.277,-0.777,-1.124, PHS= 0.258,-1.105, 0.344, RAW= 153.0, 7.2, CAL= 153.7, -1.9, ROT= 356.3, 1.9 2025-10-24T19:49:13.827Z,1761335353.827 [DAT](INFO): got valid direction response: 19:49:12.7919 LVL= 19088, 32753, 20722, 32755, AGC= 54, IDX= 500,-0.07,-0.954,-2.277,-0.777,-1.124, PHS= 0.258,-1.105, 0.344, RAW= 153.0, 7.2, CAL= 153.7, -1.9, ROT= 356.3, 1.9 2025-10-24T19:49:13.828Z,1761335353.828 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-24T19:49:13.829Z,1761335353.829 [DAT](INFO): direction in FSK: [0.997367,-0.064497,-0.033155] 2025-10-24T19:49:13.829Z,1761335353.829 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:13.850Z,1761335353.850 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.519548 2025-10-24T19:49:13.894Z,1761335353.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503667 s, deltaX: -0.400001 m, approachRate: -0.794177 m/s, rangeRepo size: 4 2025-10-24T19:49:13.906Z,1761335353.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.814937 m, bearing: 99.430938 deg, lat: 36.779559 deg, lon: -121.859577 deg, deltaT: 0.503667 s, deltaX: -0.397717 m, approachRate: -0.789644 m/s, posRepo size: 4 2025-10-24T19:49:13.907Z,1761335353.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-24T19:49:13.923Z,1761335353.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.814937 m, nav range: 14.827746 m, bearing: 100.371137 deg, approach rate: 0.000000 m/s, LOS rate: -0.253539 deg/s, cmd heading: 99.029806 deg, new cmd heading: 98.669423 deg. 2025-10-24T19:49:13.929Z,1761335353.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722106 target range: 14.814937 and range: 14.90 m. 2025-10-24T19:49:14.069Z,1761335354.069 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.738762 2025-10-24T19:49:14.290Z,1761335354.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:14.297Z,1761335354.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-24T19:49:14.299Z,1761335354.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.814937 m, nav range: 14.561575 m, bearing: 100.126576 deg, approach rate: -0.651061 m/s, LOS rate: -0.609135 deg/s, cmd heading: 98.669425 deg, new cmd heading: 97.922375 deg. 2025-10-24T19:49:14.304Z,1761335354.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.709068 target range: 14.814937 and range: 14.90 m. 2025-10-24T19:49:14.322Z,1761335354.322 [DAT](INFO): DAT read: Rx Time:19:49:13.2918 2025-10-24T19:49:14.322Z,1761335354.322 [DAT](INFO): Rx dataTimestamp_ set to:1761335354.321689 2025-10-24T19:49:14.323Z,1761335354.323 [DAT](INFO): DAT read: Bearing 356.8, 1.4 (Local) 2025-10-24T19:49:14.324Z,1761335354.324 [DAT](INFO): Local bearing/azimuth received: Bearing 356.8, 1.4 (Local) 2025-10-24T19:49:14.326Z,1761335354.326 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.7 2025-10-24T19:49:14.332Z,1761335354.332 [DAT](INFO): DAT read: 19:49:13.2918 LVL= 19344, 32753, 20402, 32755, AGC= 54, IDX= 499,-0.29,-0.120,-1.426, 0.044,-0.281, PHS= 0.249,-1.098, 0.322, RAW= 152.6, 7.7, CAL= 153.2, -1.4, ROT= 356.8, 1.4 2025-10-24T19:49:14.333Z,1761335354.333 [DAT](INFO): got valid direction response: 19:49:13.2918 LVL= 19344, 32753, 20402, 32755, AGC= 54, IDX= 499,-0.29,-0.120,-1.426, 0.044,-0.281, PHS= 0.249,-1.098, 0.322, RAW= 152.6, 7.7, CAL= 153.2, -1.4, ROT= 356.8, 1.4 2025-10-24T19:49:14.333Z,1761335354.333 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-24T19:49:14.334Z,1761335354.334 [DAT](INFO): direction in FSK: [0.998143,-0.055805,-0.024432] 2025-10-24T19:49:14.334Z,1761335354.334 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:14.354Z,1761335354.354 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.023785 2025-10-24T19:49:14.576Z,1761335354.576 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.244862 2025-10-24T19:49:14.771Z,1761335354.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504057 s, deltaX: -0.200000 m, approachRate: -0.396780 m/s, rangeRepo size: 4 2025-10-24T19:49:14.778Z,1761335354.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.616424 m, bearing: 99.880112 deg, lat: 36.779559 deg, lon: -121.859577 deg, deltaT: 0.504057 s, deltaX: -0.198513 m, approachRate: -0.393831 m/s, posRepo size: 4 2025-10-24T19:49:14.778Z,1761335354.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T19:49:14.785Z,1761335354.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.616424 m, nav range: 14.297690 m, bearing: 100.079968 deg, approach rate: 0.000000 m/s, LOS rate: -0.609135 deg/s, cmd heading: 97.922373 deg, new cmd heading: 97.056302 deg. 2025-10-24T19:49:14.786Z,1761335354.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.693952 target range: 14.616424 and range: 14.70 m. 2025-10-24T19:49:14.826Z,1761335354.826 [DAT](INFO): DAT read: Rx Time:19:49:13.7915 2025-10-24T19:49:14.826Z,1761335354.826 [DAT](INFO): Rx dataTimestamp_ set to:1761335354.825716 2025-10-24T19:49:14.827Z,1761335354.827 [DAT](INFO): DAT read: Bearing 355.9, 1.8 (Local) 2025-10-24T19:49:14.828Z,1761335354.828 [DAT](INFO): Local bearing/azimuth received: Bearing 355.9, 1.8 (Local) 2025-10-24T19:49:14.832Z,1761335354.832 [DAT](INFO): DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed 0.6 2025-10-24T19:49:14.869Z,1761335354.869 [DAT](INFO): DAT read: 19:49:13.7915 LVL= 19888, 32753, 22098, 32755, AGC= 54, IDX= 495, 0.20, 1.714, 0.317, 1.911, 1.540, PHS= 0.262,-1.176, 0.368, RAW= 153.5, 7.4, CAL= 154.1, -1.8, ROT= 355.9, 1.8 2025-10-24T19:49:14.870Z,1761335354.870 [DAT](INFO): got valid direction response: 19:49:13.7915 LVL= 19888, 32753, 22098, 32755, AGC= 54, IDX= 495, 0.20, 1.714, 0.317, 1.911, 1.540, PHS= 0.262,-1.176, 0.368, RAW= 153.5, 7.4, CAL= 154.1, -1.8, ROT= 355.9, 1.8 2025-10-24T19:49:14.871Z,1761335354.871 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-24T19:49:14.884Z,1761335354.884 [DAT](INFO): direction in FSK: [0.996949,-0.071462,-0.031411] 2025-10-24T19:49:14.884Z,1761335354.884 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:14.895Z,1761335354.895 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.564558 2025-10-24T19:49:15.058Z,1761335355.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217022,-0.973003,0.078527],[0.975189,-0.212503,0.062038],[-0.043676,0.090042,0.994980]] 2025-10-24T19:49:15.077Z,1761335355.077 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.746706 2025-10-24T19:49:15.134Z,1761335355.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504027 s, deltaX: -0.599999 m, approachRate: -1.190411 m/s, rangeRepo size: 4 2025-10-24T19:49:15.140Z,1761335355.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.019835 m, bearing: 98.614661 deg, lat: 36.779561 deg, lon: -121.859577 deg, deltaT: 0.504027 s, deltaX: -0.596588 m, approachRate: -1.183643 m/s, posRepo size: 4 2025-10-24T19:49:15.141Z,1761335355.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-24T19:49:15.143Z,1761335355.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.019835 m, nav range: 13.998388 m, bearing: 99.116589 deg, approach rate: 0.000000 m/s, LOS rate: -0.609135 deg/s, cmd heading: 97.056305 deg, new cmd heading: 96.393765 deg. 2025-10-24T19:49:15.149Z,1761335355.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.682389 target range: 14.019835 and range: 14.10 m. 2025-10-24T19:49:15.334Z,1761335355.334 [DAT](INFO): DAT read: Rx Time:19:49:14.2914 2025-10-24T19:49:15.335Z,1761335355.335 [DAT](INFO): Rx dataTimestamp_ set to:1761335355.334899 2025-10-24T19:49:15.337Z,1761335355.337 [DAT](INFO): DAT read: Bearing 354.7, 1.0 (Local) 2025-10-24T19:49:15.338Z,1761335355.338 [DAT](INFO): Local bearing/azimuth received: Bearing 354.7, 1.0 (Local) 2025-10-24T19:49:15.340Z,1761335355.340 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed 0.6 2025-10-24T19:49:15.350Z,1761335355.350 [DAT](INFO): DAT read: 19:49:14.2914 LVL= 20928, 32753, 21106, 32755, AGC= 55, IDX= 510,-0.07, 2.157, 0.723, 2.414, 2.025, PHS= 0.220,-1.255, 0.386, RAW= 155.3, 8.3, CAL= 155.3, -1.0, ROT= 354.7, 1.0 2025-10-24T19:49:15.351Z,1761335355.351 [DAT](INFO): got valid direction response: 19:49:14.2914 LVL= 20928, 32753, 21106, 32755, AGC= 55, IDX= 510,-0.07, 2.157, 0.723, 2.414, 2.025, PHS= 0.220,-1.255, 0.386, RAW= 155.3, 8.3, CAL= 155.3, -1.0, ROT= 354.7, 1.0 2025-10-24T19:49:15.352Z,1761335355.352 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-24T19:49:15.353Z,1761335355.353 [DAT](INFO): direction in FSK: [0.995573,-0.092356,-0.017452] 2025-10-24T19:49:15.353Z,1761335355.353 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:15.357Z,1761335355.357 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.026918 2025-10-24T19:49:15.444Z,1761335355.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213423,-0.974106,0.074615],[0.975864,-0.208944,0.063496],[-0.046261,0.086365,0.995189]] 2025-10-24T19:49:15.511Z,1761335355.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.509183 s, deltaX: -0.100000 m, approachRate: -0.196394 m/s, rangeRepo size: 4 2025-10-24T19:49:15.517Z,1761335355.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.921125 m, bearing: 97.130633 deg, lat: 36.779562 deg, lon: -121.859577 deg, deltaT: 0.509183 s, deltaX: -0.098710 m, approachRate: -0.193860 m/s, posRepo size: 4 2025-10-24T19:49:15.518Z,1761335355.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m. 2025-10-24T19:49:15.530Z,1761335355.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.921125 m, nav range: 13.737818 m, bearing: 98.370426 deg, approach rate: 0.000000 m/s, LOS rate: -0.609135 deg/s, cmd heading: 96.393763 deg, new cmd heading: 95.705299 deg. 2025-10-24T19:49:15.531Z,1761335355.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670373 target range: 13.921125 and range: 14.00 m. 2025-10-24T19:49:15.584Z,1761335355.584 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.253286 2025-10-24T19:49:15.837Z,1761335355.837 [DAT](INFO): DAT read: Rx Time:19:49:14.7911 2025-10-24T19:49:15.837Z,1761335355.837 [DAT](INFO): Rx dataTimestamp_ set to:1761335355.836824 2025-10-24T19:49:15.844Z,1761335355.844 [DAT](INFO): DAT read: Bearing 355.3, 1.0 (Local) 2025-10-24T19:49:15.844Z,1761335355.844 [DAT](INFO): Local bearing/azimuth received: Bearing 355.3, 1.0 (Local) 2025-10-24T19:49:15.856Z,1761335355.856 [DAT](INFO): DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed 0.8 2025-10-24T19:49:15.869Z,1761335355.869 [DAT](INFO): DAT read: 19:49:14.7911 LVL= 19888, 32753, 20018, 32755, AGC= 55, IDX= 507,-0.31, 0.431,-0.964, 0.659, 0.293, PHS= 0.226,-1.210, 0.363, RAW= 154.5, 8.3, CAL= 154.7, -1.0, ROT= 355.3, 1.0 2025-10-24T19:49:15.870Z,1761335355.870 [DAT](INFO): got valid direction response: 19:49:14.7911 LVL= 19888, 32753, 20018, 32755, AGC= 55, IDX= 507,-0.31, 0.431,-0.964, 0.659, 0.293, PHS= 0.226,-1.210, 0.363, RAW= 154.5, 8.3, CAL= 154.7, -1.0, ROT= 355.3, 1.0 2025-10-24T19:49:15.870Z,1761335355.870 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-24T19:49:15.871Z,1761335355.871 [DAT](INFO): direction in FSK: [0.996486,-0.081926,-0.017452] 2025-10-24T19:49:15.871Z,1761335355.871 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:15.891Z,1761335355.891 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.560507 2025-10-24T19:49:16.031Z,1761335356.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.501925 s, deltaX: -0.500000 m, approachRate: -0.996165 m/s, rangeRepo size: 4 2025-10-24T19:49:16.041Z,1761335356.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.423943 m, bearing: 97.730014 deg, lat: 36.779562 deg, lon: -121.859577 deg, deltaT: 0.501925 s, deltaX: -0.497183 m, approachRate: -0.990552 m/s, posRepo size: 4 2025-10-24T19:49:16.042Z,1761335356.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-24T19:49:16.049Z,1761335356.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.423943 m, nav range: 13.397917 m, bearing: 97.960168 deg, approach rate: 0.000000 m/s, LOS rate: -0.609135 deg/s, cmd heading: 95.705300 deg, new cmd heading: 94.754141 deg. 2025-10-24T19:49:16.050Z,1761335356.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653772 target range: 13.423943 and range: 13.50 m. 2025-10-24T19:49:16.085Z,1761335356.085 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.754480 2025-10-24T19:49:16.271Z,1761335356.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.204041,-0.976677,0.066846],[0.977590,-0.199665,0.066728],[-0.051825,0.078964,0.995530]] 2025-10-24T19:49:16.318Z,1761335356.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:16.319Z,1761335356.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-24T19:49:16.327Z,1761335356.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.423943 m, nav range: 13.207283 m, bearing: 97.741014 deg, approach rate: -0.659480 m/s, LOS rate: -0.769083 deg/s, cmd heading: 94.754142 deg, new cmd heading: 94.087222 deg. 2025-10-24T19:49:16.327Z,1761335356.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642132 target range: 13.423943 and range: 13.50 m. 2025-10-24T19:49:16.338Z,1761335356.338 [DAT](INFO): DAT read: Rx Time:19:49:15.2910 2025-10-24T19:49:16.338Z,1761335356.338 [DAT](INFO): Rx dataTimestamp_ set to:1761335356.337878 2025-10-24T19:49:16.339Z,1761335356.339 [DAT](INFO): DAT read: Bearing 355.7, 0.9 (Local) 2025-10-24T19:49:16.340Z,1761335356.340 [DAT](INFO): Local bearing/azimuth received: Bearing 355.7, 0.9 (Local) 2025-10-24T19:49:16.342Z,1761335356.342 [DAT](INFO): DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.5 2025-10-24T19:49:16.347Z,1761335356.347 [DAT](INFO): DAT read: 19:49:15.2910 LVL= 21072, 32753, 21042, 32755, AGC= 57, IDX= 505, 0.21,-2.489, 2.382,-2.272,-2.632, PHS= 0.231,-1.222, 0.358, RAW= 154.1, 8.4, CAL= 154.3, -0.9, ROT= 355.7, 0.9 2025-10-24T19:49:16.353Z,1761335356.353 [DAT](INFO): got valid direction response: 19:49:15.2910 LVL= 21072, 32753, 21042, 32755, AGC= 57, IDX= 505, 0.21,-2.489, 2.382,-2.272,-2.632, PHS= 0.231,-1.222, 0.358, RAW= 154.1, 8.4, CAL= 154.3, -0.9, ROT= 355.7, 0.9 2025-10-24T19:49:16.353Z,1761335356.353 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-24T19:49:16.354Z,1761335356.354 [DAT](INFO): direction in FSK: [0.997062,-0.074969,-0.015707] 2025-10-24T19:49:16.354Z,1761335356.354 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:16.363Z,1761335356.363 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.032383 2025-10-24T19:49:16.592Z,1761335356.592 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.261162 2025-10-24T19:49:16.675Z,1761335356.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.198598,-0.978045,0.063133],[0.978565,-0.194297,0.068263],[-0.054498,0.075336,0.995668]] 2025-10-24T19:49:16.781Z,1761335356.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.501054 s, deltaX: -0.100000 m, approachRate: -0.199580 m/s, rangeRepo size: 4 2025-10-24T19:49:16.783Z,1761335356.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.324818 m, bearing: 97.241071 deg, lat: 36.779562 deg, lon: -121.859575 deg, deltaT: 0.501054 s, deltaX: -0.099125 m, approachRate: -0.197833 m/s, posRepo size: 4 2025-10-24T19:49:16.783Z,1761335356.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m. 2025-10-24T19:49:16.789Z,1761335356.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.324818 m, nav range: 13.105996 m, bearing: 97.310120 deg, approach rate: 0.000000 m/s, LOS rate: -0.769083 deg/s, cmd heading: 94.087222 deg, new cmd heading: 93.026894 deg. 2025-10-24T19:49:16.790Z,1761335356.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623626 target range: 13.324818 and range: 13.40 m. 2025-10-24T19:49:16.843Z,1761335356.843 [DAT](INFO): DAT read: Rx Time:19:49:15.7907 2025-10-24T19:49:16.843Z,1761335356.843 [DAT](INFO): Rx dataTimestamp_ set to:1761335356.842696 2025-10-24T19:49:16.845Z,1761335356.845 [DAT](INFO): DAT read: Bearing 355.8, 0.3 (Local) 2025-10-24T19:49:16.846Z,1761335356.846 [DAT](INFO): Local bearing/azimuth received: Bearing 355.8, 0.3 (Local) 2025-10-24T19:49:16.851Z,1761335356.851 [DAT](INFO): DAT read: Range 10 to 50 : 12.9 m (trip time 8.6 ms) speed 0.8 2025-10-24T19:49:16.871Z,1761335356.871 [DAT](INFO): DAT read: 19:49:15.7907 LVL= 20816, 32753, 19218, 32755, AGC= 58, IDX= 502,-0.07, 2.194, 0.789, 2.414, 2.070, PHS= 0.211,-1.234, 0.340, RAW= 154.2, 9.1, CAL= 154.2, -0.3, ROT= 355.8, 0.3 2025-10-24T19:49:16.882Z,1761335356.882 [DAT](INFO): got valid direction response: 19:49:15.7907 LVL= 20816, 32753, 19218, 32755, AGC= 58, IDX= 502,-0.07, 2.194, 0.789, 2.414, 2.070, PHS= 0.211,-1.234, 0.340, RAW= 154.2, 9.1, CAL= 154.2, -0.3, ROT= 355.8, 0.3 2025-10-24T19:49:16.882Z,1761335356.882 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-24T19:49:16.904Z,1761335356.904 [DAT](INFO): direction in FSK: [0.997301,-0.073237,-0.005236] 2025-10-24T19:49:16.904Z,1761335356.904 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:16.945Z,1761335356.945 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.614655 2025-10-24T19:49:17.079Z,1761335357.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191431,-0.979680,0.059843],[0.979781,-0.187127,0.070796],[-0.058160,0.072186,0.995694]] 2025-10-24T19:49:17.093Z,1761335357.093 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.762653 2025-10-24T19:49:17.160Z,1761335357.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.504818 s, deltaX: -0.500000 m, approachRate: -0.990456 m/s, rangeRepo size: 4 2025-10-24T19:49:17.163Z,1761335357.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.827623 m, bearing: 96.878267 deg, lat: 36.779562 deg, lon: -121.859576 deg, deltaT: 0.504818 s, deltaX: -0.497194 m, approachRate: -0.984898 m/s, posRepo size: 4 2025-10-24T19:49:17.168Z,1761335357.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-24T19:49:17.171Z,1761335357.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.827623 m, nav range: 12.797835 m, bearing: 96.890980 deg, approach rate: 0.000000 m/s, LOS rate: -0.769083 deg/s, cmd heading: 93.026896 deg, new cmd heading: 92.158795 deg. 2025-10-24T19:49:17.176Z,1761335357.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608474 target range: 12.827623 and range: 12.90 m. 2025-10-24T19:49:17.346Z,1761335357.346 [DAT](INFO): DAT read: Rx Time:19:49:16.2905 2025-10-24T19:49:17.347Z,1761335357.347 [DAT](INFO): Rx dataTimestamp_ set to:1761335357.346429 2025-10-24T19:49:17.348Z,1761335357.348 [DAT](INFO): DAT read: Bearing 357.1, -1.3 (Local) 2025-10-24T19:49:17.348Z,1761335357.348 [DAT](INFO): Local bearing/azimuth received: Bearing 357.1, -1.3 (Local) 2025-10-24T19:49:17.350Z,1761335357.350 [DAT](INFO): DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.6 2025-10-24T19:49:17.359Z,1761335357.359 [DAT](INFO): DAT read: 19:49:16.2905 LVL= 21408, 32753, 20466, 32755, AGC= 58, IDX= 500,-0.34, 2.105, 0.711, 2.274, 1.989, PHS= 0.204,-1.231, 0.282, RAW= 152.6, 10.1, CAL= 152.9, 1.3, ROT= 357.1, -1.3 2025-10-24T19:49:17.361Z,1761335357.361 [DAT](INFO): got valid direction response: 19:49:16.2905 LVL= 21408, 32753, 20466, 32755, AGC= 58, IDX= 500,-0.34, 2.105, 0.711, 2.274, 1.989, PHS= 0.204,-1.231, 0.282, RAW= 152.6, 10.1, CAL= 152.9, 1.3, ROT= 357.1, -1.3 2025-10-24T19:49:17.361Z,1761335357.361 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-24T19:49:17.363Z,1761335357.363 [DAT](INFO): direction in FSK: [0.998462,-0.050580,0.022687] 2025-10-24T19:49:17.363Z,1761335357.363 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:17.383Z,1761335357.383 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.052639 2025-10-24T19:49:17.488Z,1761335357.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.184376,-0.981166,0.057607],[0.980945,-0.180048,0.073005],[-0.061258,0.069970,0.995666]] 2025-10-24T19:49:17.572Z,1761335357.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503733 s, deltaX: -0.299999 m, approachRate: -0.595552 m/s, rangeRepo size: 4 2025-10-24T19:49:17.574Z,1761335357.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.529494 m, bearing: 97.658966 deg, lat: 36.779562 deg, lon: -121.859576 deg, deltaT: 0.503733 s, deltaX: -0.298129 m, approachRate: -0.591839 m/s, posRepo size: 4 2025-10-24T19:49:17.575Z,1761335357.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T19:49:17.601Z,1761335357.601 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.270412 2025-10-24T19:49:17.617Z,1761335357.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.529494 m, nav range: 12.536084 m, bearing: 96.586819 deg, approach rate: 0.000000 m/s, LOS rate: -0.769083 deg/s, cmd heading: 92.158793 deg, new cmd heading: 91.219529 deg. 2025-10-24T19:49:17.632Z,1761335357.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592081 target range: 12.529494 and range: 12.60 m. 2025-10-24T19:49:17.850Z,1761335357.850 [DAT](INFO): DAT read: Rx Time:19:49:16.7902 2025-10-24T19:49:17.850Z,1761335357.850 [DAT](INFO): Rx dataTimestamp_ set to:1761335357.849810 2025-10-24T19:49:17.851Z,1761335357.851 [DAT](INFO): DAT read: Bearing 357.4, -0.9 (Local) 2025-10-24T19:49:17.853Z,1761335357.853 [DAT](INFO): Local bearing/azimuth received: Bearing 357.4, -0.9 (Local) 2025-10-24T19:49:17.855Z,1761335357.855 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.6 2025-10-24T19:49:17.859Z,1761335357.859 [DAT](INFO): DAT read: 19:49:16.7902 LVL= 21712, 32753, 21538, 32755, AGC= 58, IDX= 496, 0.43, 2.434, 0.988, 2.595, 2.298, PHS= 0.224,-1.263, 0.294, RAW= 152.3, 9.8, CAL= 152.6, 0.9, ROT= 357.4, -0.9 2025-10-24T19:49:17.861Z,1761335357.861 [DAT](INFO): got valid direction response: 19:49:16.7902 LVL= 21712, 32753, 21538, 32755, AGC= 58, IDX= 496, 0.43, 2.434, 0.988, 2.595, 2.298, PHS= 0.224,-1.263, 0.294, RAW= 152.3, 9.8, CAL= 152.6, 0.9, ROT= 357.4, -0.9 2025-10-24T19:49:17.861Z,1761335357.861 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-24T19:49:17.863Z,1761335357.863 [DAT](INFO): direction in FSK: [0.998847,-0.045357,0.015707] 2025-10-24T19:49:17.864Z,1761335357.864 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:17.911Z,1761335357.911 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.580608 2025-10-24T19:49:18.072Z,1761335358.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503381 s, deltaX: -0.300000 m, approachRate: -0.595970 m/s, rangeRepo size: 4 2025-10-24T19:49:18.085Z,1761335358.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.231174 m, bearing: 97.985390 deg, lat: 36.779562 deg, lon: -121.859577 deg, deltaT: 0.503381 s, deltaX: -0.298321 m, approachRate: -0.592634 m/s, posRepo size: 4 2025-10-24T19:49:18.085Z,1761335358.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-24T19:49:18.094Z,1761335358.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.231174 m, nav range: 12.208652 m, bearing: 96.585294 deg, approach rate: 0.000000 m/s, LOS rate: -0.769083 deg/s, cmd heading: 91.219526 deg, new cmd heading: 90.120577 deg. 2025-10-24T19:49:18.101Z,1761335358.101 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.770851 2025-10-24T19:49:18.105Z,1761335358.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572901 target range: 12.231174 and range: 12.30 m. 2025-10-24T19:49:18.353Z,1761335358.353 [DAT](INFO): DAT read: Rx Time:19:49:17.2901 2025-10-24T19:49:18.354Z,1761335358.354 [DAT](INFO): Rx dataTimestamp_ set to:1761335358.353641 2025-10-24T19:49:18.355Z,1761335358.355 [DAT](INFO): DAT read: Bearing 357.8, -0.7 (Local) 2025-10-24T19:49:18.356Z,1761335358.355 [DAT](INFO): Local bearing/azimuth received: Bearing 357.8, -0.7 (Local) 2025-10-24T19:49:18.362Z,1761335358.362 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.7 2025-10-24T19:49:18.367Z,1761335358.367 [DAT](INFO): DAT read: 19:49:17.2901 LVL= 22512, 32753, 20946, 32755, AGC= 59, IDX= 511, 0.39, 2.421, 0.951, 2.572, 2.270, PHS= 0.239,-1.273, 0.298, RAW= 151.9, 9.6, CAL= 152.2, 0.7, ROT= 357.8, -0.7 2025-10-24T19:49:18.368Z,1761335358.368 [DAT](INFO): got valid direction response: 19:49:17.2901 LVL= 22512, 32753, 20946, 32755, AGC= 59, IDX= 511, 0.39, 2.421, 0.951, 2.572, 2.270, PHS= 0.239,-1.273, 0.298, RAW= 151.9, 9.6, CAL= 152.2, 0.7, ROT= 357.8, -0.7 2025-10-24T19:49:18.369Z,1761335358.369 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-24T19:49:18.370Z,1761335358.370 [DAT](INFO): direction in FSK: [0.999188,-0.038385,0.012217] 2025-10-24T19:49:18.370Z,1761335358.370 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:18.382Z,1761335358.382 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.051491 2025-10-24T19:49:18.393Z,1761335358.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167739,-0.984444,0.052288],[0.983489,-0.163451,0.077679],[-0.067924,0.064454,0.995606]] 2025-10-24T19:49:18.491Z,1761335358.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503831 s, deltaX: -0.100000 m, approachRate: -0.198480 m/s, rangeRepo size: 4 2025-10-24T19:49:18.498Z,1761335358.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.131778 m, bearing: 97.434663 deg, lat: 36.779560 deg, lon: -121.859576 deg, deltaT: 0.503831 s, deltaX: -0.099396 m, approachRate: -0.197280 m/s, posRepo size: 4 2025-10-24T19:49:18.499Z,1761335358.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-24T19:49:18.506Z,1761335358.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.131778 m, nav range: 12.011273 m, bearing: 97.091757 deg, approach rate: 0.000000 m/s, LOS rate: -0.769083 deg/s, cmd heading: 90.120576 deg, new cmd heading: 89.113666 deg. 2025-10-24T19:49:18.507Z,1761335358.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555327 target range: 12.131778 and range: 12.20 m. 2025-10-24T19:49:18.607Z,1761335358.607 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.277058 2025-10-24T19:49:18.862Z,1761335358.862 [DAT](INFO): DAT read: Rx Time:19:49:17.7898 2025-10-24T19:49:18.862Z,1761335358.862 [DAT](INFO): Rx dataTimestamp_ set to:1761335358.861736 2025-10-24T19:49:18.863Z,1761335358.863 [DAT](INFO): DAT read: Bearing 358.7, -1.1 (Local) 2025-10-24T19:49:18.864Z,1761335358.864 [DAT](INFO): Local bearing/azimuth received: Bearing 358.7, -1.1 (Local) 2025-10-24T19:49:18.866Z,1761335358.866 [DAT](INFO): DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5 2025-10-24T19:49:18.871Z,1761335358.871 [DAT](INFO): DAT read: 19:49:17.7898 LVL= 23360, 31537, 22338, 32755, AGC= 59, IDX= 508, 0.46, 0.293,-1.186, 0.407, 0.132, PHS= 0.249,-1.271, 0.272, RAW= 150.7, 9.8, CAL= 151.3, 1.1, ROT= 358.7, -1.1 2025-10-24T19:49:18.872Z,1761335358.872 [DAT](INFO): got valid direction response: 19:49:17.7898 LVL= 23360, 31537, 22338, 32755, AGC= 59, IDX= 508, 0.46, 0.293,-1.186, 0.407, 0.132, PHS= 0.249,-1.271, 0.272, RAW= 150.7, 9.8, CAL= 151.3, 1.1, ROT= 358.7, -1.1 2025-10-24T19:49:18.872Z,1761335358.872 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-24T19:49:18.873Z,1761335358.873 [DAT](INFO): direction in FSK: [0.999558,-0.022683,0.019197] 2025-10-24T19:49:18.873Z,1761335358.873 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:18.883Z,1761335358.883 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.552105 2025-10-24T19:49:18.927Z,1761335358.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.508095 s, deltaX: -0.500000 m, approachRate: -0.984068 m/s, rangeRepo size: 4 2025-10-24T19:49:18.940Z,1761335358.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.634574 m, bearing: 98.309134 deg, lat: 36.779559 deg, lon: -121.859577 deg, deltaT: 0.508095 s, deltaX: -0.497204 m, approachRate: -0.978565 m/s, posRepo size: 4 2025-10-24T19:49:18.941Z,1761335358.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-24T19:49:18.943Z,1761335358.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.634574 m, nav range: 11.728795 m, bearing: 97.243599 deg, approach rate: 0.000000 m/s, LOS rate: -0.769083 deg/s, cmd heading: 89.113669 deg, new cmd heading: 88.072750 deg. 2025-10-24T19:49:18.949Z,1761335358.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537159 target range: 11.634574 and range: 11.70 m. 2025-10-24T19:49:19.113Z,1761335359.113 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.782883 2025-10-24T19:49:19.275Z,1761335359.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.150270,-0.987442,0.048764],[0.985853,-0.145959,0.082397],[-0.074244,0.060455,0.995406]] 2025-10-24T19:49:19.325Z,1761335359.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:19.327Z,1761335359.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-24T19:49:19.334Z,1761335359.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.634574 m, nav range: 11.459440 m, bearing: 96.953982 deg, approach rate: -0.672427 m/s, LOS rate: -0.740001 deg/s, cmd heading: 88.072749 deg, new cmd heading: 87.183551 deg. 2025-10-24T19:49:19.335Z,1761335359.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.521640 target range: 11.634574 and range: 11.70 m. 2025-10-24T19:49:19.365Z,1761335359.365 [DAT](INFO): DAT read: Rx Time:19:49:18.2897 2025-10-24T19:49:19.366Z,1761335359.366 [DAT](INFO): Rx dataTimestamp_ set to:1761335359.365627 2025-10-24T19:49:19.367Z,1761335359.367 [DAT](INFO): DAT read: Bearing 0.4, -3.1 (Local) 2025-10-24T19:49:19.367Z,1761335359.367 [DAT](INFO): Local bearing/azimuth received: Bearing 0.4, -3.1 (Local) 2025-10-24T19:49:19.370Z,1761335359.370 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 2025-10-24T19:49:19.375Z,1761335359.375 [DAT](INFO): DAT read: 19:49:18.2897 LVL= 25024, 32753, 21698, 32755, AGC= 59, IDX= 508,-0.37,-0.759,-2.217,-0.713,-0.912, PHS= 0.241,-1.258, 0.197, RAW= 148.5, 11.1, CAL= 149.6, 3.1, ROT= 0.4, -3.1 2025-10-24T19:49:19.376Z,1761335359.376 [DAT](INFO): got valid direction response: 19:49:18.2897 LVL= 25024, 32753, 21698, 32755, AGC= 59, IDX= 508,-0.37,-0.759,-2.217,-0.713,-0.912, PHS= 0.241,-1.258, 0.197, RAW= 148.5, 11.1, CAL= 149.6, 3.1, ROT= 0.4, -3.1 2025-10-24T19:49:19.376Z,1761335359.376 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-24T19:49:19.377Z,1761335359.377 [DAT](INFO): direction in FSK: [0.998512,0.006971,0.054079] 2025-10-24T19:49:19.377Z,1761335359.377 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:19.382Z,1761335359.382 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.052113 2025-10-24T19:49:19.620Z,1761335359.620 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.288761 2025-10-24T19:49:19.689Z,1761335359.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.140742,-0.988886,0.047926],[0.987023,-0.136368,0.084792],[-0.077314,0.059238,0.995245]] 2025-10-24T19:49:19.797Z,1761335359.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503891 s, deltaX: -0.099999 m, approachRate: -0.198454 m/s, rangeRepo size: 4 2025-10-24T19:49:19.799Z,1761335359.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.534888 m, bearing: 98.329916 deg, lat: 36.779559 deg, lon: -121.859577 deg, deltaT: 0.503891 s, deltaX: -0.099686 m, approachRate: -0.197832 m/s, posRepo size: 4 2025-10-24T19:49:19.800Z,1761335359.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-24T19:49:19.803Z,1761335359.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.534888 m, nav range: 11.197622 m, bearing: 96.883650 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 87.183554 deg, new cmd heading: 86.143210 deg. 2025-10-24T19:49:19.804Z,1761335359.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503483 target range: 11.534888 and range: 11.60 m. 2025-10-24T19:49:19.871Z,1761335359.871 [DAT](INFO): DAT read: Rx Time:19:49:18.7894 2025-10-24T19:49:19.871Z,1761335359.871 [DAT](INFO): Rx dataTimestamp_ set to:1761335359.871009 2025-10-24T19:49:19.874Z,1761335359.874 [DAT](INFO): DAT read: Bearing 1.7, -4.0 (Local) 2025-10-24T19:49:19.874Z,1761335359.874 [DAT](INFO): Local bearing/azimuth received: Bearing 1.7, -4.0 (Local) 2025-10-24T19:49:19.877Z,1761335359.877 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.5 2025-10-24T19:49:19.883Z,1761335359.883 [DAT](INFO): DAT read: 19:49:18.7894 LVL= 24880, 32753, 21746, 32755, AGC= 58, IDX= 505,-0.18,-2.804, 2.005,-2.812,-2.969, PHS= 0.253,-1.262, 0.154, RAW= 146.6, 11.6, CAL= 148.3, 4.0, ROT= 1.7, -4.0 2025-10-24T19:49:19.886Z,1761335359.886 [DAT](INFO): got valid direction response: 19:49:18.7894 LVL= 24880, 32753, 21746, 32755, AGC= 58, IDX= 505,-0.18,-2.804, 2.005,-2.812,-2.969, PHS= 0.253,-1.262, 0.154, RAW= 146.6, 11.6, CAL= 148.3, 4.0, ROT= 1.7, -4.0 2025-10-24T19:49:19.886Z,1761335359.886 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-24T19:49:19.887Z,1761335359.887 [DAT](INFO): direction in FSK: [0.997125,0.029594,0.069756] 2025-10-24T19:49:19.887Z,1761335359.887 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:19.922Z,1761335359.922 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.591564 2025-10-24T19:49:20.085Z,1761335360.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.119234,-0.991829,0.045370],[0.989438,-0.114905,0.088368],[-0.082433,0.055428,0.995054]] 2025-10-24T19:49:20.121Z,1761335360.121 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.790981 2025-10-24T19:49:20.150Z,1761335360.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.505382 s, deltaX: -0.500000 m, approachRate: -0.989351 m/s, rangeRepo size: 4 2025-10-24T19:49:20.157Z,1761335360.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.037695 m, bearing: 98.342363 deg, lat: 36.779558 deg, lon: -121.859577 deg, deltaT: 0.505382 s, deltaX: -0.497193 m, approachRate: -0.983797 m/s, posRepo size: 4 2025-10-24T19:49:20.157Z,1761335360.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-24T19:49:20.160Z,1761335360.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.037695 m, nav range: 11.014726 m, bearing: 97.510652 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 86.143206 deg, new cmd heading: 85.358127 deg. 2025-10-24T19:49:20.162Z,1761335360.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489780 target range: 11.037695 and range: 11.10 m. 2025-10-24T19:49:20.374Z,1761335360.374 [DAT](INFO): DAT read: Rx Time:19:49:19.2893 2025-10-24T19:49:20.374Z,1761335360.374 [DAT](INFO): Rx dataTimestamp_ set to:1761335360.373769 2025-10-24T19:49:20.375Z,1761335360.375 [DAT](INFO): DAT read: Bearing 2.0, -6.2 (Local) 2025-10-24T19:49:20.376Z,1761335360.376 [DAT](INFO): Local bearing/azimuth received: Bearing 2.0, -6.2 (Local) 2025-10-24T19:49:20.379Z,1761335360.379 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.5 2025-10-24T19:49:20.384Z,1761335360.384 [DAT](INFO): DAT read: 19:49:19.2893 LVL= 29680, 32753, 24338, 32755, AGC= 59, IDX= 504,-0.06,-0.453,-1.947,-0.476,-0.585, PHS= 0.220,-1.314, 0.106, RAW= 146.2, 13.3, CAL= 148.0, 6.2, ROT= 2.0, -6.2 2025-10-24T19:49:20.385Z,1761335360.385 [DAT](INFO): got valid direction response: 19:49:19.2893 LVL= 29680, 32753, 24338, 32755, AGC= 59, IDX= 504,-0.06,-0.453,-1.947,-0.476,-0.585, PHS= 0.220,-1.314, 0.106, RAW= 146.2, 13.3, CAL= 148.0, 6.2, ROT= 2.0, -6.2 2025-10-24T19:49:20.385Z,1761335360.385 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-24T19:49:20.386Z,1761335360.386 [DAT](INFO): direction in FSK: [0.993545,0.034695,0.107999] 2025-10-24T19:49:20.386Z,1761335360.386 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:20.390Z,1761335360.390 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.059464 2025-10-24T19:49:20.473Z,1761335360.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.107093,-0.993358,0.042086],[0.990633,-0.103001,0.089648],[-0.084717,0.051293,0.995084]] 2025-10-24T19:49:20.542Z,1761335360.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.502760 s, deltaX: -0.100000 m, approachRate: -0.198903 m/s, rangeRepo size: 4 2025-10-24T19:49:20.549Z,1761335360.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.937404 m, bearing: 97.837523 deg, lat: 36.779557 deg, lon: -121.859576 deg, deltaT: 0.502760 s, deltaX: -0.100291 m, approachRate: -0.199481 m/s, posRepo size: 4 2025-10-24T19:49:20.550Z,1761335360.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-24T19:49:20.557Z,1761335360.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.937404 m, nav range: 10.933965 m, bearing: 97.837485 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 85.358124 deg, new cmd heading: 84.488109 deg. 2025-10-24T19:49:20.558Z,1761335360.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474596 target range: 10.937404 and range: 11.00 m. 2025-10-24T19:49:20.629Z,1761335360.629 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.297291 2025-10-24T19:49:20.878Z,1761335360.878 [DAT](INFO): DAT read: Rx Time:19:49:19.7890 2025-10-24T19:49:20.878Z,1761335360.878 [DAT](INFO): Rx dataTimestamp_ set to:1761335360.877844 2025-10-24T19:49:20.879Z,1761335360.879 [DAT](INFO): DAT read: Bearing 2.2, -6.2 (Local) 2025-10-24T19:49:20.880Z,1761335360.880 [DAT](INFO): Local bearing/azimuth received: Bearing 2.2, -6.2 (Local) 2025-10-24T19:49:20.882Z,1761335360.882 [DAT](INFO): DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 2025-10-24T19:49:20.888Z,1761335360.888 [DAT](INFO): DAT read: 19:49:19.7890 LVL= 31568, 32753, 24434, 32755, AGC= 59, IDX= 501, 0.13,-1.076,-2.589,-1.109,-1.216, PHS= 0.228,-1.326, 0.104, RAW= 145.9, 13.2, CAL= 147.8, 6.2, ROT= 2.2, -6.2 2025-10-24T19:49:20.889Z,1761335360.889 [DAT](INFO): got valid direction response: 19:49:19.7890 LVL= 31568, 32753, 24434, 32755, AGC= 59, IDX= 501, 0.13,-1.076,-2.589,-1.109,-1.216, PHS= 0.228,-1.326, 0.104, RAW= 145.9, 13.2, CAL= 147.8, 6.2, ROT= 2.2, -6.2 2025-10-24T19:49:20.890Z,1761335360.890 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-24T19:49:20.891Z,1761335360.891 [DAT](INFO): direction in FSK: [0.993418,0.038163,0.107999] 2025-10-24T19:49:20.894Z,1761335360.894 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:20.926Z,1761335360.926 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.595287 2025-10-24T19:49:20.981Z,1761335360.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.095685,-0.994455,0.043637],[0.991644,-0.091421,0.091013],[-0.086519,0.051981,0.994893]] 2025-10-24T19:49:21.104Z,1761335361.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504075 s, deltaX: -0.500000 m, approachRate: -0.991916 m/s, rangeRepo size: 4 2025-10-24T19:49:21.106Z,1761335361.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.440248 m, bearing: 97.373089 deg, lat: 36.779557 deg, lon: -121.859577 deg, deltaT: 0.504075 s, deltaX: -0.497155 m, approachRate: -0.986272 m/s, posRepo size: 4 2025-10-24T19:49:21.107Z,1761335361.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-24T19:49:21.130Z,1761335361.130 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.799351 2025-10-24T19:49:21.133Z,1761335361.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.440248 m, nav range: 10.479418 m, bearing: 97.657961 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 84.488108 deg, new cmd heading: 83.240002 deg. 2025-10-24T19:49:21.134Z,1761335361.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452812 target range: 10.440248 and range: 10.50 m. 2025-10-24T19:49:21.381Z,1761335361.381 [DAT](INFO): DAT read: Rx Time:19:49:20.2889 2025-10-24T19:49:21.382Z,1761335361.382 [DAT](INFO): Rx dataTimestamp_ set to:1761335361.381671 2025-10-24T19:49:21.383Z,1761335361.383 [DAT](INFO): DAT read: Bearing 2.4, -4.3 (Local) 2025-10-24T19:49:21.384Z,1761335361.384 [DAT](INFO): Local bearing/azimuth received: Bearing 2.4, -4.3 (Local) 2025-10-24T19:49:21.386Z,1761335361.386 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 2025-10-24T19:49:21.391Z,1761335361.391 [DAT](INFO): DAT read: 19:49:20.2889 LVL= 28560, 32753, 23282, 32755, AGC= 60, IDX= 499, 0.41,-0.680,-2.238,-0.721,-0.867, PHS= 0.275,-1.324, 0.144, RAW= 145.8, 11.8, CAL= 147.6, 4.3, ROT= 2.4, -4.3 2025-10-24T19:49:21.392Z,1761335361.392 [DAT](INFO): got valid direction response: 19:49:20.2889 LVL= 28560, 32753, 23282, 32755, AGC= 60, IDX= 499, 0.41,-0.680,-2.238,-0.721,-0.867, PHS= 0.275,-1.324, 0.144, RAW= 145.8, 11.8, CAL= 147.6, 4.3, ROT= 2.4, -4.3 2025-10-24T19:49:21.392Z,1761335361.392 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-24T19:49:21.393Z,1761335361.393 [DAT](INFO): direction in FSK: [0.996310,0.041758,0.074979] 2025-10-24T19:49:21.393Z,1761335361.393 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:21.423Z,1761335361.423 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.092667 2025-10-24T19:49:21.514Z,1761335361.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083871,-0.995419,0.045900],[0.992567,-0.079377,0.092251],[-0.088185,0.053296,0.994677]] 2025-10-24T19:49:21.558Z,1761335361.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503827 s, deltaX: -0.100000 m, approachRate: -0.198482 m/s, rangeRepo size: 4 2025-10-24T19:49:21.564Z,1761335361.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.340561 m, bearing: 96.989898 deg, lat: 36.779557 deg, lon: -121.859576 deg, deltaT: 0.503827 s, deltaX: -0.099688 m, approachRate: -0.197861 m/s, posRepo size: 4 2025-10-24T19:49:21.565Z,1761335361.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-24T19:49:21.567Z,1761335361.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.340561 m, nav range: 10.347264 m, bearing: 97.368979 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 83.240000 deg, new cmd heading: 82.233645 deg. 2025-10-24T19:49:21.573Z,1761335361.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435248 target range: 10.340561 and range: 10.40 m. 2025-10-24T19:49:21.633Z,1761335361.633 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.302998 2025-10-24T19:49:21.885Z,1761335361.885 [DAT](INFO): DAT read: Rx Time:19:49:20.7886 2025-10-24T19:49:21.886Z,1761335361.886 [DAT](INFO): Rx dataTimestamp_ set to:1761335361.885581 2025-10-24T19:49:21.887Z,1761335361.887 [DAT](INFO): DAT read: Bearing 3.3, -6.7 (Local) 2025-10-24T19:49:21.888Z,1761335361.888 [DAT](INFO): Local bearing/azimuth received: Bearing 3.3, -6.7 (Local) 2025-10-24T19:49:21.891Z,1761335361.891 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-24T19:49:21.921Z,1761335361.921 [DAT](INFO): DAT read: 19:49:20.7886 LVL= 28384, 32753, 24258, 32755, AGC= 60, IDX= 497,-0.30,-2.541, 2.165,-2.621,-2.700, PHS= 0.247,-1.371, 0.076, RAW= 144.5, 13.5, CAL= 146.7, 6.7, ROT= 3.3, -6.7 2025-10-24T19:49:21.923Z,1761335361.923 [DAT](INFO): got valid direction response: 19:49:20.7886 LVL= 28384, 32753, 24258, 32755, AGC= 60, IDX= 497,-0.30,-2.541, 2.165,-2.621,-2.700, PHS= 0.247,-1.371, 0.076, RAW= 144.5, 13.5, CAL= 146.7, 6.7, ROT= 3.3, -6.7 2025-10-24T19:49:21.923Z,1761335361.923 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-24T19:49:21.933Z,1761335361.933 [DAT](INFO): direction in FSK: [0.991524,0.057171,0.116671] 2025-10-24T19:49:21.934Z,1761335361.934 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:21.943Z,1761335361.943 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.612686 2025-10-24T19:49:21.964Z,1761335361.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071858,-0.996185,0.049519],[0.993374,-0.067014,0.093361],[-0.089686,0.055900,0.994400]] 2025-10-24T19:49:22.119Z,1761335362.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503910 s, deltaX: -0.500000 m, approachRate: -0.992241 m/s, rangeRepo size: 4 2025-10-24T19:49:22.137Z,1761335362.137 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.806549 2025-10-24T19:49:22.150Z,1761335362.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.843419 m, bearing: 97.035260 deg, lat: 36.779557 deg, lon: -121.859577 deg, deltaT: 0.503910 s, deltaX: -0.497142 m, approachRate: -0.986569 m/s, posRepo size: 4 2025-10-24T19:49:22.151Z,1761335362.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m. 2025-10-24T19:49:22.151Z,1761335362.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-24T19:49:22.156Z,1761335362.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-24T19:49:22.158Z,1761335362.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 9.910782 m, bearing: 96.983947 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 82.233647 deg, new cmd heading: 81.004590 deg. 2025-10-24T19:49:22.159Z,1761335362.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413797 target range: 9.843419 and range: 9.90 m. 2025-10-24T19:49:22.389Z,1761335362.389 [DAT](INFO): DAT read: Rx Time:19:49:21.2885 2025-10-24T19:49:22.390Z,1761335362.390 [DAT](INFO): Rx dataTimestamp_ set to:1761335362.389668 2025-10-24T19:49:22.391Z,1761335362.391 [DAT](INFO): DAT read: Bearing 5.0, -15.2 (Local) 2025-10-24T19:49:22.392Z,1761335362.392 [DAT](INFO): Local bearing/azimuth received: Bearing 5.0, -15.2 (Local) 2025-10-24T19:49:22.394Z,1761335362.394 [DAT](INFO): DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 2025-10-24T19:49:22.401Z,1761335362.401 [DAT](INFO): DAT read: 19:49:21.2885 LVL= 31472, 32753, 22610, 32755, AGC= 60, IDX= 512,-0.04, 0.326,-1.391, 0.169, 0.322, PHS= 0.092,-1.666,-0.156, RAW= 142.5, 20.4, CAL= 145.0, 15.2, ROT= 5.0, -15.2 2025-10-24T19:49:22.403Z,1761335362.403 [DAT](INFO): got valid direction response: 19:49:21.2885 LVL= 31472, 32753, 22610, 32755, AGC= 60, IDX= 512,-0.04, 0.326,-1.391, 0.169, 0.322, PHS= 0.092,-1.666,-0.156, RAW= 142.5, 20.4, CAL= 145.0, 15.2, ROT= 5.0, -15.2 2025-10-24T19:49:22.403Z,1761335362.403 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-24T19:49:22.410Z,1761335362.410 [DAT](INFO): direction in FSK: [0.961344,0.084107,0.262189] 2025-10-24T19:49:22.410Z,1761335362.410 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:22.418Z,1761335362.418 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.087952 2025-10-24T19:49:22.472Z,1761335362.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.047975,-0.997686,0.048177],[0.994636,-0.043292,0.093939],[-0.091636,0.052425,0.994412]] 2025-10-24T19:49:22.529Z,1761335362.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.504087 s, deltaX: -0.099999 m, approachRate: -0.198377 m/s, rangeRepo size: 4 2025-10-24T19:49:22.531Z,1761335362.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.743937 m, bearing: 96.850841 deg, lat: 36.779557 deg, lon: -121.859577 deg, deltaT: 0.504087 s, deltaX: -0.099482 m, approachRate: -0.197350 m/s, posRepo size: 4 2025-10-24T19:49:22.558Z,1761335362.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.74 m. 9.84 m. 2025-10-24T19:49:22.575Z,1761335362.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 9.685686 m, bearing: 96.845863 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 81.004589 deg, new cmd heading: 80.087208 deg. 2025-10-24T19:49:22.585Z,1761335362.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397785 target range: 9.843419 and range: 9.80 m. 2025-10-24T19:49:22.642Z,1761335362.642 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.311390 2025-10-24T19:49:22.894Z,1761335362.894 [DAT](INFO): DAT read: Rx Time:19:49:21.7883 2025-10-24T19:49:22.895Z,1761335362.895 [DAT](INFO): Rx dataTimestamp_ set to:1761335362.894620 2025-10-24T19:49:22.897Z,1761335362.897 [DAT](INFO): DAT read: Bearing 3.0, -9.2 (Local) 2025-10-24T19:49:22.898Z,1761335362.898 [DAT](INFO): Local bearing/azimuth received: Bearing 3.0, -9.2 (Local) 2025-10-24T19:49:22.900Z,1761335362.900 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip3 ms) speed 0.4 2025-10-24T19:49:22.907Z,1761335362.907 [DAT](INFO): DAT read: 19:49:21.7883 LVL= 32752, 32753, 25506, 32755, AGC= 61, IDX= 509, 0.25,-0.668,-2.282,-0.741,-0.770, PHS= 0.190,-1.465, 0.027, RAW= 144.9, 15.6, CAL= 147.0, 9.2, ROT= 3.0, -9.2 2025-10-24T19:49:22.908Z,1761335362.908 [DAT](INFO): got valid direction response: 19:49:21.7883 LVL= 32752, 32753, 25506, 32755, AGC= 61, IDX= 509, 0.25,-0.668,-2.282,-0.741,-0.770, PHS= 0.190,-1.465, 0.027, RAW= 144.9, 15.6, CAL= 147.0, 9.2, ROT= 3.0, -9.2 2025-10-24T19:49:22.909Z,1761335362.909 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-24T19:49:22.910Z,1761335362.910 [DAT](INFO): direction in FSK: [0.985783,0.051663,0.159881] 2025-10-24T19:49:22.911Z,1761335362.911 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:22.957Z,1761335362.957 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.626652 2025-10-24T19:49:23.047Z,1761335363.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.504952 s, deltaX: -0.300000 m, approachRate: -0.594116 m/s, rangeRepo size: 4 2025-10-24T19:49:23.059Z,1761335363.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.445653 m, bearing: 95.242204 deg, lat: 36.779557 deg, lon: -121.859577 deg, deltaT: 1.009039 s, deltaX: -0.397766 m, approachRate: -0.394203 m/s, posRepo size: 4 2025-10-24T19:49:23.070Z,1761335363.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.84 m. 2025-10-24T19:49:23.081Z,1761335363.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 9.396264 m, bearing: 96.652256 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 80.087206 deg, new cmd heading: 78.927858 deg. 2025-10-24T19:49:23.082Z,1761335363.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377551 target range: 9.843419 and range: 9.50 m. 2025-10-24T19:49:23.146Z,1761335363.146 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.815346 2025-10-24T19:49:23.398Z,1761335363.398 [DAT](INFO): DAT read: Rx Time:19:49:22.2883 2025-10-24T19:49:23.398Z,1761335363.398 [DAT](INFO): Rx dataTimestamp_ set to:1761335363.397752 2025-10-24T19:49:23.399Z,1761335363.399 [DAT](INFO): DAT read: Bearing 3.2, -10.1 (Local) 2025-10-24T19:49:23.400Z,1761335363.400 [DAT](INFO): Local bearing/azimuth received: Bearing 3.2, -10.1 (Local) 2025-10-24T19:49:23.402Z,1761335363.402 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-24T19:49:23.407Z,1761335363.407 [DAT](INFO): DAT read: 19:49:22.2883 LVL= 32752, 32753, 28770, 32755, AGC= 60, IDX= 509,-0.31,-0.574,-2.216,-0.656,-0.664, PHS= 0.178,-1.504, 0.005, RAW= 144.6, 16.2, CAL= 146.8, 10.1, ROT= 3.2, -10.1 2025-10-24T19:49:23.408Z,1761335363.408 [DAT](INFO): got valid direction response: 19:49:22.2883 LVL= 32752, 32753, 28770, 32755, AGC= 60, IDX= 509,-0.31,-0.574,-2.216,-0.656,-0.664, PHS= 0.178,-1.504, 0.005, RAW= 144.6, 16.2, CAL= 146.8, 10.1, ROT= 3.2, -10.1 2025-10-24T19:49:23.408Z,1761335363.408 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-24T19:49:23.409Z,1761335363.409 [DAT](INFO): direction in FSK: [0.982968,0.054956,0.175367] 2025-10-24T19:49:23.409Z,1761335363.409 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:23.414Z,1761335363.414 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.083729 2025-10-24T19:49:23.466Z,1761335363.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503132 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:23.473Z,1761335363.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.445621 m, bearing: 95.387769 deg, lat: 36.779557 deg, lon: -121.859576 deg, deltaT: 1.512171 s, deltaX: -0.397798 m, approachRate: -0.263064 m/s, posRepo size: 4 2025-10-24T19:49:23.474Z,1761335363.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.84 m. 2025-10-24T19:49:23.497Z,1761335363.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 9.167440 m, bearing: 96.490476 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 78.927856 deg, new cmd heading: 77.997059 deg. 2025-10-24T19:49:23.498Z,1761335363.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361305 target range: 9.843419 and range: 9.50 m. 2025-10-24T19:49:23.649Z,1761335363.649 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.318871 2025-10-24T19:49:23.772Z,1761335363.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.009477,-0.998687,0.050341],[0.995658,-0.004762,0.092967],[-0.092605,0.051003,0.994396]] 2025-10-24T19:49:23.882Z,1761335363.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:23.888Z,1761335363.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:23.896Z,1761335363.896 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:49:23.898Z,1761335363.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 8.917707 m, bearing: 96.354324 deg, approach rate: -0.597577 m/s, LOS rate: -0.334917 deg/s, cmd heading: 77.997058 deg, new cmd heading: 77.577171 deg. 2025-10-24T19:49:23.899Z,1761335363.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353977 target range: 9.843419 and range: 9.50 m. 2025-10-24T19:49:23.902Z,1761335363.902 [DAT](INFO): DAT read: Rx Time:19:49:22.7880 2025-10-24T19:49:23.903Z,1761335363.903 [DAT](INFO): Rx dataTimestamp_ set to:1761335363.902497 2025-10-24T19:49:23.905Z,1761335363.905 [DAT](INFO): DAT read: Bearing 2.2, -7.7 (Local) 2025-10-24T19:49:23.905Z,1761335363.905 [DAT](INFO): Local bearing/azimuth received: Bearing 2.2, -7.7 (Local) 2025-10-24T19:49:23.908Z,1761335363.908 [DAT](INFO): DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.5 2025-10-24T19:49:23.915Z,1761335363.915 [DAT](INFO): DAT read: 19:49:22.7880 LVL= 32752, 32753, 24210, 32755, AGC= 59, IDX= 506, 0.01,-1.465,-3.118,-1.508,-1.589, PHS= 0.212,-1.482, 0.078, RAW= 145.9, 14.5, CAL= 147.8, 7.7, ROT= 2.2, -7.7 2025-10-24T19:49:23.917Z,1761335363.917 [DAT](INFO): got valid direction response: 19:49:22.7880 LVL= 32752, 32753, 24210, 32755, AGC= 59, IDX= 506, 0.01,-1.465,-3.118,-1.508,-1.589, PHS= 0.212,-1.482, 0.078, RAW= 145.9, 14.5, CAL= 147.8, 7.7, ROT= 2.2, -7.7 2025-10-24T19:49:23.917Z,1761335363.917 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-24T19:49:23.919Z,1761335363.919 [DAT](INFO): direction in FSK: [0.990253,0.038042,0.133986] 2025-10-24T19:49:23.919Z,1761335363.919 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:23.927Z,1761335363.927 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.597191 2025-10-24T19:49:24.153Z,1761335364.153 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.822708 2025-10-24T19:49:24.231Z,1761335364.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003163,-0.998653,0.051788],[0.995740,0.007917,0.091862],[-0.092148,0.051277,0.994424]] 2025-10-24T19:49:24.302Z,1761335364.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504745 s, deltaX: -0.500000 m, approachRate: -0.990599 m/s, rangeRepo size: 4 2025-10-24T19:49:24.304Z,1761335364.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.948483 m, bearing: 91.601439 deg, lat: 36.779558 deg, lon: -121.859576 deg, deltaT: 2.016916 s, deltaX: -0.894936 m, approachRate: -0.443715 m/s, posRepo size: 4 2025-10-24T19:49:24.305Z,1761335364.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.95 m. 9.84 m. 2025-10-24T19:49:24.308Z,1761335364.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 8.682031 m, bearing: 96.238513 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 77.577172 deg, new cmd heading: 76.650260 deg. 2025-10-24T19:49:24.309Z,1761335364.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337799 target range: 9.843419 and range: 9.00 m. 2025-10-24T19:49:24.405Z,1761335364.405 [DAT](INFO): DAT read: Rx Time:19:49:23.2880 2025-10-24T19:49:24.406Z,1761335364.406 [DAT](INFO): Rx dataTimestamp_ set to:1761335364.405673 2025-10-24T19:49:24.407Z,1761335364.407 [DAT](INFO): DAT read: Bearing 1.9, -6.7 (Local) 2025-10-24T19:49:24.409Z,1761335364.409 [DAT](INFO): Local bearing/azimuth received: Bearing 1.9, -6.7 (Local) 2025-10-24T19:49:24.415Z,1761335364.415 [DAT](INFO): DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 2025-10-24T19:49:24.421Z,1761335364.421 [DAT](INFO): DAT read: 19:49:23.2880 LVL= 32752, 32753, 24322, 32755, AGC= 59, IDX= 505, 0.25, 1.269,-0.402, 1.238, 1.127, PHS= 0.230,-1.483, 0.108, RAW= 146.3, 13.7, CAL= 148.1, 6.7, ROT= 1.9, -6.7 2025-10-24T19:49:24.422Z,1761335364.422 [DAT](INFO): got valid direction response: 19:49:23.2880 LVL= 32752, 32753, 24322, 32755, AGC= 59, IDX= 505, 0.25, 1.269,-0.402, 1.238, 1.127, PHS= 0.230,-1.483, 0.108, RAW= 146.3, 13.7, CAL= 148.1, 6.7, ROT= 1.9, -6.7 2025-10-24T19:49:24.422Z,1761335364.422 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-24T19:49:24.423Z,1761335364.423 [DAT](INFO): direction in FSK: [0.992625,0.032929,0.116671] 2025-10-24T19:49:24.423Z,1761335364.423 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:24.427Z,1761335364.427 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.096607 2025-10-24T19:49:24.588Z,1761335364.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.017294,-0.998510,0.051750],[0.995552,0.021991,0.091616],[-0.092617,0.049935,0.994449]] 2025-10-24T19:49:24.635Z,1761335364.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.503176 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:24.646Z,1761335364.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.948503 m, bearing: 90.554552 deg, lat: 36.779559 deg, lon: -121.859574 deg, deltaT: 2.520092 s, deltaX: -0.894916 m, approachRate: -0.355112 m/s, posRepo size: 4 2025-10-24T19:49:24.647Z,1761335364.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.95 m. 9.84 m. 2025-10-24T19:49:24.654Z,1761335364.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 8.499566 m, bearing: 96.161963 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 76.650261 deg, new cmd heading: 75.910590 deg. 2025-10-24T19:49:24.655Z,1761335364.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324890 target range: 9.843419 and range: 9.00 m. 2025-10-24T19:49:24.657Z,1761335364.657 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.326660 2025-10-24T19:49:24.911Z,1761335364.911 [DAT](INFO): DAT read: Rx Time:19:49:23.7877 2025-10-24T19:49:24.912Z,1761335364.912 [DAT](INFO): Rx dataTimestamp_ set to:1761335364.911113 2025-10-24T19:49:24.914Z,1761335364.914 [DAT](INFO): DAT read: Bearing 0.0, -6.7 (Local) 2025-10-24T19:49:24.915Z,1761335364.915 [DAT](INFO): Local bearing/azimuth received: Bearing 0.0, -6.7 (Local) 2025-10-24T19:49:24.923Z,1761335364.923 [DAT](INFO): DAT read: Rang) speed 0.4 2025-10-24T19:49:24.925Z,1761335364.925 [DAT](INFO): unknown deviceResponse_: Rang) speed 0.4 2025-10-24T19:49:24.942Z,1761335364.942 [DAT](INFO): DAT read: 19:49:23.7877 LVL= 32752, 32753, 22802, 32755, AGC= 58, IDX= 503,-0.37,-2.188, 2.497,-2.140,-2.282, PHS= 0.182,-1.457, 0.139, RAW= 148.7, 13.9, CAL= 150.0, 6.7, ROT= 0.0, -6.7 2025-10-24T19:49:24.956Z,1761335364.956 [DAT](INFO): got valid direction response: 19:49:23.7877 LVL= 32752, 32753, 22802, 32755, AGC= 58, IDX= 503,-0.37,-2.188, 2.497,-2.140,-2.282, PHS= 0.182,-1.457, 0.139, RAW= 148.7, 13.9, CAL= 150.0, 6.7, ROT= 0.0, -6.7 2025-10-24T19:49:24.956Z,1761335364.956 [DAT](INFO): #Rx 81: Read direction message, but no range. 2025-10-24T19:49:24.957Z,1761335364.957 [DAT](INFO): direction in FSK: [0.993171,0.000000,0.116671] 2025-10-24T19:49:24.969Z,1761335364.969 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.638721 2025-10-24T19:49:25.004Z,1761335365.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.031262,-0.998109,0.052929],[0.995211,0.035991,0.090883],[-0.092616,0.049834,0.994454]] 2025-10-24T19:49:25.014Z,1761335365.014 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS.0,1494.8, 0 2025-10-24T19:49:25.072Z,1761335365.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:25.075Z,1761335365.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 8.254370 m, bearing: 96.077718 deg, approach rate: -0.566306 m/s, LOS rate: -0.200352 deg/s, cmd heading: 75.910593 deg, new cmd heading: 75.650352 deg. 2025-10-24T19:49:25.075Z,1761335365.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320348 target range: 9.843419 and range: 9.00 m. 2025-10-24T19:49:25.162Z,1761335365.162 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.831989 2025-10-24T19:49:25.414Z,1761335365.414 [DAT](INFO): DAT read: Rx Time:19:49:24.2876 2025-10-24T19:49:25.414Z,1761335365.414 [DAT](INFO): Rx dataTimestamp_ set to:1761335365.413745 2025-10-24T19:49:25.415Z,1761335365.415 [DAT](INFO): DAT read: Bearing 358.7, -1.7 (Local) 2025-10-24T19:49:25.416Z,1761335365.416 [DAT](INFO): Local bearing/azimuth received: Bearing 358.7, -1.7 (Local) 2025-10-24T19:49:25.418Z,1761335365.418 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-24T19:49:25.422Z,1761335365.422 [DAT](INFO): DAT read: 19:49:24.2876 LVL= 32752, 32753, 24946, 32755, AGC= 56, IDX= 501,-0.01,-2.527, 2.171,-2.413,-2.694, PHS= 0.255,-1.372, 0.277, RAW= 150.7, 10.3, CAL= 151.3, 1.7, ROT= 358.7, -1.7 2025-10-24T19:49:25.423Z,1761335365.423 [DAT](INFO): got valid direction response: 19:49:24.2876 LVL= 32752, 32753, 24946, 32755, AGC= 56, IDX= 501,-0.01,-2.527, 2.171,-2.413,-2.694, PHS= 0.255,-1.372, 0.277, RAW= 150.7, 10.3, CAL= 151.3, 1.7, ROT= 358.7, -1.7 2025-10-24T19:49:25.425Z,1761335365.425 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-24T19:49:25.426Z,1761335365.426 [DAT](INFO): direction in FSK: [0.999303,-0.022677,0.029666] 2025-10-24T19:49:25.426Z,1761335365.426 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:25.433Z,1761335365.433 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.103134 2025-10-24T19:49:25.509Z,1761335365.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 1.008072 s, deltaX: -0.600000 m, approachRate: -0.595196 m/s, rangeRepo size: 4 2025-10-24T19:49:25.511Z,1761335365.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.351961 m, bearing: 86.815023 deg, lat: 36.779563 deg, lon: -121.859573 deg, deltaT: 3.528164 s, deltaX: -1.491458 m, approachRate: -0.422729 m/s, posRepo size: 4 2025-10-24T19:49:25.521Z,1761335365.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.84 m. 2025-10-24T19:49:25.523Z,1761335365.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 8.014551 m, bearing: 95.990328 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 75.650349 deg, new cmd heading: 74.708279 deg. 2025-10-24T19:49:25.529Z,1761335365.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303905 target range: 9.843419 and range: 8.40 m. 2025-10-24T19:49:25.665Z,1761335365.665 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.334724 2025-10-24T19:49:25.799Z,1761335365.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057918,-0.996663,0.057510],[0.994024,0.062912,0.089211],[-0.092531,0.052000,0.994351]] 2025-10-24T19:49:25.895Z,1761335365.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:25.899Z,1761335365.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:25.904Z,1761335365.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 7.768026 m, bearing: 95.970110 deg, approach rate: -0.606199 m/s, LOS rate: -0.051293 deg/s, cmd heading: 74.708281 deg, new cmd heading: 74.645702 deg. 2025-10-24T19:49:25.905Z,1761335365.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.302813 target range: 9.843419 and range: 8.40 m. 2025-10-24T19:49:25.918Z,1761335365.918 [DAT](INFO): DAT read: Rx Time:19:49:24.7874 2025-10-24T19:49:25.919Z,1761335365.919 [DAT](INFO): Rx dataTimestamp_ set to:1761335365.918627 2025-10-24T19:49:25.925Z,1761335365.925 [DAT](INFO): DAT read: Bearing 358.3, 1.0 (Local) 2025-10-24T19:49:25.926Z,1761335365.926 [DAT](INFO): Local bearing/azimuth received: Bearing 358.3, 1.0 (Local) 2025-10-24T19:49:25.928Z,1761335365.928 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-24T19:49:25.943Z,1761335365.943 [DAT](INFO): DAT read: 19:49:24.7874 LVL= 27328, 32753, 22898, 32755, AGC= 54, IDX= 498, 0.21,-3.018, 1.630,-2.891, 3.029, PHS= 0.324,-1.352, 0.360, RAW= 151.0, 7.9, CAL= 151.7, -1.0, ROT= 358.3, 1.0 2025-10-24T19:49:25.954Z,1761335365.954 [DAT](INFO): got valid direction response: 19:49:24.7874 LVL= 27328, 32753, 22898, 32755, AGC= 54, IDX= 498, 0.21,-3.018, 1.630,-2.891, 3.029, PHS= 0.324,-1.352, 0.360, RAW= 151.0, 7.9, CAL= 151.7, -1.0, ROT= 358.3, 1.0 2025-10-24T19:49:25.954Z,1761335365.954 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-24T19:49:25.964Z,1761335365.964 [DAT](INFO): direction in FSK: [0.999408,-0.029662,-0.017452] 2025-10-24T19:49:25.964Z,1761335365.964 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:25.986Z,1761335365.986 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.655872 2025-10-24T19:49:26.169Z,1761335366.169 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.838596 2025-10-24T19:49:26.273Z,1761335366.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071489,-0.995688,0.059108],[0.993117,0.076567,0.088639],[-0.092782,0.052365,0.994308]] 2025-10-24T19:49:26.313Z,1761335366.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504882 s, deltaX: -0.400000 m, approachRate: -0.792264 m/s, rangeRepo size: 4 2025-10-24T19:49:26.315Z,1761335366.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.954249 m, bearing: 84.227526 deg, lat: 36.779564 deg, lon: -121.859573 deg, deltaT: 4.033046 s, deltaX: -1.889170 m, approachRate: -0.468423 m/s, posRepo size: 4 2025-10-24T19:49:26.320Z,1761335366.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.84 m. 2025-10-24T19:49:26.322Z,1761335366.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 7.536637 m, bearing: 95.973944 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 74.645703 deg, new cmd heading: 73.737240 deg. 2025-10-24T19:49:26.323Z,1761335366.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286958 target range: 9.843419 and range: 8.00 m. 2025-10-24T19:49:26.422Z,1761335366.422 [DAT](INFO): DAT read: Rx Time:19:49:25.2873 2025-10-24T19:49:26.422Z,1761335366.422 [DAT](INFO): Rx dataTimestamp_ set to:1761335366.422067 2025-10-24T19:49:26.424Z,1761335366.424 [DAT](INFO): DAT read: Bearing 358.3, 1.3 (Local) 2025-10-24T19:49:26.425Z,1761335366.425 [DAT](INFO): Local bearing/azimuth received: Bearing 358.3, 1.3 (Local) 2025-10-24T19:49:26.430Z,1761335366.430 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed 0.5 2025-10-24T19:49:26.436Z,1761335366.436 [DAT](INFO): DAT read: 19:49:25.2873 LVL= 27680, 32753, 25362, 32755, AGC= 54, IDX= 497, 0.39,-1.574,-3.123,-1.451,-1.800, PHS= 0.314,-1.276, 0.346, RAW= 151.0, 7.7, CAL= 151.7, -1.3, ROT= 358.3, 1.3 2025-10-24T19:49:26.437Z,1761335366.437 [DAT](INFO): got valid direction response: 19:49:25.2873 LVL= 27680, 32753, 25362, 32755, AGC= 54, IDX= 497, 0.39,-1.574,-3.123,-1.451,-1.800, PHS= 0.314,-1.276, 0.346, RAW= 151.0, 7.7, CAL= 151.7, -1.3, ROT= 358.3, 1.3 2025-10-24T19:49:26.438Z,1761335366.438 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-24T19:49:26.439Z,1761335366.439 [DAT](INFO): direction in FSK: [0.999303,-0.029659,-0.022687] 2025-10-24T19:49:26.439Z,1761335366.439 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:26.455Z,1761335366.455 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.124390 2025-10-24T19:49:26.667Z,1761335366.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084653,-0.994548,0.060899],[0.992090,0.089814,0.087700],[-0.092691,0.052993,0.994284]] 2025-10-24T19:49:26.673Z,1761335366.673 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.342491 2025-10-24T19:49:26.806Z,1761335366.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503440 s, deltaX: -0.200000 m, approachRate: -0.397266 m/s, rangeRepo size: 4 2025-10-24T19:49:26.817Z,1761335366.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.755685 m, bearing: 83.483693 deg, lat: 36.779569 deg, lon: -121.859573 deg, deltaT: 4.536486 s, deltaX: -2.087734 m, approachRate: -0.460210 m/s, posRepo size: 4 2025-10-24T19:49:26.818Z,1761335366.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.84 m. 2025-10-24T19:49:26.826Z,1761335366.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 7.302832 m, bearing: 96.002384 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 73.737240 deg, new cmd heading: 72.631471 deg. 2025-10-24T19:49:26.827Z,1761335366.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267658 target range: 9.843419 and range: 7.80 m. 2025-10-24T19:49:26.926Z,1761335366.926 [DAT](INFO): DAT read: Rx Time:19:49:25.7870 2025-10-24T19:49:26.927Z,1761335366.927 [DAT](INFO): Rx dataTimestamp_ set to:1761335366.926433 2025-10-24T19:49:26.929Z,1761335366.929 [DAT](INFO): DAT read: Bearing 355.9, -0.3 (Local) 2025-10-24T19:49:26.930Z,1761335366.930 [DAT](INFO): Local bearing/azimuth received: Bearing 355.9, -0.3 (Local) 2025-10-24T19:49:26.932Z,1761335366.932 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.5 2025-10-24T19:49:26.937Z,1761335366.937 [DAT](INFO): DAT read: 19:49:25.7870 LVL= 20272, 32753, 23090, 32755, AGC= 52, IDX= 495,-0.27, 1.226,-0.066, 1.436, 1.130, PHS= 0.184,-1.149, 0.303, RAW= 154.2, 9.5, CAL= 154.1, 0.3, ROT= 355.9, -0.3 2025-10-24T19:49:26.938Z,1761335366.938 [DAT](INFO): got valid direction response: 19:49:25.7870 LVL= 20272, 32753, 23090, 32755, AGC= 52, IDX= 495,-0.27, 1.226,-0.066, 1.436, 1.130, PHS= 0.184,-1.149, 0.303, RAW= 154.2, 9.5, CAL= 154.1, 0.3, ROT= 355.9, -0.3 2025-10-24T19:49:26.938Z,1761335366.938 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-24T19:49:26.939Z,1761335366.939 [DAT](INFO): direction in FSK: [0.997427,-0.071497,0.005236] 2025-10-24T19:49:26.941Z,1761335366.941 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:26.953Z,1761335366.953 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.622475 2025-10-24T19:49:27.158Z,1761335367.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098843,-0.993201,0.061498],[0.990757,0.103993,0.087100],[-0.092903,0.052320,0.994300]] 2025-10-24T19:49:27.178Z,1761335367.178 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.847279 2025-10-24T19:49:27.347Z,1761335367.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.504366 s, deltaX: -0.400000 m, approachRate: -0.793075 m/s, rangeRepo size: 4 2025-10-24T19:49:27.350Z,1761335367.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.357957 m, bearing: 80.175390 deg, lat: 36.779571 deg, lon: -121.859573 deg, deltaT: 5.040852 s, deltaX: -2.485462 m, approachRate: -0.493064 m/s, posRepo size: 4 2025-10-24T19:49:27.351Z,1761335367.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.84 m. 2025-10-24T19:49:27.357Z,1761335367.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 6.929177 m, bearing: 96.053728 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 72.631473 deg, new cmd heading: 71.430683 deg. 2025-10-24T19:49:27.358Z,1761335367.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246701 target range: 9.843419 and range: 7.40 m. 2025-10-24T19:49:27.430Z,1761335367.430 [DAT](INFO): DAT read: Rx Time:19:49:26.2869 2025-10-24T19:49:27.431Z,1761335367.431 [DAT](INFO): Rx dataTimestamp_ set to:1761335367.430268 2025-10-24T19:49:27.433Z,1761335367.433 [DAT](INFO): DAT read: Bearing 357.5, -2.6 (Local) 2025-10-24T19:49:27.433Z,1761335367.433 [DAT](INFO): Local bearing/azimuth received: Bearing 357.5, -2.6 (Local) 2025-10-24T19:49:27.435Z,1761335367.435 [DAT](INFO): DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 2025-10-24T19:49:27.440Z,1761335367.440 [DAT](INFO): DAT read: 19:49:26.2869 LVL= 19440, 32753, 25810, 32755, AGC= 52, IDX= 510,-0.11, 2.088, 0.939, 2.227, 2.019, PHS= 0.157,-1.033, 0.206, RAW= 152.0, 11.0, CAL= 152.5, 2.6, ROT= 357.5, -2.6 2025-10-24T19:49:27.441Z,1761335367.441 [DAT](INFO): got valid direction response: 19:49:26.2869 LVL= 19440, 32753, 25810, 32755, AGC= 52, IDX= 510,-0.11, 2.088, 0.939, 2.227, 2.019, PHS= 0.157,-1.033, 0.206, RAW= 152.0, 11.0, CAL= 152.5, 2.6, ROT= 357.5, -2.6 2025-10-24T19:49:27.442Z,1761335367.442 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-24T19:49:27.443Z,1761335367.443 [DAT](INFO): direction in FSK: [0.998020,-0.043575,0.045363] 2025-10-24T19:49:27.443Z,1761335367.443 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:27.447Z,1761335367.447 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.116943 2025-10-24T19:49:27.652Z,1761335367.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126220,-0.989874,0.064939],[0.987620,0.131539,0.085461],[-0.093137,0.053348,0.994223]] 2025-10-24T19:49:27.681Z,1761335367.681 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.350620 2025-10-24T19:49:27.766Z,1761335367.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503835 s, deltaX: -0.200000 m, approachRate: -0.396956 m/s, rangeRepo size: 4 2025-10-24T19:49:27.783Z,1761335367.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.159295 m, bearing: 80.080394 deg, lat: 36.779572 deg, lon: -121.859573 deg, deltaT: 5.544687 s, deltaX: -2.684124 m, approachRate: -0.484089 m/s, posRepo size: 4 2025-10-24T19:49:27.790Z,1761335367.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.84 m. 2025-10-24T19:49:27.805Z,1761335367.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 6.717700 m, bearing: 96.135257 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 71.430685 deg, new cmd heading: 70.520283 deg. 2025-10-24T19:49:27.806Z,1761335367.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230811 target range: 9.843419 and range: 7.20 m. 2025-10-24T19:49:27.934Z,1761335367.934 [DAT](INFO): DAT read: Rx Time:19:49:26.7866 2025-10-24T19:49:27.934Z,1761335367.934 [DAT](INFO): Rx dataTimestamp_ set to:1761335367.933770 2025-10-24T19:49:27.935Z,1761335367.935 [DAT](INFO): DAT read: Bearing 5.5, -2.4 (Local) 2025-10-24T19:49:27.936Z,1761335367.936 [DAT](INFO): Local bearing/azimuth received: Bearing 5.5, -2.4 (Local) 2025-10-24T19:49:27.938Z,1761335367.938 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.5 2025-10-24T19:49:27.943Z,1761335367.943 [DAT](INFO): DAT read: 19:49:26.7866 LVL= 15280, 32753, 20338, 32755, AGC= 51, IDX= 507, 0.02, 1.739, 0.478, 1.625, 1.519, PHS= 0.308,-0.994, 0.103, RAW= 141.6, 9.6, CAL= 144.5, 2.4, ROT= 5.5, -2.4 2025-10-24T19:49:27.945Z,1761335367.945 [DAT](INFO): got valid direction response: 19:49:26.7866 LVL= 15280, 32753, 20338, 32755, AGC= 51, IDX= 507, 0.02, 1.739, 0.478, 1.625, 1.519, PHS= 0.308,-0.994, 0.103, RAW= 141.6, 9.6, CAL= 144.5, 2.4, ROT= 5.5, -2.4 2025-10-24T19:49:27.946Z,1761335367.946 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-24T19:49:27.947Z,1761335367.947 [DAT](INFO): direction in FSK: [0.994523,0.095762,0.041876] 2025-10-24T19:49:27.947Z,1761335367.947 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:27.962Z,1761335367.962 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.631069 2025-10-24T19:49:28.067Z,1761335368.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140354,-0.988023,0.064121],[0.985669,0.145553,0.085271],[-0.093583,0.051234,0.994292]] 2025-10-24T19:49:28.185Z,1761335368.185 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.854633 2025-10-24T19:49:28.230Z,1761335368.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503502 s, deltaX: -0.400000 m, approachRate: -0.794435 m/s, rangeRepo size: 4 2025-10-24T19:49:28.249Z,1761335368.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.761557 m, bearing: 87.265559 deg, lat: 36.779572 deg, lon: -121.859573 deg, deltaT: 6.048189 s, deltaX: -3.081862 m, approachRate: -0.509551 m/s, posRepo size: 4 2025-10-24T19:49:28.250Z,1761335368.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.84 m. 2025-10-24T19:49:28.257Z,1761335368.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 6.424153 m, bearing: 96.301013 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 70.520283 deg, new cmd heading: 69.489883 deg. 2025-10-24T19:49:28.258Z,1761335368.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212827 target range: 9.843419 and range: 6.80 m. 2025-10-24T19:49:28.438Z,1761335368.438 [DAT](INFO): DAT read: Rx Time:19:49:27.2864 2025-10-24T19:49:28.438Z,1761335368.438 [DAT](INFO): Rx dataTimestamp_ set to:1761335368.437819 2025-10-24T19:49:28.439Z,1761335368.439 [DAT](INFO): DAT read: Bearing 18.2, 1.4 (Local) 2025-10-24T19:49:28.440Z,1761335368.440 [DAT](INFO): Local bearing/azimuth received: Bearing 18.2, 1.4 (Local) 2025-10-24T19:49:28.442Z,1761335368.442 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.5 2025-10-24T19:49:28.448Z,1761335368.448 [DAT](INFO): DAT read: 19:49:27.2864 LVL= 12928, 32753, 22130, 32755, AGC= 51, IDX= 505, 0.10, 2.477, 0.884, 1.834, 1.869, PHS= 0.696,-0.938,-0.038, RAW= 123.3, 4.0, CAL= 131.8, -1.4, ROT= 18.2, 1.4 2025-10-24T19:49:28.449Z,1761335368.449 [DAT](INFO): got valid direction response: 19:49:27.2864 LVL= 12928, 32753, 22130, 32755, AGC= 51, IDX= 505, 0.10, 2.477, 0.884, 1.834, 1.869, PHS= 0.696,-0.938,-0.038, RAW= 123.3, 4.0, CAL= 131.8, -1.4, ROT= 18.2, 1.4 2025-10-24T19:49:28.450Z,1761335368.450 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-24T19:49:28.451Z,1761335368.451 [DAT](INFO): direction in FSK: [0.949688,0.312242,-0.024432] 2025-10-24T19:49:28.451Z,1761335368.451 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:28.455Z,1761335368.455 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.124302 2025-10-24T19:49:28.479Z,1761335368.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154765,-0.985887,0.063829],[0.983484,0.159881,0.084837],[-0.093844,0.049645,0.994348]] 2025-10-24T19:49:28.526Z,1761335368.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504049 s, deltaX: -0.300000 m, approachRate: -0.595181 m/s, rangeRepo size: 4 2025-10-24T19:49:28.533Z,1761335368.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.463372 m, bearing: 99.392687 deg, lat: 36.779572 deg, lon: -121.859573 deg, deltaT: 6.552238 s, deltaX: -3.380047 m, approachRate: -0.515862 m/s, posRepo size: 4 2025-10-24T19:49:28.534Z,1761335368.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.84 m. 2025-10-24T19:49:28.540Z,1761335368.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 6.220585 m, bearing: 96.452808 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 69.489880 deg, new cmd heading: 68.814366 deg. 2025-10-24T19:49:28.541Z,1761335368.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.201037 target range: 9.843419 and range: 6.50 m. 2025-10-24T19:49:28.692Z,1761335368.692 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.360977 2025-10-24T19:49:28.891Z,1761335368.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169856,-0.983487,0.062463],[0.980962,0.174794,0.084619],[-0.094140,0.046901,0.994454]] 2025-10-24T19:49:28.941Z,1761335368.941 [DAT](INFO): DAT read: Rx Time:19:49:27.7861 2025-10-24T19:49:28.942Z,1761335368.942 [DAT](INFO): Rx dataTimestamp_ set to:1761335368.941648 2025-10-24T19:49:28.943Z,1761335368.943 [DAT](INFO): DAT read: Bearing 33.8, 10.5 (Local) 2025-10-24T19:49:28.944Z,1761335368.944 [DAT](INFO): Local bearing/azimuth received: Bearing 33.8, 10.5 (Local) 2025-10-24T19:49:28.947Z,1761335368.947 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 2025-10-24T19:49:28.952Z,1761335368.952 [DAT](INFO): DAT read: 19:49:27.7861 LVL= 14176, 32753, 20658, 32755, AGC= 52, IDX= 502, 0.12, 2.653, 0.366, 1.176, 1.360, PHS= 1.381,-0.947,-0.187, RAW= 108.7, -2.4, CAL= 116.2, -10.5, ROT= 33.8, 10.5 2025-10-24T19:49:28.953Z,1761335368.953 [DAT](INFO): got valid direction response: 19:49:27.7861 LVL= 14176, 32753, 20658, 32755, AGC= 52, IDX= 502, 0.12, 2.653, 0.366, 1.176, 1.360, PHS= 1.381,-0.947,-0.187, RAW= 108.7, -2.4, CAL= 116.2, -10.5, ROT= 33.8, 10.5 2025-10-24T19:49:28.954Z,1761335368.954 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-24T19:49:28.955Z,1761335368.955 [DAT](INFO): direction in FSK: [0.817070,0.546980,-0.182236] 2025-10-24T19:49:28.955Z,1761335368.955 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:28.967Z,1761335368.967 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.636345 2025-10-24T19:49:29.041Z,1761335369.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503829 s, deltaX: -0.300000 m, approachRate: -0.595441 m/s, rangeRepo size: 4 2025-10-24T19:49:29.043Z,1761335369.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.165062 m, bearing: 114.968084 deg, lat: 36.779566 deg, lon: -121.859573 deg, deltaT: 7.056067 s, deltaX: -3.678357 m, approachRate: -0.521304 m/s, posRepo size: 4 2025-10-24T19:49:29.048Z,1761335369.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.84 m. 2025-10-24T19:49:29.061Z,1761335369.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 5.928106 m, bearing: 96.733465 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 68.814368 deg, new cmd heading: 67.681609 deg. 2025-10-24T19:49:29.062Z,1761335369.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181267 target range: 9.843419 and range: 6.20 m. 2025-10-24T19:49:29.198Z,1761335369.198 [DAT](INFO): DAT read: Rx Time:19:49:28.2860 2025-10-24T19:49:29.206Z,1761335369.206 [DAT](INFO): Rx dataTimestamp_ set to:1761335369.198399 2025-10-24T19:49:29.207Z,1761335369.207 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.7 2025-10-24T19:49:29.208Z,1761335369.208 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-24T19:49:29.209Z,1761335369.209 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.878357 2025-10-24T19:49:29.363Z,1761335369.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.184438,-0.980574,0.066756],[0.978301,0.189685,0.083354],[-0.094397,0.049933,0.994282]] 2025-10-24T19:49:29.393Z,1761335369.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:29.409Z,1761335369.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.256751 s, deltaX: -0.200000 m, approachRate: -0.778964 m/s, rangeRepo size: 4 2025-10-24T19:49:29.410Z,1761335369.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:29.418Z,1761335369.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 5.710766 m, bearing: 96.993505 deg, approach rate: -0.603672 m/s, LOS rate: 0.749756 deg/s, cmd heading: 67.681608 deg, new cmd heading: 68.491361 deg. 2025-10-24T19:49:29.418Z,1761335369.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195400 target range: 9.843419 and range: 6.00 m. 2025-10-24T19:49:29.446Z,1761335369.446 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.115643 2025-10-24T19:49:29.699Z,1761335369.699 [DAT](INFO): DAT read: Rx Time:19:49:28.7857 2025-10-24T19:49:29.701Z,1761335369.701 [DAT](INFO): Rx dataTimestamp_ set to:1761335369.700096 2025-10-24T19:49:29.703Z,1761335369.703 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.371880 2025-10-24T19:49:29.739Z,1761335369.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199726,-0.977501,0.067842],[0.975238,0.205019,0.082935],[-0.094978,0.049598,0.994243]] 2025-10-24T19:49:29.855Z,1761335369.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:29.869Z,1761335369.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 5.444657 m, bearing: 97.385054 deg, approach rate: -0.579414 m/s, LOS rate: 0.894202 deg/s, cmd heading: 68.491361 deg, new cmd heading: 69.723220 deg. 2025-10-24T19:49:29.870Z,1761335369.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216900 target range: 9.843419 and range: 6.00 m. 2025-10-24T19:49:29.951Z,1761335369.951 [DAT](INFO): DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5 2025-10-24T19:49:29.952Z,1761335369.952 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-24T19:49:29.954Z,1761335369.954 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.623444 2025-10-24T19:49:30.152Z,1761335370.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214063,-0.974295,0.070181],[0.972157,0.219502,0.082030],[-0.095327,0.050668,0.994156]] 2025-10-24T19:49:30.204Z,1761335370.204 [DAT](INFO): DAT read: Rx Time:19:49:29.2857 2025-10-24T19:49:30.204Z,1761335370.204 [DAT](INFO): Rx dataTimestamp_ set to:1761335370.204056 2025-10-24T19:49:30.206Z,1761335370.206 [DAT](INFO): DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5 2025-10-24T19:49:30.206Z,1761335370.206 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-24T19:49:30.207Z,1761335370.207 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.876759 2025-10-24T19:49:30.235Z,1761335370.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 1.005657 s, deltaX: -0.400000 m, approachRate: -0.397750 m/s, rangeRepo size: 4 2025-10-24T19:49:30.240Z,1761335370.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:30.243Z,1761335370.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 5.227522 m, bearing: 97.817626 deg, approach rate: -0.572876 m/s, LOS rate: 1.188671 deg/s, cmd heading: 69.723220 deg, new cmd heading: 71.074577 deg. 2025-10-24T19:49:30.244Z,1761335370.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240485 target range: 9.843419 and range: 5.60 m. 2025-10-24T19:49:30.405Z,1761335370.405 [CTD_Seabird](ERROR): Failed to parse device response: 66.91,10.64475,8067.21 2025-10-24T19:49:30.454Z,1761335370.454 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.123493 2025-10-24T19:49:30.553Z,1761335370.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.230423,-0.969902,0.078707],[0.968327,0.236537,0.079954],[-0.096164,0.057791,0.993686]] 2025-10-24T19:49:30.590Z,1761335370.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:30.597Z,1761335370.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 5.029825 m, bearing: 98.283718 deg, approach rate: -0.556085 m/s, LOS rate: 1.362541 deg/s, cmd heading: 71.074580 deg, new cmd heading: 72.527488 deg. 2025-10-24T19:49:30.598Z,1761335370.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265844 target range: 9.843419 and range: 5.60 m. 2025-10-24T19:49:30.709Z,1761335370.709 [DAT](INFO): DAT read: Rx Time:19:49:29.7854 2025-10-24T19:49:30.710Z,1761335370.710 [DAT](INFO): Rx dataTimestamp_ set to:1761335370.709658 2025-10-24T19:49:30.716Z,1761335370.716 [DAT](INFO): DAT read: Bearing 25.9, -4.7 (Local) 2025-10-24T19:49:30.717Z,1761335370.717 [DAT](INFO): Local bearing/azimuth received: Bearing 25.9, -4.7 (Local) 2025-10-24T19:49:30.722Z,1761335370.722 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4 2025-10-24T19:49:30.726Z,1761335370.726 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-24T19:49:30.762Z,1761335370.762 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.417358 2025-10-24T19:49:30.961Z,1761335370.961 [DAT](INFO): DAT read: 19:49:29.7854 LVL= 15344, 28833, 28594, 32707, AGC= 47, IDX= 510, 0.13,-2.781, 1.186, 2.223, 2.619, PHS= 0.971,-1.386,-0.399, RAW= 114.6, 8.0, CAL= 124.1, 4.7, ROT= 25.9, -4.7 2025-10-24T19:49:30.963Z,1761335370.963 [DAT](INFO): got valid direction response: 19:49:29.7854 LVL= 15344, 28833, 28594, 32707, AGC= 47, IDX= 510, 0.13,-2.781, 1.186, 2.223, 2.619, PHS= 0.971,-1.386,-0.399, RAW= 114.6, 8.0, CAL= 124.1, 4.7, ROT= 25.9, -4.7 2025-10-24T19:49:30.963Z,1761335370.963 [DAT](INFO): #Rx 94: Read direction message, but no range. 2025-10-24T19:49:30.964Z,1761335370.964 [DAT](INFO): direction in FSK: [0.896533,0.435333,0.081939] 2025-10-24T19:49:30.967Z,1761335370.967 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.637093 2025-10-24T19:49:31.093Z,1761335371.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.505602 s, deltaX: -0.500000 m, approachRate: -0.988920 m/s, rangeRepo size: 4 2025-10-24T19:49:31.095Z,1761335371.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.071418 m, bearing: 102.077976 deg, lat: 36.779554 deg, lon: -121.859574 deg, deltaT: 8.824077 s, deltaX: -4.772001 m, approachRate: -0.540793 m/s, posRepo size: 4 2025-10-24T19:49:31.100Z,1761335371.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.84 m. 2025-10-24T19:49:31.103Z,1761335371.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 4.760513 m, bearing: 98.925269 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 72.527491 deg, new cmd heading: 71.424085 deg. 2025-10-24T19:49:31.105Z,1761335371.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246585 target range: 9.843419 and range: 5.10 m. 2025-10-24T19:49:31.214Z,1761335371.214 [DAT](INFO): DAT read: Rx Time:19:49:30.2853 2025-10-24T19:49:31.216Z,1761335371.216 [DAT](INFO): Rx dataTimestamp_ set to:1761335371.214984 2025-10-24T19:49:31.219Z,1761335371.219 [DAT](INFO): DAT read: Bearing 22.9, -9.7 (Local) 2025-10-24T19:49:31.220Z,1761335371.220 [DAT](INFO): Local bearing/azimuth received: Bearing 22.9, -9.7 (Local) 2025-10-24T19:49:31.230Z,1761335371.230 [DAT](INFO): DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 2025-10-24T19:49:31.238Z,1761335371.238 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-24T19:49:31.260Z,1761335371.260 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.930000 2025-10-24T19:49:31.467Z,1761335371.467 [DAT](INFO): DAT read: 19:49:30.2853 LVL= 16368, 32753, 26610, 32723, AGC= 49, IDX= 509, 0.24,-1.279, 2.916,-2.263,-1.848, PHS= 0.657,-1.473,-0.418, RAW= 119.7, 13.3, CAL= 127.1, 9.7, ROT= 22.9, -9.7 2025-10-24T19:49:31.468Z,1761335371.468 [DAT](INFO): got valid direction response: 19:49:30.2853 LVL= 16368, 32753, 26610, 32723, AGC= 49, IDX= 509, 0.24,-1.279, 2.916,-2.263,-1.848, PHS= 0.657,-1.473,-0.418, RAW= 119.7, 13.3, CAL= 127.1, 9.7, ROT= 22.9, -9.7 2025-10-24T19:49:31.469Z,1761335371.469 [DAT](INFO): #Rx 96: Read direction message, but no range. 2025-10-24T19:49:31.470Z,1761335371.470 [DAT](INFO): direction in FSK: [0.908016,0.383561,0.168489] 2025-10-24T19:49:31.489Z,1761335371.489 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.158279 2025-10-24T19:49:31.553Z,1761335371.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.274050,-0.956705,0.098040],[0.956762,0.281552,0.073046],[-0.097487,0.073783,0.992498]] 2025-10-24T19:49:31.614Z,1761335371.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.505326 s, deltaX: -0.100000 m, approachRate: -0.197892 m/s, rangeRepo size: 4 2025-10-24T19:49:31.621Z,1761335371.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.972066 m, bearing: 95.864776 deg, lat: 36.779554 deg, lon: -121.859574 deg, deltaT: 9.329403 s, deltaX: -4.871353 m, approachRate: -0.522151 m/s, posRepo size: 4 2025-10-24T19:49:31.621Z,1761335371.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.84 m. 2025-10-24T19:49:31.631Z,1761335371.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 4.482946 m, bearing: 99.838237 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 71.424087 deg, new cmd heading: 70.267365 deg. 2025-10-24T19:49:31.636Z,1761335371.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226397 target range: 9.843419 and range: 5.00 m. 2025-10-24T19:49:31.717Z,1761335371.717 [DAT](INFO): DAT read: Rx Time:19:49:30.7850 2025-10-24T19:49:31.718Z,1761335371.718 [DAT](INFO): Rx dataTimestamp_ set to:1761335371.717366 2025-10-24T19:49:31.722Z,1761335371.722 [DAT](INFO): DAT read: Bearing 24.2, -13.8 (Local) 2025-10-24T19:49:31.723Z,1761335371.723 [DAT](INFO): Local bearing/azimuth received: Bearing 24.2, -13.8 (Local) 2025-10-24T19:49:31.728Z,1761335371.728 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 2025-10-24T19:49:31.730Z,1761335371.730 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-24T19:49:31.749Z,1761335371.749 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.419003 2025-10-24T19:49:31.969Z,1761335371.969 [DAT](INFO): DAT read: 19:49:30.7850 LVL= 17888, 27121, 19138, 29235, AGC= 47, IDX= 506, 0.46, 3.123, 1.073, 2.148, 2.684, PHS= 0.527,-1.563,-0.538, RAW= 119.4, 17.1, CAL= 125.8, 13.8, ROT= 24.2, -13.8 2025-10-24T19:49:31.970Z,1761335371.970 [DAT](INFO): got valid direction response: 19:49:30.7850 LVL= 17888, 27121, 19138, 29235, AGC= 47, IDX= 506, 0.46, 3.123, 1.073, 2.148, 2.684, PHS= 0.527,-1.563,-0.538, RAW= 119.4, 17.1, CAL= 125.8, 13.8, ROT= 24.2, -13.8 2025-10-24T19:49:31.970Z,1761335371.970 [DAT](INFO): #Rx 98: Read direction message, but no range. 2025-10-24T19:49:31.971Z,1761335371.971 [DAT](INFO): direction in FSK: [0.885791,0.398090,0.238533] 2025-10-24T19:49:31.975Z,1761335371.975 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.644482 2025-10-24T19:49:32.092Z,1761335372.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.502382 s, deltaX: -0.500000 m, approachRate: -0.995259 m/s, rangeRepo size: 4 2025-10-24T19:49:32.095Z,1761335372.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.474859 m, bearing: 96.696954 deg, lat: 36.779554 deg, lon: -121.859574 deg, deltaT: 9.831785 s, deltaX: -5.368560 m, approachRate: -0.546041 m/s, posRepo size: 4 2025-10-24T19:49:32.102Z,1761335372.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.47 m. 9.84 m. 2025-10-24T19:49:32.109Z,1761335372.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 4.217810 m, bearing: 100.883080 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 70.267367 deg, new cmd heading: 69.202505 deg. 2025-10-24T19:49:32.110Z,1761335372.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207812 target range: 9.843419 and range: 4.50 m. 2025-10-24T19:49:32.221Z,1761335372.221 [DAT](INFO): DAT read: Rx Time:19:49:31.2848 2025-10-24T19:49:32.223Z,1761335372.223 [DAT](INFO): Rx dataTimestamp_ set to:1761335372.221854 2025-10-24T19:49:32.227Z,1761335372.227 [DAT](INFO): DAT read: Bearing 31.5, -20.4 (Local) 2025-10-24T19:49:32.228Z,1761335372.228 [DAT](INFO): Local bearing/azimuth received: Bearing 31.5, -20.4 (Local) 2025-10-24T19:49:32.238Z,1761335372.238 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 2025-10-24T19:49:32.242Z,1761335372.242 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-24T19:49:32.257Z,1761335372.257 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.926517 2025-10-24T19:49:32.335Z,1761335372.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301947,-0.947970,0.100897],[0.948247,0.309561,0.070712],[-0.098266,0.074324,0.992381]] 2025-10-24T19:49:32.389Z,1761335372.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:32.396Z,1761335372.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504488 s, deltaX: -0.300000 m, approachRate: -0.594663 m/s, rangeRepo size: 4 2025-10-24T19:49:32.397Z,1761335372.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:32.404Z,1761335372.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 4.063998 m, bearing: 101.625458 deg, approach rate: -0.506315 m/s, LOS rate: 2.536155 deg/s, cmd heading: 69.202507 deg, new cmd heading: 71.512615 deg. 2025-10-24T19:49:32.405Z,1761335372.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248131 target range: 9.843419 and range: 4.20 m. 2025-10-24T19:49:32.473Z,1761335372.473 [DAT](INFO): DAT read: 19:49:31.2848 LVL= 17712, 22833, 15570, 24867, AGC= 48, IDX= 505,-0.25, 1.947,-0.039, 0.789, 1.614, PHS= 0.421,-1.606,-0.828, RAW= 112.4, 21.9, CAL= 118.5, 20.4, ROT= 31.5, -20.4 2025-10-24T19:49:32.474Z,1761335372.474 [DAT](INFO): got valid direction response: 19:49:31.2848 LVL= 17712, 22833, 15570, 24867, AGC= 48, IDX= 505,-0.25, 1.947,-0.039, 0.789, 1.614, PHS= 0.421,-1.606,-0.828, RAW= 112.4, 21.9, CAL= 118.5, 20.4, ROT= 31.5, -20.4 2025-10-24T19:49:32.474Z,1761335372.474 [DAT](INFO): #Rx 100: Read direction message, but no range. 2025-10-24T19:49:32.475Z,1761335372.475 [DAT](INFO): direction in FSK: [0.799164,0.489728,0.348572] 2025-10-24T19:49:32.482Z,1761335372.482 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.152020 2025-10-24T19:49:32.484Z,1761335372.484 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:49:32.726Z,1761335372.726 [DAT](INFO): DAT read: Rx Time:19:49:31.7846 2025-10-24T19:49:32.728Z,1761335372.728 [DAT](INFO): Rx dataTimestamp_ set to:1761335372.726321 2025-10-24T19:49:32.733Z,1761335372.733 [DAT](INFO): DAT read: Bearing 43.7, -37.8 (Local) 2025-10-24T19:49:32.734Z,1761335372.734 [DAT](INFO): Local bearing/azimuth received: Bearing 43.7, -37.8 (Local) 2025-10-24T19:49:32.762Z,1761335372.762 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 2025-10-24T19:49:32.770Z,1761335372.770 [DAT](INFO): DAT read: 19:49:31.7846 LVL= 23632, 32753, 29378, 32755, AGC= 49, IDX= 502,-0.15,-2.337, 2.236, 2.675,-2.497, PHS= 0.248,-1.504,-1.114, RAW= 102.2, 27.8, CAL= 106.3, 37.8, ROT= 43.7, -37.8 2025-10-24T19:49:32.771Z,1761335372.771 [DAT](INFO): got valid direction response: 19:49:31.7846 LVL= 23632, 32753, 29378, 32755, AGC= 49, IDX= 502,-0.15,-2.337, 2.236, 2.675,-2.497, PHS= 0.248,-1.504,-1.114, RAW= 102.2, 27.8, CAL= 106.3, 37.8, ROT= 43.7, -37.8 2025-10-24T19:49:32.771Z,1761335372.771 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-24T19:49:32.777Z,1761335372.777 [DAT](INFO): direction in FSK: [0.571256,0.545904,0.612907] 2025-10-24T19:49:32.777Z,1761335372.777 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:32.804Z,1761335372.804 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.465176 2025-10-24T19:49:32.912Z,1761335372.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.504467 s, deltaX: -0.300000 m, approachRate: -0.594687 m/s, rangeRepo size: 4 2025-10-24T19:49:32.921Z,1761335372.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.878206 m, bearing: 110.583565 deg, lat: 36.779555 deg, lon: -121.859574 deg, deltaT: 10.840740 s, deltaX: -5.965213 m, approachRate: -0.550259 m/s, posRepo size: 4 2025-10-24T19:49:32.922Z,1761335372.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.84 m. 2025-10-24T19:49:32.931Z,1761335372.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 3.830177 m, bearing: 102.876000 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 71.512613 deg, new cmd heading: 70.377658 deg. 2025-10-24T19:49:32.936Z,1761335372.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228322 target range: 9.843419 and range: 3.90 m. 2025-10-24T19:49:32.976Z,1761335372.976 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.645313 2025-10-24T19:49:33.233Z,1761335373.233 [DAT](INFO): DAT read: Rx Time:19:49:32.2846 2025-10-24T19:49:33.235Z,1761335373.235 [DAT](INFO): Rx dataTimestamp_ set to:1761335373.234092 2025-10-24T19:49:33.239Z,1761335373.239 [DAT](INFO): DAT read: Bearing 49.3, -40.8 (Local) 2025-10-24T19:49:33.241Z,1761335373.241 [DAT](INFO): Local bearing/azimuth received: Bearing 49.3, -40.8 (Local) 2025-10-24T19:49:33.251Z,1761335373.251 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 2025-10-24T19:49:33.255Z,1761335373.255 [DAT](INFO): DAT read: 19:49:32.2846 LVL= 21744, 29873, 32754, 32755, AGC= 50, IDX= 501, 0.19, 0.914,-0.515,-0.223, 0.867, PHS= 0.135,-1.334,-1.093, RAW= 98.8, 30.7, CAL= 100.7, 40.8, ROT= 49.3, -40.8 2025-10-24T19:49:33.277Z,1761335373.277 [DAT](INFO): got valid direction response: 19:49:32.2846 LVL= 21744, 29873, 32754, 32755, AGC= 50, IDX= 501, 0.19, 0.914,-0.515,-0.223, 0.867, PHS= 0.135,-1.334,-1.093, RAW= 98.8, 30.7, CAL= 100.7, 40.8, ROT= 49.3, -40.8 2025-10-24T19:49:33.277Z,1761335373.277 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-24T19:49:33.279Z,1761335373.279 [DAT](INFO): direction in FSK: [0.493635,0.573904,0.653421] 2025-10-24T19:49:33.279Z,1761335373.279 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:33.290Z,1761335373.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325383,-0.940380,0.099051],[0.940486,0.332710,0.069213],[-0.098042,0.070635,0.992672]] 2025-10-24T19:49:33.298Z,1761335373.298 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.967510 2025-10-24T19:49:33.415Z,1761335373.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.507771 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:33.422Z,1761335373.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.878206 m, bearing: 114.170190 deg, lat: 36.779555 deg, lon: -121.859574 deg, deltaT: 11.348511 s, deltaX: -5.965213 m, approachRate: -0.525638 m/s, posRepo size: 4 2025-10-24T19:49:33.422Z,1761335373.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.84 m. 2025-10-24T19:49:33.430Z,1761335373.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 3.555839 m, bearing: 104.630271 deg, approach rate: 0.000000 m/s, LOS rate: -0.740001 deg/s, cmd heading: 70.377661 deg, new cmd heading: 69.241031 deg. 2025-10-24T19:49:33.431Z,1761335373.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208484 target range: 9.843419 and range: 3.90 m. 2025-10-24T19:49:33.477Z,1761335373.477 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.146652 2025-10-24T19:49:33.485Z,1761335373.485 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:49:33.730Z,1761335373.730 [DAT](INFO): DAT read: Rx Time:19:49:32.7844 2025-10-24T19:49:33.730Z,1761335373.730 [DAT](INFO): Rx dataTimestamp_ set to:1761335373.729924 2025-10-24T19:49:33.731Z,1761335373.731 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed 0.3 2025-10-24T19:49:33.732Z,1761335373.732 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-24T19:49:33.733Z,1761335373.733 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.402920 2025-10-24T19:49:33.777Z,1761335373.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334835,-0.937258,0.097125],[0.937206,0.341938,0.068729],[-0.097627,0.068013,0.992896]] 2025-10-24T19:49:33.811Z,1761335373.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.495832 s, deltaX: -0.300000 m, approachRate: -0.605044 m/s, rangeRepo size: 4 2025-10-24T19:49:33.817Z,1761335373.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:33.819Z,1761335373.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 3.346809 m, bearing: 106.222730 deg, approach rate: -0.528869 m/s, LOS rate: 4.280185 deg/s, cmd heading: 69.241029 deg, new cmd heading: 74.302919 deg. 2025-10-24T19:49:33.832Z,1761335373.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296831 target range: 9.843419 and range: 3.60 m. 2025-10-24T19:49:33.982Z,1761335373.982 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.651310 2025-10-24T19:49:34.233Z,1761335374.233 [DAT](INFO): DAT read: Rx Time:19:49:33.2846 2025-10-24T19:49:34.233Z,1761335374.233 [DAT](INFO): Rx dataTimestamp_ set to:1761335374.233080 2025-10-24T19:49:34.235Z,1761335374.235 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4 2025-10-24T19:49:34.235Z,1761335374.235 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-24T19:49:34.236Z,1761335374.236 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.905926 2025-10-24T19:49:34.337Z,1761335374.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350766,-0.931330,0.097918],[0.931627,0.357655,0.064458],[-0.095053,0.068613,0.993105]] 2025-10-24T19:49:34.388Z,1761335374.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503156 s, deltaX: 0.300000 m, approachRate: 0.596237 m/s, rangeRepo size: 4 2025-10-24T19:49:34.389Z,1761335374.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:34.392Z,1761335374.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 3.067216 m, bearing: 108.852967 deg, approach rate: -0.483987 m/s, LOS rate: 4.966347 deg/s, cmd heading: 74.302916 deg, new cmd heading: 82.846005 deg. 2025-10-24T19:49:34.393Z,1761335374.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.445936 target range: 9.843419 and range: 3.90 m. 2025-10-24T19:49:34.485Z,1761335374.485 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.154919 2025-10-24T19:49:34.720Z,1761335374.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356622,-0.928856,0.100237],[0.929623,0.363472,0.060740],[-0.092852,0.071522,0.993108]] 2025-10-24T19:49:34.737Z,1761335374.737 [DAT](INFO): DAT read: Rx Time:19:49:33.7843 2025-10-24T19:49:34.738Z,1761335374.738 [DAT](INFO): Rx dataTimestamp_ set to:1761335374.737322 2025-10-24T19:49:34.739Z,1761335374.739 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed 0.3 2025-10-24T19:49:34.739Z,1761335374.739 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-24T19:49:34.740Z,1761335374.740 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.410130 2025-10-24T19:49:34.751Z,1761335374.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:34.754Z,1761335374.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.504242 s, deltaX: -0.400000 m, approachRate: -0.793270 m/s, rangeRepo size: 4 2025-10-24T19:49:34.755Z,1761335374.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:34.759Z,1761335374.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 2.896990 m, bearing: 110.772143 deg, approach rate: -0.465115 m/s, LOS rate: 5.550925 deg/s, cmd heading: 82.846008 deg, new cmd heading: 88.917874 deg. 2025-10-24T19:49:34.760Z,1761335374.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551910 target range: 9.843419 and range: 3.50 m. 2025-10-24T19:49:34.990Z,1761335374.990 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.659851 2025-10-24T19:49:35.122Z,1761335375.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361152,-0.926727,0.103661],[0.928074,0.368034,0.056833],[-0.090819,0.075680,0.992988]] 2025-10-24T19:49:35.205Z,1761335375.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:35.207Z,1761335375.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 2.700584 m, bearing: 113.362287 deg, approach rate: -0.437631 m/s, LOS rate: 6.188982 deg/s, cmd heading: 88.917875 deg, new cmd heading: 97.192578 deg. 2025-10-24T19:49:35.226Z,1761335375.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.696331 target range: 9.843419 and range: 3.50 m. 2025-10-24T19:49:35.241Z,1761335375.241 [DAT](INFO): DAT read: Rx Time:19:49:34.2841 2025-10-24T19:49:35.242Z,1761335375.242 [DAT](INFO): Rx dataTimestamp_ set to:1761335375.241411 2025-10-24T19:49:35.243Z,1761335375.243 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.2 2025-10-24T19:49:35.244Z,1761335375.244 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-24T19:49:35.245Z,1761335375.245 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.914391 2025-10-24T19:49:35.494Z,1761335375.494 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.162926 2025-10-24T19:49:35.536Z,1761335375.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364319,-0.925079,0.107238],[0.927109,0.371155,0.052077],[-0.087977,0.080449,0.992869]] 2025-10-24T19:49:35.557Z,1761335375.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504089 s, deltaX: -0.300000 m, approachRate: -0.595133 m/s, rangeRepo size: 4 2025-10-24T19:49:35.558Z,1761335375.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T19:49:35.562Z,1761335375.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.843419 m, nav range: 2.541561 m, bearing: 115.843479 deg, approach rate: -0.448604 m/s, LOS rate: 7.435052 deg/s, cmd heading: 97.192581 deg, new cmd heading: 105.049797 deg. 2025-10-24T19:49:35.580Z,1761335375.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.833465 target range: 9.843419 and range: 3.20 m. 2025-10-24T19:49:35.749Z,1761335375.749 [DAT](INFO): DAT read: Rx Time:19:49:34.7839 2025-10-24T19:49:35.750Z,1761335375.750 [DAT](INFO): Rx dataTimestamp_ set to:1761335375.749255 2025-10-24T19:49:35.751Z,1761335375.751 [DAT](INFO): DAT read: Bearing 10.1, -44.3 (Local) 2025-10-24T19:49:35.751Z,1761335375.751 [DAT](INFO): Local bearing/azimuth received: Bearing 10.1, -44.3 (Local) 2025-10-24T19:49:35.753Z,1761335375.753 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 2025-10-24T19:49:35.758Z,1761335375.758 [DAT](INFO): DAT read: 19:49:34.7839 LVL= 21920, 14289, 23986, 23475, AGC= 42, IDX= 511,-0.14, 2.466, 0.432, 1.723, 2.750, PHS=-0.196,-2.271,-1.030, RAW= 126.5, 34.3, CAL= 139.9, 44.3, ROT= 10.1, -44.3 2025-10-24T19:49:35.759Z,1761335375.759 [DAT](INFO): got valid direction response: 19:49:34.7839 LVL= 21920, 14289, 23986, 23475, AGC= 42, IDX= 511,-0.14, 2.466, 0.432, 1.723, 2.750, PHS=-0.196,-2.271,-1.030, RAW= 126.5, 34.3, CAL= 139.9, 44.3, ROT= 10.1, -44.3 2025-10-24T19:49:35.760Z,1761335375.760 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-24T19:49:35.761Z,1761335375.761 [DAT](INFO): direction in FSK: [0.704602,0.125509,0.698415] 2025-10-24T19:49:35.761Z,1761335375.761 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:35.766Z,1761335375.766 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.435688 2025-10-24T19:49:35.997Z,1761335375.997 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.666489 2025-10-24T19:49:36.019Z,1761335376.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.507844 s, deltaX: -0.300000 m, approachRate: -0.590733 m/s, rangeRepo size: 4 2025-10-24T19:49:36.031Z,1761335376.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.883786 m, bearing: 73.684788 deg, lat: 36.779559 deg, lon: -121.859576 deg, deltaT: 13.863674 s, deltaX: -6.959633 m, approachRate: -0.502005 m/s, posRepo size: 4 2025-10-24T19:49:36.031Z,1761335376.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-24T19:49:36.036Z,1761335376.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-24T19:49:36.251Z,1761335376.251 [DAT](INFO): DAT read: Rx Time:19:49:35.2839 2025-10-24T19:49:36.254Z,1761335376.254 [DAT](INFO): Rx dataTimestamp_ set to:1761335376.252598 2025-10-24T19:49:36.256Z,1761335376.256 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 2025-10-24T19:49:36.256Z,1761335376.256 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-24T19:49:36.257Z,1761335376.257 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.927055 2025-10-24T19:49:36.339Z,1761335376.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365559,-0.923347,0.117462],[0.927170,0.372343,0.041428],[-0.081988,0.093763,0.992213]] 2025-10-24T19:49:36.375Z,1761335376.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503343 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:36.502Z,1761335376.502 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.171333 2025-10-24T19:49:36.744Z,1761335376.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363965,-0.923172,0.123627],[0.928115,0.370627,0.035190],[-0.078306,0.101932,0.991705]] 2025-10-24T19:49:36.753Z,1761335376.753 [DAT](INFO): DAT read: Rx Time:19:49:35.7838 2025-10-24T19:49:36.754Z,1761335376.754 [DAT](INFO): Rx dataTimestamp_ set to:1761335376.753686 2025-10-24T19:49:36.755Z,1761335376.755 [DAT](INFO): DAT read: Range 10 to 50 : 2.7 m (trip time 1.8 ms) speed 0.1 2025-10-24T19:49:36.756Z,1761335376.756 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-24T19:49:36.757Z,1761335376.757 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.426598 2025-10-24T19:49:36.768Z,1761335376.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:36.771Z,1761335376.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501088 s, deltaX: -0.200000 m, approachRate: -0.399132 m/s, rangeRepo size: 4 2025-10-24T19:49:37.005Z,1761335377.005 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.674557 2025-10-24T19:49:37.163Z,1761335377.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358338,-0.923853,0.134495],[0.930616,0.364963,0.027490],[-0.074483,0.115313,0.990533]] 2025-10-24T19:49:37.259Z,1761335377.259 [DAT](INFO): DAT read: Rx Time:19:49:36.2841 2025-10-24T19:49:37.260Z,1761335377.260 [DAT](INFO): Rx dataTimestamp_ set to:1761335377.259981 2025-10-24T19:49:37.262Z,1761335377.262 [DAT](INFO): DAT read: Bearing 55.1, -47.4 (Local) 2025-10-24T19:49:37.263Z,1761335377.263 [DAT](INFO): Local bearing/azimuth received: Bearing 55.1, -47.4 (Local) 2025-10-24T19:49:37.265Z,1761335377.265 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.1 2025-10-24T19:49:37.270Z,1761335377.270 [DAT](INFO): DAT read: 19:49:36.2841 LVL= 18656, 32753, 19506, 32755, AGC= 55, IDX= 509, 0.13,-0.943,-2.666,-2.469,-0.676, PHS=-0.179,-1.943,-1.795, RAW= 94.3, 39.3, CAL= 94.9, 47.4, ROT= 55.1, -47.4 2025-10-24T19:49:37.271Z,1761335377.271 [DAT](INFO): got valid direction response: 19:49:36.2841 LVL= 18656, 32753, 19506, 32755, AGC= 55, IDX= 509, 0.13,-0.943,-2.666,-2.469,-0.676, PHS=-0.179,-1.943,-1.795, RAW= 94.3, 39.3, CAL= 94.9, 47.4, ROT= 55.1, -47.4 2025-10-24T19:49:37.271Z,1761335377.271 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-24T19:49:37.301Z,1761335377.301 [DAT](INFO): direction in FSK: [0.387272,0.555141,0.736097] 2025-10-24T19:49:37.302Z,1761335377.302 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:37.318Z,1761335377.318 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.987400 2025-10-24T19:49:37.350Z,1761335377.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.506295 s, deltaX: 0.500000 m, approachRate: 0.987567 m/s, rangeRepo size: 4 2025-10-24T19:49:37.357Z,1761335377.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.182106 m, bearing: 115.251466 deg, lat: 36.779560 deg, lon: -121.859576 deg, deltaT: 1.510726 s, deltaX: 0.298320 m, approachRate: 0.197468 m/s, posRepo size: 4 2025-10-24T19:49:37.509Z,1761335377.509 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.178745 2025-10-24T19:49:37.572Z,1761335377.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349118,-0.925214,0.148645],[0.934486,0.355536,0.018169],[-0.069659,0.132564,0.988724]] 2025-10-24T19:49:37.608Z,1761335377.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.20 m. 2025-10-24T19:49:37.761Z,1761335377.761 [DAT](INFO): DAT read: Rx Time:19:49:36.7837 2025-10-24T19:49:37.762Z,1761335377.762 [DAT](INFO): Rx dataTimestamp_ set to:1761335377.761524 2025-10-24T19:49:37.764Z,1761335377.764 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.2 2025-10-24T19:49:37.765Z,1761335377.765 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-24T19:49:37.766Z,1761335377.766 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.435287 2025-10-24T19:49:37.965Z,1761335377.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335814,-0.927156,0.166163],[0.939730,0.341821,0.008111],[-0.064318,0.153425,0.986065]] 2025-10-24T19:49:38.013Z,1761335378.013 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.683060 2025-10-24T19:49:38.018Z,1761335378.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.501543 s, deltaX: -0.600000 m, approachRate: -1.196308 m/s, rangeRepo size: 4 2025-10-24T19:49:38.019Z,1761335378.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m. 2025-10-24T19:49:38.265Z,1761335378.265 [DAT](INFO): DAT read: Rx Time:19:49:37.2834 2025-10-24T19:49:38.265Z,1761335378.265 [DAT](INFO): Rx dataTimestamp_ set to:1761335378.265114 2025-10-24T19:49:38.267Z,1761335378.267 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T19:49:38.267Z,1761335378.267 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-24T19:49:38.268Z,1761335378.268 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.937920 2025-10-24T19:49:38.371Z,1761335378.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319667,-0.929244,0.185251],[0.945741,0.324916,-0.002138],[-0.058204,0.175883,0.982689]] 2025-10-24T19:49:38.401Z,1761335378.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503590 s, deltaX: -0.500000 m, approachRate: -0.992871 m/s, rangeRepo size: 4 2025-10-24T19:49:38.518Z,1761335378.518 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.187248 2025-10-24T19:49:38.763Z,1761335378.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300545,-0.931470,0.205027],[0.952338,0.304845,-0.011052],[-0.052207,0.198576,0.978694]] 2025-10-24T19:49:38.769Z,1761335378.769 [DAT](INFO): DAT read: Rx Time:19:49:37.7839 2025-10-24T19:49:38.769Z,1761335378.769 [DAT](INFO): Rx dataTimestamp_ set to:1761335378.769121 2025-10-24T19:49:38.771Z,1761335378.771 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.2 2025-10-24T19:49:38.771Z,1761335378.771 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-24T19:49:38.772Z,1761335378.772 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.441978 2025-10-24T19:49:38.786Z,1761335378.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:38.789Z,1761335378.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504007 s, deltaX: 0.800000 m, approachRate: 1.587280 m/s, rangeRepo size: 4 2025-10-24T19:49:38.789Z,1761335378.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m. 2025-10-24T19:49:39.021Z,1761335379.021 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.690472 2025-10-24T19:49:39.166Z,1761335379.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279636,-0.933882,0.222863],[0.959025,0.282703,-0.018695],[-0.045545,0.218959,0.974670]] 2025-10-24T19:49:39.243Z,1761335379.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m. 2025-10-24T19:49:39.273Z,1761335379.273 [DAT](INFO): DAT read: Rx Time:19:49:38.2839 2025-10-24T19:49:39.274Z,1761335379.274 [DAT](INFO): Rx dataTimestamp_ set to:1761335379.273320 2025-10-24T19:49:39.275Z,1761335379.275 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.3 2025-10-24T19:49:39.275Z,1761335379.275 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-24T19:49:39.276Z,1761335379.276 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.946163 2025-10-24T19:49:39.525Z,1761335379.525 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.194477 2025-10-24T19:49:39.578Z,1761335379.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257281,-0.935677,0.241484],[0.965564,0.258907,-0.025543],[-0.038622,0.239740,0.970069]] 2025-10-24T19:49:39.599Z,1761335379.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504199 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:39.600Z,1761335379.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m. 2025-10-24T19:49:39.777Z,1761335379.777 [DAT](INFO): DAT read: Rx Time:19:49:38.7840 2025-10-24T19:49:39.778Z,1761335379.778 [DAT](INFO): Rx dataTimestamp_ set to:1761335379.777198 2025-10-24T19:49:39.781Z,1761335379.781 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.2 2025-10-24T19:49:39.781Z,1761335379.781 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-24T19:49:39.782Z,1761335379.782 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.451946 2025-10-24T19:49:39.994Z,1761335379.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232559,-0.936852,0.261201],[0.972085,0.232491,-0.031610],[-0.031113,0.261260,0.964767]] 2025-10-24T19:49:40.030Z,1761335380.030 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.699650 2025-10-24T19:49:40.053Z,1761335380.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503878 s, deltaX: 0.100000 m, approachRate: 0.198461 m/s, rangeRepo size: 4 2025-10-24T19:49:40.054Z,1761335380.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m. 2025-10-24T19:49:40.285Z,1761335380.285 [DAT](INFO): DAT read: Rx Time:19:49:39.2839 2025-10-24T19:49:40.286Z,1761335380.286 [DAT](INFO): Rx dataTimestamp_ set to:1761335380.285617 2025-10-24T19:49:40.287Z,1761335380.287 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed -0.2 2025-10-24T19:49:40.288Z,1761335380.288 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-24T19:49:40.289Z,1761335380.289 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.958824 2025-10-24T19:49:40.383Z,1761335380.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.207134,-0.937996,0.277954],[0.978027,0.205406,-0.035664],[-0.023640,0.279234,0.959932]] 2025-10-24T19:49:40.424Z,1761335380.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.508419 s, deltaX: -0.100000 m, approachRate: -0.196688 m/s, rangeRepo size: 4 2025-10-24T19:49:40.533Z,1761335380.533 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.202461 2025-10-24T19:49:40.785Z,1761335380.785 [DAT](INFO): DAT read: Rx Time:19:49:39.7840 2025-10-24T19:49:40.786Z,1761335380.786 [DAT](INFO): Rx dataTimestamp_ set to:1761335380.785431 2025-10-24T19:49:40.787Z,1761335380.787 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.3 2025-10-24T19:49:40.789Z,1761335380.789 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-24T19:49:40.789Z,1761335380.789 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.459137 2025-10-24T19:49:40.790Z,1761335380.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180383,-0.939857,0.290053],[0.983466,0.177142,-0.037621],[-0.016022,0.292044,0.956271]] 2025-10-24T19:49:40.853Z,1761335380.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:40.860Z,1761335380.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.499814 s, deltaX: 0.100000 m, approachRate: 0.200074 m/s, rangeRepo size: 4 2025-10-24T19:49:40.860Z,1761335380.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m. 2025-10-24T19:49:41.037Z,1761335381.037 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.707138 2025-10-24T19:49:41.289Z,1761335381.289 [DAT](INFO): DAT read: Rx Time:19:49:40.2841 2025-10-24T19:49:41.290Z,1761335381.290 [DAT](INFO): Rx dataTimestamp_ set to:1761335381.289316 2025-10-24T19:49:41.291Z,1761335381.291 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.3 2025-10-24T19:49:41.291Z,1761335381.291 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-24T19:49:41.292Z,1761335381.292 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.962193 2025-10-24T19:49:41.457Z,1761335381.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503885 s, deltaX: 0.200000 m, approachRate: 0.396916 m/s, rangeRepo size: 4 2025-10-24T19:49:41.457Z,1761335381.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.20 m. 2025-10-24T19:49:41.542Z,1761335381.542 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.211769 2025-10-24T19:49:41.787Z,1761335381.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098508,-0.946754,0.306516],[0.995120,0.091960,-0.035770],[0.005678,0.308544,0.951193]] 2025-10-24T19:49:41.793Z,1761335381.793 [DAT](INFO): DAT read: Rx Time:19:49:40.7842 2025-10-24T19:49:41.794Z,1761335381.794 [DAT](INFO): Rx dataTimestamp_ set to:1761335381.793234 2025-10-24T19:49:41.795Z,1761335381.795 [DAT](INFO): DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed -0.4 2025-10-24T19:49:41.797Z,1761335381.797 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-24T19:49:41.798Z,1761335381.798 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.467297 2025-10-24T19:49:41.814Z,1761335381.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503918 s, deltaX: 0.100000 m, approachRate: 0.198445 m/s, rangeRepo size: 4 2025-10-24T19:49:41.814Z,1761335381.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.30 m. 2025-10-24T19:49:42.046Z,1761335382.046 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.715599 2025-10-24T19:49:42.231Z,1761335382.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071846,-0.948976,0.307054],[0.997343,0.064631,-0.033615],[0.012055,0.308653,0.951098]] 2025-10-24T19:49:42.288Z,1761335382.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.30 m. 2025-10-24T19:49:42.297Z,1761335382.297 [DAT](INFO): DAT read: Rx Time:19:49:41.2845 2025-10-24T19:49:42.298Z,1761335382.298 [DAT](INFO): Rx dataTimestamp_ set to:1761335382.297420 2025-10-24T19:49:42.299Z,1761335382.299 [DAT](INFO): DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed -0.4 2025-10-24T19:49:42.300Z,1761335382.300 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-24T19:49:42.300Z,1761335382.300 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:49:42.300Z,1761335382.300 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:49:42.301Z,1761335382.301 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:42.549Z,1761335382.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:42.627Z,1761335382.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.044780,-0.950899,0.306244],[0.998828,0.036972,-0.031252],[0.018395,0.307285,0.951440]] 2025-10-24T19:49:42.667Z,1761335382.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504186 s, deltaX: 0.500000 m, approachRate: 0.991697 m/s, rangeRepo size: 4 2025-10-24T19:49:42.803Z,1761335382.803 [DAT](INFO): DAT read: Rx Time:19:49:41.7843 2025-10-24T19:49:42.803Z,1761335382.803 [DAT](INFO): Rx dataTimestamp_ set to:1761335382.802988 2025-10-24T19:49:42.805Z,1761335382.805 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 2025-10-24T19:49:42.805Z,1761335382.805 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:42.806Z,1761335382.806 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:42.806Z,1761335382.806 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:43.053Z,1761335383.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:43.123Z,1761335383.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:43.126Z,1761335383.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.505568 s, deltaX: -0.300000 m, approachRate: -0.593392 m/s, rangeRepo size: 4 2025-10-24T19:49:43.305Z,1761335383.305 [DAT](INFO): DAT read: Rx Time:19:49:42.2846 2025-10-24T19:49:43.305Z,1761335383.305 [DAT](INFO): Rx dataTimestamp_ set to:1761335383.305065 2025-10-24T19:49:43.307Z,1761335383.307 [DAT](INFO): DAT read: Range 10 to 50 : 3.9 m (trip time 2.6 ms) speed -0.4 2025-10-24T19:49:43.307Z,1761335383.307 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:43.308Z,1761335383.308 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:43.308Z,1761335383.308 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:43.435Z,1761335383.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008497,-0.952848,0.303329],[0.999530,-0.017033,-0.025504],[0.029468,0.302969,0.952545]] 2025-10-24T19:49:43.470Z,1761335383.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.502077 s, deltaX: 0.400000 m, approachRate: 0.796691 m/s, rangeRepo size: 4 2025-10-24T19:49:43.557Z,1761335383.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:43.809Z,1761335383.809 [DAT](INFO): DAT read: Rx Time:19:49:42.7847 2025-10-24T19:49:43.809Z,1761335383.809 [DAT](INFO): Rx dataTimestamp_ set to:1761335383.809119 2025-10-24T19:49:43.811Z,1761335383.811 [DAT](INFO): DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.4 2025-10-24T19:49:43.813Z,1761335383.813 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:43.813Z,1761335383.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:43.814Z,1761335383.814 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:43.841Z,1761335383.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.034649,-0.953002,0.300976],[0.998812,-0.043347,-0.022267],[0.034266,0.299847,0.953372]] 2025-10-24T19:49:43.903Z,1761335383.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504054 s, deltaX: 0.200000 m, approachRate: 0.396783 m/s, rangeRepo size: 4 2025-10-24T19:49:44.061Z,1761335384.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:44.251Z,1761335384.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060973,-0.951946,0.300135],[0.997404,-0.069648,-0.018281],[0.038306,0.298242,0.953721]] 2025-10-24T19:49:44.315Z,1761335384.315 [DAT](INFO): DAT read: Rx Time:19:49:43.2849 2025-10-24T19:49:44.317Z,1761335384.317 [DAT](INFO): Rx dataTimestamp_ set to:1761335384.316152 2025-10-24T19:49:44.318Z,1761335384.318 [DAT](INFO): DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 2025-10-24T19:49:44.319Z,1761335384.319 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:44.320Z,1761335384.320 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:44.320Z,1761335384.320 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:44.565Z,1761335384.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:44.705Z,1761335384.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.086871,-0.951600,0.294805],[0.995354,-0.095240,-0.014120],[0.041514,0.292209,0.955453]] 2025-10-24T19:49:44.735Z,1761335384.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.507033 s, deltaX: 0.300000 m, approachRate: 0.591678 m/s, rangeRepo size: 4 2025-10-24T19:49:44.818Z,1761335384.818 [DAT](INFO): DAT read: Rx Time:19:49:43.7849 2025-10-24T19:49:44.818Z,1761335384.818 [DAT](INFO): Rx dataTimestamp_ set to:1761335384.817700 2025-10-24T19:49:44.819Z,1761335384.819 [DAT](INFO): DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed -0.4 2025-10-24T19:49:44.820Z,1761335384.820 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:44.821Z,1761335384.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:44.821Z,1761335384.821 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:45.071Z,1761335385.071 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:45.099Z,1761335385.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113468,-0.949940,0.291101],[0.992569,-0.121343,-0.009083],[0.043951,0.287907,0.956649]] 2025-10-24T19:49:45.170Z,1761335385.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:45.172Z,1761335385.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.501548 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:45.323Z,1761335385.323 [DAT](INFO): DAT read: Rx Time:19:49:44.2852 2025-10-24T19:49:45.324Z,1761335385.324 [DAT](INFO): Rx dataTimestamp_ set to:1761335385.323244 2025-10-24T19:49:45.325Z,1761335385.325 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 2025-10-24T19:49:45.325Z,1761335385.325 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:45.326Z,1761335385.326 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:45.326Z,1761335385.326 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:45.548Z,1761335385.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.505544 s, deltaX: 0.400000 m, approachRate: 0.791227 m/s, rangeRepo size: 4 2025-10-24T19:49:45.573Z,1761335385.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:45.825Z,1761335385.825 [DAT](INFO): DAT read: Rx Time:19:49:44.7853 2025-10-24T19:49:45.826Z,1761335385.826 [DAT](INFO): Rx dataTimestamp_ set to:1761335385.825330 2025-10-24T19:49:45.827Z,1761335385.827 [DAT](INFO): DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed -0.4 2025-10-24T19:49:45.828Z,1761335385.828 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:45.829Z,1761335385.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:45.830Z,1761335385.830 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:45.913Z,1761335385.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164550,-0.945404,0.281309],[0.985333,-0.170618,0.002963],[0.045195,0.277671,0.959613]] 2025-10-24T19:49:45.938Z,1761335385.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.502086 s, deltaX: 0.200000 m, approachRate: 0.398338 m/s, rangeRepo size: 4 2025-10-24T19:49:46.077Z,1761335386.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:46.306Z,1761335386.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.187233,-0.943563,0.273189],[0.981335,-0.192092,0.009105],[0.043886,0.269794,0.961917]] 2025-10-24T19:49:46.331Z,1761335386.331 [DAT](INFO): DAT read: Rx Time:19:49:45.2856 2025-10-24T19:49:46.333Z,1761335386.333 [DAT](INFO): Rx dataTimestamp_ set to:1761335386.331081 2025-10-24T19:49:46.336Z,1761335386.336 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed -0.5 2025-10-24T19:49:46.337Z,1761335386.337 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:46.339Z,1761335386.339 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:46.340Z,1761335386.340 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:49:46.423Z,1761335386.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.505751 s, deltaX: 0.400000 m, approachRate: 0.790903 m/s, rangeRepo size: 4 2025-10-24T19:49:46.581Z,1761335386.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:49:46.715Z,1761335386.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.207650,-0.942297,0.262597],[0.977328,-0.211202,0.014954],[0.041370,0.259748,0.964790]] 2025-10-24T19:49:46.834Z,1761335386.834 [DAT](INFO): DAT read: user:164> 2025-10-24T19:49:46.834Z,1761335386.834 [DAT](INFO): DAT read: 120 2025-10-24T19:49:46.835Z,1761335386.835 [DAT](INFO): unknown deviceResponse_: 120 2025-10-24T19:49:46.835Z,1761335386.835 [DAT](INFO): DAT read: Ok 2025-10-24T19:49:46.835Z,1761335386.835 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-24T19:49:46.836Z,1761335386.836 [DAT](INFO): DAT read: user:165> 2025-10-24T19:49:46.837Z,1761335386.837 [DAT](INFO): DAT read: Tx time:19:49:46.2329 2025-10-24T19:49:46.837Z,1761335386.837 [DAT](INFO): Ping request sent. 2025-10-24T19:49:46.838Z,1761335386.838 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:49:46.838Z,1761335386.838 [DAT](INFO): publishing transmit ping time 2025-10-24T19:49:46.838Z,1761335386.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-10-24T19:49:47.088Z,1761335387.088 [DAT](INFO): DAT read: TxSync time:19:49:46.2321 2025-10-24T19:49:47.091Z,1761335387.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252922 2025-10-24T19:49:47.118Z,1761335387.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226720,-0.940599,0.252726],[0.973202,-0.229017,0.020701],[0.038407,0.250647,0.967316]] 2025-10-24T19:49:47.205Z,1761335387.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:47.337Z,1761335387.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499239 2025-10-24T19:49:47.519Z,1761335387.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244634,-0.939128,0.241231],[0.968959,-0.245933,0.025198],[0.035662,0.239907,0.970141]] 2025-10-24T19:49:47.589Z,1761335387.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751216 2025-10-24T19:49:47.841Z,1761335387.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003154 2025-10-24T19:49:47.929Z,1761335387.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261886,-0.935264,0.238112],[0.964555,-0.261930,0.032042],[0.032401,0.238063,0.970709]] 2025-10-24T19:49:48.097Z,1761335388.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259307 2025-10-24T19:49:48.345Z,1761335388.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507179 2025-10-24T19:49:48.597Z,1761335388.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759212 2025-10-24T19:49:48.850Z,1761335388.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011966 2025-10-24T19:49:49.106Z,1761335389.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267685 2025-10-24T19:49:49.146Z,1761335389.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292443,-0.936017,0.195832],[0.956115,-0.290038,0.041508],[0.017947,0.199376,0.979759]] 2025-10-24T19:49:49.353Z,1761335389.353 [DAT](INFO): DAT read: Rx Time:19:49:48.3701 2025-10-24T19:49:49.353Z,1761335389.353 [DAT](INFO): Rx dataTimestamp_ set to:1761335389.353177 2025-10-24T19:49:49.355Z,1761335389.355 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.6 2025-10-24T19:49:49.355Z,1761335389.355 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:49:49.356Z,1761335389.356 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.518712 2025-10-24T19:49:49.539Z,1761335389.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297528,-0.937133,0.182369],[0.954631,-0.294521,0.044001],[0.012477,0.187187,0.982245]] 2025-10-24T19:49:49.558Z,1761335389.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:49:49.562Z,1761335389.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 3.022096 s, deltaX: 0.800000 m, approachRate: 0.264717 m/s, rangeRepo size: 4 2025-10-24T19:49:49.563Z,1761335389.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 6.20 m. Rolling out. 2025-10-24T19:49:49.563Z,1761335389.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-24T19:49:49.597Z,1761335389.597 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T19:49:49.605Z,1761335389.605 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.767492 2025-10-24T19:49:49.857Z,1761335389.857 [DAT](INFO): DAT read: Rx Time:19:49:48.8704 2025-10-24T19:49:49.858Z,1761335389.858 [DAT](INFO): Rx dataTimestamp_ set to:1761335389.857306 2025-10-24T19:49:49.859Z,1761335389.859 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed -0.5 2025-10-24T19:49:49.859Z,1761335389.859 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-24T19:49:49.860Z,1761335389.860 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.022811 2025-10-24T19:49:49.955Z,1761335389.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.301925,-0.938454,0.167769],[0.953302,-0.298593,0.045358],[0.007528,0.173629,0.984782]] 2025-10-24T19:49:49.986Z,1761335389.986 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-24T19:49:49.986Z,1761335389.986 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T19:49:49.986Z,1761335389.986 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-24T19:49:49.987Z,1761335389.987 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 6.200000 m (mode 5.000000 count ). 2025-10-24T19:49:49.992Z,1761335389.992 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-24T19:49:49.992Z,1761335389.992 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-24T19:49:49.993Z,1761335389.993 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-24T19:49:49.993Z,1761335389.993 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T19:49:49.993Z,1761335389.993 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-24T19:49:49.994Z,1761335389.994 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 6.200000 m (mode 5.000000 count ). 2025-10-24T19:49:49.994Z,1761335389.994 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-24T19:49:49.995Z,1761335389.995 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-24T19:49:50.002Z,1761335390.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504129 s, deltaX: 0.300000 m, approachRate: 0.595086 m/s, rangeRepo size: 4 2025-10-24T19:49:50.002Z,1761335390.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.18 m. 2025-10-24T19:49:50.009Z,1761335390.009 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-24T19:49:50.009Z,1761335390.009 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-24T19:49:50.009Z,1761335390.009 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-24T19:49:50.009Z,1761335390.009 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-24T19:49:50.112Z,1761335390.112 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273882 2025-10-24T19:49:50.361Z,1761335390.361 [DAT](INFO): DAT read: Rx Time:19:49:49.3707 2025-10-24T19:49:50.362Z,1761335390.362 [DAT](INFO): Rx dataTimestamp_ set to:1761335390.361520 2025-10-24T19:49:50.363Z,1761335390.363 [DAT](INFO): DAT read: Bearing 170.9, 0.3 (Local) 2025-10-24T19:49:50.363Z,1761335390.363 [DAT](INFO): Local bearing/azimuth received: Bearing 170.9, 0.3 (Local) 2025-10-24T19:49:50.366Z,1761335390.366 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed -0.6 2025-10-24T19:49:50.370Z,1761335390.370 [DAT](INFO): DAT read: 19:49:49.3707 LVL= 10528, 11857, 10274, 14403, AGC= 52, IDX= 2,-0.05,-2.540,-0.454,-2.802,-1.883, PHS=-0.569, 1.476,-0.922, RAW= 337.8, 0.1, CAL= 339.1, -0.3, ROT= 170.9, 0.3 2025-10-24T19:49:50.371Z,1761335390.371 [DAT](INFO): got valid direction response: 19:49:49.3707 LVL= 10528, 11857, 10274, 14403, AGC= 52, IDX= 2,-0.05,-2.540,-0.454,-2.802,-1.883, PHS=-0.569, 1.476,-0.922, RAW= 337.8, 0.1, CAL= 339.1, -0.3, ROT= 170.9, 0.3 2025-10-24T19:49:50.372Z,1761335390.372 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-24T19:49:50.373Z,1761335390.373 [DAT](INFO): direction in FSK: [-0.987400,0.158156,-0.005236] 2025-10-24T19:49:50.373Z,1761335390.373 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:50.377Z,1761335390.377 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.539020 2025-10-24T19:49:50.529Z,1761335390.529 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-24T19:49:50.529Z,1761335390.529 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-24T19:49:50.530Z,1761335390.530 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-24T19:49:50.530Z,1761335390.530 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-24T19:49:50.546Z,1761335390.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504214 s, deltaX: 0.400000 m, approachRate: 0.793314 m/s, rangeRepo size: 4 2025-10-24T19:49:50.552Z,1761335390.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.861670 m, bearing: 278.559493 deg, lat: 36.779561 deg, lon: -121.859585 deg, deltaT: 13.101539 s, deltaX: 3.679564 m, approachRate: 0.280850 m/s, posRepo size: 4 2025-10-24T19:49:50.553Z,1761335390.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-24T19:49:50.613Z,1761335390.613 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.775863 2025-10-24T19:49:50.812Z,1761335390.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308578,-0.939982,0.145646],[0.951197,-0.304621,0.049299],[-0.001973,0.153751,0.988108]] 2025-10-24T19:49:50.829Z,1761335390.829 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-24T19:49:50.829Z,1761335390.829 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-24T19:49:50.829Z,1761335390.829 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-24T19:49:50.829Z,1761335390.829 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-24T19:49:50.831Z,1761335390.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-24T19:49:50.866Z,1761335390.866 [DAT](INFO): DAT read: Rx Time:19:49:49.8708 2025-10-24T19:49:50.867Z,1761335390.867 [DAT](INFO): Rx dataTimestamp_ set to:1761335390.866094 2025-10-24T19:49:50.869Z,1761335390.869 [DAT](INFO): DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed -0.5 2025-10-24T19:49:50.869Z,1761335390.869 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-24T19:49:50.870Z,1761335390.870 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.032743 2025-10-24T19:49:51.121Z,1761335391.121 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281893 2025-10-24T19:49:51.211Z,1761335391.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310889,-0.939499,0.143841],[0.950426,-0.306316,0.053484],[-0.006187,0.153338,0.988154]] 2025-10-24T19:49:51.260Z,1761335391.260 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-24T19:49:51.260Z,1761335391.260 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T19:49:51.260Z,1761335391.260 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-24T19:49:51.260Z,1761335391.260 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T19:49:51.261Z,1761335391.261 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-24T19:49:51.262Z,1761335391.262 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T19:49:51.262Z,1761335391.262 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-24T19:49:51.262Z,1761335391.262 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T19:49:51.265Z,1761335391.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.504574 s, deltaX: 0.200000 m, approachRate: 0.396374 m/s, rangeRepo size: 4 2025-10-24T19:49:51.266Z,1761335391.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-24T19:49:51.370Z,1761335391.370 [DAT](INFO): DAT read: Rx Time:19:49:50.3708 2025-10-24T19:49:51.371Z,1761335391.371 [DAT](INFO): Rx dataTimestamp_ set to:1761335391.370235 2025-10-24T19:49:51.373Z,1761335391.373 [DAT](INFO): DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed -0.5 2025-10-24T19:49:51.374Z,1761335391.374 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-24T19:49:51.375Z,1761335391.375 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.537254 2025-10-24T19:49:51.615Z,1761335391.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311365,-0.939562,0.142389],[0.950222,-0.306033,0.058499],[-0.011388,0.153515,0.988081]] 2025-10-24T19:49:51.621Z,1761335391.621 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.783036 2025-10-24T19:49:51.639Z,1761335391.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.504141 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:51.639Z,1761335391.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-24T19:49:51.874Z,1761335391.874 [DAT](INFO): DAT read: Rx Time:19:49:50.8708 2025-10-24T19:49:51.874Z,1761335391.874 [DAT](INFO): Rx dataTimestamp_ set to:1761335391.874219 2025-10-24T19:49:51.876Z,1761335391.876 [DAT](INFO): DAT read: Range 10 to 50 : 7.2 m (trip time 4.8 ms) speed -0.5 2025-10-24T19:49:51.876Z,1761335391.876 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-24T19:49:51.877Z,1761335391.877 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.039752 2025-10-24T19:49:52.018Z,1761335392.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310544,-0.940255,0.139584],[0.950412,-0.304544,0.063008],[-0.016734,0.152229,0.988203]] 2025-10-24T19:49:52.051Z,1761335392.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503984 s, deltaX: 0.100000 m, approachRate: 0.198419 m/s, rangeRepo size: 4 2025-10-24T19:49:52.052Z,1761335392.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-24T19:49:52.129Z,1761335392.129 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.291204 2025-10-24T19:49:52.377Z,1761335392.377 [DAT](INFO): DAT read: Rx Time:19:49:51.3710 2025-10-24T19:49:52.378Z,1761335392.378 [DAT](INFO): Rx dataTimestamp_ set to:1761335392.377515 2025-10-24T19:49:52.379Z,1761335392.379 [DAT](INFO): DAT read: Bearing 173.0, 2.1 (Local) 2025-10-24T19:49:52.379Z,1761335392.379 [DAT](INFO): Local bearing/azimuth received: Bearing 173.0, 2.1 (Local) 2025-10-24T19:49:52.382Z,1761335392.382 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed -0.5 2025-10-24T19:49:52.386Z,1761335392.386 [DAT](INFO): DAT read: 19:49:51.3710 LVL= 24128, 26209, 25106, 32755, AGC= 56, IDX= 504, 0.22, 2.157,-1.995, 2.004, 2.812, PHS=-0.568, 1.522,-0.812, RAW= 335.5, -1.3, CAL= 337.0, -2.1, ROT= 173.0, 2.1 2025-10-24T19:49:52.387Z,1761335392.387 [DAT](INFO): got valid direction response: 19:49:51.3710 LVL= 24128, 26209, 25106, 32755, AGC= 56, IDX= 504, 0.22, 2.157,-1.995, 2.004, 2.812, PHS=-0.568, 1.522,-0.812, RAW= 335.5, -1.3, CAL= 337.0, -2.1, ROT= 173.0, 2.1 2025-10-24T19:49:52.388Z,1761335392.388 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-24T19:49:52.389Z,1761335392.389 [DAT](INFO): direction in FSK: [-0.991880,0.121787,-0.036644] 2025-10-24T19:49:52.389Z,1761335392.389 [DAT](INFO): publishing direction and range info 2025-10-24T19:49:52.393Z,1761335392.393 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.555051 2025-10-24T19:49:52.465Z,1761335392.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.306658,-0.942404,0.133550],[0.951455,-0.299625,0.070411],[-0.026341,0.148659,0.988538]] 2025-10-24T19:49:52.545Z,1761335392.545 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-24T19:49:52.545Z,1761335392.545 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-24T19:49:52.545Z,1761335392.545 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-24T19:49:52.601Z,1761335392.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503296 s, deltaX: 0.300000 m, approachRate: 0.596071 m/s, rangeRepo size: 4 2025-10-24T19:49:52.603Z,1761335392.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.458616 m, bearing: 280.632363 deg, lat: 36.779561 deg, lon: -121.859582 deg, deltaT: 2.015995 s, deltaX: 0.596945 m, approachRate: 0.296105 m/s, posRepo size: 4 2025-10-24T19:49:52.608Z,1761335392.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:52.629Z,1761335392.629 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.791717 2025-10-24T19:49:52.824Z,1761335392.824 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-24T19:49:52.854Z,1761335392.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304014,-0.943456,0.132162],[0.952193,-0.296548,0.073397],[-0.030055,0.148158,0.988507]] 2025-10-24T19:49:52.881Z,1761335392.881 [DAT](INFO): DAT read: Rx Time:19:49:51.8710 2025-10-24T19:49:52.881Z,1761335392.881 [DAT](INFO): Rx dataTimestamp_ set to:1761335392.881190 2025-10-24T19:49:52.883Z,1761335392.883 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 2025-10-24T19:49:52.883Z,1761335392.883 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-24T19:49:52.884Z,1761335392.884 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.046711 2025-10-24T19:49:52.924Z,1761335392.924 [RDI_Pathfinder](INFO): Powering down 2025-10-24T19:49:52.987Z,1761335392.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503675 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:52.987Z,1761335392.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:53.133Z,1761335393.133 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.295309 2025-10-24T19:49:53.262Z,1761335393.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.300903,-0.944702,0.130369],[0.953073,-0.293124,0.075693],[-0.033292,0.147028,0.988572]] 2025-10-24T19:49:53.301Z,1761335393.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:53.386Z,1761335393.386 [DAT](INFO): DAT read: Rx Time:19:49:52.3713 2025-10-24T19:49:53.386Z,1761335393.386 [DAT](INFO): Rx dataTimestamp_ set to:1761335393.386050 2025-10-24T19:49:53.388Z,1761335393.388 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 2025-10-24T19:49:53.389Z,1761335393.389 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-24T19:49:53.390Z,1761335393.390 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.552413 2025-10-24T19:49:53.637Z,1761335393.637 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.799251 2025-10-24T19:49:53.664Z,1761335393.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297880,-0.945843,0.129031],[0.953921,-0.289826,0.077686],[-0.036082,0.146226,0.988593]] 2025-10-24T19:49:53.706Z,1761335393.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504860 s, deltaX: 0.500000 m, approachRate: 0.990374 m/s, rangeRepo size: 4 2025-10-24T19:49:53.707Z,1761335393.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:53.889Z,1761335393.889 [DAT](INFO): DAT read: Rx Time:19:49:52.8713 2025-10-24T19:49:53.890Z,1761335393.890 [DAT](INFO): Rx dataTimestamp_ set to:1761335393.889639 2025-10-24T19:49:53.892Z,1761335393.892 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 2025-10-24T19:49:53.893Z,1761335393.893 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-24T19:49:53.894Z,1761335393.894 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.056118 2025-10-24T19:49:53.937Z,1761335393.937 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-24T19:49:53.937Z,1761335393.937 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-24T19:49:54.071Z,1761335394.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.294885,-0.946707,0.129568],[0.954757,-0.286462,0.079867],[-0.038495,0.147258,0.988349]] 2025-10-24T19:49:54.075Z,1761335394.075 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-24T19:49:54.093Z,1761335394.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.503589 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:54.093Z,1761335394.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:54.143Z,1761335394.143 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.304879 2025-10-24T19:49:54.393Z,1761335394.393 [DAT](INFO): DAT read: Rx Time:19:49:53.3716 2025-10-24T19:49:54.394Z,1761335394.394 [DAT](INFO): Rx dataTimestamp_ set to:1761335394.393339 2025-10-24T19:49:54.396Z,1761335394.396 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-24T19:49:54.397Z,1761335394.397 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-24T19:49:54.398Z,1761335394.398 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.560353 2025-10-24T19:49:54.478Z,1761335394.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.292240,-0.947352,0.130844],[0.955485,-0.283431,0.081944],[-0.040545,0.148967,0.988011]] 2025-10-24T19:49:54.527Z,1761335394.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.503700 s, deltaX: 0.400000 m, approachRate: 0.794123 m/s, rangeRepo size: 4 2025-10-24T19:49:54.527Z,1761335394.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:54.646Z,1761335394.646 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.808515 2025-10-24T19:49:54.876Z,1761335394.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.290200,-0.947902,0.131397],[0.956072,-0.281247,0.082625],[-0.041365,0.149603,0.987880]] 2025-10-24T19:49:54.898Z,1761335394.898 [DAT](INFO): DAT read: Rx Time:19:49:53.8716 2025-10-24T19:49:54.898Z,1761335394.898 [DAT](INFO): Rx dataTimestamp_ set to:1761335394.897815 2025-10-24T19:49:54.900Z,1761335394.900 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-24T19:49:54.901Z,1761335394.901 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-24T19:49:54.902Z,1761335394.902 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.064560 2025-10-24T19:49:54.932Z,1761335394.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504476 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:54.933Z,1761335394.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:55.149Z,1761335395.149 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.311278 2025-10-24T19:49:55.302Z,1761335395.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.287606,-0.948578,0.132223],[0.956824,-0.278512,0.083180],[-0.042077,0.150437,0.987724]] 2025-10-24T19:49:55.321Z,1761335395.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:55.406Z,1761335395.406 [DAT](INFO): DAT read: Rx Time:19:49:54.3719 2025-10-24T19:49:55.407Z,1761335395.407 [DAT](INFO): Rx dataTimestamp_ set to:1761335395.406518 2025-10-24T19:49:55.408Z,1761335395.408 [DAT](INFO): DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 2025-10-24T19:49:55.409Z,1761335395.409 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-24T19:49:55.410Z,1761335395.410 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.572044 2025-10-24T19:49:55.657Z,1761335395.657 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819187 2025-10-24T19:49:55.684Z,1761335395.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285318,-0.949058,0.133725],[0.957494,-0.276077,0.083585],[-0.042409,0.151889,0.987487]] 2025-10-24T19:49:55.718Z,1761335395.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.508703 s, deltaX: 0.500000 m, approachRate: 0.982892 m/s, rangeRepo size: 4 2025-10-24T19:49:55.718Z,1761335395.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:55.910Z,1761335395.910 [DAT](INFO): DAT read: Rx Time:19:49:54.8719 2025-10-24T19:49:55.910Z,1761335395.910 [DAT](INFO): Rx dataTimestamp_ set to:1761335395.909771 2025-10-24T19:49:55.913Z,1761335395.913 [DAT](INFO): DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 2025-10-24T19:49:55.914Z,1761335395.914 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-24T19:49:55.915Z,1761335395.915 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.077208 2025-10-24T19:49:56.091Z,1761335396.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282655,-0.949624,0.135354],[0.958260,-0.273230,0.084155],[-0.042933,0.153491,0.987217]] 2025-10-24T19:49:56.115Z,1761335396.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503253 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:56.116Z,1761335396.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:56.162Z,1761335396.162 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.324091 2025-10-24T19:49:56.414Z,1761335396.414 [DAT](INFO): DAT read: Rx Time:19:49:55.3721 2025-10-24T19:49:56.415Z,1761335396.415 [DAT](INFO): Rx dataTimestamp_ set to:1761335396.414578 2025-10-24T19:49:56.417Z,1761335396.417 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4 2025-10-24T19:49:56.418Z,1761335396.418 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-10-24T19:49:56.420Z,1761335396.420 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.581870 2025-10-24T19:49:56.505Z,1761335396.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281451,-0.949733,0.137085],[0.958641,-0.271990,0.083834],[-0.042334,0.155011,0.987005]] 2025-10-24T19:49:56.551Z,1761335396.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.504807 s, deltaX: 0.300000 m, approachRate: 0.594287 m/s, rangeRepo size: 4 2025-10-24T19:49:56.551Z,1761335396.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:56.666Z,1761335396.666 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.827928 2025-10-24T19:49:56.902Z,1761335396.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279560,-0.950260,0.137302],[0.959206,-0.270155,0.083308],[-0.042072,0.154991,0.987020]] 2025-10-24T19:49:56.918Z,1761335396.918 [DAT](INFO): DAT read: Rx Time:19:49:55.8722 2025-10-24T19:49:56.918Z,1761335396.918 [DAT](INFO): Rx dataTimestamp_ set to:1761335396.918104 2025-10-24T19:49:56.920Z,1761335396.920 [DAT](INFO): DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-24T19:49:56.921Z,1761335396.921 [DAT](ERROR): #Rx 16: Read range message, but no direction. 2025-10-24T19:49:56.922Z,1761335396.922 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.084866 2025-10-24T19:49:56.934Z,1761335396.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503526 s, deltaX: 0.100000 m, approachRate: 0.198600 m/s, rangeRepo size: 4 2025-10-24T19:49:56.935Z,1761335396.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:57.171Z,1761335397.171 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.332648 2025-10-24T19:49:57.303Z,1761335397.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.278538,-0.950277,0.139248],[0.959514,-0.269021,0.083425],[-0.041817,0.156848,0.986737]] 2025-10-24T19:49:57.335Z,1761335397.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:57.421Z,1761335397.421 [DAT](INFO): DAT read: Rx Time:19:49:56.3724 2025-10-24T19:49:57.422Z,1761335397.422 [DAT](INFO): Rx dataTimestamp_ set to:1761335397.421948 2025-10-24T19:49:57.424Z,1761335397.424 [DAT](INFO): DAT read: Range 10 to 50 : 9.6 m (trip time 6.4 ms) speed -0.4 2025-10-24T19:49:57.425Z,1761335397.425 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-24T19:49:57.426Z,1761335397.426 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.588719 2025-10-24T19:49:57.673Z,1761335397.673 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835113 2025-10-24T19:49:57.704Z,1761335397.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277708,-0.950304,0.140712],[0.959780,-0.268172,0.083106],[-0.041241,0.158132,0.986556]] 2025-10-24T19:49:57.749Z,1761335397.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.503844 s, deltaX: 0.300000 m, approachRate: 0.595423 m/s, rangeRepo size: 4 2025-10-24T19:49:57.749Z,1761335397.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:57.926Z,1761335397.926 [DAT](INFO): DAT read: Rx Time:19:49:56.8725 2025-10-24T19:49:57.926Z,1761335397.926 [DAT](INFO): Rx dataTimestamp_ set to:1761335397.925694 2025-10-24T19:49:57.927Z,1761335397.927 [DAT](INFO): DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 2025-10-24T19:49:57.929Z,1761335397.929 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-24T19:49:57.930Z,1761335397.930 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.092438 2025-10-24T19:49:58.113Z,1761335398.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277318,-0.950136,0.142605],[0.959930,-0.267767,0.082681],[-0.040373,0.159819,0.986320]] 2025-10-24T19:49:58.134Z,1761335398.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503746 s, deltaX: 0.200000 m, approachRate: 0.397025 m/s, rangeRepo size: 4 2025-10-24T19:49:58.134Z,1761335398.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:58.178Z,1761335398.178 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.339821 2025-10-24T19:49:58.430Z,1761335398.430 [DAT](INFO): DAT read: Rx Time:19:49:57.3728 2025-10-24T19:49:58.430Z,1761335398.430 [DAT](INFO): Rx dataTimestamp_ set to:1761335398.430167 2025-10-24T19:49:58.432Z,1761335398.432 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 2025-10-24T19:49:58.432Z,1761335398.432 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-24T19:49:58.433Z,1761335398.433 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.595741 2025-10-24T19:49:58.511Z,1761335398.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276999,-0.950019,0.143998],[0.960087,-0.267598,0.081386],[-0.038785,0.160794,0.986226]] 2025-10-24T19:49:58.578Z,1761335398.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504473 s, deltaX: 0.400000 m, approachRate: 0.792906 m/s, rangeRepo size: 4 2025-10-24T19:49:58.579Z,1761335398.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:58.681Z,1761335398.681 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.843239 2025-10-24T19:49:58.925Z,1761335398.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276565,-0.949936,0.145371],[0.960260,-0.267257,0.080463],[-0.037583,0.161848,0.986100]] 2025-10-24T19:49:58.933Z,1761335398.933 [DAT](INFO): DAT read: Rx Time:19:49:57.8728 2025-10-24T19:49:58.934Z,1761335398.934 [DAT](INFO): Rx dataTimestamp_ set to:1761335398.933525 2025-10-24T19:49:58.935Z,1761335398.935 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 2025-10-24T19:49:58.936Z,1761335398.936 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-24T19:49:58.937Z,1761335398.937 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.099048 2025-10-24T19:49:58.953Z,1761335398.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503358 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:49:58.953Z,1761335398.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:59.185Z,1761335399.185 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.347180 2025-10-24T19:49:59.320Z,1761335399.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276133,-0.949859,0.146695],[0.960430,-0.266919,0.079556],[-0.036411,0.162858,0.985977]] 2025-10-24T19:49:59.353Z,1761335399.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:59.438Z,1761335399.438 [DAT](INFO): DAT read: Rx Time:19:49:58.3730 2025-10-24T19:49:59.439Z,1761335399.439 [DAT](INFO): Rx dataTimestamp_ set to:1761335399.438087 2025-10-24T19:49:59.440Z,1761335399.440 [DAT](INFO): DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 2025-10-24T19:49:59.441Z,1761335399.441 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-24T19:49:59.442Z,1761335399.442 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.604546 2025-10-24T19:49:59.689Z,1761335399.689 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.851234 2025-10-24T19:49:59.723Z,1761335399.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275386,-0.949828,0.148290],[0.960686,-0.266247,0.078702],[-0.035272,0.164134,0.985807]] 2025-10-24T19:49:59.743Z,1761335399.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.504562 s, deltaX: 0.300000 m, approachRate: 0.594575 m/s, rangeRepo size: 4 2025-10-24T19:49:59.786Z,1761335399.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:49:59.941Z,1761335399.941 [DAT](INFO): DAT read: Rx Time:19:49:58.8731 2025-10-24T19:49:59.941Z,1761335399.941 [DAT](INFO): Rx dataTimestamp_ set to:1761335399.941183 2025-10-24T19:49:59.943Z,1761335399.943 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 4.2 2025-10-24T19:49:59.943Z,1761335399.943 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-24T19:49:59.945Z,1761335399.945 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.107067 2025-10-24T19:50:00.132Z,1761335400.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274893,-0.949692,0.150066],[0.960879,-0.265860,0.077655],[-0.033852,0.165542,0.985622]] 2025-10-24T19:50:00.153Z,1761335400.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503096 s, deltaX: 0.200000 m, approachRate: 0.397538 m/s, rangeRepo size: 4 2025-10-24T19:50:00.153Z,1761335400.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:00.194Z,1761335400.194 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.355985 2025-10-24T19:50:00.446Z,1761335400.446 [DAT](INFO): DAT read: Rx Time:19:49:59.3733 2025-10-24T19:50:00.446Z,1761335400.446 [DAT](INFO): Rx dataTimestamp_ set to:1761335400.445839 2025-10-24T19:50:00.447Z,1761335400.447 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 2025-10-24T19:50:00.448Z,1761335400.448 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-10-24T19:50:00.449Z,1761335400.449 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.611393 2025-10-24T19:50:00.534Z,1761335400.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273789,-0.949849,0.151080],[0.961245,-0.264950,0.076225],[-0.032374,0.166095,0.985578]] 2025-10-24T19:50:00.590Z,1761335400.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504656 s, deltaX: 0.300000 m, approachRate: 0.594465 m/s, rangeRepo size: 4 2025-10-24T19:50:00.590Z,1761335400.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:00.697Z,1761335400.697 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.859463 2025-10-24T19:50:00.941Z,1761335400.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272042,-0.950230,0.151845],[0.961782,-0.263388,0.074853],[-0.031133,0.166405,0.985566]] 2025-10-24T19:50:00.949Z,1761335400.949 [DAT](INFO): DAT read: Rx Time:19:49:59.8733 2025-10-24T19:50:00.950Z,1761335400.950 [DAT](INFO): Rx dataTimestamp_ set to:1761335400.949289 2025-10-24T19:50:00.951Z,1761335400.951 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 2025-10-24T19:50:00.951Z,1761335400.951 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-24T19:50:00.953Z,1761335400.953 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.114918 2025-10-24T19:50:01.006Z,1761335401.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503450 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:01.006Z,1761335401.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:01.204Z,1761335401.204 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.366099 2025-10-24T19:50:01.343Z,1761335401.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271201,-0.950210,0.153464],[0.962077,-0.262756,0.073261],[-0.029290,0.167513,0.985435]] 2025-10-24T19:50:01.364Z,1761335401.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:01.454Z,1761335401.454 [DAT](INFO): DAT read: Rx Time:19:50:00.3736 2025-10-24T19:50:01.454Z,1761335401.454 [DAT](INFO): Rx dataTimestamp_ set to:1761335401.453747 2025-10-24T19:50:01.455Z,1761335401.455 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-24T19:50:01.456Z,1761335401.456 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-24T19:50:01.457Z,1761335401.457 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.619291 2025-10-24T19:50:01.706Z,1761335401.706 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.868225 2025-10-24T19:50:01.743Z,1761335401.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270041,-0.950216,0.155459],[0.962445,-0.261710,0.072164],[-0.027887,0.169108,0.985203]] 2025-10-24T19:50:01.797Z,1761335401.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504458 s, deltaX: 0.400000 m, approachRate: 0.792929 m/s, rangeRepo size: 4 2025-10-24T19:50:01.798Z,1761335401.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:01.957Z,1761335401.957 [DAT](INFO): DAT read: Rx Time:19:50:00.8736 2025-10-24T19:50:01.958Z,1761335401.958 [DAT](INFO): Rx dataTimestamp_ set to:1761335401.957236 2025-10-24T19:50:01.959Z,1761335401.959 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-24T19:50:01.959Z,1761335401.959 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-24T19:50:01.960Z,1761335401.960 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.122792 2025-10-24T19:50:02.173Z,1761335402.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268631,-0.950264,0.157592],[0.962879,-0.260413,0.071060],[-0.026487,0.170831,0.984944]] 2025-10-24T19:50:02.209Z,1761335402.209 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.371184 2025-10-24T19:50:02.213Z,1761335402.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503489 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:02.213Z,1761335402.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:02.462Z,1761335402.462 [DAT](INFO): DAT read: Rx Time:19:50:01.3738 2025-10-24T19:50:02.462Z,1761335402.462 [DAT](INFO): Rx dataTimestamp_ set to:1761335402.461751 2025-10-24T19:50:02.463Z,1761335402.463 [DAT](INFO): DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed -0.2 2025-10-24T19:50:02.464Z,1761335402.464 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-24T19:50:02.465Z,1761335402.465 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.627316 2025-10-24T19:50:02.561Z,1761335402.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267357,-0.950341,0.159284],[0.963273,-0.259302,0.069768],[-0.025001,0.172087,0.984764]] 2025-10-24T19:50:02.580Z,1761335402.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504515 s, deltaX: 0.300000 m, approachRate: 0.594631 m/s, rangeRepo size: 4 2025-10-24T19:50:02.581Z,1761335402.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:02.715Z,1761335402.715 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.877503 2025-10-24T19:50:02.955Z,1761335402.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265665,-0.950602,0.160556],[0.963778,-0.257807,0.068323],[-0.023556,0.172891,0.984659]] 2025-10-24T19:50:02.965Z,1761335402.965 [DAT](INFO): DAT read: Rx Time:19:50:01.8739 2025-10-24T19:50:02.966Z,1761335402.966 [DAT](INFO): Rx dataTimestamp_ set to:1761335402.965256 2025-10-24T19:50:02.967Z,1761335402.967 [DAT](INFO): DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3 2025-10-24T19:50:02.967Z,1761335402.967 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-24T19:50:02.969Z,1761335402.969 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.131388 2025-10-24T19:50:03.024Z,1761335403.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503505 s, deltaX: 0.200000 m, approachRate: 0.397215 m/s, rangeRepo size: 4 2025-10-24T19:50:03.025Z,1761335403.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:03.217Z,1761335403.217 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.379482 2025-10-24T19:50:03.359Z,1761335403.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263986,-0.950882,0.161663],[0.964270,-0.256318,0.066963],[-0.022237,0.173564,0.984571]] 2025-10-24T19:50:03.379Z,1761335403.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:03.470Z,1761335403.470 [DAT](INFO): DAT read: Rx Time:19:50:02.3740 2025-10-24T19:50:03.471Z,1761335403.471 [DAT](INFO): Rx dataTimestamp_ set to:1761335403.470560 2025-10-24T19:50:03.472Z,1761335403.472 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed -0.3 2025-10-24T19:50:03.473Z,1761335403.473 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-24T19:50:03.474Z,1761335403.474 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.636068 2025-10-24T19:50:03.608Z,1761335403.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:50:03.721Z,1761335403.721 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.883783 2025-10-24T19:50:03.763Z,1761335403.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261982,-0.951150,0.163334],[0.964844,-0.254462,0.065757],[-0.020983,0.174819,0.984377]] 2025-10-24T19:50:03.818Z,1761335403.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.505304 s, deltaX: 0.100000 m, approachRate: 0.197901 m/s, rangeRepo size: 4 2025-10-24T19:50:03.819Z,1761335403.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:03.973Z,1761335403.973 [DAT](INFO): DAT read: Rx Time:19:50:02.8740 2025-10-24T19:50:03.973Z,1761335403.973 [DAT](INFO): Rx dataTimestamp_ set to:1761335403.973197 2025-10-24T19:50:03.975Z,1761335403.975 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed -0.2 2025-10-24T19:50:03.975Z,1761335403.975 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-24T19:50:03.976Z,1761335403.976 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.138762 2025-10-24T19:50:04.167Z,1761335404.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260195,-0.951410,0.164672],[0.965356,-0.252854,0.064446],[-0.019677,0.175735,0.984241]] 2025-10-24T19:50:04.203Z,1761335404.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.502637 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:04.208Z,1761335404.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:04.225Z,1761335404.225 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.387348 2025-10-24T19:50:04.477Z,1761335404.477 [DAT](INFO): DAT read: Rx Time:19:50:03.3742 2025-10-24T19:50:04.478Z,1761335404.478 [DAT](INFO): Rx dataTimestamp_ set to:1761335404.477133 2025-10-24T19:50:04.479Z,1761335404.479 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed -0.3 2025-10-24T19:50:04.480Z,1761335404.480 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-24T19:50:04.481Z,1761335404.481 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.643316 2025-10-24T19:50:04.612Z,1761335404.612 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:50:04.618Z,1761335404.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503936 s, deltaX: 0.300000 m, approachRate: 0.595314 m/s, rangeRepo size: 4 2025-10-24T19:50:04.618Z,1761335404.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:04.729Z,1761335404.729 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.891676 2025-10-24T19:50:04.981Z,1761335404.981 [DAT](INFO): DAT read: Rx Time:19:50:03.8742 2025-10-24T19:50:04.982Z,1761335404.982 [DAT](INFO): Rx dataTimestamp_ set to:1761335404.981337 2025-10-24T19:50:04.983Z,1761335404.983 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed -0.3 2025-10-24T19:50:04.983Z,1761335404.983 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-24T19:50:04.984Z,1761335404.984 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.146879 2025-10-24T19:50:04.987Z,1761335404.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257114,-0.951847,0.166972],[0.966239,-0.250247,0.061308],[-0.016572,0.177098,0.984054]] 2025-10-24T19:50:05.037Z,1761335405.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:05.038Z,1761335405.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:05.233Z,1761335405.233 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.395266 2025-10-24T19:50:05.381Z,1761335405.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255505,-0.952091,0.168050],[0.966691,-0.248880,0.059733],[-0.015047,0.177714,0.983967]] 2025-10-24T19:50:05.406Z,1761335405.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:05.486Z,1761335405.486 [DAT](INFO): DAT read: Rx Time:19:50:04.3744 2025-10-24T19:50:05.487Z,1761335405.487 [DAT](INFO): Rx dataTimestamp_ set to:1761335405.486658 2025-10-24T19:50:05.489Z,1761335405.489 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.2 2025-10-24T19:50:05.490Z,1761335405.490 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-24T19:50:05.491Z,1761335405.491 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.653423 2025-10-24T19:50:05.737Z,1761335405.737 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.899252 2025-10-24T19:50:05.797Z,1761335405.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254165,-0.952296,0.168918],[0.967067,-0.247798,0.058120],[-0.013489,0.178127,0.983915]] 2025-10-24T19:50:05.826Z,1761335405.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505321 s, deltaX: 0.200000 m, approachRate: 0.395788 m/s, rangeRepo size: 4 2025-10-24T19:50:05.826Z,1761335405.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:05.989Z,1761335405.989 [DAT](INFO): DAT read: Rx Time:19:50:04.8744 2025-10-24T19:50:05.989Z,1761335405.989 [DAT](INFO): Rx dataTimestamp_ set to:1761335405.989143 2025-10-24T19:50:05.991Z,1761335405.991 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-24T19:50:05.991Z,1761335405.991 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-24T19:50:05.992Z,1761335405.992 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.154707 2025-10-24T19:50:06.188Z,1761335406.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253165,-0.952268,0.170570],[0.967351,-0.247035,0.056612],[-0.011773,0.179333,0.983718]] 2025-10-24T19:50:06.208Z,1761335406.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502485 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:06.209Z,1761335406.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:06.241Z,1761335406.241 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.403271 2025-10-24T19:50:06.493Z,1761335406.493 [DAT](INFO): DAT read: Rx Time:19:50:05.3746 2025-10-24T19:50:06.493Z,1761335406.493 [DAT](INFO): Rx dataTimestamp_ set to:1761335406.493133 2025-10-24T19:50:06.496Z,1761335406.496 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 2025-10-24T19:50:06.496Z,1761335406.496 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-24T19:50:06.497Z,1761335406.497 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.659578 2025-10-24T19:50:06.598Z,1761335406.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252198,-0.952276,0.171951],[0.967623,-0.246315,0.055094],[-0.010110,0.180279,0.983564]] 2025-10-24T19:50:06.684Z,1761335406.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503990 s, deltaX: 0.300000 m, approachRate: 0.595250 m/s, rangeRepo size: 4 2025-10-24T19:50:06.684Z,1761335406.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:06.746Z,1761335406.746 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.908232 2025-10-24T19:50:06.995Z,1761335406.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251463,-0.952215,0.173359],[0.967831,-0.245844,0.053514],[-0.008338,0.181239,0.983404]] 2025-10-24T19:50:06.997Z,1761335406.997 [DAT](INFO): DAT read: Rx Time:19:50:05.8746 2025-10-24T19:50:06.998Z,1761335406.998 [DAT](INFO): Rx dataTimestamp_ set to:1761335406.997291 2025-10-24T19:50:06.999Z,1761335406.999 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.2 2025-10-24T19:50:06.999Z,1761335406.999 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-24T19:50:07.000Z,1761335407.000 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.162809 2025-10-24T19:50:07.066Z,1761335407.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504158 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:07.066Z,1761335407.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:07.249Z,1761335407.249 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.411293 2025-10-24T19:50:07.401Z,1761335407.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250786,-0.952202,0.174407],[0.968020,-0.245459,0.051829],[-0.006542,0.181828,0.983309]] 2025-10-24T19:50:07.501Z,1761335407.501 [DAT](INFO): DAT read: Rx Time:19:50:06.3748 2025-10-24T19:50:07.501Z,1761335407.501 [DAT](INFO): Rx dataTimestamp_ set to:1761335407.501063 2025-10-24T19:50:07.503Z,1761335407.503 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4 2025-10-24T19:50:07.503Z,1761335407.503 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-24T19:50:07.505Z,1761335407.505 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.666952 2025-10-24T19:50:07.610Z,1761335407.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503772 s, deltaX: 0.300000 m, approachRate: 0.595508 m/s, rangeRepo size: 4 2025-10-24T19:50:07.611Z,1761335407.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:07.753Z,1761335407.753 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.915201 2025-10-24T19:50:07.844Z,1761335407.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249866,-0.952007,0.176777],[0.968276,-0.245091,0.048706],[-0.003042,0.183339,0.983045]] 2025-10-24T19:50:07.882Z,1761335407.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:08.005Z,1761335408.005 [DAT](INFO): DAT read: Rx Time:19:50:06.8748 2025-10-24T19:50:08.005Z,1761335408.005 [DAT](INFO): Rx dataTimestamp_ set to:1761335408.005217 2025-10-24T19:50:08.007Z,1761335408.007 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4 2025-10-24T19:50:08.007Z,1761335408.007 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-24T19:50:08.008Z,1761335408.008 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.170752 2025-10-24T19:50:08.245Z,1761335408.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249599,-0.951904,0.177705],[0.968348,-0.245100,0.047194],[-0.001368,0.183860,0.982951]] 2025-10-24T19:50:08.257Z,1761335408.257 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.419283 2025-10-24T19:50:08.269Z,1761335408.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:08.269Z,1761335408.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:08.509Z,1761335408.509 [DAT](INFO): DAT read: Rx Time:19:50:07.3750 2025-10-24T19:50:08.510Z,1761335408.510 [DAT](INFO): Rx dataTimestamp_ set to:1761335408.509518 2025-10-24T19:50:08.512Z,1761335408.512 [DAT](INFO): DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 2025-10-24T19:50:08.513Z,1761335408.513 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-24T19:50:08.514Z,1761335408.514 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.676682 2025-10-24T19:50:08.648Z,1761335408.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249142,-0.951765,0.179082],[0.968467,-0.244864,0.045974],[0.000094,0.184890,0.982759]] 2025-10-24T19:50:08.713Z,1761335408.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504301 s, deltaX: 0.400000 m, approachRate: 0.793176 m/s, rangeRepo size: 4 2025-10-24T19:50:08.714Z,1761335408.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:08.761Z,1761335408.761 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.923422 2025-10-24T19:50:09.016Z,1761335409.016 [DAT](INFO): DAT read: Rx Time:19:50:07.8750 2025-10-24T19:50:09.016Z,1761335409.016 [DAT](INFO): Rx dataTimestamp_ set to:1761335409.016160 2025-10-24T19:50:09.018Z,1761335409.018 [DAT](INFO): DAT read: Range 10 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4 2025-10-24T19:50:09.018Z,1761335409.018 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-24T19:50:09.019Z,1761335409.019 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.181557 2025-10-24T19:50:09.073Z,1761335409.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248544,-0.951746,0.180015],[0.968620,-0.244471,0.044832],[0.001340,0.185509,0.982642]] 2025-10-24T19:50:09.110Z,1761335409.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.506642 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:09.110Z,1761335409.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:09.265Z,1761335409.265 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.427605 2025-10-24T19:50:09.498Z,1761335409.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247977,-0.951663,0.181232],[0.968763,-0.244057,0.043982],[0.002375,0.186477,0.982456]] 2025-10-24T19:50:09.517Z,1761335409.517 [DAT](INFO): DAT read: Rx Time:19:50:08.3753 2025-10-24T19:50:09.518Z,1761335409.518 [DAT](INFO): Rx dataTimestamp_ set to:1761335409.517307 2025-10-24T19:50:09.519Z,1761335409.519 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed -0.6 2025-10-24T19:50:09.519Z,1761335409.519 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-24T19:50:09.521Z,1761335409.521 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.683397 2025-10-24T19:50:09.600Z,1761335409.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.501147 s, deltaX: 0.500000 m, approachRate: 0.997711 m/s, rangeRepo size: 4 2025-10-24T19:50:09.601Z,1761335409.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:09.770Z,1761335409.770 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.932367 2025-10-24T19:50:09.906Z,1761335409.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247003,-0.951740,0.182154],[0.969010,-0.243220,0.043184],[0.003204,0.187176,0.982321]] 2025-10-24T19:50:09.942Z,1761335409.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:10.022Z,1761335410.022 [DAT](INFO): DAT read: Rx Time:19:50:08.8754 2025-10-24T19:50:10.023Z,1761335410.023 [DAT](INFO): Rx dataTimestamp_ set to:1761335410.021909 2025-10-24T19:50:10.024Z,1761335410.024 [DAT](INFO): DAT read: Range 10 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4 2025-10-24T19:50:10.025Z,1761335410.025 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-24T19:50:10.027Z,1761335410.027 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.189133 2025-10-24T19:50:10.273Z,1761335410.273 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.435253 2025-10-24T19:50:10.343Z,1761335410.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246082,-0.951867,0.182734],[0.969241,-0.242404,0.042561],[0.003783,0.187587,0.982241]] 2025-10-24T19:50:10.438Z,1761335410.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504602 s, deltaX: 0.100000 m, approachRate: 0.198177 m/s, rangeRepo size: 4 2025-10-24T19:50:10.438Z,1761335410.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:10.526Z,1761335410.526 [DAT](INFO): DAT read: Rx Time:19:50:09.3757 2025-10-24T19:50:10.527Z,1761335410.527 [DAT](INFO): Rx dataTimestamp_ set to:1761335410.526545 2025-10-24T19:50:10.530Z,1761335410.530 [DAT](INFO): DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed -0.3 2025-10-24T19:50:10.531Z,1761335410.531 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-24T19:50:10.534Z,1761335410.534 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.694006 2025-10-24T19:50:10.710Z,1761335410.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245185,-0.951962,0.183447],[0.969466,-0.241630,0.041843],[0.004494,0.188105,0.982139]] 2025-10-24T19:50:10.730Z,1761335410.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504636 s, deltaX: 0.500000 m, approachRate: 0.990813 m/s, rangeRepo size: 4 2025-10-24T19:50:10.731Z,1761335410.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:10.777Z,1761335410.777 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.939505 2025-10-24T19:50:11.030Z,1761335411.030 [DAT](INFO): DAT read: Rx Time:19:50:09.8757 2025-10-24T19:50:11.030Z,1761335411.030 [DAT](INFO): Rx dataTimestamp_ set to:1761335411.030149 2025-10-24T19:50:11.032Z,1761335411.032 [DAT](INFO): DAT read: Range 10 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 2025-10-24T19:50:11.032Z,1761335411.032 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-24T19:50:11.033Z,1761335411.033 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.195677 2025-10-24T19:50:11.160Z,1761335411.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503604 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:11.162Z,1761335411.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:11.284Z,1761335411.284 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.445480 2025-10-24T19:50:11.519Z,1761335411.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242306,-0.952519,0.184376],[0.970187,-0.238873,0.040952],[0.005035,0.188802,0.982002]] 2025-10-24T19:50:11.533Z,1761335411.533 [DAT](INFO): DAT read: Rx Time:19:50:10.3759 2025-10-24T19:50:11.534Z,1761335411.534 [DAT](INFO): Rx dataTimestamp_ set to:1761335411.533474 2025-10-24T19:50:11.535Z,1761335411.535 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed -0.4 2025-10-24T19:50:11.536Z,1761335411.536 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-24T19:50:11.537Z,1761335411.537 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.699011 2025-10-24T19:50:11.593Z,1761335411.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503325 s, deltaX: 0.299999 m, approachRate: 0.596035 m/s, rangeRepo size: 4 2025-10-24T19:50:11.593Z,1761335411.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:11.788Z,1761335411.788 [DAT](INFO): DAT read: Rx Time:19:50:10.8758 2025-10-24T19:50:11.790Z,1761335411.790 [DAT](INFO): Rx dataTimestamp_ set to:1761335411.788962 2025-10-24T19:50:11.793Z,1761335411.793 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.954493 2025-10-24T19:50:11.926Z,1761335411.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240642,-0.952865,0.184769],[0.970600,-0.237257,0.040555],[0.005194,0.189096,0.981945]] 2025-10-24T19:50:11.946Z,1761335411.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:12.037Z,1761335412.037 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.1 2025-10-24T19:50:12.038Z,1761335412.038 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-24T19:50:12.039Z,1761335412.039 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.201384 2025-10-24T19:50:12.292Z,1761335412.292 [DAT](INFO): DAT read: Rx Time:19:50:11.3760 2025-10-24T19:50:12.294Z,1761335412.294 [DAT](INFO): Rx dataTimestamp_ set to:1761335412.293080 2025-10-24T19:50:12.297Z,1761335412.297 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.458586 2025-10-24T19:50:12.324Z,1761335412.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238938,-0.953166,0.185427],[0.971020,-0.235584,0.040245],[0.005324,0.189669,0.981834]] 2025-10-24T19:50:12.442Z,1761335412.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.502733 s, deltaX: -0.200000 m, approachRate: -0.397825 m/s, rangeRepo size: 4 2025-10-24T19:50:12.443Z,1761335412.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:12.542Z,1761335412.542 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.3 2025-10-24T19:50:12.542Z,1761335412.542 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-24T19:50:12.543Z,1761335412.543 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.705486 2025-10-24T19:50:12.727Z,1761335412.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237343,-0.953510,0.185706],[0.971410,-0.234053,0.039768],[0.005546,0.189835,0.981800]] 2025-10-24T19:50:12.797Z,1761335412.797 [DAT](INFO): DAT read: Rx Time:19:50:11.8760 2025-10-24T19:50:12.798Z,1761335412.798 [DAT](INFO): Rx dataTimestamp_ set to:1761335412.797259 2025-10-24T19:50:12.799Z,1761335412.799 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-24T19:50:12.799Z,1761335412.799 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-24T19:50:12.801Z,1761335412.801 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.962938 2025-10-24T19:50:12.828Z,1761335412.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.761052 s, deltaX: 0.300000 m, approachRate: 0.394191 m/s, rangeRepo size: 4 2025-10-24T19:50:12.829Z,1761335412.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:13.046Z,1761335413.046 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.208410 2025-10-24T19:50:13.132Z,1761335413.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235536,-0.953815,0.186442],[0.971850,-0.232257,0.039557],[0.005572,0.190510,0.981669]] 2025-10-24T19:50:13.167Z,1761335413.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:13.298Z,1761335413.298 [DAT](INFO): DAT read: Rx Time:19:50:12.3761 2025-10-24T19:50:13.299Z,1761335413.299 [DAT](INFO): Rx dataTimestamp_ set to:1761335413.298328 2025-10-24T19:50:13.300Z,1761335413.300 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 2025-10-24T19:50:13.301Z,1761335413.301 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-24T19:50:13.301Z,1761335413.301 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.463896 2025-10-24T19:50:13.539Z,1761335413.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233532,-0.954278,0.186593],[0.972333,-0.230291,0.039170],[0.005592,0.190578,0.981656]] 2025-10-24T19:50:13.549Z,1761335413.549 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.711302 2025-10-24T19:50:13.609Z,1761335413.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.501069 s, deltaX: 0.200000 m, approachRate: 0.399146 m/s, rangeRepo size: 4 2025-10-24T19:50:13.609Z,1761335413.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:13.802Z,1761335413.802 [DAT](INFO): DAT read: Rx Time:19:50:12.8761 2025-10-24T19:50:13.803Z,1761335413.803 [DAT](INFO): Rx dataTimestamp_ set to:1761335413.802470 2025-10-24T19:50:13.804Z,1761335413.804 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 2025-10-24T19:50:13.805Z,1761335413.805 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-24T19:50:13.806Z,1761335413.806 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.968014 2025-10-24T19:50:13.941Z,1761335413.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232174,-0.954516,0.187067],[0.972656,-0.229005,0.038686],[0.005913,0.190934,0.981585]] 2025-10-24T19:50:13.970Z,1761335413.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504142 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:13.970Z,1761335413.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:14.054Z,1761335414.054 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.216099 2025-10-24T19:50:14.305Z,1761335414.305 [DAT](INFO): DAT read: Rx Time:19:50:13.3762 2025-10-24T19:50:14.305Z,1761335414.305 [DAT](INFO): Rx dataTimestamp_ set to:1761335414.305137 2025-10-24T19:50:14.307Z,1761335414.307 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-24T19:50:14.307Z,1761335414.307 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-24T19:50:14.308Z,1761335414.308 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.470678 2025-10-24T19:50:14.360Z,1761335414.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230563,-0.954861,0.187301],[0.973038,-0.227476,0.038114],[0.006213,0.191038,0.981563]] 2025-10-24T19:50:14.392Z,1761335414.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.502667 s, deltaX: 0.100000 m, approachRate: 0.198940 m/s, rangeRepo size: 4 2025-10-24T19:50:14.392Z,1761335414.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:14.557Z,1761335414.557 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.719336 2025-10-24T19:50:14.754Z,1761335414.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229401,-0.955093,0.187546],[0.973310,-0.226403,0.037549],[0.006598,0.191154,0.981538]] 2025-10-24T19:50:14.809Z,1761335414.809 [DAT](INFO): DAT read: Rx Time:19:50:13.8761 2025-10-24T19:50:14.810Z,1761335414.810 [DAT](INFO): Rx dataTimestamp_ set to:1761335414.809243 2025-10-24T19:50:14.811Z,1761335414.811 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.0 2025-10-24T19:50:14.811Z,1761335414.811 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-24T19:50:14.814Z,1761335414.814 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.975855 2025-10-24T19:50:14.836Z,1761335414.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504106 s, deltaX: -0.100000 m, approachRate: -0.198372 m/s, rangeRepo size: 4 2025-10-24T19:50:14.837Z,1761335414.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:15.062Z,1761335415.062 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.223694 2025-10-24T19:50:15.154Z,1761335415.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228300,-0.955241,0.188132],[0.973564,-0.225422,0.036845],[0.007213,0.191570,0.981452]] 2025-10-24T19:50:15.202Z,1761335415.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:15.313Z,1761335415.313 [DAT](INFO): DAT read: Rx Time:19:50:14.3762 2025-10-24T19:50:15.314Z,1761335415.314 [DAT](INFO): Rx dataTimestamp_ set to:1761335415.313238 2025-10-24T19:50:15.315Z,1761335415.315 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-24T19:50:15.315Z,1761335415.315 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-24T19:50:15.317Z,1761335415.317 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.479113 2025-10-24T19:50:15.556Z,1761335415.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227461,-0.955396,0.188363],[0.973755,-0.224730,0.036019],[0.007919,0.191612,0.981439]] 2025-10-24T19:50:15.566Z,1761335415.566 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.728315 2025-10-24T19:50:15.663Z,1761335415.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503995 s, deltaX: 0.100000 m, approachRate: 0.198415 m/s, rangeRepo size: 4 2025-10-24T19:50:15.669Z,1761335415.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:15.819Z,1761335415.819 [DAT](INFO): DAT read: Rx Time:19:50:14.8761 2025-10-24T19:50:15.822Z,1761335415.822 [DAT](INFO): Rx dataTimestamp_ set to:1761335415.819008 2025-10-24T19:50:15.824Z,1761335415.824 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed -0.1 2025-10-24T19:50:15.824Z,1761335415.824 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-24T19:50:15.825Z,1761335415.825 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.987604 2025-10-24T19:50:15.959Z,1761335415.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226977,-0.955401,0.188920],[0.973859,-0.224433,0.035042],[0.008920,0.191935,0.981367]] 2025-10-24T19:50:15.988Z,1761335415.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.505770 s, deltaX: -0.100000 m, approachRate: -0.197719 m/s, rangeRepo size: 4 2025-10-24T19:50:15.988Z,1761335415.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:16.070Z,1761335416.070 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.231964 2025-10-24T19:50:16.321Z,1761335416.321 [DAT](INFO): DAT read: Rx Time:19:50:15.3763 2025-10-24T19:50:16.321Z,1761335416.321 [DAT](INFO): Rx dataTimestamp_ set to:1761335416.321188 2025-10-24T19:50:16.323Z,1761335416.323 [DAT](INFO): DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-24T19:50:16.323Z,1761335416.323 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-24T19:50:16.324Z,1761335416.324 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.486725 2025-10-24T19:50:16.376Z,1761335416.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226396,-0.955525,0.188991],[0.973985,-0.224054,0.033955],[0.009900,0.191762,0.981391]] 2025-10-24T19:50:16.405Z,1761335416.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.502180 s, deltaX: 0.300000 m, approachRate: 0.597396 m/s, rangeRepo size: 4 2025-10-24T19:50:16.405Z,1761335416.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:16.573Z,1761335416.573 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.735361 2025-10-24T19:50:16.770Z,1761335416.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226279,-0.955351,0.190008],[0.973998,-0.224159,0.032864],[0.011196,0.192504,0.981232]] 2025-10-24T19:50:16.825Z,1761335416.825 [DAT](INFO): DAT read: Rx Time:19:50:15.8762 2025-10-24T19:50:16.825Z,1761335416.825 [DAT](INFO): Rx dataTimestamp_ set to:1761335416.825052 2025-10-24T19:50:16.827Z,1761335416.827 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed 0.1 2025-10-24T19:50:16.827Z,1761335416.827 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-24T19:50:16.829Z,1761335416.829 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.991476 2025-10-24T19:50:16.855Z,1761335416.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503864 s, deltaX: -0.200000 m, approachRate: -0.396932 m/s, rangeRepo size: 4 2025-10-24T19:50:16.855Z,1761335416.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:17.077Z,1761335417.077 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.239258 2025-10-24T19:50:17.209Z,1761335417.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226099,-0.955181,0.191072],[0.974022,-0.224233,0.031625],[0.012637,0.193259,0.981066]] 2025-10-24T19:50:17.234Z,1761335417.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:17.331Z,1761335417.331 [DAT](INFO): DAT read: Rx Time:19:50:16.3763 2025-10-24T19:50:17.331Z,1761335417.331 [DAT](INFO): Rx dataTimestamp_ set to:1761335417.330751 2025-10-24T19:50:17.332Z,1761335417.332 [DAT](INFO): DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.0 2025-10-24T19:50:17.333Z,1761335417.333 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-24T19:50:17.334Z,1761335417.334 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.496292 2025-10-24T19:50:17.572Z,1761335417.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226438,-0.954919,0.191979],[0.973922,-0.224847,0.030325],[0.014208,0.193840,0.980930]] 2025-10-24T19:50:17.581Z,1761335417.581 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.743538 2025-10-24T19:50:17.653Z,1761335417.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.505699 s, deltaX: 0.200000 m, approachRate: 0.395492 m/s, rangeRepo size: 4 2025-10-24T19:50:17.654Z,1761335417.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:17.834Z,1761335417.834 [DAT](INFO): DAT read: Rx Time:19:50:16.8763 2025-10-24T19:50:17.835Z,1761335417.835 [DAT](INFO): Rx dataTimestamp_ set to:1761335417.834449 2025-10-24T19:50:17.837Z,1761335417.837 [DAT](INFO): DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 2025-10-24T19:50:17.838Z,1761335417.838 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-24T19:50:17.839Z,1761335417.839 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.001554 2025-10-24T19:50:17.982Z,1761335417.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226212,-0.954923,0.192223],[0.973952,-0.224908,0.028872],[0.015662,0.193747,0.980927]] 2025-10-24T19:50:18.019Z,1761335418.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503698 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:18.020Z,1761335418.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:18.086Z,1761335418.086 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.248236 2025-10-24T19:50:18.337Z,1761335418.337 [DAT](INFO): DAT read: Rx Time:19:50:17.3766 2025-10-24T19:50:18.337Z,1761335418.337 [DAT](INFO): Rx dataTimestamp_ set to:1761335418.337085 2025-10-24T19:50:18.339Z,1761335418.339 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 2025-10-24T19:50:18.339Z,1761335418.339 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-24T19:50:18.340Z,1761335418.340 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.502630 2025-10-24T19:50:18.410Z,1761335418.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226528,-0.954781,0.192558],[0.973852,-0.225519,0.027442],[0.017224,0.193740,0.980902]] 2025-10-24T19:50:18.443Z,1761335418.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.502636 s, deltaX: 0.400000 m, approachRate: 0.795804 m/s, rangeRepo size: 4 2025-10-24T19:50:18.443Z,1761335418.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:18.589Z,1761335418.589 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.751608 2025-10-24T19:50:18.797Z,1761335418.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226818,-0.954574,0.193242],[0.973753,-0.226123,0.025947],[0.018928,0.194056,0.980808]] 2025-10-24T19:50:18.841Z,1761335418.841 [DAT](INFO): DAT read: Rx Time:19:50:17.8766 2025-10-24T19:50:18.841Z,1761335418.841 [DAT](INFO): Rx dataTimestamp_ set to:1761335418.841208 2025-10-24T19:50:18.843Z,1761335418.843 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 2025-10-24T19:50:18.843Z,1761335418.843 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-24T19:50:18.844Z,1761335418.844 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.006779 2025-10-24T19:50:18.850Z,1761335418.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504123 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:18.851Z,1761335418.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:19.093Z,1761335419.093 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.255295 2025-10-24T19:50:19.187Z,1761335419.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226993,-0.954404,0.193876],[0.973684,-0.226559,0.024712],[0.020339,0.194383,0.980715]] 2025-10-24T19:50:19.228Z,1761335419.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:19.346Z,1761335419.346 [DAT](INFO): DAT read: Rx Time:19:50:18.3766 2025-10-24T19:50:19.346Z,1761335419.346 [DAT](INFO): Rx dataTimestamp_ set to:1761335419.345839 2025-10-24T19:50:19.347Z,1761335419.347 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-24T19:50:19.348Z,1761335419.348 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-10-24T19:50:19.349Z,1761335419.349 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.511406 2025-10-24T19:50:19.592Z,1761335419.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227072,-0.954211,0.194729],[0.973633,-0.226917,0.023409],[0.021850,0.194910,0.980578]] 2025-10-24T19:50:19.597Z,1761335419.597 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.759415 2025-10-24T19:50:19.655Z,1761335419.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504631 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:19.656Z,1761335419.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:19.849Z,1761335419.849 [DAT](INFO): DAT read: Rx Time:19:50:18.8766 2025-10-24T19:50:19.850Z,1761335419.850 [DAT](INFO): Rx dataTimestamp_ set to:1761335419.849648 2025-10-24T19:50:19.852Z,1761335419.852 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.0 2025-10-24T19:50:19.853Z,1761335419.853 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-24T19:50:19.854Z,1761335419.854 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.016518 2025-10-24T19:50:20.051Z,1761335420.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227207,-0.954149,0.194876],[0.973570,-0.227320,0.022090],[0.023222,0.194744,0.980579]] 2025-10-24T19:50:20.097Z,1761335420.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.503809 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:20.098Z,1761335420.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:20.102Z,1761335420.102 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.264057 2025-10-24T19:50:20.353Z,1761335420.353 [DAT](INFO): DAT read: Rx Time:19:50:19.3768 2025-10-24T19:50:20.353Z,1761335420.353 [DAT](INFO): Rx dataTimestamp_ set to:1761335420.353141 2025-10-24T19:50:20.355Z,1761335420.355 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -0.7 2025-10-24T19:50:20.355Z,1761335420.355 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-24T19:50:20.357Z,1761335420.357 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.519100 2025-10-24T19:50:20.586Z,1761335420.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226907,-0.954057,0.195673],[0.973581,-0.227474,0.019877],[0.025546,0.195013,0.980468]] 2025-10-24T19:50:20.605Z,1761335420.605 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.767269 2025-10-24T19:50:20.658Z,1761335420.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503493 s, deltaX: 0.300001 m, approachRate: 0.595840 m/s, rangeRepo size: 4 2025-10-24T19:50:20.658Z,1761335420.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:20.858Z,1761335420.858 [DAT](INFO): DAT read: Rx Time:19:50:19.8768 2025-10-24T19:50:20.858Z,1761335420.858 [DAT](INFO): Rx dataTimestamp_ set to:1761335420.858035 2025-10-24T19:50:20.860Z,1761335420.860 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -0.4 2025-10-24T19:50:20.860Z,1761335420.860 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-24T19:50:20.862Z,1761335420.862 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.024609 2025-10-24T19:50:20.988Z,1761335420.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226884,-0.953960,0.196176],[0.973559,-0.227651,0.018933],[0.026598,0.195284,0.980386]] 2025-10-24T19:50:21.011Z,1761335421.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504894 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:21.012Z,1761335421.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:21.110Z,1761335421.110 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.272533 2025-10-24T19:50:21.362Z,1761335421.362 [DAT](INFO): DAT read: Rx Time:19:50:20.3771 2025-10-24T19:50:21.362Z,1761335421.362 [DAT](INFO): Rx dataTimestamp_ set to:1761335421.361721 2025-10-24T19:50:21.363Z,1761335421.363 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.2 2025-10-24T19:50:21.364Z,1761335421.364 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-10-24T19:50:21.365Z,1761335421.365 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.527267 2025-10-24T19:50:21.387Z,1761335421.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226450,-0.954057,0.196204],[0.973639,-0.227376,0.018095],[0.027348,0.195130,0.980396]] 2025-10-24T19:50:21.434Z,1761335421.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503686 s, deltaX: 0.500000 m, approachRate: 0.992682 m/s, rangeRepo size: 4 2025-10-24T19:50:21.434Z,1761335421.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:21.613Z,1761335421.613 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.775467 2025-10-24T19:50:21.805Z,1761335421.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226617,-0.953856,0.196986],[0.973574,-0.227710,0.017387],[0.028271,0.195721,0.980252]] 2025-10-24T19:50:21.853Z,1761335421.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:21.865Z,1761335421.865 [DAT](INFO): DAT read: Rx Time:19:50:20.8771 2025-10-24T19:50:21.866Z,1761335421.866 [DAT](INFO): Rx dataTimestamp_ set to:1761335421.865284 2025-10-24T19:50:21.867Z,1761335421.867 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.4 2025-10-24T19:50:21.867Z,1761335421.867 [DAT](ERROR): #Rx 66: Read range message, but no direction. 2025-10-24T19:50:21.869Z,1761335421.869 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.030983 2025-10-24T19:50:22.118Z,1761335422.118 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.280087 2025-10-24T19:50:22.265Z,1761335422.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226164,-0.953898,0.197301],[0.973668,-0.227340,0.016974],[0.028663,0.195944,0.980196]] 2025-10-24T19:50:22.318Z,1761335422.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503563 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:22.318Z,1761335422.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:22.369Z,1761335422.369 [DAT](INFO): DAT read: Rx Time:19:50:21.3773 2025-10-24T19:50:22.370Z,1761335422.370 [DAT](INFO): Rx dataTimestamp_ set to:1761335422.369446 2025-10-24T19:50:22.371Z,1761335422.371 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 2025-10-24T19:50:22.372Z,1761335422.372 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-24T19:50:22.373Z,1761335422.373 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.535110 2025-10-24T19:50:22.621Z,1761335422.621 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.783146 2025-10-24T19:50:22.733Z,1761335422.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226030,-0.953877,0.197557],[0.973701,-0.227185,0.017103],[0.028568,0.196227,0.980142]] 2025-10-24T19:50:22.805Z,1761335422.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504162 s, deltaX: 0.299999 m, approachRate: 0.595045 m/s, rangeRepo size: 4 2025-10-24T19:50:22.806Z,1761335422.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:22.873Z,1761335422.873 [DAT](INFO): DAT read: Rx Time:19:50:21.8773 2025-10-24T19:50:22.874Z,1761335422.874 [DAT](INFO): Rx dataTimestamp_ set to:1761335422.873261 2025-10-24T19:50:22.875Z,1761335422.875 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 2025-10-24T19:50:22.875Z,1761335422.875 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-10-24T19:50:22.876Z,1761335422.876 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.038803 2025-10-24T19:50:23.125Z,1761335423.125 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.287312 2025-10-24T19:50:23.137Z,1761335423.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226648,-0.953892,0.196776],[0.973568,-0.227733,0.017404],[0.028211,0.195519,0.980294]] 2025-10-24T19:50:23.171Z,1761335423.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503815 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:23.171Z,1761335423.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:23.379Z,1761335423.379 [DAT](INFO): DAT read: Rx Time:19:50:22.3774 2025-10-24T19:50:23.379Z,1761335423.379 [DAT](INFO): Rx dataTimestamp_ set to:1761335423.378922 2025-10-24T19:50:23.381Z,1761335423.381 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.3 2025-10-24T19:50:23.381Z,1761335423.381 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-24T19:50:23.382Z,1761335423.382 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.544476 2025-10-24T19:50:23.545Z,1761335423.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228008,-0.953535,0.196937],[0.973266,-0.228952,0.018275],[0.027663,0.195839,0.980246]] 2025-10-24T19:50:23.627Z,1761335423.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.505661 s, deltaX: 0.100000 m, approachRate: 0.197762 m/s, rangeRepo size: 4 2025-10-24T19:50:23.629Z,1761335423.629 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.791862 2025-10-24T19:50:23.637Z,1761335423.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:23.881Z,1761335423.881 [DAT](INFO): DAT read: Rx Time:19:50:22.8776 2025-10-24T19:50:23.882Z,1761335423.882 [DAT](INFO): Rx dataTimestamp_ set to:1761335423.881261 2025-10-24T19:50:23.883Z,1761335423.883 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed -0.3 2025-10-24T19:50:23.883Z,1761335423.883 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-24T19:50:23.884Z,1761335423.884 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.046810 2025-10-24T19:50:24.026Z,1761335424.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231047,-0.952788,0.197008],[0.972575,-0.231738,0.019868],[0.026725,0.196196,0.980201]] 2025-10-24T19:50:24.083Z,1761335424.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.502339 s, deltaX: 0.299999 m, approachRate: 0.597205 m/s, rangeRepo size: 4 2025-10-24T19:50:24.083Z,1761335424.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:24.133Z,1761335424.133 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.295856 2025-10-24T19:50:24.385Z,1761335424.385 [DAT](INFO): DAT read: Rx Time:19:50:23.3778 2025-10-24T19:50:24.385Z,1761335424.385 [DAT](INFO): Rx dataTimestamp_ set to:1761335424.385099 2025-10-24T19:50:24.387Z,1761335424.387 [DAT](INFO): DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed -0.3 2025-10-24T19:50:24.387Z,1761335424.387 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-24T19:50:24.388Z,1761335424.388 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.550659 2025-10-24T19:50:24.431Z,1761335424.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232429,-0.952600,0.196291],[0.972266,-0.232961,0.020706],[0.026004,0.195660,0.980327]] 2025-10-24T19:50:24.475Z,1761335424.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503838 s, deltaX: 0.300001 m, approachRate: 0.595432 m/s, rangeRepo size: 4 2025-10-24T19:50:24.475Z,1761335424.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:24.637Z,1761335424.637 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.799458 2025-10-24T19:50:24.831Z,1761335424.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234398,-0.952111,0.196323],[0.971810,-0.234755,0.021787],[0.025344,0.195896,0.980297]] 2025-10-24T19:50:24.890Z,1761335424.890 [DAT](INFO): DAT read: Rx Time:19:50:23.8778 2025-10-24T19:50:24.890Z,1761335424.890 [DAT](INFO): Rx dataTimestamp_ set to:1761335424.889928 2025-10-24T19:50:24.893Z,1761335424.893 [DAT](INFO): DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed -0.3 2025-10-24T19:50:24.893Z,1761335424.893 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-24T19:50:24.896Z,1761335424.896 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.057865 2025-10-24T19:50:24.906Z,1761335424.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504829 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:24.907Z,1761335424.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:25.143Z,1761335425.143 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.305336 2025-10-24T19:50:25.231Z,1761335425.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235797,-0.951675,0.196762],[0.971489,-0.235979,0.022864],[0.024673,0.196544,0.980185]] 2025-10-24T19:50:25.259Z,1761335425.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:25.393Z,1761335425.393 [DAT](INFO): DAT read: Rx Time:19:50:24.3781 2025-10-24T19:50:25.393Z,1761335425.393 [DAT](INFO): Rx dataTimestamp_ set to:1761335425.393138 2025-10-24T19:50:25.396Z,1761335425.396 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.0 2025-10-24T19:50:25.396Z,1761335425.396 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-24T19:50:25.397Z,1761335425.397 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.559612 2025-10-24T19:50:25.648Z,1761335425.648 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.809822 2025-10-24T19:50:25.675Z,1761335425.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236654,-0.951497,0.196593],[0.971305,-0.236626,0.023978],[0.023703,0.196626,0.980192]] 2025-10-24T19:50:25.746Z,1761335425.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.503210 s, deltaX: 0.500000 m, approachRate: 0.993621 m/s, rangeRepo size: 4 2025-10-24T19:50:25.746Z,1761335425.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:25.897Z,1761335425.897 [DAT](INFO): DAT read: Rx Time:19:50:24.8781 2025-10-24T19:50:25.898Z,1761335425.898 [DAT](INFO): Rx dataTimestamp_ set to:1761335425.897846 2025-10-24T19:50:25.900Z,1761335425.900 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed -0.2 2025-10-24T19:50:25.901Z,1761335425.901 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-10-24T19:50:25.902Z,1761335425.902 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.064678 2025-10-24T19:50:26.146Z,1761335426.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238145,-0.951090,0.196762],[0.970957,-0.237938,0.025050],[0.022993,0.197013,0.980131]] 2025-10-24T19:50:26.149Z,1761335426.149 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.311321 2025-10-24T19:50:26.175Z,1761335426.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504708 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:26.175Z,1761335426.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:26.401Z,1761335426.401 [DAT](INFO): DAT read: Rx Time:19:50:25.3783 2025-10-24T19:50:26.402Z,1761335426.402 [DAT](INFO): Rx dataTimestamp_ set to:1761335426.401800 2025-10-24T19:50:26.404Z,1761335426.404 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 2025-10-24T19:50:26.405Z,1761335426.405 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-24T19:50:26.406Z,1761335426.406 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.568581 2025-10-24T19:50:26.547Z,1761335426.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239026,-0.951044,0.195913],[0.970761,-0.238647,0.025896],[0.022126,0.196375,0.980279]] 2025-10-24T19:50:26.608Z,1761335426.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503954 s, deltaX: 0.299999 m, approachRate: 0.595291 m/s, rangeRepo size: 4 2025-10-24T19:50:26.610Z,1761335426.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:26.654Z,1761335426.654 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.816330 2025-10-24T19:50:26.906Z,1761335426.906 [DAT](INFO): DAT read: Rx Time:19:50:25.8782 2025-10-24T19:50:26.907Z,1761335426.907 [DAT](INFO): Rx dataTimestamp_ set to:1761335426.906250 2025-10-24T19:50:26.910Z,1761335426.910 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 2025-10-24T19:50:26.911Z,1761335426.911 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-24T19:50:26.912Z,1761335426.912 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.074532 2025-10-24T19:50:26.977Z,1761335426.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240019,-0.950848,0.195652],[0.970537,-0.239434,0.026999],[0.021174,0.196368,0.980302]] 2025-10-24T19:50:27.029Z,1761335427.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504450 s, deltaX: -0.200001 m, approachRate: -0.396473 m/s, rangeRepo size: 4 2025-10-24T19:50:27.029Z,1761335427.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:27.157Z,1761335427.157 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.319405 2025-10-24T19:50:27.389Z,1761335427.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:27.410Z,1761335427.410 [DAT](INFO): DAT read: Rx Time:19:50:26.3783 2025-10-24T19:50:27.411Z,1761335427.411 [DAT](INFO): Rx dataTimestamp_ set to:1761335427.410286 2025-10-24T19:50:27.412Z,1761335427.412 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed -0.2 2025-10-24T19:50:27.413Z,1761335427.413 [DAT](ERROR): #Rx 77: Read range message, but no direction. 2025-10-24T19:50:27.414Z,1761335427.414 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.576397 2025-10-24T19:50:27.664Z,1761335427.664 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.826008 2025-10-24T19:50:27.759Z,1761335427.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240403,-0.950565,0.196551],[0.970463,-0.239591,0.028264],[0.020225,0.197540,0.980086]] 2025-10-24T19:50:27.843Z,1761335427.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.504036 s, deltaX: 0.200001 m, approachRate: 0.396799 m/s, rangeRepo size: 4 2025-10-24T19:50:27.843Z,1761335427.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:27.914Z,1761335427.914 [DAT](INFO): DAT read: Rx Time:19:50:26.8783 2025-10-24T19:50:27.915Z,1761335427.915 [DAT](INFO): Rx dataTimestamp_ set to:1761335427.913991 2025-10-24T19:50:27.917Z,1761335427.917 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.1 2025-10-24T19:50:27.918Z,1761335427.918 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-24T19:50:27.919Z,1761335427.919 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.081593 2025-10-24T19:50:28.165Z,1761335428.165 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.327324 2025-10-24T19:50:28.234Z,1761335428.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503705 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:28.234Z,1761335428.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:28.418Z,1761335428.418 [DAT](INFO): DAT read: Rx Time:19:50:27.3784 2025-10-24T19:50:28.419Z,1761335428.419 [DAT](INFO): Rx dataTimestamp_ set to:1761335428.418676 2025-10-24T19:50:28.420Z,1761335428.420 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0 2025-10-24T19:50:28.421Z,1761335428.421 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-10-24T19:50:28.422Z,1761335428.422 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.584255 2025-10-24T19:50:28.673Z,1761335428.673 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.834991 2025-10-24T19:50:28.701Z,1761335428.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237820,-0.951267,0.196297],[0.971119,-0.236869,0.028660],[0.019233,0.197444,0.980126]] 2025-10-24T19:50:28.759Z,1761335428.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504685 s, deltaX: 0.100000 m, approachRate: 0.198144 m/s, rangeRepo size: 4 2025-10-24T19:50:28.760Z,1761335428.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:28.921Z,1761335428.921 [DAT](INFO): DAT read: Rx Time:19:50:27.8783 2025-10-24T19:50:28.922Z,1761335428.922 [DAT](INFO): Rx dataTimestamp_ set to:1761335428.921775 2025-10-24T19:50:28.924Z,1761335428.924 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 2025-10-24T19:50:28.925Z,1761335428.925 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-24T19:50:28.926Z,1761335428.926 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.087959 2025-10-24T19:50:29.134Z,1761335429.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236119,-0.951700,0.196253],[0.971547,-0.235066,0.028989],[0.018543,0.197514,0.980125]] 2025-10-24T19:50:29.171Z,1761335429.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503099 s, deltaX: -0.100000 m, approachRate: -0.198769 m/s, rangeRepo size: 4 2025-10-24T19:50:29.175Z,1761335429.175 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.337132 2025-10-24T19:50:29.180Z,1761335429.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:29.425Z,1761335429.425 [DAT](INFO): DAT read: Rx Time:19:50:28.3785 2025-10-24T19:50:29.425Z,1761335429.425 [DAT](INFO): Rx dataTimestamp_ set to:1761335429.425063 2025-10-24T19:50:29.427Z,1761335429.427 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-24T19:50:29.428Z,1761335429.428 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-24T19:50:29.429Z,1761335429.429 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.591621 2025-10-24T19:50:29.534Z,1761335429.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234635,-0.952086,0.196161],[0.971921,-0.233458,0.029437],[0.017769,0.197560,0.980130]] 2025-10-24T19:50:29.559Z,1761335429.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503288 s, deltaX: 0.299999 m, approachRate: 0.596079 m/s, rangeRepo size: 4 2025-10-24T19:50:29.559Z,1761335429.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:29.681Z,1761335429.681 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.842735 2025-10-24T19:50:29.930Z,1761335429.930 [DAT](INFO): DAT read: Rx Time:19:50:28.8784 2025-10-24T19:50:29.932Z,1761335429.932 [DAT](INFO): Rx dataTimestamp_ set to:1761335429.930755 2025-10-24T19:50:29.936Z,1761335429.936 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0 2025-10-24T19:50:29.937Z,1761335429.937 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-24T19:50:29.937Z,1761335429.937 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.099812 2025-10-24T19:50:29.949Z,1761335429.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231817,-0.952744,0.196318],[0.972622,-0.230410,0.030299],[0.016366,0.197967,0.980072]] 2025-10-24T19:50:30.042Z,1761335430.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.505692 s, deltaX: -0.199999 m, approachRate: -0.395495 m/s, rangeRepo size: 4 2025-10-24T19:50:30.043Z,1761335430.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:30.181Z,1761335430.181 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.343262 2025-10-24T19:50:30.345Z,1761335430.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230836,-0.952945,0.196496],[0.972863,-0.229350,0.030604],[0.015903,0.198228,0.980027]] 2025-10-24T19:50:30.364Z,1761335430.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:30.433Z,1761335430.433 [DAT](INFO): DAT read: Rx Time:19:50:29.3784 2025-10-24T19:50:30.434Z,1761335430.434 [DAT](INFO): Rx dataTimestamp_ set to:1761335430.433358 2025-10-24T19:50:30.435Z,1761335430.435 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-24T19:50:30.436Z,1761335430.436 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-24T19:50:30.437Z,1761335430.437 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.598919 2025-10-24T19:50:30.688Z,1761335430.688 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.849953 2025-10-24T19:50:30.746Z,1761335430.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229715,-0.953373,0.195731],[0.973138,-0.228156,0.030790],[0.015303,0.197546,0.980174]] 2025-10-24T19:50:30.827Z,1761335430.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.502603 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:30.827Z,1761335430.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:30.937Z,1761335430.937 [DAT](INFO): DAT read: Rx Time:19:50:29.8784 2025-10-24T19:50:30.937Z,1761335430.937 [DAT](INFO): Rx dataTimestamp_ set to:1761335430.937083 2025-10-24T19:50:30.939Z,1761335430.939 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.0 2025-10-24T19:50:30.939Z,1761335430.939 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-24T19:50:30.940Z,1761335430.940 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.102627 2025-10-24T19:50:31.189Z,1761335431.189 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.351604 2025-10-24T19:50:31.193Z,1761335431.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229090,-0.953571,0.195501],[0.973289,-0.227497,0.030878],[0.015031,0.197353,0.980217]] 2025-10-24T19:50:31.215Z,1761335431.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503725 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:31.216Z,1761335431.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:31.441Z,1761335431.441 [DAT](INFO): DAT read: Rx Time:19:50:30.3785 2025-10-24T19:50:31.441Z,1761335431.441 [DAT](INFO): Rx dataTimestamp_ set to:1761335431.441156 2025-10-24T19:50:31.443Z,1761335431.443 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-24T19:50:31.443Z,1761335431.443 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-24T19:50:31.445Z,1761335431.445 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.607353 2025-10-24T19:50:31.592Z,1761335431.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228317,-0.953750,0.195530],[0.973474,-0.226698,0.030929],[0.014827,0.197405,0.980210]] 2025-10-24T19:50:31.625Z,1761335431.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504073 s, deltaX: 0.199999 m, approachRate: 0.396766 m/s, rangeRepo size: 4 2025-10-24T19:50:31.625Z,1761335431.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:31.697Z,1761335431.697 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.859138 2025-10-24T19:50:31.946Z,1761335431.946 [DAT](INFO): DAT read: Rx Time:19:50:30.8784 2025-10-24T19:50:31.946Z,1761335431.946 [DAT](INFO): Rx dataTimestamp_ set to:1761335431.946070 2025-10-24T19:50:31.948Z,1761335431.948 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-24T19:50:31.948Z,1761335431.948 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-24T19:50:31.949Z,1761335431.949 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.111668 2025-10-24T19:50:32.019Z,1761335432.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228094,-0.953759,0.195745],[0.973526,-0.226472,0.030938],[0.014824,0.197619,0.980167]] 2025-10-24T19:50:32.125Z,1761335432.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504914 s, deltaX: -0.199999 m, approachRate: -0.396105 m/s, rangeRepo size: 4 2025-10-24T19:50:32.126Z,1761335432.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:32.199Z,1761335432.199 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.360966 2025-10-24T19:50:32.422Z,1761335432.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227799,-0.953793,0.195927],[0.973594,-0.226199,0.030809],[0.014934,0.197772,0.980134]] 2025-10-24T19:50:32.449Z,1761335432.449 [DAT](INFO): DAT read: Rx Time:19:50:31.3785 2025-10-24T19:50:32.450Z,1761335432.450 [DAT](INFO): Rx dataTimestamp_ set to:1761335432.449301 2025-10-24T19:50:32.451Z,1761335432.451 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.1 2025-10-24T19:50:32.451Z,1761335432.451 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-24T19:50:32.452Z,1761335432.452 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.614826 2025-10-24T19:50:32.460Z,1761335432.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503231 s, deltaX: 0.199999 m, approachRate: 0.397430 m/s, rangeRepo size: 4 2025-10-24T19:50:32.461Z,1761335432.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:32.704Z,1761335432.704 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.865883 2025-10-24T19:50:32.875Z,1761335432.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:32.954Z,1761335432.954 [DAT](INFO): DAT read: Rx Time:19:50:31.8785 2025-10-24T19:50:32.955Z,1761335432.955 [DAT](INFO): Rx dataTimestamp_ set to:1761335432.954080 2025-10-24T19:50:32.957Z,1761335432.957 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-24T19:50:32.958Z,1761335432.958 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-24T19:50:32.959Z,1761335432.959 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.121471 2025-10-24T19:50:33.205Z,1761335433.205 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.367172 2025-10-24T19:50:33.237Z,1761335433.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228874,-0.953459,0.196300],[0.973327,-0.227428,0.030185],[0.015864,0.197972,0.980079]] 2025-10-24T19:50:33.261Z,1761335433.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504779 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:33.261Z,1761335433.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:33.458Z,1761335433.458 [DAT](INFO): DAT read: Rx Time:19:50:32.3786 2025-10-24T19:50:33.458Z,1761335433.458 [DAT](INFO): Rx dataTimestamp_ set to:1761335433.457891 2025-10-24T19:50:33.462Z,1761335433.462 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-24T19:50:33.463Z,1761335433.463 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-24T19:50:33.466Z,1761335433.466 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.628143 2025-10-24T19:50:33.667Z,1761335433.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229495,-0.953340,0.196149],[0.973174,-0.228123,0.029875],[0.016265,0.197743,0.980119]] 2025-10-24T19:50:33.698Z,1761335433.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503811 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:33.698Z,1761335433.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:33.721Z,1761335433.721 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.882378 2025-10-24T19:50:33.969Z,1761335433.969 [DAT](INFO): DAT read: Rx Time:19:50:32.8785 2025-10-24T19:50:33.970Z,1761335433.970 [DAT](INFO): Rx dataTimestamp_ set to:1761335433.969561 2025-10-24T19:50:33.971Z,1761335433.971 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-24T19:50:33.972Z,1761335433.972 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-24T19:50:33.973Z,1761335433.973 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.135094 2025-10-24T19:50:34.066Z,1761335434.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230411,-0.953019,0.196633],[0.972942,-0.229181,0.029311],[0.017131,0.198066,0.980039]] 2025-10-24T19:50:34.122Z,1761335434.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.511670 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:34.123Z,1761335434.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:34.221Z,1761335434.221 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.383121 2025-10-24T19:50:34.473Z,1761335434.473 [DAT](INFO): DAT read: Rx Time:19:50:33.3786 2025-10-24T19:50:34.474Z,1761335434.474 [DAT](INFO): Rx dataTimestamp_ set to:1761335434.473283 2025-10-24T19:50:34.475Z,1761335434.475 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed -0.1 2025-10-24T19:50:34.475Z,1761335434.475 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-24T19:50:34.476Z,1761335434.476 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.638832 2025-10-24T19:50:34.491Z,1761335434.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231483,-0.952703,0.196905],[0.972672,-0.230400,0.028718],[0.018007,0.198172,0.980002]] 2025-10-24T19:50:34.565Z,1761335434.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503722 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:34.566Z,1761335434.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:34.729Z,1761335434.729 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.891083 2025-10-24T19:50:34.755Z,1761335434.755 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:50:34.962Z,1761335434.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232689,-0.952317,0.197355],[0.972365,-0.231772,0.028060],[0.019020,0.198430,0.979930]] 2025-10-24T19:50:34.977Z,1761335434.977 [DAT](INFO): DAT read: Rx Time:19:50:33.8786 2025-10-24T19:50:34.978Z,1761335434.978 [DAT](INFO): Rx dataTimestamp_ set to:1761335434.977941 2025-10-24T19:50:34.979Z,1761335434.979 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-24T19:50:34.980Z,1761335434.980 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-24T19:50:34.981Z,1761335434.981 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.143467 2025-10-24T19:50:35.069Z,1761335435.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504658 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:35.069Z,1761335435.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T19:50:35.229Z,1761335435.229 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.391769 2025-10-24T19:50:35.442Z,1761335435.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233646,-0.952062,0.197453],[0.972116,-0.232908,0.027290],[0.020007,0.198323,0.979932]] 2025-10-24T19:50:35.481Z,1761335435.481 [DAT](INFO): DAT read: Rx Time:19:50:34.3787 2025-10-24T19:50:35.482Z,1761335435.482 [DAT](INFO): Rx dataTimestamp_ set to:1761335435.481669 2025-10-24T19:50:35.483Z,1761335435.483 [DAT](INFO): DAT read: Bearing 192.6, 8.5 (Local) 2025-10-24T19:50:35.484Z,1761335435.484 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, 8.5 (Local) 2025-10-24T19:50:35.486Z,1761335435.486 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.1 2025-10-24T19:50:35.503Z,1761335435.503 [DAT](INFO): DAT read: 19:50:34.3787 LVL= 32752, 27265, 25042, 32755, AGC= 62, IDX= 512, 0.35, 2.083,-2.377, 2.692, 2.776, PHS=-0.605, 1.177,-0.087, RAW= 313.6, -6.2, CAL= 317.4, -8.5, ROT= 192.6, 8.5 2025-10-24T19:50:35.504Z,1761335435.504 [DAT](INFO): got valid direction response: 19:50:34.3787 LVL= 32752, 27265, 25042, 32755, AGC= 62, IDX= 512, 0.35, 2.083,-2.377, 2.692, 2.776, PHS=-0.605, 1.177,-0.087, RAW= 313.6, -6.2, CAL= 317.4, -8.5, ROT= 192.6, 8.5 2025-10-24T19:50:35.504Z,1761335435.504 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-24T19:50:35.505Z,1761335435.505 [DAT](INFO): direction in FSK: [-0.965197,-0.215747,-0.147809] 2025-10-24T19:50:35.505Z,1761335435.505 [DAT](INFO): publishing direction and range info 2025-10-24T19:50:35.510Z,1761335435.510 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.672062 2025-10-24T19:50:35.541Z,1761335435.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503728 s, deltaX: 0.100000 m, approachRate: 0.198521 m/s, rangeRepo size: 4 2025-10-24T19:50:35.548Z,1761335435.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.793791 m, bearing: 294.243932 deg, lat: 36.779561 deg, lon: -121.859576 deg, deltaT: 43.104154 s, deltaX: 11.335175 m, approachRate: 0.262972 m/s, posRepo size: 4 2025-10-24T19:50:35.548Z,1761335435.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:35.736Z,1761335435.736 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.897846 2025-10-24T19:50:35.757Z,1761335435.757 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:50:35.970Z,1761335435.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235758,-0.951419,0.198038],[0.971559,-0.235396,0.025715],[0.022152,0.198468,0.979857]] 2025-10-24T19:50:35.985Z,1761335435.985 [DAT](INFO): DAT read: Rx Time:19:50:34.8787 2025-10-24T19:50:35.986Z,1761335435.986 [DAT](INFO): Rx dataTimestamp_ set to:1761335435.985594 2025-10-24T19:50:35.987Z,1761335435.987 [DAT](INFO): DAT read: Bearing 183.5, 6.2 (Local) 2025-10-24T19:50:35.987Z,1761335435.987 [DAT](INFO): Local bearing/azimuth received: Bearing 183.5, 6.2 (Local) 2025-10-24T19:50:35.990Z,1761335435.990 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.1 2025-10-24T19:50:35.995Z,1761335435.995 [DAT](INFO): DAT read: 19:50:34.8787 LVL= 32752, 26481, 17762, 32755, AGC= 63, IDX= 512, 0.10,-0.307, 2.106, 0.070, 0.503, PHS=-0.722, 1.650,-0.436, RAW= 323.7, -4.4, CAL= 326.5, -6.2, ROT= 183.5, 6.2 2025-10-24T19:50:35.996Z,1761335435.996 [DAT](INFO): got valid direction response: 19:50:34.8787 LVL= 32752, 26481, 17762, 32755, AGC= 63, IDX= 512, 0.10,-0.307, 2.106, 0.070, 0.503, PHS=-0.722, 1.650,-0.436, RAW= 323.7, -4.4, CAL= 326.5, -6.2, ROT= 183.5, 6.2 2025-10-24T19:50:35.997Z,1761335435.997 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-24T19:50:35.998Z,1761335435.998 [DAT](INFO): direction in FSK: [-0.992297,-0.060691,-0.107999] 2025-10-24T19:50:35.998Z,1761335435.998 [DAT](INFO): publishing direction and range info 2025-10-24T19:50:36.002Z,1761335436.002 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.164085 2025-10-24T19:50:36.139Z,1761335436.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503925 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:36.147Z,1761335436.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.793768 m, bearing: 285.841670 deg, lat: 36.779561 deg, lon: -121.859571 deg, deltaT: 0.503925 s, deltaX: -0.000023 m, approachRate: -0.000045 m/s, posRepo size: 4 2025-10-24T19:50:36.147Z,1761335436.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:36.237Z,1761335436.237 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.399357 2025-10-24T19:50:36.490Z,1761335436.490 [DAT](INFO): DAT read: Rx Time:19:50:35.3789 2025-10-24T19:50:36.490Z,1761335436.490 [DAT](INFO): Rx dataTimestamp_ set to:1761335436.490113 2025-10-24T19:50:36.492Z,1761335436.492 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed -0.1 2025-10-24T19:50:36.492Z,1761335436.492 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-24T19:50:36.493Z,1761335436.493 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.655682 2025-10-24T19:50:36.517Z,1761335436.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237043,-0.951045,0.198302],[0.971220,-0.236877,0.024913],[0.023280,0.198500,0.979824]] 2025-10-24T19:50:36.565Z,1761335436.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504519 s, deltaX: 0.300001 m, approachRate: 0.594628 m/s, rangeRepo size: 4 2025-10-24T19:50:36.566Z,1761335436.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:36.744Z,1761335436.744 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.905533 2025-10-24T19:50:36.995Z,1761335436.995 [DAT](INFO): DAT read: Rx Time:19:50:35.8789 2025-10-24T19:50:37.004Z,1761335437.004 [DAT](INFO): Rx dataTimestamp_ set to:1761335436.995461 2025-10-24T19:50:37.006Z,1761335437.006 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed 0.0 2025-10-24T19:50:37.014Z,1761335437.014 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-24T19:50:37.015Z,1761335437.015 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.177063 2025-10-24T19:50:37.099Z,1761335437.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.505348 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:37.099Z,1761335437.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:37.246Z,1761335437.246 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.407658 2025-10-24T19:50:37.497Z,1761335437.497 [DAT](INFO): DAT read: Rx Time:19:50:36.3791 2025-10-24T19:50:37.498Z,1761335437.498 [DAT](INFO): Rx dataTimestamp_ set to:1761335437.497267 2025-10-24T19:50:37.499Z,1761335437.499 [DAT](INFO): DAT read: Range 10 to 50 : 19.5 m (trip time 13.0 ms) speed 0.0 2025-10-24T19:50:37.499Z,1761335437.499 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-24T19:50:37.501Z,1761335437.501 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.662918 2025-10-24T19:50:37.601Z,1761335437.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240272,-0.950026,0.199300],[0.970338,-0.240714,0.022379],[0.026713,0.198766,0.979683]] 2025-10-24T19:50:37.630Z,1761335437.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.501806 s, deltaX: 0.299999 m, approachRate: 0.597839 m/s, rangeRepo size: 4 2025-10-24T19:50:37.630Z,1761335437.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:37.750Z,1761335437.750 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.912312 2025-10-24T19:50:38.001Z,1761335438.001 [DAT](INFO): DAT read: Rx Time:19:50:36.8791 2025-10-24T19:50:38.001Z,1761335438.001 [DAT](INFO): Rx dataTimestamp_ set to:1761335438.001132 2025-10-24T19:50:38.003Z,1761335438.003 [DAT](INFO): DAT read: Range 10 to 50 : 19.5 m (trip time 13.0 ms) speed 0.0 2025-10-24T19:50:38.003Z,1761335438.003 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-24T19:50:38.004Z,1761335438.004 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.166649 2025-10-24T19:50:38.106Z,1761335438.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503865 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:38.106Z,1761335438.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:38.255Z,1761335438.255 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.416794 2025-10-24T19:50:38.427Z,1761335438.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242243,-0.949391,0.199936],[0.969784,-0.243085,0.020706],[0.028944,0.198911,0.979590]] 2025-10-24T19:50:38.447Z,1761335438.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:38.505Z,1761335438.505 [DAT](INFO): DAT read: Rx Time:19:50:37.3791 2025-10-24T19:50:38.506Z,1761335438.506 [DAT](INFO): Rx dataTimestamp_ set to:1761335438.505350 2025-10-24T19:50:38.507Z,1761335438.507 [DAT](INFO): DAT read: Range 10 to 50 : 19.7 m (trip time 13.1 ms) speed -0.3 2025-10-24T19:50:38.508Z,1761335438.508 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-24T19:50:38.509Z,1761335438.509 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.670910 2025-10-24T19:50:38.757Z,1761335438.757 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.919346 2025-10-24T19:50:38.845Z,1761335438.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243321,-0.949144,0.199799],[0.969478,-0.244386,0.019706],[0.030124,0.198495,0.979639]] 2025-10-24T19:50:38.918Z,1761335438.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504218 s, deltaX: 0.200001 m, approachRate: 0.396655 m/s, rangeRepo size: 4 2025-10-24T19:50:38.919Z,1761335438.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:39.014Z,1761335439.014 [DAT](INFO): DAT read: Rx Time:19:50:37.8791 2025-10-24T19:50:39.014Z,1761335439.014 [DAT](INFO): Rx dataTimestamp_ set to:1761335439.013922 2025-10-24T19:50:39.016Z,1761335439.016 [DAT](INFO): DAT read: Range 10 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 2025-10-24T19:50:39.017Z,1761335439.017 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-24T19:50:39.019Z,1761335439.019 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.180649 2025-10-24T19:50:39.235Z,1761335439.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244612,-0.948741,0.200138],[0.969114,-0.245893,0.018827],[0.031351,0.198562,0.979587]] 2025-10-24T19:50:39.263Z,1761335439.263 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.424683 2025-10-24T19:50:39.359Z,1761335439.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.508572 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:39.360Z,1761335439.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:39.513Z,1761335439.513 [DAT](INFO): DAT read: Rx Time:19:50:38.3793 2025-10-24T19:50:39.513Z,1761335439.513 [DAT](INFO): Rx dataTimestamp_ set to:1761335439.513126 2025-10-24T19:50:39.515Z,1761335439.515 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed -0.3 2025-10-24T19:50:39.515Z,1761335439.515 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-24T19:50:39.516Z,1761335439.516 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.678680 2025-10-24T19:50:39.639Z,1761335439.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245472,-0.948444,0.200492],[0.968863,-0.246938,0.018065],[0.032376,0.198684,0.979529]] 2025-10-24T19:50:39.659Z,1761335439.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.499204 s, deltaX: 0.299999 m, approachRate: 0.600955 m/s, rangeRepo size: 4 2025-10-24T19:50:39.659Z,1761335439.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:39.765Z,1761335439.765 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.927387 2025-10-24T19:50:40.017Z,1761335440.017 [DAT](INFO): DAT read: Rx Time:19:50:38.8793 2025-10-24T19:50:40.018Z,1761335440.018 [DAT](INFO): Rx dataTimestamp_ set to:1761335440.017678 2025-10-24T19:50:40.020Z,1761335440.020 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed -0.4 2025-10-24T19:50:40.021Z,1761335440.021 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-24T19:50:40.022Z,1761335440.022 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.184513 2025-10-24T19:50:40.058Z,1761335440.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246511,-0.948134,0.200685],[0.968568,-0.248138,0.017413],[0.033287,0.198669,0.979501]] 2025-10-24T19:50:40.149Z,1761335440.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504552 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:40.149Z,1761335440.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:40.162Z,1761335440.162 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-24T19:40:40.0Z 2025-10-24T19:50:40.162Z,1761335440.162 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T19:50:40.163Z,1761335440.163 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:50:40.163Z,1761335440.163 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T19:50:40.163Z,1761335440.163 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:50:40.163Z,1761335440.163 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-24T19:50:40.269Z,1761335440.269 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.431175 2025-10-24T19:50:40.521Z,1761335440.521 [DAT](INFO): DAT read: Rx Time:19:50:39.3795 2025-10-24T19:50:40.521Z,1761335440.521 [DAT](INFO): Rx dataTimestamp_ set to:1761335440.521142 2025-10-24T19:50:40.523Z,1761335440.523 [DAT](INFO): DAT read: Range 10 to 50 : 20.3 m (trip time 13.5 ms) speed -0.2 2025-10-24T19:50:40.523Z,1761335440.523 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-24T19:50:40.524Z,1761335440.524 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.686691 2025-10-24T19:50:40.581Z,1761335440.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247676,-0.947715,0.201229],[0.968233,-0.249493,0.016694],[0.034384,0.198971,0.979402]] 2025-10-24T19:50:40.617Z,1761335440.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503464 s, deltaX: 0.299999 m, approachRate: 0.595870 m/s, rangeRepo size: 4 2025-10-24T19:50:40.617Z,1761335440.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:40.621Z,1761335440.621 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T19:50:40.621Z,1761335440.621 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T19:50:40.621Z,1761335440.621 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T19:50:40.621Z,1761335440.621 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T19:50:40.622Z,1761335440.622 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T19:50:40.773Z,1761335440.773 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.935284 2025-10-24T19:50:41.025Z,1761335441.025 [DAT](INFO): DAT read: Rx Time:19:50:39.8795 2025-10-24T19:50:41.026Z,1761335441.026 [DAT](INFO): Rx dataTimestamp_ set to:1761335441.025300 2025-10-24T19:50:41.027Z,1761335441.027 [DAT](INFO): DAT read: Range 10 to 50 : 20.3 m (trip time 13.5 ms) speed -0.2 2025-10-24T19:50:41.029Z,1761335441.029 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-24T19:50:41.029Z,1761335441.029 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.191898 2025-10-24T19:50:41.159Z,1761335441.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250158,-0.946966,0.201683],[0.967532,-0.252268,0.015600],[0.036105,0.199037,0.979327]] 2025-10-24T19:50:41.220Z,1761335441.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504158 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:41.221Z,1761335441.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:41.278Z,1761335441.278 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.440559 2025-10-24T19:50:41.530Z,1761335441.530 [DAT](INFO): DAT read: Rx Time:19:50:40.3797 2025-10-24T19:50:41.531Z,1761335441.531 [DAT](INFO): Rx dataTimestamp_ set to:1761335441.530323 2025-10-24T19:50:41.533Z,1761335441.533 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed -0.3 2025-10-24T19:50:41.534Z,1761335441.534 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-24T19:50:41.536Z,1761335441.536 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.698856 2025-10-24T19:50:41.578Z,1761335441.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251355,-0.946744,0.201238],[0.967195,-0.253590,0.015028],[0.036804,0.198414,0.979427]] 2025-10-24T19:50:41.613Z,1761335441.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.505023 s, deltaX: 0.300001 m, approachRate: 0.594035 m/s, rangeRepo size: 4 2025-10-24T19:50:41.614Z,1761335441.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:41.782Z,1761335441.782 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.943447 2025-10-24T19:50:41.955Z,1761335441.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252377,-0.946384,0.201650],[0.966903,-0.254721,0.014682],[0.037469,0.198681,0.979348]] 2025-10-24T19:50:42.009Z,1761335442.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:42.033Z,1761335442.033 [DAT](INFO): DAT read: Rx Time:19:50:40.8798 2025-10-24T19:50:42.034Z,1761335442.034 [DAT](INFO): Rx dataTimestamp_ set to:1761335442.033374 2025-10-24T19:50:42.035Z,1761335442.035 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed -0.1 2025-10-24T19:50:42.036Z,1761335442.036 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-24T19:50:42.037Z,1761335442.037 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.199039 2025-10-24T19:50:42.288Z,1761335442.288 [DAT](INFO): DAT read: Rx Time:19:50:41.3799 2025-10-24T19:50:42.290Z,1761335442.290 [DAT](INFO): Rx dataTimestamp_ set to:1761335442.288966 2025-10-24T19:50:42.293Z,1761335442.293 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.454639 2025-10-24T19:50:42.359Z,1761335442.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253084,-0.946223,0.201519],[0.966701,-0.255507,0.014341],[0.037920,0.198438,0.979380]] 2025-10-24T19:50:42.401Z,1761335442.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503051 s, deltaX: 0.100000 m, approachRate: 0.198788 m/s, rangeRepo size: 4 2025-10-24T19:50:42.402Z,1761335442.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:42.538Z,1761335442.538 [DAT](INFO): DAT read: Range 10 to 50 : 20.9 m (trip time 13.9 ms) speed -0.2 2025-10-24T19:50:42.538Z,1761335442.538 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-24T19:50:42.539Z,1761335442.539 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.701569 2025-10-24T19:50:42.792Z,1761335442.792 [DAT](INFO): DAT read: Rx Time:19:50:41.8799 2025-10-24T19:50:42.794Z,1761335442.794 [DAT](INFO): Rx dataTimestamp_ set to:1761335442.792864 2025-10-24T19:50:42.798Z,1761335442.798 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.958088 2025-10-24T19:50:42.799Z,1761335442.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254088,-0.945862,0.201951],[0.966414,-0.256603,0.014076],[0.038507,0.198745,0.979294]] 2025-10-24T19:50:42.922Z,1761335442.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.502988 s, deltaX: 0.199999 m, approachRate: 0.397622 m/s, rangeRepo size: 4 2025-10-24T19:50:42.923Z,1761335442.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:43.042Z,1761335443.042 [DAT](INFO): DAT read: Range 10 to 50 : 20.9 m (trip time 13.9 ms) speed -0.3 2025-10-24T19:50:43.042Z,1761335443.042 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-24T19:50:43.043Z,1761335443.043 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.205517 2025-10-24T19:50:43.182Z,1761335443.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254588,-0.945641,0.202355],[0.966266,-0.257171,0.013879],[0.038915,0.199062,0.979214]] 2025-10-24T19:50:43.229Z,1761335443.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:43.230Z,1761335443.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:43.298Z,1761335443.298 [DAT](INFO): DAT read: Rx Time:19:50:42.3800 2025-10-24T19:50:43.299Z,1761335443.299 [DAT](INFO): Rx dataTimestamp_ set to:1761335443.298266 2025-10-24T19:50:43.300Z,1761335443.300 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m (trip time 14.0 ms) speed -0.2 2025-10-24T19:50:43.301Z,1761335443.301 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-24T19:50:43.302Z,1761335443.302 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.464073 2025-10-24T19:50:43.546Z,1761335443.546 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.708080 2025-10-24T19:50:43.586Z,1761335443.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254882,-0.945557,0.202379],[0.966188,-0.257463,0.013923],[0.038940,0.199085,0.979208]] 2025-10-24T19:50:43.630Z,1761335443.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.257952 s, deltaX: 0.100000 m, approachRate: 0.387671 m/s, rangeRepo size: 4 2025-10-24T19:50:43.631Z,1761335443.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:43.799Z,1761335443.799 [DAT](INFO): DAT read: Rx Time:19:50:42.8800 2025-10-24T19:50:43.799Z,1761335443.799 [DAT](INFO): Rx dataTimestamp_ set to:1761335443.799197 2025-10-24T19:50:43.801Z,1761335443.801 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m (trip time 14.0 ms) speed 0.0 2025-10-24T19:50:43.801Z,1761335443.801 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-24T19:50:43.802Z,1761335443.802 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.964684 2025-10-24T19:50:43.991Z,1761335443.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254838,-0.945608,0.202197],[0.966199,-0.257423,0.013860],[0.038945,0.198895,0.979247]] 2025-10-24T19:50:44.049Z,1761335444.049 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.211098 2025-10-24T19:50:44.052Z,1761335444.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.500931 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:44.053Z,1761335444.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:44.301Z,1761335444.301 [DAT](INFO): DAT read: Rx Time:19:50:43.3801 2025-10-24T19:50:44.302Z,1761335444.302 [DAT](INFO): Rx dataTimestamp_ set to:1761335444.301330 2025-10-24T19:50:44.303Z,1761335444.303 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed -0.1 2025-10-24T19:50:44.303Z,1761335444.303 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-24T19:50:44.304Z,1761335444.304 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.466873 2025-10-24T19:50:44.445Z,1761335444.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502133 s, deltaX: 0.200001 m, approachRate: 0.398302 m/s, rangeRepo size: 4 2025-10-24T19:50:44.445Z,1761335444.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:44.553Z,1761335444.553 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.715195 2025-10-24T19:50:44.805Z,1761335444.805 [DAT](INFO): DAT read: Rx Time:19:50:43.8802 2025-10-24T19:50:44.806Z,1761335444.806 [DAT](INFO): Rx dataTimestamp_ set to:1761335444.805255 2025-10-24T19:50:44.807Z,1761335444.807 [DAT](INFO): DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed 0.0 2025-10-24T19:50:44.807Z,1761335444.807 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-24T19:50:44.808Z,1761335444.808 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.970833 2025-10-24T19:50:44.830Z,1761335444.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254329,-0.945789,0.201988],[0.966349,-0.256848,0.014094],[0.038550,0.198775,0.979287]] 2025-10-24T19:50:44.939Z,1761335444.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503925 s, deltaX: 0.099998 m, approachRate: 0.198439 m/s, rangeRepo size: 4 2025-10-24T19:50:44.948Z,1761335444.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:45.058Z,1761335445.058 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=58.220032 2025-10-24T19:50:45.233Z,1761335445.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253836,-0.945908,0.202051],[0.966494,-0.256287,0.014385],[0.038176,0.198933,0.979269]] 2025-10-24T19:50:45.272Z,1761335445.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:45.309Z,1761335445.309 [DAT](INFO): DAT read: Rx Time:19:50:44.3803 2025-10-24T19:50:45.309Z,1761335445.309 [DAT](INFO): Rx dataTimestamp_ set to:1761335445.309132 2025-10-24T19:50:45.311Z,1761335445.311 [DAT](INFO): DAT read: Range 10 to 50 : 21.5 m (trip time 14.3 ms) speed 0.0 2025-10-24T19:50:45.311Z,1761335445.311 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-24T19:50:45.312Z,1761335445.312 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.474655 2025-10-24T19:50:45.561Z,1761335445.561 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.723511 2025-10-24T19:50:45.660Z,1761335445.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252674,-0.946145,0.202398],[0.966820,-0.255028,0.014807],[0.037607,0.199424,0.979191]] 2025-10-24T19:50:45.680Z,1761335445.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503877 s, deltaX: 0.200001 m, approachRate: 0.396924 m/s, rangeRepo size: 4 2025-10-24T19:50:45.681Z,1761335445.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:45.814Z,1761335445.814 [DAT](INFO): DAT read: Rx Time:19:50:44.8802 2025-10-24T19:50:45.815Z,1761335445.815 [DAT](INFO): Rx dataTimestamp_ set to:1761335445.814096 2025-10-24T19:50:45.817Z,1761335445.817 [DAT](INFO): DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed 0.0 2025-10-24T19:50:45.817Z,1761335445.817 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-24T19:50:45.819Z,1761335445.819 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.980968 2025-10-24T19:50:46.063Z,1761335446.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251439,-0.946517,0.202198],[0.967171,-0.253671,0.015233],[0.036874,0.199390,0.979226]] 2025-10-24T19:50:46.065Z,1761335446.065 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=59.227306 2025-10-24T19:50:46.144Z,1761335446.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504964 s, deltaX: -0.200001 m, approachRate: -0.396069 m/s, rangeRepo size: 4 2025-10-24T19:50:46.145Z,1761335446.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:46.319Z,1761335446.319 [DAT](INFO): DAT read: Rx Time:19:50:45.3802 2025-10-24T19:50:46.319Z,1761335446.319 [DAT](INFO): Rx dataTimestamp_ set to:1761335446.318868 2025-10-24T19:50:46.321Z,1761335446.321 [DAT](INFO): DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed 0.0 2025-10-24T19:50:46.322Z,1761335446.322 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-24T19:50:46.323Z,1761335446.323 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.485603 2025-10-24T19:50:46.542Z,1761335446.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248776,-0.947328,0.201693],[0.967914,-0.250768,0.016033],[0.035390,0.199210,0.979318]] 2025-10-24T19:50:46.569Z,1761335446.569 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.731354 2025-10-24T19:50:46.574Z,1761335446.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504772 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T19:50:46.574Z,1761335446.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:46.821Z,1761335446.821 [DAT](INFO): DAT read: Rx Time:19:50:45.8801 2025-10-24T19:50:46.821Z,1761335446.821 [DAT](INFO): Rx dataTimestamp_ set to:1761335446.821141 2025-10-24T19:50:46.823Z,1761335446.823 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.0 2025-10-24T19:50:46.823Z,1761335446.823 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-24T19:50:46.824Z,1761335446.824 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.986702 2025-10-24T19:50:47.030Z,1761335447.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502273 s, deltaX: -0.099998 m, approachRate: -0.199092 m/s, rangeRepo size: 4 2025-10-24T19:50:47.030Z,1761335447.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:47.073Z,1761335447.073 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.235435 2025-10-24T19:50:47.325Z,1761335447.325 [DAT](INFO): DAT read: Rx Time:19:50:46.3802 2025-10-24T19:50:47.325Z,1761335447.325 [DAT](INFO): Rx dataTimestamp_ set to:1761335447.325199 2025-10-24T19:50:47.327Z,1761335447.327 [DAT](INFO): DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed 0.0 2025-10-24T19:50:47.328Z,1761335447.328 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-24T19:50:47.329Z,1761335447.329 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.491741 2025-10-24T19:50:47.430Z,1761335447.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246178,-0.948081,0.201342],[0.968634,-0.247914,0.016955],[0.033841,0.199200,0.979374]] 2025-10-24T19:50:47.460Z,1761335447.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.504058 s, deltaX: 0.099998 m, approachRate: 0.198387 m/s, rangeRepo size: 4 2025-10-24T19:50:47.460Z,1761335447.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:47.577Z,1761335447.577 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.739124 2025-10-24T19:50:47.811Z,1761335447.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245134,-0.948275,0.201702],[0.968925,-0.246728,0.017602],[0.033073,0.199749,0.979289]] 2025-10-24T19:50:47.830Z,1761335447.830 [DAT](INFO): DAT read: Rx Time:19:50:46.8801 2025-10-24T19:50:47.830Z,1761335447.830 [DAT](INFO): Rx dataTimestamp_ set to:1761335447.829834 2025-10-24T19:50:47.831Z,1761335447.831 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.0 2025-10-24T19:50:47.832Z,1761335447.832 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-24T19:50:47.833Z,1761335447.833 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.995365 2025-10-24T19:50:47.838Z,1761335447.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504635 s, deltaX: -0.099998 m, approachRate: -0.198160 m/s, rangeRepo size: 4 2025-10-24T19:50:47.839Z,1761335447.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:48.081Z,1761335448.081 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.243259 2025-10-24T19:50:48.199Z,1761335448.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244325,-0.948496,0.201647],[0.969147,-0.245828,0.017955],[0.032540,0.199812,0.979294]] 2025-10-24T19:50:48.247Z,1761335448.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:48.333Z,1761335448.333 [DAT](INFO): DAT read: Rx Time:19:50:47.3802 2025-10-24T19:50:48.334Z,1761335448.334 [DAT](INFO): Rx dataTimestamp_ set to:1761335448.333247 2025-10-24T19:50:48.335Z,1761335448.335 [DAT](INFO): DAT read: Range 10 to 50 : 21.3 m (trip time 14.2 ms) speed -0.1 2025-10-24T19:50:48.335Z,1761335448.335 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-24T19:50:48.336Z,1761335448.336 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.498829 2025-10-24T19:50:48.587Z,1761335448.587 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.749660 2025-10-24T19:50:48.604Z,1761335448.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243611,-0.948724,0.201434],[0.969348,-0.245006,0.018373],[0.031922,0.199735,0.979330]] 2025-10-24T19:50:48.623Z,1761335448.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.503413 s, deltaX: 0.099998 m, approachRate: 0.198641 m/s, rangeRepo size: 4 2025-10-24T19:50:48.624Z,1761335448.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:48.850Z,1761335448.850 [DAT](INFO): DAT read: Rx Time:19:50:47.8801 2025-10-24T19:50:48.850Z,1761335448.850 [DAT](INFO): Rx dataTimestamp_ set to:1761335448.850145 2025-10-24T19:50:48.852Z,1761335448.852 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.1 2025-10-24T19:50:48.852Z,1761335448.852 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-24T19:50:48.853Z,1761335448.853 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:50:48.853Z,1761335448.853 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:50:48.854Z,1761335448.854 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T19:50:49.019Z,1761335449.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243186,-0.948854,0.201337],[0.969466,-0.244521,0.018602],[0.031580,0.199713,0.979345]] 2025-10-24T19:50:49.101Z,1761335449.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:49.145Z,1761335449.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.516898 s, deltaX: -0.099998 m, approachRate: -0.193459 m/s, rangeRepo size: 4 2025-10-24T19:50:49.145Z,1761335449.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:49.353Z,1761335449.353 [DAT](INFO): DAT read: user:166> 2025-10-24T19:50:49.354Z,1761335449.354 [DAT](INFO): DAT read: 50 2025-10-24T19:50:49.354Z,1761335449.354 [DAT](INFO): unknown deviceResponse_: 50 2025-10-24T19:50:49.355Z,1761335449.355 [DAT](INFO): DAT read: Ok 2025-10-24T19:50:49.355Z,1761335449.355 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-24T19:50:49.356Z,1761335449.356 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:49.553Z,1761335449.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243110,-0.948917,0.201134],[0.969490,-0.244418,0.018693],[0.031423,0.199541,0.979385]] 2025-10-24T19:50:49.570Z,1761335449.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:50:49.572Z,1761335449.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:49.605Z,1761335449.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:49.857Z,1761335449.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:50.018Z,1761335450.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243363,-0.948760,0.201565],[0.969422,-0.244686,0.018719],[0.031560,0.199957,0.979296]] 2025-10-24T19:50:50.075Z,1761335450.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:50.109Z,1761335450.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:50.355Z,1761335450.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243605,-0.948710,0.201510],[0.969357,-0.244951,0.018622],[0.031693,0.199872,0.979309]] 2025-10-24T19:50:50.361Z,1761335450.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:50.389Z,1761335450.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:50.613Z,1761335450.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:50.759Z,1761335450.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244104,-0.948502,0.201883],[0.969221,-0.245495,0.018520],[0.031995,0.200190,0.979235]] 2025-10-24T19:50:50.779Z,1761335450.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:50.865Z,1761335450.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:51.117Z,1761335451.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:51.165Z,1761335451.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245035,-0.948334,0.201548],[0.968967,-0.246531,0.018046],[0.032574,0.199715,0.979312]] 2025-10-24T19:50:51.227Z,1761335451.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:51.369Z,1761335451.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:51.613Z,1761335451.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246369,-0.947934,0.201800],[0.968603,-0.247985,0.017645],[0.033317,0.199812,0.979268]] 2025-10-24T19:50:51.621Z,1761335451.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:51.648Z,1761335451.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:51.873Z,1761335451.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:52.051Z,1761335452.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249674,-0.946980,0.202219],[0.967685,-0.251627,0.016419],[0.035335,0.199784,0.979203]] 2025-10-24T19:50:52.123Z,1761335452.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:52.125Z,1761335452.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:52.377Z,1761335452.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:52.466Z,1761335452.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:52.629Z,1761335452.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:52.839Z,1761335452.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252798,-0.945907,0.203355],[0.966784,-0.255156,0.014987],[0.037711,0.200389,0.978990]] 2025-10-24T19:50:52.857Z,1761335452.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:52.881Z,1761335452.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:53.132Z,1761335453.132 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:53.233Z,1761335453.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254333,-0.945405,0.203772],[0.966327,-0.256931,0.014061],[0.039062,0.200487,0.978917]] 2025-10-24T19:50:53.281Z,1761335453.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:53.385Z,1761335453.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:53.637Z,1761335453.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:53.677Z,1761335453.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255940,-0.945040,0.203455],[0.965852,-0.258763,0.013068],[0.040297,0.199852,0.978997]] 2025-10-24T19:50:53.696Z,1761335453.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:53.890Z,1761335453.890 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:54.088Z,1761335454.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257664,-0.944523,0.203683],[0.965334,-0.260739,0.012064],[0.041714,0.199730,0.978963]] 2025-10-24T19:50:54.141Z,1761335454.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:54.167Z,1761335454.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:54.393Z,1761335454.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:54.483Z,1761335454.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259407,-0.944030,0.203752],[0.964809,-0.262718,0.011115],[0.043037,0.199465,0.978959]] 2025-10-24T19:50:54.538Z,1761335454.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:54.645Z,1761335454.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:54.890Z,1761335454.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261217,-0.943403,0.204345],[0.964257,-0.264770,0.010253],[0.044432,0.199719,0.978845]] 2025-10-24T19:50:54.897Z,1761335454.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:54.939Z,1761335454.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:55.152Z,1761335455.152 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:55.360Z,1761335455.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:55.402Z,1761335455.402 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:55.653Z,1761335455.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:55.699Z,1761335455.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264092,-0.942355,0.205481],[0.963369,-0.268029,0.008956],[0.046636,0.200319,0.978620]] 2025-10-24T19:50:55.725Z,1761335455.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:55.905Z,1761335455.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:56.119Z,1761335456.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265415,-0.941958,0.205595],[0.962957,-0.269530,0.008255],[0.047638,0.200170,0.978602]] 2025-10-24T19:50:56.157Z,1761335456.157 [DAT](INFO): DAT read: user:167>Rx Time:19:50:54.8740 2025-10-24T19:50:56.157Z,1761335456.157 [DAT](INFO): Rx dataTimestamp_ set to:1761335456.157171 2025-10-24T19:50:56.158Z,1761335456.158 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:56.220Z,1761335456.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:56.409Z,1761335456.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:56.515Z,1761335456.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267001,-0.941489,0.205692],[0.962472,-0.271274,0.007679],[0.048569,0.200023,0.978587]] 2025-10-24T19:50:56.541Z,1761335456.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:56.661Z,1761335456.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:56.913Z,1761335456.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:56.967Z,1761335456.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:57.166Z,1761335457.166 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:57.417Z,1761335457.417 [DAT](INFO): DAT read: 2025-10-24T19:50:57.419Z,1761335457.419 [DAT](INFO): DAT read: DATA(0046):sdª„ 2025-10-24T19:50:57.419Z,1761335457.419 [DAT](INFO): Got DATA 46 2025-10-24T19:50:57.420Z,1761335457.420 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:50:57.420Z,1761335457.420 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:50:57.420Z,1761335457.420 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:50:57.422Z,1761335457.422 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:04.4 PSNR:07.1 AGC:71 SPD:+1.1 CCERR:005 2025-10-24T19:50:57.422Z,1761335457.422 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:04.4 PSNR:07.1 AGC:71 SPD:+1.1 CCERR:005 2025-10-24T19:50:57.422Z,1761335457.422 [DAT](INFO): DAT read: 2025-10-24T19:50:57.423Z,1761335457.423 [DAT](INFO): DAT read: 2025-10-24T19:50:57.423Z,1761335457.423 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:57.431Z,1761335457.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:57.669Z,1761335457.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:57.738Z,1761335457.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269092,-0.940734,0.206418],[0.961812,-0.273626,0.006817],[0.050068,0.200370,0.978440]] 2025-10-24T19:50:57.780Z,1761335457.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:57.921Z,1761335457.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:58.151Z,1761335458.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269636,-0.940583,0.206397],[0.961651,-0.274193,0.006754],[0.050240,0.200303,0.978445]] 2025-10-24T19:50:58.173Z,1761335458.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:58.213Z,1761335458.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:58.426Z,1761335458.426 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:58.543Z,1761335458.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269684,-0.940538,0.206539],[0.961642,-0.274222,0.006888],[0.050159,0.200475,0.978414]] 2025-10-24T19:50:58.591Z,1761335458.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:58.678Z,1761335458.678 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:58.929Z,1761335458.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:58.947Z,1761335458.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269444,-0.940682,0.206197],[0.961722,-0.273936,0.007002],[0.049898,0.200191,0.978486]] 2025-10-24T19:50:58.969Z,1761335458.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:59.180Z,1761335459.180 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:59.353Z,1761335459.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269342,-0.940696,0.206268],[0.961765,-0.273778,0.007280],[0.049624,0.200342,0.978468]] 2025-10-24T19:50:59.426Z,1761335459.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:59.433Z,1761335459.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:59.685Z,1761335459.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:50:59.755Z,1761335459.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268953,-0.940924,0.205732],[0.961895,-0.273318,0.007453],[0.049217,0.199897,0.978580]] 2025-10-24T19:50:59.789Z,1761335459.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:50:59.937Z,1761335459.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:00.172Z,1761335460.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268789,-0.940960,0.205783],[0.961959,-0.273083,0.007789],[0.048866,0.200048,0.978567]] 2025-10-24T19:51:00.189Z,1761335460.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:00.223Z,1761335460.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:00.441Z,1761335460.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:00.565Z,1761335460.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267842,-0.941221,0.205826],[0.962255,-0.272026,0.008241],[0.048234,0.200265,0.978554]] 2025-10-24T19:51:00.583Z,1761335460.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:00.693Z,1761335460.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:00.946Z,1761335460.946 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:00.976Z,1761335460.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267169,-0.941453,0.205636],[0.962474,-0.271233,0.008707],[0.047578,0.200245,0.978590]] 2025-10-24T19:51:01.001Z,1761335461.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:01.197Z,1761335461.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:01.449Z,1761335461.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:01.451Z,1761335461.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:01.701Z,1761335461.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:01.775Z,1761335461.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265166,-0.942049,0.205503],[0.963102,-0.268960,0.009774],[0.046064,0.200512,0.978608]] 2025-10-24T19:51:01.846Z,1761335461.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:01.953Z,1761335461.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:02.210Z,1761335462.210 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:02.246Z,1761335462.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264444,-0.942270,0.205420],[0.963333,-0.268109,0.010301],[0.045368,0.200612,0.978620]] 2025-10-24T19:51:02.292Z,1761335462.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:02.475Z,1761335462.475 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:02.674Z,1761335462.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263600,-0.942627,0.204863],[0.963607,-0.267100,0.010887],[0.044457,0.200277,0.978730]] 2025-10-24T19:51:02.709Z,1761335462.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:02.726Z,1761335462.726 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:02.977Z,1761335462.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:03.072Z,1761335463.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262875,-0.942821,0.204902],[0.963844,-0.266215,0.011603],[0.043608,0.200544,0.978714]] 2025-10-24T19:51:03.113Z,1761335463.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:03.229Z,1761335463.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:03.484Z,1761335463.484 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:03.601Z,1761335463.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:03.735Z,1761335463.735 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:03.965Z,1761335463.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260874,-0.943557,0.204072],[0.964490,-0.263784,0.013307],[0.041275,0.200297,0.978865]] 2025-10-24T19:51:03.985Z,1761335463.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:03.997Z,1761335463.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:04.237Z,1761335464.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:04.368Z,1761335464.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260715,-0.943620,0.203982],[0.964555,-0.263524,0.013761],[0.040769,0.200339,0.978878]] 2025-10-24T19:51:04.423Z,1761335464.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:04.488Z,1761335464.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:04.741Z,1761335464.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:04.817Z,1761335464.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260236,-0.943738,0.204048],[0.964704,-0.262955,0.014165],[0.040287,0.200532,0.978858]] 2025-10-24T19:51:04.850Z,1761335464.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:04.993Z,1761335464.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:05.245Z,1761335465.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:05.251Z,1761335465.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260279,-0.943748,0.203948],[0.964705,-0.262938,0.014442],[0.039996,0.200509,0.978875]] 2025-10-24T19:51:05.309Z,1761335465.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:05.498Z,1761335465.498 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:05.689Z,1761335465.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260388,-0.943668,0.204176],[0.964676,-0.263038,0.014544],[0.039982,0.200751,0.978826]] 2025-10-24T19:51:05.737Z,1761335465.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:05.750Z,1761335465.750 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:05.884Z,1761335465.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:51:06.001Z,1761335466.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:06.091Z,1761335466.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260650,-0.943627,0.204036],[0.964609,-0.263276,0.014661],[0.039883,0.200636,0.978854]] 2025-10-24T19:51:06.111Z,1761335466.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:06.255Z,1761335466.255 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:06.504Z,1761335466.504 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:06.562Z,1761335466.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:06.757Z,1761335466.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:06.889Z,1761335466.889 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:51:06.914Z,1761335466.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261890,-0.943271,0.204091],[0.964240,-0.264653,0.014134],[0.040681,0.200494,0.978850]] 2025-10-24T19:51:06.936Z,1761335466.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:07.010Z,1761335467.010 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:07.262Z,1761335467.262 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:07.304Z,1761335467.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263208,-0.942812,0.204518],[0.963842,-0.266126,0.013618],[0.041589,0.200707,0.978768]] 2025-10-24T19:51:07.345Z,1761335467.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:07.513Z,1761335467.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:07.756Z,1761335467.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:07.765Z,1761335467.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:08.017Z,1761335468.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:08.146Z,1761335468.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:08.271Z,1761335468.271 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:08.512Z,1761335468.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266285,-0.941654,0.205863],[0.962839,-0.269850,0.011095],[0.045104,0.201167,0.978518]] 2025-10-24T19:51:08.521Z,1761335468.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:08.562Z,1761335468.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:08.773Z,1761335468.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:08.954Z,1761335468.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:09.029Z,1761335469.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:09.283Z,1761335469.283 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:09.319Z,1761335469.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269280,-0.940722,0.206230],[0.961848,-0.273451,0.008563],[0.048338,0.200667,0.978466]] 2025-10-24T19:51:09.381Z,1761335469.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:09.533Z,1761335469.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:09.785Z,1761335469.785 [DAT](INFO): DAT read: Rx Time:19:51:08.7161 2025-10-24T19:51:09.785Z,1761335469.785 [DAT](INFO): Rx dataTimestamp_ set to:1761335469.785105 2025-10-24T19:51:09.786Z,1761335469.786 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:09.793Z,1761335469.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:10.037Z,1761335470.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:10.149Z,1761335470.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272641,-0.939569,0.207067],[0.960712,-0.277486,0.005852],[0.051960,0.200527,0.978309]] 2025-10-24T19:51:10.168Z,1761335470.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:10.291Z,1761335470.291 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:10.541Z,1761335470.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:10.550Z,1761335470.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274377,-0.938937,0.207643],[0.960114,-0.279574,0.004481],[0.053844,0.200590,0.978194]] 2025-10-24T19:51:10.605Z,1761335470.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:10.793Z,1761335470.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:10.952Z,1761335470.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276161,-0.938264,0.208316],[0.959498,-0.281697,0.003217],[0.055664,0.200768,0.978056]] 2025-10-24T19:51:10.971Z,1761335470.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:11.045Z,1761335471.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:11.299Z,1761335471.299 [DAT](INFO): DAT read: 2025-10-24T19:51:11.305Z,1761335471.305 [DAT](INFO): DAT read: DATA(0046):u`¿X4Må³ÅïP)°KܼÔ!.ë,†WsÙ)ªM÷©2NhrËtÒ®£Øõ2 2025-10-24T19:51:11.306Z,1761335471.306 [DAT](INFO): Got DATA 46 2025-10-24T19:51:11.309Z,1761335471.309 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:51:11.309Z,1761335471.309 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:51:11.311Z,1761335471.311 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:51:11.316Z,1761335471.316 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:25.5 PSNR:07.3 AGC:70 SPD:+1.6 CCERR:005 2025-10-24T19:51:11.318Z,1761335471.318 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:25.5 PSNR:07.3 AGC:70 SPD:+1.6 CCERR:005 2025-10-24T19:51:11.319Z,1761335471.319 [DAT](INFO): DAT read: 2025-10-24T19:51:11.321Z,1761335471.321 [DAT](INFO): DAT read: 2025-10-24T19:51:11.323Z,1761335471.323 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:11.386Z,1761335471.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279973,-0.936967,0.209064],[0.958167,-0.286211,0.000436],[0.059428,0.200441,0.977902]] 2025-10-24T19:51:11.472Z,1761335471.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:11.549Z,1761335471.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:11.799Z,1761335471.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:11.801Z,1761335471.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:12.053Z,1761335472.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:12.200Z,1761335472.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283395,-0.935719,0.210038],[0.956956,-0.290229,-0.001790],[0.062634,0.200490,0.977692]] 2025-10-24T19:51:12.256Z,1761335472.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:12.307Z,1761335472.307 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:12.556Z,1761335472.556 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:12.602Z,1761335472.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284496,-0.935235,0.210709],[0.956546,-0.291571,-0.002629],[0.063895,0.200805,0.977545]] 2025-10-24T19:51:12.662Z,1761335472.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:12.809Z,1761335472.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:13.003Z,1761335473.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285718,-0.934779,0.211076],[0.956117,-0.292968,-0.003225],[0.064854,0.200892,0.977464]] 2025-10-24T19:51:13.026Z,1761335473.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:13.061Z,1761335473.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:13.314Z,1761335473.314 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:13.407Z,1761335473.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286342,-0.934571,0.211150],[0.955886,-0.293715,-0.003728],[0.065502,0.200768,0.977447]] 2025-10-24T19:51:13.454Z,1761335473.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:13.565Z,1761335473.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:13.810Z,1761335473.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286452,-0.934585,0.210942],[0.955844,-0.293848,-0.003902],[0.065631,0.200510,0.977491]] 2025-10-24T19:51:13.817Z,1761335473.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:13.840Z,1761335473.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:14.069Z,1761335474.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:14.221Z,1761335474.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285887,-0.934764,0.210915],[0.956024,-0.293262,-0.003869],[0.065470,0.200534,0.977497]] 2025-10-24T19:51:14.251Z,1761335474.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:14.323Z,1761335474.323 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:14.573Z,1761335474.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:14.622Z,1761335474.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.284938,-0.935128,0.210585],[0.956346,-0.292216,-0.003607],[0.064909,0.200364,0.977569]] 2025-10-24T19:51:14.672Z,1761335474.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:14.825Z,1761335474.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:15.023Z,1761335475.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.283422,-0.935616,0.210465],[0.956847,-0.290576,-0.003214],[0.064163,0.200472,0.977596]] 2025-10-24T19:51:15.041Z,1761335475.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:15.080Z,1761335475.080 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:15.331Z,1761335475.331 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:15.428Z,1761335475.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281187,-0.936419,0.209888],[0.957591,-0.288120,-0.002564],[0.062874,0.200266,0.977722]] 2025-10-24T19:51:15.487Z,1761335475.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:15.582Z,1761335475.582 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:15.833Z,1761335475.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:15.840Z,1761335475.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.279033,-0.937076,0.209833],[0.958308,-0.285732,-0.001682],[0.061533,0.200615,0.977736]] 2025-10-24T19:51:15.858Z,1761335475.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:16.085Z,1761335476.085 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:16.235Z,1761335476.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.276505,-0.937949,0.209275],[0.959142,-0.282924,-0.000767],[0.059928,0.200512,0.977857]] 2025-10-24T19:51:16.273Z,1761335476.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:16.337Z,1761335476.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:16.589Z,1761335476.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:16.643Z,1761335476.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273954,-0.938696,0.209279],[0.959976,-0.280082,0.000371],[0.058267,0.201005,0.977856]] 2025-10-24T19:51:16.695Z,1761335476.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:16.841Z,1761335476.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:17.076Z,1761335477.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:17.092Z,1761335477.092 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:17.347Z,1761335477.347 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:17.466Z,1761335477.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268322,-0.940531,0.208336],[0.961800,-0.273737,0.002948],[0.054256,0.201168,0.978053]] 2025-10-24T19:51:17.526Z,1761335477.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:17.597Z,1761335477.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:17.849Z,1761335477.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:17.926Z,1761335477.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265208,-0.941553,0.207707],[0.962781,-0.270250,0.004250],[0.052131,0.201103,0.978182]] 2025-10-24T19:51:17.947Z,1761335477.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:18.101Z,1761335478.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:18.306Z,1761335478.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262686,-0.942410,0.207026],[0.963574,-0.267388,0.005450],[0.050220,0.200916,0.978320]] 2025-10-24T19:51:18.326Z,1761335478.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:18.353Z,1761335478.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:18.604Z,1761335478.604 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:18.708Z,1761335478.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259865,-0.943263,0.206702],[0.964434,-0.264241,0.006645],[0.048351,0.201078,0.978381]] 2025-10-24T19:51:18.796Z,1761335478.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:18.858Z,1761335478.858 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:19.109Z,1761335479.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:19.150Z,1761335479.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257543,-0.944016,0.206169],[0.965146,-0.261593,0.007850],[0.046522,0.201005,0.978485]] 2025-10-24T19:51:19.170Z,1761335479.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:19.361Z,1761335479.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:19.546Z,1761335479.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255369,-0.944697,0.205752],[0.965796,-0.259156,0.008798],[0.045011,0.200961,0.978565]] 2025-10-24T19:51:19.595Z,1761335479.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:19.613Z,1761335479.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:19.866Z,1761335479.866 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:19.981Z,1761335479.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253680,-0.945219,0.205445],[0.966297,-0.257251,0.009595],[0.043782,0.200955,0.978622]] 2025-10-24T19:51:20.003Z,1761335480.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:20.116Z,1761335480.116 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:20.369Z,1761335480.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:20.419Z,1761335480.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252680,-0.945431,0.205701],[0.966591,-0.256122,0.010173],[0.043067,0.201400,0.978562]] 2025-10-24T19:51:20.498Z,1761335480.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:20.621Z,1761335480.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:20.842Z,1761335480.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:20.873Z,1761335480.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:21.125Z,1761335481.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:21.199Z,1761335481.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252095,-0.945588,0.205699],[0.966764,-0.255455,0.010507],[0.042611,0.201511,0.978559]] 2025-10-24T19:51:21.236Z,1761335481.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:21.377Z,1761335481.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:21.613Z,1761335481.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252568,-0.945513,0.205460],[0.966627,-0.255984,0.010235],[0.042917,0.201189,0.978612]] 2025-10-24T19:51:21.629Z,1761335481.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:21.688Z,1761335481.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:21.881Z,1761335481.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:22.006Z,1761335482.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253629,-0.945142,0.205862],[0.966312,-0.257188,0.009740],[0.043740,0.201397,0.978533]] 2025-10-24T19:51:22.108Z,1761335482.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:22.134Z,1761335482.134 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:22.385Z,1761335482.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:22.424Z,1761335482.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254795,-0.944874,0.205650],[0.965957,-0.258549,0.008872],[0.044788,0.200910,0.978585]] 2025-10-24T19:51:22.526Z,1761335482.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:22.637Z,1761335482.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:22.815Z,1761335482.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256695,-0.944256,0.206126],[0.965384,-0.260712,0.007911],[0.046270,0.201021,0.978494]] 2025-10-24T19:51:22.889Z,1761335482.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:22.890Z,1761335482.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:23.141Z,1761335483.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:23.230Z,1761335483.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260635,-0.942999,0.206934],[0.964155,-0.265284,0.005460],[0.049747,0.200940,0.978340]] 2025-10-24T19:51:23.274Z,1761335483.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:23.393Z,1761335483.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:23.632Z,1761335483.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262811,-0.942241,0.207634],[0.963458,-0.267829,0.004084],[0.051763,0.201120,0.978198]] 2025-10-24T19:51:23.646Z,1761335483.646 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:23.689Z,1761335483.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:23.897Z,1761335483.897 [DAT](INFO): DAT read: Rx Time:19:51:22.6071 2025-10-24T19:51:23.898Z,1761335483.898 [DAT](INFO): Rx dataTimestamp_ set to:1761335483.897581 2025-10-24T19:51:23.899Z,1761335483.899 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:24.059Z,1761335484.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264901,-0.941597,0.207903],[0.962785,-0.270256,0.002745],[0.053602,0.200893,0.978146]] 2025-10-24T19:51:24.101Z,1761335484.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:24.148Z,1761335484.148 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:24.404Z,1761335484.404 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:24.469Z,1761335484.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267069,-0.940858,0.208472],[0.962069,-0.272803,0.001296],[0.055653,0.200911,0.978027]] 2025-10-24T19:51:24.553Z,1761335484.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:24.653Z,1761335484.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:24.865Z,1761335484.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269090,-0.940274,0.208509],[0.961394,-0.275177,-0.000192],[0.057557,0.200407,0.978020]] 2025-10-24T19:51:24.914Z,1761335484.914 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:24.939Z,1761335484.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:25.171Z,1761335485.171 [DAT](INFO): DAT read: 19:51:22.6071 LVL= 21872, 23521, 22946, 25875, AGC= 67, IDX= 381, 0.17,-2.041,-2.130, 2.070,-3.029, PHS= 1.076, 0.947,-1.187, RAW= 32.9, -7.6, CAL= 34.4, -12.9, ROT= 115.6, 12.9 2025-10-24T19:51:25.173Z,1761335485.173 [DAT](INFO): got valid direction response: 19:51:22.6071 LVL= 21872, 23521, 22946, 25875, AGC= 67, IDX= 381, 0.17,-2.041,-2.130, 2.070,-3.029, PHS= 1.076, 0.947,-1.187, RAW= 32.9, -7.6, CAL= 34.4, -12.9, ROT= 115.6, 12.9 2025-10-24T19:51:25.173Z,1761335485.173 [DAT](INFO): DAT read: 2025-10-24T19:51:25.175Z,1761335485.175 [DAT](INFO): DAT read: DATA(0046):sPt^ŸÍ-®ÓO{m2_d«ÿþÒ<<£ n¤A³Ô€r=ðr _6¤ªabw6 2025-10-24T19:51:25.175Z,1761335485.175 [DAT](INFO): Got DATA 46 2025-10-24T19:51:25.176Z,1761335485.176 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:51:25.177Z,1761335485.177 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:51:25.178Z,1761335485.178 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:51:25.179Z,1761335485.179 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:05.7 PSNR:07.1 AGC:72 SPD:+2.0 CCERR:005 2025-10-24T19:51:25.179Z,1761335485.179 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:05.7 PSNR:07.1 AGC:72 SPD:+2.0 CCERR:005 2025-10-24T19:51:25.180Z,1761335485.180 [DAT](INFO): DAT read: 2025-10-24T19:51:25.180Z,1761335485.180 [DAT](INFO): DAT read: 2025-10-24T19:51:25.181Z,1761335485.181 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T19:51:25.182Z,1761335485.182 [DAT](INFO): direction in FSK: [-0.421180,0.879071,-0.223250] 2025-10-24T19:51:25.185Z,1761335485.185 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:25.281Z,1761335485.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.270899,-0.939560,0.209383],[0.960770,-0.277342,-0.001469],[0.059451,0.200771,0.977833]] 2025-10-24T19:51:25.344Z,1761335485.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:25.417Z,1761335485.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:25.669Z,1761335485.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:25.673Z,1761335485.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272171,-0.939154,0.209556],[0.960312,-0.278916,-0.002747],[0.061028,0.200491,0.977793]] 2025-10-24T19:51:25.725Z,1761335485.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:25.921Z,1761335485.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:26.089Z,1761335486.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273409,-0.938601,0.210418],[0.959860,-0.280453,-0.003797],[0.062576,0.200934,0.977604]] 2025-10-24T19:51:26.133Z,1761335486.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:26.172Z,1761335486.172 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:26.425Z,1761335486.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:26.575Z,1761335486.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273849,-0.938330,0.211054],[0.959657,-0.281133,-0.004710],[0.063754,0.201250,0.977463]] 2025-10-24T19:51:26.642Z,1761335486.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:26.677Z,1761335486.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:26.929Z,1761335486.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:26.964Z,1761335486.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273890,-0.938296,0.211150],[0.959597,-0.281327,-0.005421],[0.064489,0.201134,0.977439]] 2025-10-24T19:51:27.008Z,1761335487.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:27.180Z,1761335487.180 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:27.406Z,1761335487.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:27.433Z,1761335487.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:27.685Z,1761335487.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:27.841Z,1761335487.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:27.937Z,1761335487.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:28.184Z,1761335488.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272512,-0.938733,0.210990],[0.959919,-0.280196,-0.006821],[0.065522,0.200674,0.977464]] 2025-10-24T19:51:28.189Z,1761335488.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:28.204Z,1761335488.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:28.441Z,1761335488.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:28.662Z,1761335488.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:28.706Z,1761335488.706 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:28.957Z,1761335488.957 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:28.985Z,1761335488.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268997,-0.939768,0.210893],[0.960964,-0.276590,-0.006802],[0.064723,0.200831,0.977485]] 2025-10-24T19:51:29.020Z,1761335489.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:29.209Z,1761335489.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:29.387Z,1761335489.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266683,-0.940490,0.210614],[0.961651,-0.274193,-0.006742],[0.064090,0.200739,0.977546]] 2025-10-24T19:51:29.406Z,1761335489.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:29.461Z,1761335489.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:29.713Z,1761335489.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:29.858Z,1761335489.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:29.965Z,1761335489.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:30.194Z,1761335490.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261649,-0.941975,0.210293],[0.963135,-0.268945,-0.006353],[0.062542,0.200878,0.977618]] 2025-10-24T19:51:30.218Z,1761335490.218 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:30.241Z,1761335490.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:30.469Z,1761335490.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:30.629Z,1761335490.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259255,-0.942636,0.210295],[0.963830,-0.266448,-0.006113],[0.061795,0.201104,0.977619]] 2025-10-24T19:51:30.695Z,1761335490.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:30.729Z,1761335490.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:30.981Z,1761335490.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:31.069Z,1761335491.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256441,-0.943485,0.209937],[0.964641,-0.263501,-0.005887],[0.060872,0.201004,0.977697]] 2025-10-24T19:51:31.094Z,1761335491.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:31.234Z,1761335491.234 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:31.474Z,1761335491.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253968,-0.944175,0.209843],[0.965353,-0.260888,-0.005505],[0.059944,0.201175,0.977720]] 2025-10-24T19:51:31.485Z,1761335491.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:31.495Z,1761335491.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:31.737Z,1761335491.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:31.871Z,1761335491.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251602,-0.944902,0.209421],[0.966023,-0.258402,-0.005309],[0.059131,0.200969,0.977811]] 2025-10-24T19:51:31.960Z,1761335491.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:31.989Z,1761335491.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:32.242Z,1761335492.242 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:32.323Z,1761335492.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:32.493Z,1761335492.493 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:32.683Z,1761335492.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247707,-0.945978,0.209206],[0.967104,-0.254334,-0.004952],[0.057893,0.201097,0.977859]] 2025-10-24T19:51:32.726Z,1761335492.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:32.745Z,1761335492.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:32.997Z,1761335492.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:33.179Z,1761335493.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:33.249Z,1761335493.249 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:33.500Z,1761335493.500 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:33.531Z,1761335493.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244131,-0.946942,0.209049],[0.968066,-0.250649,-0.004858],[0.056998,0.201187,0.977893]] 2025-10-24T19:51:33.550Z,1761335493.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:33.753Z,1761335493.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:33.946Z,1761335493.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243395,-0.947164,0.208901],[0.968246,-0.249947,-0.005143],[0.057085,0.201016,0.977923]] 2025-10-24T19:51:34.005Z,1761335494.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:34.012Z,1761335494.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:34.257Z,1761335494.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:34.339Z,1761335494.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242675,-0.947428,0.208539],[0.968433,-0.249217,-0.005277],[0.056971,0.200676,0.978000]] 2025-10-24T19:51:34.367Z,1761335494.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:34.509Z,1761335494.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:34.743Z,1761335494.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242715,-0.947349,0.208853],[0.968398,-0.249345,-0.005611],[0.057392,0.200891,0.977931]] 2025-10-24T19:51:34.761Z,1761335494.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:34.810Z,1761335494.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:35.013Z,1761335495.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:35.146Z,1761335495.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242308,-0.947433,0.208943],[0.968484,-0.249005,-0.005956],[0.057671,0.200915,0.977910]] 2025-10-24T19:51:35.165Z,1761335495.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:35.265Z,1761335495.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:35.517Z,1761335495.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:35.557Z,1761335495.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242223,-0.947370,0.209329],[0.968484,-0.248996,-0.006220],[0.058015,0.201225,0.977825]] 2025-10-24T19:51:35.578Z,1761335495.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:35.769Z,1761335495.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:35.958Z,1761335495.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242108,-0.947341,0.209593],[0.968482,-0.248993,-0.006700],[0.058534,0.201364,0.977766]] 2025-10-24T19:51:36.009Z,1761335496.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:36.021Z,1761335496.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:36.274Z,1761335496.274 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:36.362Z,1761335496.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242290,-0.947242,0.209829],[0.968405,-0.249279,-0.007113],[0.059044,0.201476,0.977712]] 2025-10-24T19:51:36.382Z,1761335496.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:36.525Z,1761335496.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:36.759Z,1761335496.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242462,-0.947217,0.209742],[0.968318,-0.249597,-0.007832],[0.059770,0.201198,0.977725]] 2025-10-24T19:51:36.778Z,1761335496.778 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:36.842Z,1761335496.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:37.008Z,1761335497.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:51:37.028Z,1761335497.028 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:37.165Z,1761335497.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242631,-0.947223,0.209521],[0.968244,-0.249866,-0.008368],[0.060279,0.200838,0.977768]] 2025-10-24T19:51:37.183Z,1761335497.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:37.282Z,1761335497.282 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:37.533Z,1761335497.533 [DAT](INFO): DAT read: Rx Time:19:51:36.4507 2025-10-24T19:51:37.533Z,1761335497.533 [DAT](INFO): Rx dataTimestamp_ set to:1761335497.533033 2025-10-24T19:51:37.534Z,1761335497.534 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:37.582Z,1761335497.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242720,-0.947209,0.209479],[0.968176,-0.250104,-0.009095],[0.061007,0.200605,0.977771]] 2025-10-24T19:51:37.609Z,1761335497.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:37.785Z,1761335497.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:38.012Z,1761335498.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:51:38.037Z,1761335498.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:38.047Z,1761335498.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:38.289Z,1761335498.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:38.375Z,1761335498.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243250,-0.946918,0.210182],[0.967947,-0.250941,-0.010312],[0.062508,0.200937,0.977608]] 2025-10-24T19:51:38.407Z,1761335498.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:38.540Z,1761335498.540 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:38.781Z,1761335498.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243051,-0.946924,0.210386],[0.967962,-0.250863,-0.010856],[0.063057,0.201007,0.977558]] 2025-10-24T19:51:38.796Z,1761335498.796 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:38.879Z,1761335498.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:39.056Z,1761335499.056 [DAT](INFO): DAT read: 19:51:36.4507 LVL= 15968, 21841, 17714, 19923, AGC= 68, IDX= 410, 0.18, 1.006, 1.095,-0.939, 0.203, PHS= 0.891, 0.939,-1.145, RAW= 28.8, -6.7, CAL= 29.4, -11.3, ROT= 120.6, 11.3 2025-10-24T19:51:39.058Z,1761335499.058 [DAT](INFO): got valid direction response: 19:51:36.4507 LVL= 15968, 21841, 17714, 19923, AGC= 68, IDX= 410, 0.18, 1.006, 1.095,-0.939, 0.203, PHS= 0.891, 0.939,-1.145, RAW= 28.8, -6.7, CAL= 29.4, -11.3, ROT= 120.6, 11.3 2025-10-24T19:51:39.058Z,1761335499.058 [DAT](INFO): DAT read: 2025-10-24T19:51:39.066Z,1761335499.066 [DAT](INFO): DAT read: DATA(0046):se–#«w€ÝêõÄgÖ:î¢~6Ÿà 2025-10-24T19:51:39.066Z,1761335499.066 [DAT](INFO): Got DATA 46 2025-10-24T19:51:39.067Z,1761335499.067 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:51:39.067Z,1761335499.067 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:51:39.067Z,1761335499.067 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:51:39.074Z,1761335499.074 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:22.3 PSNR:07.5 AGC:72 SPD:+2.2 CCERR:005 2025-10-24T19:51:39.074Z,1761335499.074 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:22.3 PSNR:07.5 AGC:72 SPD:+2.2 CCERR:005 2025-10-24T19:51:39.074Z,1761335499.074 [DAT](INFO): DAT read: 2025-10-24T19:51:39.075Z,1761335499.075 [DAT](INFO): DAT read: 2025-10-24T19:51:39.075Z,1761335499.075 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-24T19:51:39.118Z,1761335499.118 [DAT](INFO): direction in FSK: [-0.499173,0.844056,-0.195946] 2025-10-24T19:51:39.134Z,1761335499.134 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:51:39.134Z,1761335499.134 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:51:39.134Z,1761335499.134 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:51:39.298Z,1761335499.298 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:39.318Z,1761335499.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243307,-0.946791,0.210686],[0.967853,-0.251259,-0.011413],[0.063742,0.201137,0.977487]] 2025-10-24T19:51:39.389Z,1761335499.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:39.549Z,1761335499.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:39.742Z,1761335499.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243253,-0.946878,0.210356],[0.967826,-0.251329,-0.012127],[0.064352,0.200638,0.977550]] 2025-10-24T19:51:39.790Z,1761335499.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:39.801Z,1761335499.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:40.053Z,1761335500.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:40.104Z,1761335500.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243247,-0.946852,0.210483],[0.967789,-0.251445,-0.012682],[0.064932,0.200618,0.977515]] 2025-10-24T19:51:40.142Z,1761335500.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:40.305Z,1761335500.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:40.508Z,1761335500.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242800,-0.946969,0.210469],[0.967869,-0.251106,-0.013263],[0.065410,0.200486,0.977511]] 2025-10-24T19:51:40.526Z,1761335500.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:40.557Z,1761335500.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:40.809Z,1761335500.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:40.990Z,1761335500.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:41.062Z,1761335501.062 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:41.314Z,1761335501.314 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:41.336Z,1761335501.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242542,-0.946927,0.210955],[0.967857,-0.251094,-0.014324],[0.066533,0.200700,0.977391]] 2025-10-24T19:51:41.356Z,1761335501.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:41.565Z,1761335501.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:41.765Z,1761335501.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242035,-0.947022,0.211111],[0.967975,-0.250625,-0.014512],[0.066652,0.200838,0.977354]] 2025-10-24T19:51:41.817Z,1761335501.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:41.821Z,1761335501.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:42.069Z,1761335502.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:42.189Z,1761335502.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241610,-0.947093,0.211282],[0.968041,-0.250335,-0.015155],[0.067244,0.200868,0.977308]] 2025-10-24T19:51:42.255Z,1761335502.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:42.321Z,1761335502.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:42.581Z,1761335502.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:42.589Z,1761335502.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241262,-0.947111,0.211598],[0.968117,-0.250032,-0.015302],[0.067399,0.201159,0.977237]] 2025-10-24T19:51:42.608Z,1761335502.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:42.833Z,1761335502.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:43.001Z,1761335503.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240935,-0.947302,0.211117],[0.968192,-0.249721,-0.015586],[0.067485,0.200646,0.977337]] 2025-10-24T19:51:43.084Z,1761335503.084 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:43.097Z,1761335503.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:43.337Z,1761335503.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:43.399Z,1761335503.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239922,-0.947481,0.211466],[0.968464,-0.248675,-0.015411],[0.067188,0.201100,0.977264]] 2025-10-24T19:51:43.437Z,1761335503.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:43.589Z,1761335503.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:43.814Z,1761335503.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239027,-0.947666,0.211650],[0.968693,-0.247780,-0.015443],[0.067078,0.201333,0.977224]] 2025-10-24T19:51:43.841Z,1761335503.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:43.899Z,1761335503.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:44.093Z,1761335504.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:44.285Z,1761335504.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238165,-0.947901,0.211569],[0.968926,-0.246874,-0.015352],[0.066783,0.201339,0.977242]] 2025-10-24T19:51:44.303Z,1761335504.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:44.345Z,1761335504.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:44.596Z,1761335504.596 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:44.713Z,1761335504.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237547,-0.948038,0.211647],[0.969077,-0.246272,-0.015466],[0.066785,0.201429,0.977224]] 2025-10-24T19:51:44.778Z,1761335504.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:44.849Z,1761335504.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:45.085Z,1761335505.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236497,-0.948397,0.211214],[0.969368,-0.245135,-0.015305],[0.066291,0.201125,0.977320]] 2025-10-24T19:51:45.101Z,1761335505.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:45.137Z,1761335505.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:45.355Z,1761335505.355 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:45.487Z,1761335505.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235849,-0.948564,0.211193],[0.969531,-0.244487,-0.015384],[0.066226,0.201130,0.977323]] 2025-10-24T19:51:45.506Z,1761335505.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:45.606Z,1761335505.606 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:45.857Z,1761335505.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:45.905Z,1761335505.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235023,-0.948843,0.210856],[0.969757,-0.243594,-0.015260],[0.065842,0.200892,0.977398]] 2025-10-24T19:51:45.955Z,1761335505.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:46.110Z,1761335506.110 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:46.305Z,1761335506.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234094,-0.949015,0.211118],[0.969994,-0.242652,-0.015205],[0.065658,0.201224,0.977342]] 2025-10-24T19:51:46.323Z,1761335506.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:46.361Z,1761335506.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:46.613Z,1761335506.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:46.730Z,1761335506.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:46.865Z,1761335506.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:47.107Z,1761335507.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232370,-0.949420,0.211200],[0.970447,-0.240848,-0.014978],[0.065087,0.201478,0.977328]] 2025-10-24T19:51:47.117Z,1761335507.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:47.158Z,1761335507.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:47.369Z,1761335507.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:47.558Z,1761335507.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:47.621Z,1761335507.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:47.873Z,1761335507.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:47.935Z,1761335507.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230963,-0.949819,0.210948],[0.970805,-0.239401,-0.015017],[0.064764,0.201321,0.977382]] 2025-10-24T19:51:47.991Z,1761335507.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:48.125Z,1761335508.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:48.380Z,1761335508.380 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:48.402Z,1761335508.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:48.634Z,1761335508.634 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:48.757Z,1761335508.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229338,-0.950268,0.210703],[0.971220,-0.237713,-0.014966],[0.064309,0.201207,0.977436]] 2025-10-24T19:51:48.776Z,1761335508.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:48.894Z,1761335508.894 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:49.145Z,1761335509.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:49.237Z,1761335509.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:49.397Z,1761335509.397 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:49.600Z,1761335509.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228591,-0.950375,0.211031],[0.971405,-0.236962,-0.014916],[0.064182,0.201587,0.977366]] 2025-10-24T19:51:49.649Z,1761335509.649 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:49.658Z,1761335509.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:51:49.659Z,1761335509.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:49.903Z,1761335509.903 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:50.051Z,1761335510.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228355,-0.950408,0.211138],[0.971461,-0.236731,-0.014931],[0.064174,0.201702,0.977342]] 2025-10-24T19:51:50.117Z,1761335510.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:50.153Z,1761335510.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:50.405Z,1761335510.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:50.521Z,1761335510.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228054,-0.950510,0.211003],[0.971538,-0.236414,-0.014933],[0.064078,0.201592,0.977371]] 2025-10-24T19:51:50.544Z,1761335510.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:50.656Z,1761335510.656 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:50.911Z,1761335510.911 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:50.945Z,1761335510.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228170,-0.950537,0.210756],[0.971507,-0.236534,-0.015016],[0.064124,0.201324,0.977423]] 2025-10-24T19:51:51.005Z,1761335511.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:51.161Z,1761335511.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:51.343Z,1761335511.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228408,-0.950436,0.210954],[0.971432,-0.236829,-0.015207],[0.064413,0.201454,0.977378]] 2025-10-24T19:51:51.370Z,1761335511.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:51.413Z,1761335511.413 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:51.665Z,1761335511.665 [DAT](INFO): DAT read: Rx Time:19:51:50.5432 2025-10-24T19:51:51.665Z,1761335511.665 [DAT](INFO): Rx dataTimestamp_ set to:1761335511.665078 2025-10-24T19:51:51.666Z,1761335511.666 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:51.747Z,1761335511.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228540,-0.950477,0.210625],[0.971391,-0.236985,-0.015420],[0.064571,0.201076,0.977445]] 2025-10-24T19:51:51.775Z,1761335511.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:51.919Z,1761335511.919 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:52.162Z,1761335512.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229095,-0.950262,0.210991],[0.971230,-0.237627,-0.015658],[0.065016,0.201334,0.977363]] 2025-10-24T19:51:52.169Z,1761335512.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:52.214Z,1761335512.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:52.421Z,1761335512.421 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:52.621Z,1761335512.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:52.672Z,1761335512.672 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:52.951Z,1761335512.951 [DAT](INFO): DAT read: 19:51:50.5432 LVL= 20256, 20721, 24226, 30707, AGC= 69, IDX= 397, 0.10, 2.051, 2.513, 0.332, 1.539, PHS= 0.600, 1.021,-1.210, RAW= 19.8, -4.0, CAL= 19.6, -7.1, ROT= 130.4, 7.1 2025-10-24T19:51:52.990Z,1761335512.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229832,-0.950015,0.211302],[0.971002,-0.238518,-0.016226],[0.065814,0.201445,0.977286]] 2025-10-24T19:51:53.012Z,1761335513.012 [DAT](INFO): got valid direction response: 19:51:50.5432 LVL= 20256, 20721, 24226, 30707, AGC= 69, IDX= 397, 0.10, 2.051, 2.513, 0.332, 1.539, PHS= 0.600, 1.021,-1.210, RAW= 19.8, -4.0, CAL= 19.6, -7.1, ROT= 130.4, 7.1 2025-10-24T19:51:53.012Z,1761335513.012 [DAT](INFO): DAT read: 2025-10-24T19:51:53.014Z,1761335513.014 [DAT](INFO): DAT read: DATA(0046):sÐWÔL£B5XOò@Æ¥§ÛB¼jàzÏöByÛp˜]ºål_ ªÒún›ET 2025-10-24T19:51:53.014Z,1761335513.014 [DAT](INFO): Got DATA 46 2025-10-24T19:51:53.015Z,1761335513.015 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:51:53.015Z,1761335513.015 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:51:53.020Z,1761335513.020 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:51:53.021Z,1761335513.021 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:02.6 PSNR:07.4 AGC:71 SPD:+1.4 CCERR:005 2025-10-24T19:51:53.022Z,1761335513.022 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:02.6 PSNR:07.4 AGC:71 SPD:+1.4 CCERR:005 2025-10-24T19:51:53.022Z,1761335513.022 [DAT](INFO): DAT read: 2025-10-24T19:51:53.023Z,1761335513.023 [DAT](INFO): DAT read: 2025-10-24T19:51:53.023Z,1761335513.023 [DAT](INFO): #Rx 3: Read direction message, but no range. 2025-10-24T19:51:53.056Z,1761335513.056 [DAT](INFO): direction in FSK: [-0.643150,0.755699,-0.123601] 2025-10-24T19:51:53.059Z,1761335513.059 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:53.156Z,1761335513.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:53.177Z,1761335513.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:53.429Z,1761335513.429 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:53.550Z,1761335513.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230342,-0.949875,0.211378],[0.970837,-0.239156,-0.016762],[0.066474,0.201353,0.977261]] 2025-10-24T19:51:53.605Z,1761335513.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:53.681Z,1761335513.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:53.939Z,1761335513.939 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:53.967Z,1761335513.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230871,-0.949710,0.211542],[0.970670,-0.239801,-0.017216],[0.067078,0.201363,0.977217]] 2025-10-24T19:51:54.046Z,1761335514.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:54.189Z,1761335514.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:54.354Z,1761335514.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231581,-0.949448,0.211941],[0.970439,-0.240686,-0.017855],[0.067964,0.201541,0.977119]] 2025-10-24T19:51:54.373Z,1761335514.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:54.441Z,1761335514.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:54.693Z,1761335514.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:54.759Z,1761335514.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232409,-0.949244,0.211946],[0.970178,-0.241682,-0.018578],[0.068859,0.201308,0.977105]] 2025-10-24T19:51:54.778Z,1761335514.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:54.947Z,1761335514.947 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:55.162Z,1761335515.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233027,-0.948941,0.212625],[0.969955,-0.242516,-0.019316],[0.069895,0.201735,0.976943]] 2025-10-24T19:51:55.197Z,1761335515.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:55.215Z,1761335515.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:55.449Z,1761335515.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:55.609Z,1761335515.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234450,-0.948460,0.213206],[0.969441,-0.244407,-0.021223],[0.072238,0.201715,0.976777]] 2025-10-24T19:51:55.635Z,1761335515.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:55.701Z,1761335515.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:55.988Z,1761335515.988 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:56.034Z,1761335516.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235049,-0.948363,0.212976],[0.969212,-0.245218,-0.022271],[0.073347,0.201184,0.976804]] 2025-10-24T19:51:56.142Z,1761335516.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:56.205Z,1761335516.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:56.408Z,1761335516.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236248,-0.947946,0.213506],[0.968807,-0.246712,-0.023379],[0.074836,0.201323,0.976662]] 2025-10-24T19:51:56.447Z,1761335516.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:56.457Z,1761335516.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:56.709Z,1761335516.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:56.803Z,1761335516.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237493,-0.947619,0.213576],[0.968386,-0.248242,-0.024597],[0.076328,0.200983,0.976617]] 2025-10-24T19:51:56.823Z,1761335516.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:56.963Z,1761335516.963 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:57.210Z,1761335517.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238534,-0.947227,0.214156],[0.968018,-0.249567,-0.025643],[0.077736,0.201190,0.976463]] 2025-10-24T19:51:57.213Z,1761335517.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:57.295Z,1761335517.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:57.465Z,1761335517.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:57.614Z,1761335517.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239392,-0.946915,0.214578],[0.967691,-0.250712,-0.026780],[0.079155,0.201234,0.976340]] 2025-10-24T19:51:57.648Z,1761335517.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:57.717Z,1761335517.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:57.973Z,1761335517.973 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:58.035Z,1761335518.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240529,-0.946466,0.215286],[0.967291,-0.252144,-0.027795],[0.080590,0.201558,0.976155]] 2025-10-24T19:51:58.089Z,1761335518.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:58.221Z,1761335518.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:58.473Z,1761335518.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:58.479Z,1761335518.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:58.728Z,1761335518.728 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:58.839Z,1761335518.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242354,-0.945893,0.215756],[0.966602,-0.254515,-0.030056],[0.083343,0.201266,0.975985]] 2025-10-24T19:51:58.858Z,1761335518.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:58.981Z,1761335518.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:59.229Z,1761335519.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:59.247Z,1761335519.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242979,-0.945660,0.216075],[0.966344,-0.255379,-0.031011],[0.084507,0.201268,0.975884]] 2025-10-24T19:51:59.297Z,1761335519.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:59.481Z,1761335519.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:59.675Z,1761335519.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243432,-0.945548,0.216053],[0.966155,-0.255998,-0.031774],[0.085353,0.201006,0.975864]] 2025-10-24T19:51:59.733Z,1761335519.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:51:59.742Z,1761335519.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:51:59.987Z,1761335519.987 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:00.068Z,1761335520.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243963,-0.945304,0.216522],[0.965936,-0.256732,-0.032502],[0.086313,0.201217,0.975736]] 2025-10-24T19:52:00.125Z,1761335520.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:00.237Z,1761335520.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:00.483Z,1761335520.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244157,-0.945244,0.216565],[0.965832,-0.257052,-0.033070],[0.086927,0.201091,0.975708]] 2025-10-24T19:52:00.490Z,1761335520.490 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:00.534Z,1761335520.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:00.741Z,1761335520.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:00.922Z,1761335520.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244182,-0.945125,0.217059],[0.965780,-0.257199,-0.033440],[0.087432,0.201466,0.975586]] 2025-10-24T19:52:00.955Z,1761335520.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:00.993Z,1761335520.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:01.245Z,1761335521.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:01.323Z,1761335521.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244021,-0.945236,0.216754],[0.965789,-0.257103,-0.033911],[0.087782,0.201063,0.975637]] 2025-10-24T19:52:01.384Z,1761335521.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:01.497Z,1761335521.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:01.749Z,1761335521.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:01.758Z,1761335521.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:02.001Z,1761335522.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:02.129Z,1761335522.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242791,-0.945606,0.216522],[0.966083,-0.255929,-0.034413],[0.087955,0.200823,0.975671]] 2025-10-24T19:52:02.182Z,1761335522.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:02.253Z,1761335522.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:02.505Z,1761335522.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:02.531Z,1761335522.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242154,-0.945688,0.216875],[0.966241,-0.255324,-0.034480],[0.087981,0.201204,0.975590]] 2025-10-24T19:52:02.574Z,1761335522.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:02.757Z,1761335522.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:02.956Z,1761335522.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240803,-0.946052,0.216793],[0.966602,-0.253945,-0.034526],[0.087716,0.201238,0.975607]] 2025-10-24T19:52:02.980Z,1761335522.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:03.009Z,1761335523.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:03.261Z,1761335523.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:03.413Z,1761335523.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:03.513Z,1761335523.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:03.766Z,1761335523.766 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:03.784Z,1761335523.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238656,-0.946627,0.216656],[0.967196,-0.251700,-0.034334],[0.087034,0.201355,0.975644]] 2025-10-24T19:52:03.819Z,1761335523.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:04.020Z,1761335524.020 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:04.181Z,1761335524.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237720,-0.947001,0.216050],[0.967460,-0.250685,-0.034318],[0.086660,0.200862,0.975779]] 2025-10-24T19:52:04.223Z,1761335524.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:04.271Z,1761335524.271 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:04.520Z,1761335524.520 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:04.611Z,1761335524.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236657,-0.947269,0.216044],[0.967755,-0.249567,-0.034164],[0.086280,0.200992,0.975786]] 2025-10-24T19:52:04.630Z,1761335524.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:04.774Z,1761335524.774 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:05.021Z,1761335525.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235658,-0.947588,0.215738],[0.968026,-0.248516,-0.034153],[0.085977,0.200792,0.975854]] 2025-10-24T19:52:05.025Z,1761335525.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:05.054Z,1761335525.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:05.278Z,1761335525.278 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:05.483Z,1761335525.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234200,-0.947886,0.216014],[0.968414,-0.247020,-0.034002],[0.085590,0.201228,0.975798]] 2025-10-24T19:52:05.529Z,1761335525.529 [DAT](INFO): DAT read: Rx Time:19:52:04.3859 2025-10-24T19:52:05.529Z,1761335525.529 [DAT](INFO): Rx dataTimestamp_ set to:1761335525.529113 2025-10-24T19:52:05.530Z,1761335525.530 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:05.541Z,1761335525.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:05.781Z,1761335525.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:05.882Z,1761335525.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233584,-0.948009,0.216143],[0.968575,-0.246392,-0.033953],[0.085444,0.201420,0.975771]] 2025-10-24T19:52:05.913Z,1761335525.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:06.033Z,1761335526.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:06.285Z,1761335526.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:06.283Z,1761335526.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233191,-0.948129,0.216039],[0.968663,-0.246021,-0.034142],[0.085521,0.201308,0.975788]] 2025-10-24T19:52:06.337Z,1761335526.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:06.540Z,1761335526.540 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:06.686Z,1761335526.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233234,-0.948152,0.215895],[0.968634,-0.246101,-0.034382],[0.085731,0.201105,0.975811]] 2025-10-24T19:52:06.735Z,1761335526.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:06.789Z,1761335526.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:07.041Z,1761335527.041 [DAT](INFO): DAT read: 2025-10-24T19:52:07.042Z,1761335527.042 [DAT](INFO): DAT read: DATA(0046):seÑ c.o¬Èú3s ²ýrvat ’`ûìTnè e󉞨¨Ù¬ÚÚ5+ 2025-10-24T19:52:07.043Z,1761335527.043 [DAT](INFO): Got DATA 46 2025-10-24T19:52:07.045Z,1761335527.045 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:52:07.045Z,1761335527.045 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:52:07.046Z,1761335527.046 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:52:07.047Z,1761335527.047 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:02.6 PSNR:08.5 AGC:73 SPD:+1.9 CCERR:006 2025-10-24T19:52:07.047Z,1761335527.047 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:02.6 PSNR:08.5 AGC:73 SPD:+1.9 CCERR:006 2025-10-24T19:52:07.048Z,1761335527.048 [DAT](INFO): DAT read: 2025-10-24T19:52:07.049Z,1761335527.049 [DAT](INFO): DAT read: 2025-10-24T19:52:07.049Z,1761335527.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:07.176Z,1761335527.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233555,-0.948016,0.216141],[0.968502,-0.246552,-0.034871],[0.086348,0.201189,0.975739]] 2025-10-24T19:52:07.293Z,1761335527.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:07.342Z,1761335527.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:07.545Z,1761335527.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:07.721Z,1761335527.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234072,-0.947860,0.216266],[0.968327,-0.247178,-0.035293],[0.086909,0.201155,0.975696]] 2025-10-24T19:52:07.743Z,1761335527.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:07.797Z,1761335527.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:08.049Z,1761335528.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:08.153Z,1761335528.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234612,-0.947583,0.216896],[0.968120,-0.247905,-0.035858],[0.087748,0.201569,0.975536]] 2025-10-24T19:52:08.164Z,1761335528.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:52:08.211Z,1761335528.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:08.301Z,1761335528.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:08.516Z,1761335528.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235286,-0.947400,0.216966],[0.967879,-0.248743,-0.036553],[0.088600,0.201397,0.975495]] 2025-10-24T19:52:08.535Z,1761335528.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:08.553Z,1761335528.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:08.806Z,1761335528.806 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:08.926Z,1761335528.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236369,-0.946998,0.217540],[0.967503,-0.250079,-0.037402],[0.089821,0.201630,0.975335]] 2025-10-24T19:52:08.945Z,1761335528.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:09.057Z,1761335529.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:09.169Z,1761335529.169 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:52:09.308Z,1761335529.308 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:09.329Z,1761335529.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237235,-0.946791,0.217502],[0.967184,-0.251162,-0.038380],[0.090966,0.201260,0.975305]] 2025-10-24T19:52:09.367Z,1761335529.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:09.562Z,1761335529.562 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:09.772Z,1761335529.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:09.813Z,1761335529.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:10.065Z,1761335530.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:10.170Z,1761335530.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239395,-0.946099,0.218145],[0.966388,-0.253874,-0.040531],[0.093728,0.201109,0.975074]] 2025-10-24T19:52:10.235Z,1761335530.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:10.317Z,1761335530.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:10.570Z,1761335530.570 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:10.606Z,1761335530.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241964,-0.945198,0.219211],[0.965454,-0.257052,-0.042698],[0.096707,0.201307,0.974743]] 2025-10-24T19:52:10.658Z,1761335530.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:10.820Z,1761335530.820 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:11.009Z,1761335531.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:11.073Z,1761335531.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:11.325Z,1761335531.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:11.368Z,1761335531.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243586,-0.944623,0.219894],[0.964897,-0.258976,-0.043654],[0.098184,0.201542,0.974546]] 2025-10-24T19:52:11.436Z,1761335531.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:11.577Z,1761335531.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:11.797Z,1761335531.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246294,-0.943817,0.220337],[0.963952,-0.262164,-0.045472],[0.100682,0.201195,0.974363]] 2025-10-24T19:52:11.816Z,1761335531.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:11.829Z,1761335531.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:12.081Z,1761335532.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:12.317Z,1761335532.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:12.336Z,1761335532.336 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:12.585Z,1761335532.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:12.594Z,1761335532.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248821,-0.942977,0.221095],[0.963080,-0.265109,-0.046846],[0.102789,0.201276,0.974126]] 2025-10-24T19:52:12.638Z,1761335532.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:12.837Z,1761335532.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:12.985Z,1761335532.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249507,-0.942689,0.221547],[0.962824,-0.265955,-0.047312],[0.103522,0.201506,0.974001]] 2025-10-24T19:52:13.005Z,1761335533.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:13.088Z,1761335533.088 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:13.344Z,1761335533.344 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:13.393Z,1761335533.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249923,-0.942600,0.221459],[0.962671,-0.266443,-0.047667],[0.103937,0.201280,0.974004]] 2025-10-24T19:52:13.453Z,1761335533.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:13.593Z,1761335533.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:13.787Z,1761335533.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250776,-0.942241,0.222021],[0.962388,-0.267424,-0.047898],[0.104506,0.201659,0.973865]] 2025-10-24T19:52:13.831Z,1761335533.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:13.845Z,1761335533.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:14.097Z,1761335534.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:14.243Z,1761335534.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250728,-0.942349,0.221618],[0.962398,-0.267361,-0.048040],[0.104522,0.201239,0.973950]] 2025-10-24T19:52:14.295Z,1761335534.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:14.349Z,1761335534.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:14.601Z,1761335534.601 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:14.653Z,1761335534.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250569,-0.942425,0.221472],[0.962464,-0.267151,-0.047888],[0.104298,0.201160,0.973990]] 2025-10-24T19:52:14.671Z,1761335534.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:14.853Z,1761335534.853 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:15.094Z,1761335535.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:15.105Z,1761335535.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:15.357Z,1761335535.357 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:15.514Z,1761335535.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249000,-0.942937,0.221063],[0.963007,-0.265334,-0.047063],[0.103033,0.201167,0.974123]] 2025-10-24T19:52:15.564Z,1761335535.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:15.609Z,1761335535.609 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:15.861Z,1761335535.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:15.943Z,1761335535.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247833,-0.943282,0.220901],[0.963408,-0.263991,-0.046418],[0.102101,0.201314,0.974191]] 2025-10-24T19:52:15.973Z,1761335535.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:16.113Z,1761335536.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:16.350Z,1761335536.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246517,-0.943675,0.220696],[0.963882,-0.262424,-0.045447],[0.100803,0.201521,0.974283]] 2025-10-24T19:52:16.365Z,1761335536.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:16.399Z,1761335536.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:16.617Z,1761335536.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:16.752Z,1761335536.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244773,-0.944211,0.220345],[0.964479,-0.260395,-0.044428],[0.099326,0.201644,0.974410]] 2025-10-24T19:52:16.793Z,1761335536.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:16.870Z,1761335536.870 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:17.122Z,1761335537.122 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:17.171Z,1761335537.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243169,-0.944742,0.219842],[0.965060,-0.258446,-0.043181],[0.097612,0.201661,0.974579]] 2025-10-24T19:52:17.207Z,1761335537.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:17.373Z,1761335537.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:17.624Z,1761335537.624 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:17.655Z,1761335537.655 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 74.49, 58.50, 61.90, 2025-10-24T19:52:17.715Z,1761335537.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:17.877Z,1761335537.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:17.974Z,1761335537.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239226,-0.946089,0.218374],[0.966447,-0.253681,-0.040321],[0.093545,0.201401,0.975032]] 2025-10-24T19:52:18.024Z,1761335538.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:18.129Z,1761335538.129 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:18.377Z,1761335538.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237494,-0.946586,0.218110],[0.967082,-0.251524,-0.038574],[0.091374,0.201769,0.975161]] 2025-10-24T19:52:18.381Z,1761335538.381 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:18.441Z,1761335538.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:18.638Z,1761335538.638 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:18.814Z,1761335538.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:18.885Z,1761335538.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:19.137Z,1761335539.137 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:19.189Z,1761335539.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234209,-0.947601,0.217250],[0.968310,-0.247312,-0.034827],[0.086731,0.202208,0.975495]] 2025-10-24T19:52:19.220Z,1761335539.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:19.389Z,1761335539.389 [DAT](INFO): DAT read: Rx Time:19:52:18.2787 2025-10-24T19:52:19.389Z,1761335539.389 [DAT](INFO): Rx dataTimestamp_ set to:1761335539.388994 2025-10-24T19:52:19.390Z,1761335539.390 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:19.592Z,1761335539.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232471,-0.948253,0.216273],[0.968952,-0.245050,-0.032901],[0.084197,0.201910,0.975778]] 2025-10-24T19:52:19.642Z,1761335539.642 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:19.665Z,1761335539.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:19.893Z,1761335539.893 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:19.999Z,1761335539.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230784,-0.948777,0.215778],[0.969574,-0.242851,-0.030814],[0.081638,0.202101,0.975956]] 2025-10-24T19:52:20.017Z,1761335540.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:20.145Z,1761335540.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:20.397Z,1761335540.397 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:20.404Z,1761335540.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229133,-0.949346,0.215036],[0.970178,-0.240680,-0.028781],[0.079078,0.202028,0.976182]] 2025-10-24T19:52:20.469Z,1761335540.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:20.651Z,1761335540.651 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:20.807Z,1761335540.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227780,-0.949861,0.214198],[0.970701,-0.238801,-0.026713],[0.076524,0.201838,0.976425]] 2025-10-24T19:52:20.851Z,1761335540.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:20.911Z,1761335540.911 [DAT](INFO): DAT read: 19:52:18.2787 LVL= 22896, 21809, 29362, 32755, AGC= 69, IDX= 405, 0.04,-0.802,-0.370,-2.697,-1.381, PHS= 0.666, 1.057,-1.319, RAW= 21.2, -3.7, CAL= 21.0, -6.6, ROT= 129.0, 6.6 2025-10-24T19:52:20.913Z,1761335540.913 [DAT](INFO): got valid direction response: 19:52:18.2787 LVL= 22896, 21809, 29362, 32755, AGC= 69, IDX= 405, 0.04,-0.802,-0.370,-2.697,-1.381, PHS= 0.666, 1.057,-1.319, RAW= 21.2, -3.7, CAL= 21.0, -6.6, ROT= 129.0, 6.6 2025-10-24T19:52:20.913Z,1761335540.913 [DAT](INFO): DAT read: 2025-10-24T19:52:20.925Z,1761335540.925 [DAT](INFO): DAT read: DATA(0046):se·d_.ëth™rs_Çb[ehvOtions nan n~ô tr•noÃe_str 2025-10-24T19:52:20.925Z,1761335540.925 [DAT](INFO): Got DATA 46 2025-10-24T19:52:20.926Z,1761335540.926 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:52:20.926Z,1761335540.926 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:52:20.926Z,1761335540.926 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:52:20.929Z,1761335540.929 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:01.9 PSNR:08.0 AGC:70 SPD:+1.7 CCERR:006 2025-10-24T19:52:20.930Z,1761335540.930 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:01.9 PSNR:08.0 AGC:70 SPD:+1.7 CCERR:006 2025-10-24T19:52:20.931Z,1761335540.931 [DAT](INFO): DAT read: 2025-10-24T19:52:20.931Z,1761335540.931 [DAT](INFO): DAT read: 2025-10-24T19:52:20.949Z,1761335540.949 [DAT](INFO): #Rx 4: Read direction message, but no range. 2025-10-24T19:52:20.950Z,1761335540.950 [DAT](INFO): direction in FSK: [-0.625150,0.771996,-0.114937] 2025-10-24T19:52:20.962Z,1761335540.962 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:21.153Z,1761335541.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:21.208Z,1761335541.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226651,-0.950246,0.213688],[0.971145,-0.237203,-0.024756],[0.074212,0.201911,0.976588]] 2025-10-24T19:52:21.242Z,1761335541.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:21.405Z,1761335541.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:21.611Z,1761335541.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225686,-0.950568,0.213277],[0.971544,-0.235766,-0.022727],[0.071887,0.202079,0.976727]] 2025-10-24T19:52:21.657Z,1761335541.657 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:21.666Z,1761335541.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:21.909Z,1761335541.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:22.038Z,1761335542.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224703,-0.950992,0.212419],[0.972061,-0.233949,-0.019108],[0.067866,0.202191,0.976992]] 2025-10-24T19:52:22.089Z,1761335542.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:22.162Z,1761335542.162 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:22.412Z,1761335542.412 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:22.437Z,1761335542.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224950,-0.950980,0.212214],[0.972111,-0.233865,-0.017553],[0.066322,0.202347,0.977066]] 2025-10-24T19:52:22.533Z,1761335542.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:22.665Z,1761335542.665 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:22.839Z,1761335542.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225150,-0.951059,0.211647],[0.972164,-0.233744,-0.016166],[0.064846,0.202116,0.977212]] 2025-10-24T19:52:22.858Z,1761335542.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:22.917Z,1761335542.917 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:23.169Z,1761335543.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:23.240Z,1761335543.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226107,-0.950854,0.211547],[0.972008,-0.234469,-0.014974],[0.063839,0.202240,0.977253]] 2025-10-24T19:52:23.269Z,1761335543.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:23.421Z,1761335543.421 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:23.644Z,1761335543.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.226961,-0.950649,0.211555],[0.971858,-0.235149,-0.014040],[0.063094,0.202415,0.977265]] 2025-10-24T19:52:23.673Z,1761335543.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:23.698Z,1761335543.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:23.925Z,1761335543.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:24.052Z,1761335544.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228546,-0.950282,0.211499],[0.971515,-0.236605,-0.013267],[0.062649,0.202442,0.977288]] 2025-10-24T19:52:24.074Z,1761335544.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:24.178Z,1761335544.178 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:24.428Z,1761335544.428 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:24.458Z,1761335544.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230392,-0.949780,0.211750],[0.971081,-0.238407,-0.012771],[0.062612,0.202684,0.977240]] 2025-10-24T19:52:24.498Z,1761335544.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:24.681Z,1761335544.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:24.859Z,1761335544.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232278,-0.949400,0.211390],[0.970639,-0.240225,-0.012358],[0.062514,0.202313,0.977324]] 2025-10-24T19:52:24.887Z,1761335544.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:24.933Z,1761335544.933 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:25.185Z,1761335545.185 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:25.264Z,1761335545.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234583,-0.948804,0.211521],[0.970061,-0.242557,-0.012191],[0.062873,0.202329,0.977297]] 2025-10-24T19:52:25.308Z,1761335545.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:25.436Z,1761335545.436 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:25.669Z,1761335545.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236731,-0.948332,0.211247],[0.969524,-0.244702,-0.012032],[0.063103,0.201961,0.977359]] 2025-10-24T19:52:25.689Z,1761335545.689 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:25.737Z,1761335545.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:25.940Z,1761335545.940 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:26.075Z,1761335546.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239392,-0.947545,0.211780],[0.968828,-0.247445,-0.011973],[0.063748,0.202312,0.977244]] 2025-10-24T19:52:26.098Z,1761335546.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:26.193Z,1761335546.193 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:26.445Z,1761335546.445 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:26.475Z,1761335546.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241787,-0.946934,0.211788],[0.968193,-0.249912,-0.012059],[0.064348,0.202136,0.977241]] 2025-10-24T19:52:26.523Z,1761335546.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:26.696Z,1761335546.696 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:26.879Z,1761335546.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244217,-0.946185,0.212350],[0.967531,-0.252459,-0.012175],[0.065129,0.202482,0.977118]] 2025-10-24T19:52:26.925Z,1761335546.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:26.949Z,1761335546.949 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:27.201Z,1761335547.201 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:27.302Z,1761335547.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246343,-0.945655,0.212254],[0.966944,-0.254684,-0.012453],[0.065834,0.202170,0.977135]] 2025-10-24T19:52:27.320Z,1761335547.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:27.455Z,1761335547.455 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:27.687Z,1761335547.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248518,-0.944964,0.212795],[0.966329,-0.256997,-0.012704],[0.066693,0.202473,0.977014]] 2025-10-24T19:52:27.705Z,1761335547.705 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:27.739Z,1761335547.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:27.957Z,1761335547.957 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:28.090Z,1761335548.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250196,-0.944538,0.212719],[0.965847,-0.258783,-0.013068],[0.067391,0.202185,0.977026]] 2025-10-24T19:52:28.130Z,1761335548.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:28.209Z,1761335548.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:28.463Z,1761335548.463 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:28.515Z,1761335548.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251782,-0.944108,0.212757],[0.965392,-0.260462,-0.013330],[0.068000,0.202038,0.977014]] 2025-10-24T19:52:28.562Z,1761335548.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:28.717Z,1761335548.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:28.937Z,1761335548.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252933,-0.943753,0.212966],[0.965046,-0.261723,-0.013664],[0.068634,0.202066,0.976964]] 2025-10-24T19:52:28.966Z,1761335548.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:28.969Z,1761335548.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:29.221Z,1761335549.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:29.339Z,1761335549.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253846,-0.943556,0.212752],[0.964783,-0.262682,-0.013858],[0.068962,0.201742,0.977008]] 2025-10-24T19:52:29.385Z,1761335549.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:29.476Z,1761335549.476 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:29.724Z,1761335549.724 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:29.745Z,1761335549.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254280,-0.943340,0.213195],[0.964647,-0.263176,-0.013951],[0.069269,0.202111,0.976910]] 2025-10-24T19:52:29.820Z,1761335549.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:29.978Z,1761335549.978 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:30.214Z,1761335550.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254502,-0.943325,0.212996],[0.964576,-0.263426,-0.014128],[0.069436,0.201855,0.976951]] 2025-10-24T19:52:30.229Z,1761335550.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:30.237Z,1761335550.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:30.483Z,1761335550.483 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:30.599Z,1761335550.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254145,-0.943338,0.213361],[0.964675,-0.263069,-0.014039],[0.069373,0.202256,0.976872]] 2025-10-24T19:52:30.649Z,1761335550.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:30.732Z,1761335550.732 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:30.986Z,1761335550.986 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:31.003Z,1761335551.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253401,-0.943629,0.212959],[0.964895,-0.262263,-0.013960],[0.069025,0.201945,0.976961]] 2025-10-24T19:52:31.022Z,1761335551.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:31.236Z,1761335551.236 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:31.409Z,1761335551.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252551,-0.943784,0.213284],[0.965137,-0.261380,-0.013785],[0.068759,0.202367,0.976893]] 2025-10-24T19:52:31.429Z,1761335551.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:31.491Z,1761335551.491 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:31.741Z,1761335551.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:31.863Z,1761335551.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:31.993Z,1761335551.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:32.245Z,1761335552.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:32.339Z,1761335552.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:32.499Z,1761335552.499 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:32.652Z,1761335552.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247741,-0.945153,0.212860],[0.966527,-0.256241,-0.012866],[0.066704,0.202547,0.976998]] 2025-10-24T19:52:32.708Z,1761335552.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:32.749Z,1761335552.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:33.001Z,1761335553.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:33.056Z,1761335553.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246278,-0.945627,0.212453],[0.966953,-0.254648,-0.012534],[0.065953,0.202345,0.977091]] 2025-10-24T19:52:33.100Z,1761335553.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:33.253Z,1761335553.253 [DAT](INFO): DAT read: Rx Time:19:52:32.1217 2025-10-24T19:52:33.253Z,1761335553.253 [DAT](INFO): Rx dataTimestamp_ set to:1761335553.253131 2025-10-24T19:52:33.254Z,1761335553.254 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:33.461Z,1761335553.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244712,-0.946043,0.212410],[0.967388,-0.252999,-0.012319],[0.065394,0.202468,0.977103]] 2025-10-24T19:52:33.507Z,1761335553.507 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:33.565Z,1761335553.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:33.757Z,1761335553.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:33.864Z,1761335553.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243092,-0.946591,0.211828],[0.967845,-0.251256,-0.012093],[0.064670,0.202077,0.977232]] 2025-10-24T19:52:33.966Z,1761335553.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:34.009Z,1761335554.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:34.261Z,1761335554.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:34.281Z,1761335554.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239974,-0.947450,0.211544],[0.968690,-0.247993,-0.011822],[0.063662,0.202083,0.977297]] 2025-10-24T19:52:34.337Z,1761335554.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:34.515Z,1761335554.515 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:34.676Z,1761335554.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238653,-0.947724,0.211812],[0.969030,-0.246659,-0.011815],[0.063443,0.202433,0.977239]] 2025-10-24T19:52:34.734Z,1761335554.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:34.765Z,1761335554.765 [DAT](INFO): DAT read: 2025-10-24T19:52:34.767Z,1761335554.767 [DAT](INFO): DAT read: DATA(0046):.eÕ/_© ‚;`ÚQrok é$zÆðmÅ΋~8èÔ$‚þ¹¡Ö[û=å± 2025-10-24T19:52:34.767Z,1761335554.767 [DAT](INFO): Got DATA 46 2025-10-24T19:52:34.771Z,1761335554.771 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:52:34.771Z,1761335554.771 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:52:34.772Z,1761335554.772 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:52:34.773Z,1761335554.773 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:02.9 PSNR:08.3 AGC:71 SPD:+2.0 CCERR:005 2025-10-24T19:52:34.774Z,1761335554.774 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:02.9 PSNR:08.3 AGC:71 SPD:+2.0 CCERR:005 2025-10-24T19:52:34.774Z,1761335554.774 [DAT](INFO): DAT read: 2025-10-24T19:52:34.774Z,1761335554.774 [DAT](INFO): DAT read: 2025-10-24T19:52:34.775Z,1761335554.775 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:35.016Z,1761335555.016 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:35.080Z,1761335555.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237164,-0.948208,0.211319],[0.969421,-0.245116,-0.011873],[0.063055,0.202041,0.977345]] 2025-10-24T19:52:35.099Z,1761335555.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:35.269Z,1761335555.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:35.480Z,1761335555.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236092,-0.948460,0.211384],[0.969683,-0.244066,-0.012075],[0.063044,0.202125,0.977328]] 2025-10-24T19:52:35.523Z,1761335555.523 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:35.535Z,1761335555.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:35.773Z,1761335555.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:35.883Z,1761335555.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235057,-0.948766,0.211166],[0.969938,-0.243040,-0.012301],[0.062992,0.201927,0.977373]] 2025-10-24T19:52:35.942Z,1761335555.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:36.025Z,1761335556.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:36.278Z,1761335556.278 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:36.346Z,1761335556.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:36.532Z,1761335556.532 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:36.696Z,1761335556.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235065,-0.948664,0.211617],[0.969872,-0.243258,-0.013174],[0.063975,0.202144,0.977264]] 2025-10-24T19:52:36.735Z,1761335556.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:36.781Z,1761335556.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:37.033Z,1761335557.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:37.095Z,1761335557.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235585,-0.948543,0.211580],[0.969705,-0.243896,-0.013697],[0.064595,0.201943,0.977265]] 2025-10-24T19:52:37.135Z,1761335557.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:37.285Z,1761335557.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:37.499Z,1761335557.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235972,-0.948353,0.212000],[0.969566,-0.244419,-0.014178],[0.065262,0.202202,0.977167]] 2025-10-24T19:52:37.517Z,1761335557.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:37.537Z,1761335557.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:37.791Z,1761335557.791 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:37.914Z,1761335557.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236727,-0.948182,0.211922],[0.969337,-0.245294,-0.014699],[0.065921,0.201945,0.977176]] 2025-10-24T19:52:37.977Z,1761335557.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:38.041Z,1761335558.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:38.293Z,1761335558.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:38.311Z,1761335558.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237860,-0.947787,0.212418],[0.968994,-0.246609,-0.015289],[0.066875,0.202196,0.977059]] 2025-10-24T19:52:38.354Z,1761335558.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:38.547Z,1761335558.547 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:38.712Z,1761335558.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238344,-0.947683,0.212342],[0.968843,-0.247179,-0.015678],[0.067344,0.201989,0.977070]] 2025-10-24T19:52:38.765Z,1761335558.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:38.797Z,1761335558.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:39.048Z,1761335559.048 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:39.116Z,1761335559.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239636,-0.947280,0.212684],[0.968465,-0.248623,-0.016159],[0.068185,0.202104,0.976988]] 2025-10-24T19:52:39.141Z,1761335559.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:39.296Z,1761335559.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:52:39.301Z,1761335559.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:39.519Z,1761335559.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240158,-0.947170,0.212588],[0.968311,-0.249207,-0.016433],[0.068543,0.201905,0.977004]] 2025-10-24T19:52:39.552Z,1761335559.552 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:39.650Z,1761335559.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:39.805Z,1761335559.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:39.928Z,1761335559.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241327,-0.946778,0.213009],[0.967974,-0.250491,-0.016718],[0.069186,0.202153,0.976907]] 2025-10-24T19:52:39.990Z,1761335559.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:40.057Z,1761335560.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:40.301Z,1761335560.301 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:52:40.308Z,1761335560.308 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:40.342Z,1761335560.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241907,-0.946681,0.212782],[0.967813,-0.251104,-0.016894],[0.069423,0.201846,0.976954]] 2025-10-24T19:52:40.378Z,1761335560.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:40.561Z,1761335560.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:40.734Z,1761335560.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242223,-0.946549,0.213011],[0.967734,-0.251416,-0.016764],[0.069422,0.202077,0.976906]] 2025-10-24T19:52:40.772Z,1761335560.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:40.813Z,1761335560.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:41.066Z,1761335561.066 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:41.136Z,1761335561.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241979,-0.946622,0.212962],[0.967810,-0.251133,-0.016615],[0.069210,0.202087,0.976919]] 2025-10-24T19:52:41.164Z,1761335561.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:41.318Z,1761335561.318 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:41.539Z,1761335561.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241891,-0.946678,0.212813],[0.967855,-0.250976,-0.016346],[0.068886,0.202018,0.976956]] 2025-10-24T19:52:41.569Z,1761335561.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:41.575Z,1761335561.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:41.822Z,1761335561.822 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:41.994Z,1761335561.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241175,-0.946827,0.212962],[0.968071,-0.250168,-0.015926],[0.068355,0.202322,0.976931]] 2025-10-24T19:52:42.034Z,1761335562.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:42.073Z,1761335562.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:42.325Z,1761335562.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:42.397Z,1761335562.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240306,-0.947178,0.212384],[0.968345,-0.249138,-0.015437],[0.067534,0.201951,0.977064]] 2025-10-24T19:52:42.428Z,1761335562.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:42.578Z,1761335562.578 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:42.796Z,1761335562.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239424,-0.947337,0.212670],[0.968619,-0.248114,-0.014749],[0.066739,0.202465,0.977013]] 2025-10-24T19:52:42.829Z,1761335562.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:42.854Z,1761335562.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:43.081Z,1761335563.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:43.200Z,1761335563.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238038,-0.947874,0.211831],[0.969044,-0.246489,-0.014024],[0.065507,0.201935,0.977206]] 2025-10-24T19:52:43.222Z,1761335563.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:43.333Z,1761335563.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:43.585Z,1761335563.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:43.607Z,1761335563.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236872,-0.948190,0.211726],[0.969405,-0.245112,-0.013168],[0.064382,0.202130,0.977240]] 2025-10-24T19:52:43.630Z,1761335563.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:43.837Z,1761335563.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:44.007Z,1761335564.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235368,-0.948658,0.211305],[0.969864,-0.243343,-0.012183],[0.062977,0.202069,0.977344]] 2025-10-24T19:52:44.056Z,1761335564.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:44.089Z,1761335564.089 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:44.341Z,1761335564.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:44.411Z,1761335564.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233976,-0.949010,0.211271],[0.970294,-0.241678,-0.011022],[0.061520,0.202416,0.977365]] 2025-10-24T19:52:44.469Z,1761335564.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:44.593Z,1761335564.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:44.845Z,1761335564.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:44.873Z,1761335564.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232217,-0.949511,0.210959],[0.970817,-0.239619,-0.009863],[0.059915,0.202512,0.977445]] 2025-10-24T19:52:44.935Z,1761335564.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:45.097Z,1761335565.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:45.259Z,1761335565.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.230796,-0.949975,0.210431],[0.971256,-0.237879,-0.008635],[0.058260,0.202390,0.977571]] 2025-10-24T19:52:45.303Z,1761335565.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:45.349Z,1761335565.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:45.601Z,1761335565.601 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:45.721Z,1761335565.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229049,-0.950502,0.209957],[0.971769,-0.235818,-0.007442],[0.056585,0.202325,0.977682]] 2025-10-24T19:52:45.823Z,1761335565.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:45.853Z,1761335565.853 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:46.089Z,1761335566.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227451,-0.951009,0.209401],[0.972246,-0.233882,-0.006137],[0.054811,0.202193,0.977811]] 2025-10-24T19:52:46.106Z,1761335566.106 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:46.145Z,1761335566.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:46.359Z,1761335566.359 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:46.571Z,1761335566.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224137,-0.952052,0.208230],[0.973201,-0.229928,-0.003714],[0.051414,0.201817,0.978073]] 2025-10-24T19:52:46.609Z,1761335566.609 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:46.637Z,1761335566.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:46.862Z,1761335566.862 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:47.017Z,1761335567.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:47.113Z,1761335567.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:47.366Z,1761335567.366 [DAT](INFO): DAT read: Rx Time:19:52:46.2145 2025-10-24T19:52:47.367Z,1761335567.367 [DAT](INFO): Rx dataTimestamp_ set to:1761335567.366647 2025-10-24T19:52:47.368Z,1761335567.368 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:47.415Z,1761335567.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:47.617Z,1761335567.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:47.869Z,1761335567.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:47.882Z,1761335567.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:48.120Z,1761335568.120 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:48.200Z,1761335568.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221670,-0.952722,0.207804],[0.973969,-0.226683,-0.000320],[0.047411,0.202324,0.978170]] 2025-10-24T19:52:48.227Z,1761335568.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:48.373Z,1761335568.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:48.603Z,1761335568.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.221807,-0.952713,0.207702],[0.973959,-0.226725,0.000131],[0.046966,0.202322,0.978192]] 2025-10-24T19:52:48.629Z,1761335568.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:48.638Z,1761335568.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:48.881Z,1761335568.881 [DAT](INFO): DAT read: 2025-10-24T19:52:48.885Z,1761335568.885 [DAT](INFO): DAT read: DATA(0046):|šH!íËàeÛ"Zò‹âL‘,ÆX#‹“º QV«•·-F1Ê?«¤Õ,„£ 2025-10-24T19:52:48.885Z,1761335568.885 [DAT](INFO): Got DATA 46 2025-10-24T19:52:48.886Z,1761335568.886 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:52:48.886Z,1761335568.886 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:52:48.887Z,1761335568.887 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:52:48.890Z,1761335568.890 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:01.6 PSNR:07.0 AGC:69 SPD:+1.2 CCERR:005 2025-10-24T19:52:48.890Z,1761335568.890 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:01.6 PSNR:07.0 AGC:69 SPD:+1.2 CCERR:005 2025-10-24T19:52:48.891Z,1761335568.891 [DAT](INFO): DAT read: 2025-10-24T19:52:48.892Z,1761335568.892 [DAT](INFO): DAT read: 2025-10-24T19:52:48.892Z,1761335568.892 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:49.083Z,1761335569.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:49.134Z,1761335569.134 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:49.385Z,1761335569.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:49.418Z,1761335569.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222417,-0.952621,0.207470],[0.973830,-0.227279,0.000411],[0.046762,0.202132,0.978241]] 2025-10-24T19:52:49.456Z,1761335569.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:49.637Z,1761335569.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:49.817Z,1761335569.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.222787,-0.952468,0.207777],[0.973737,-0.227676,0.000395],[0.046930,0.202408,0.978176]] 2025-10-24T19:52:49.868Z,1761335569.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:52:49.870Z,1761335569.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:49.890Z,1761335569.890 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:50.140Z,1761335570.140 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:50.221Z,1761335570.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223669,-0.952260,0.207782],[0.973517,-0.228613,0.000225],[0.047287,0.202330,0.978175]] 2025-10-24T19:52:50.241Z,1761335570.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:50.393Z,1761335570.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:50.629Z,1761335570.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.224559,-0.951946,0.208261],[0.973286,-0.229595,-0.000011],[0.047827,0.202695,0.978073]] 2025-10-24T19:52:50.645Z,1761335570.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:50.649Z,1761335570.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:50.897Z,1761335570.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:51.027Z,1761335571.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.225637,-0.951731,0.208078],[0.973008,-0.230770,-0.000403],[0.048402,0.202371,0.978112]] 2025-10-24T19:52:51.077Z,1761335571.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:51.150Z,1761335571.150 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:51.401Z,1761335571.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:51.440Z,1761335571.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227118,-0.951301,0.208432],[0.972621,-0.232394,-0.000850],[0.049247,0.202532,0.978037]] 2025-10-24T19:52:51.462Z,1761335571.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:51.653Z,1761335571.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:51.838Z,1761335571.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228650,-0.950920,0.208497],[0.972210,-0.234106,-0.001535],[0.050270,0.202351,0.978022]] 2025-10-24T19:52:51.878Z,1761335571.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:51.906Z,1761335571.906 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:52.157Z,1761335572.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:52.239Z,1761335572.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.229974,-0.950628,0.208373],[0.971854,-0.235575,-0.002125],[0.051107,0.202019,0.978047]] 2025-10-24T19:52:52.274Z,1761335572.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:52.409Z,1761335572.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:52.661Z,1761335572.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:52.687Z,1761335572.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:52.913Z,1761335572.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:53.049Z,1761335573.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232766,-0.949770,0.209184],[0.971077,-0.238741,-0.003420],[0.053189,0.202338,0.977870]] 2025-10-24T19:52:53.118Z,1761335573.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:53.165Z,1761335573.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:53.417Z,1761335573.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:53.450Z,1761335573.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234132,-0.949346,0.209583],[0.970685,-0.240318,-0.004181],[0.054336,0.202460,0.977782]] 2025-10-24T19:52:53.494Z,1761335573.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:53.669Z,1761335573.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:53.865Z,1761335573.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235257,-0.949105,0.209414],[0.970364,-0.241599,-0.004862],[0.055208,0.202064,0.977815]] 2025-10-24T19:52:53.929Z,1761335573.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:53.945Z,1761335573.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:54.180Z,1761335574.180 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:54.259Z,1761335574.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236490,-0.948744,0.209662],[0.970000,-0.243038,-0.005654],[0.056320,0.202035,0.977758]] 2025-10-24T19:52:54.284Z,1761335574.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:54.433Z,1761335574.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:54.665Z,1761335574.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237185,-0.948564,0.209688],[0.969790,-0.243862,-0.006196],[0.057012,0.201884,0.977749]] 2025-10-24T19:52:54.685Z,1761335574.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:54.685Z,1761335574.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:54.937Z,1761335574.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:55.139Z,1761335575.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:55.190Z,1761335575.190 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:55.440Z,1761335575.440 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:55.470Z,1761335575.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238376,-0.948163,0.210151],[0.969398,-0.245378,-0.007507],[0.058684,0.201931,0.977640]] 2025-10-24T19:52:55.509Z,1761335575.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:55.693Z,1761335575.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:55.894Z,1761335575.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239042,-0.947873,0.210703],[0.969185,-0.246202,-0.008031],[0.059488,0.202291,0.977517]] 2025-10-24T19:52:55.945Z,1761335575.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:55.950Z,1761335575.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:56.197Z,1761335576.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:56.289Z,1761335576.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239029,-0.947872,0.210720],[0.969156,-0.246301,-0.008569],[0.060023,0.202172,0.977509]] 2025-10-24T19:52:56.308Z,1761335576.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:56.448Z,1761335576.448 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:56.683Z,1761335576.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239198,-0.947792,0.210888],[0.969081,-0.246578,-0.009018],[0.060547,0.202211,0.977469]] 2025-10-24T19:52:56.709Z,1761335576.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:56.732Z,1761335576.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:56.961Z,1761335576.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:57.088Z,1761335577.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239125,-0.947830,0.210802],[0.969071,-0.246598,-0.009506],[0.060993,0.202009,0.977482]] 2025-10-24T19:52:57.144Z,1761335577.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:57.217Z,1761335577.217 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:57.469Z,1761335577.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:57.550Z,1761335577.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239104,-0.947894,0.210537],[0.969061,-0.246626,-0.009827],[0.061239,0.201674,0.977536]] 2025-10-24T19:52:57.573Z,1761335577.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:57.721Z,1761335577.721 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:57.923Z,1761335577.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239437,-0.947703,0.211019],[0.968948,-0.247057,-0.010116],[0.061721,0.202044,0.977430]] 2025-10-24T19:52:57.973Z,1761335577.973 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:57.982Z,1761335577.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:58.225Z,1761335578.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:58.303Z,1761335578.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239405,-0.947712,0.211012],[0.968958,-0.247019,-0.010092],[0.061688,0.202046,0.977431]] 2025-10-24T19:52:58.349Z,1761335578.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:58.477Z,1761335578.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:58.703Z,1761335578.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239655,-0.947658,0.210974],[0.968888,-0.247290,-0.010177],[0.061816,0.201972,0.977439]] 2025-10-24T19:52:58.722Z,1761335578.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:58.729Z,1761335578.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:58.981Z,1761335578.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:59.114Z,1761335579.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239623,-0.947730,0.210687],[0.968907,-0.247220,-0.010084],[0.061643,0.201720,0.977502]] 2025-10-24T19:52:59.182Z,1761335579.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:59.233Z,1761335579.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:59.485Z,1761335579.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:59.514Z,1761335579.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239591,-0.947741,0.210674],[0.968928,-0.247144,-0.009881],[0.061432,0.201761,0.977506]] 2025-10-24T19:52:59.554Z,1761335579.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:52:59.737Z,1761335579.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:52:59.954Z,1761335579.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238968,-0.947985,0.210285],[0.969141,-0.246335,-0.009171],[0.060494,0.201604,0.977597]] 2025-10-24T19:52:59.989Z,1761335579.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:00.022Z,1761335580.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:00.242Z,1761335580.242 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:00.326Z,1761335580.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238645,-0.948040,0.210401],[0.969247,-0.245935,-0.008793],[0.060081,0.201832,0.977576]] 2025-10-24T19:53:00.347Z,1761335580.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:00.493Z,1761335580.493 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:00.730Z,1761335580.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238226,-0.948193,0.210189],[0.969392,-0.245380,-0.008246],[0.059395,0.201791,0.977626]] 2025-10-24T19:53:00.745Z,1761335580.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:00.750Z,1761335580.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:00.997Z,1761335580.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:01.128Z,1761335581.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237732,-0.948317,0.210187],[0.969547,-0.244780,-0.007789],[0.058836,0.201935,0.977630]] 2025-10-24T19:53:01.180Z,1761335581.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:01.250Z,1761335581.250 [DAT](INFO): DAT read: Rx Time:19:53:00.1078 2025-10-24T19:53:01.250Z,1761335581.250 [DAT](INFO): Rx dataTimestamp_ set to:1761335581.249778 2025-10-24T19:53:01.251Z,1761335581.251 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:01.507Z,1761335581.507 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:01.532Z,1761335581.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237278,-0.948464,0.210037],[0.969708,-0.244165,-0.007100],[0.058018,0.201990,0.977668]] 2025-10-24T19:53:01.553Z,1761335581.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:01.752Z,1761335581.752 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:01.978Z,1761335581.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.236538,-0.948699,0.209809],[0.969940,-0.243259,-0.006444],[0.057151,0.201978,0.977721]] 2025-10-24T19:53:02.005Z,1761335582.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:02.025Z,1761335582.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:02.257Z,1761335582.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:02.346Z,1761335582.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235671,-0.949005,0.209400],[0.970211,-0.242196,-0.005705],[0.056130,0.201817,0.977813]] 2025-10-24T19:53:02.398Z,1761335582.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:02.518Z,1761335582.518 [DAT](INFO): DAT read: 19:53:00.1078 LVL= 20784, 22081, 22354, 24179, AGC= 73, IDX= 399, 0.24,-1.918,-1.503, 2.563,-2.497, PHS= 0.667, 1.041,-1.227, RAW= 21.2, -4.6, CAL= 21.0, -7.9, ROT= 129.0, 7.9 2025-10-24T19:53:02.521Z,1761335582.521 [DAT](INFO): got valid direction response: 19:53:00.1078 LVL= 20784, 22081, 22354, 24179, AGC= 73, IDX= 399, 0.24,-1.918,-1.503, 2.563,-2.497, PHS= 0.667, 1.041,-1.227, RAW= 21.2, -4.6, CAL= 21.0, -7.9, ROT= 129.0, 7.9 2025-10-24T19:53:02.521Z,1761335582.521 [DAT](INFO): #Rx 5: Read direction message, but no range. 2025-10-24T19:53:02.523Z,1761335582.523 [DAT](INFO): direction in FSK: [-0.623348,0.769771,-0.137445] 2025-10-24T19:53:02.527Z,1761335582.527 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:02.746Z,1761335582.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234717,-0.949265,0.209295],[0.970503,-0.241039,-0.004854],[0.055056,0.201982,0.977840]] 2025-10-24T19:53:02.761Z,1761335582.761 [DAT](INFO): DAT read: 2025-10-24T19:53:02.762Z,1761335582.762 [DAT](INFO): DAT read: DATA(0046):³ j:{쟄™ 2025-10-24T19:53:02.762Z,1761335582.762 [DAT](INFO): Got DATA 46 2025-10-24T19:53:02.763Z,1761335582.763 [DAT](INFO): DAT read: D¸ÚZ¾³¶«>à5Ÿ­§àá)R]YñÎ\UBêe^ê- 2025-10-24T19:53:02.763Z,1761335582.763 [DAT](INFO): Got DATA 0 2025-10-24T19:53:02.764Z,1761335582.764 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:53:02.764Z,1761335582.764 [DAT](INFO): Got DATA 0 2025-10-24T19:53:02.766Z,1761335582.766 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:02.7 PSNR:05.6 AGC:71 SPD:+1.7 CCERR:004 2025-10-24T19:53:02.766Z,1761335582.766 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:02.7 PSNR:05.6 AGC:71 SPD:+1.7 CCERR:004 2025-10-24T19:53:02.766Z,1761335582.766 [DAT](INFO): DAT read: 2025-10-24T19:53:02.767Z,1761335582.767 [DAT](INFO): DAT read: 2025-10-24T19:53:02.767Z,1761335582.767 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:02.782Z,1761335582.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:03.012Z,1761335583.012 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:03.147Z,1761335583.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233755,-0.949566,0.209005],[0.970790,-0.239895,-0.004160],[0.054090,0.201927,0.977906]] 2025-10-24T19:53:03.208Z,1761335583.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:03.265Z,1761335583.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:03.517Z,1761335583.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:03.555Z,1761335583.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233247,-0.949710,0.208919],[0.970959,-0.239223,-0.003439],[0.053244,0.202050,0.977927]] 2025-10-24T19:53:03.577Z,1761335583.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:03.769Z,1761335583.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:04.004Z,1761335584.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232285,-0.950006,0.208642],[0.971245,-0.238067,-0.002683],[0.052219,0.202020,0.977988]] 2025-10-24T19:53:04.021Z,1761335584.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:04.091Z,1761335584.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:04.273Z,1761335584.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:04.359Z,1761335584.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232267,-0.950024,0.208581],[0.971283,-0.237919,-0.002070],[0.051592,0.202110,0.978003]] 2025-10-24T19:53:04.379Z,1761335584.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:04.525Z,1761335584.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:04.778Z,1761335584.778 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:04.779Z,1761335584.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231986,-0.950124,0.208441],[0.971386,-0.237502,-0.001479],[0.050910,0.202134,0.978034]] 2025-10-24T19:53:04.814Z,1761335584.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:05.029Z,1761335585.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:05.239Z,1761335585.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:05.281Z,1761335585.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:05.533Z,1761335585.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:05.571Z,1761335585.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232304,-0.950148,0.207977],[0.971371,-0.237568,-0.000342],[0.049734,0.201944,0.978134]] 2025-10-24T19:53:05.605Z,1761335585.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:05.786Z,1761335585.786 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:06.037Z,1761335586.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:06.046Z,1761335586.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.232920,-0.950033,0.207812],[0.971243,-0.238089,0.000145],[0.049340,0.201870,0.978169]] 2025-10-24T19:53:06.117Z,1761335586.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:06.289Z,1761335586.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:06.383Z,1761335586.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.233456,-0.949860,0.207999],[0.971122,-0.238581,0.000458],[0.049190,0.202099,0.978129]] 2025-10-24T19:53:06.402Z,1761335586.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:06.541Z,1761335586.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:06.785Z,1761335586.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234481,-0.949618,0.207953],[0.970878,-0.239573,0.000719],[0.049137,0.202065,0.978139]] 2025-10-24T19:53:06.793Z,1761335586.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:06.812Z,1761335586.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:07.045Z,1761335587.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:07.238Z,1761335587.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:07.299Z,1761335587.299 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:07.548Z,1761335587.548 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:07.635Z,1761335587.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:07.801Z,1761335587.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:08.005Z,1761335588.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.237680,-0.948817,0.207979],[0.970061,-0.242861,0.000639],[0.049903,0.201904,0.978133]] 2025-10-24T19:53:08.055Z,1761335588.055 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:08.080Z,1761335588.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:08.305Z,1761335588.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:08.399Z,1761335588.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238478,-0.948661,0.207777],[0.969858,-0.243672,0.000614],[0.050047,0.201660,0.978176]] 2025-10-24T19:53:08.468Z,1761335588.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:08.557Z,1761335588.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:08.807Z,1761335588.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240116,-0.948161,0.208172],[0.969418,-0.245414,0.000388],[0.050721,0.201899,0.978092]] 2025-10-24T19:53:08.809Z,1761335588.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:08.834Z,1761335588.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:09.062Z,1761335589.062 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:09.207Z,1761335589.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241556,-0.947781,0.208233],[0.969031,-0.246938,0.000153],[0.051276,0.201822,0.978079]] 2025-10-24T19:53:09.253Z,1761335589.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:09.313Z,1761335589.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:09.565Z,1761335589.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:09.611Z,1761335589.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243115,-0.947337,0.208443],[0.968613,-0.248572,0.000012],[0.051802,0.201904,0.978034]] 2025-10-24T19:53:09.647Z,1761335589.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:09.817Z,1761335589.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:10.020Z,1761335590.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244976,-0.946826,0.208584],[0.968101,-0.250561,-0.000366],[0.052610,0.201840,0.978005]] 2025-10-24T19:53:10.075Z,1761335590.075 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:10.106Z,1761335590.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:10.321Z,1761335590.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:10.427Z,1761335590.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246355,-0.946520,0.208347],[0.967727,-0.251999,-0.000563],[0.053036,0.201484,0.978055]] 2025-10-24T19:53:10.436Z,1761335590.436 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:53:10.496Z,1761335590.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:10.574Z,1761335590.574 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:10.825Z,1761335590.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:10.833Z,1761335590.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247711,-0.946073,0.208771],[0.967348,-0.253449,-0.000761],[0.053633,0.201766,0.977964]] 2025-10-24T19:53:10.852Z,1761335590.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:11.079Z,1761335591.079 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:11.227Z,1761335591.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249351,-0.945663,0.208676],[0.966897,-0.255167,-0.000982],[0.054176,0.201524,0.977984]] 2025-10-24T19:53:11.274Z,1761335591.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:11.330Z,1761335591.330 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:11.440Z,1761335591.440 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:53:11.581Z,1761335591.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:11.637Z,1761335591.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250931,-0.945154,0.209086],[0.966455,-0.256834,-0.001123],[0.054762,0.201790,0.977897]] 2025-10-24T19:53:11.655Z,1761335591.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:11.833Z,1761335591.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:12.041Z,1761335592.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252261,-0.944821,0.208990],[0.966093,-0.258191,-0.001131],[0.055028,0.201618,0.977917]] 2025-10-24T19:53:12.095Z,1761335592.095 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:12.121Z,1761335592.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:12.345Z,1761335592.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:12.439Z,1761335592.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253265,-0.944457,0.209424],[0.965817,-0.259221,-0.001027],[0.055257,0.202005,0.977824]] 2025-10-24T19:53:12.486Z,1761335592.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:12.597Z,1761335592.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:12.846Z,1761335592.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254209,-0.944287,0.209047],[0.965568,-0.260149,-0.000953],[0.055283,0.201607,0.977905]] 2025-10-24T19:53:12.849Z,1761335592.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:12.882Z,1761335592.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:13.103Z,1761335593.103 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:13.248Z,1761335593.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254952,-0.944046,0.209230],[0.965372,-0.260876,-0.000743],[0.055284,0.201796,0.977866]] 2025-10-24T19:53:13.307Z,1761335593.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:13.353Z,1761335593.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:13.605Z,1761335593.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:13.655Z,1761335593.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255267,-0.944008,0.209018],[0.965298,-0.261150,-0.000570],[0.055123,0.201619,0.977912]] 2025-10-24T19:53:13.674Z,1761335593.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:13.856Z,1761335593.856 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:14.055Z,1761335594.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255416,-0.943955,0.209072],[0.965279,-0.261221,-0.000159],[0.054764,0.201773,0.977900]] 2025-10-24T19:53:14.115Z,1761335594.115 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:14.155Z,1761335594.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:14.365Z,1761335594.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:14.518Z,1761335594.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:14.617Z,1761335594.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:14.867Z,1761335594.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254675,-0.944195,0.208895],[0.965529,-0.260294,0.000612],[0.053797,0.201850,0.977938]] 2025-10-24T19:53:14.869Z,1761335594.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:14.890Z,1761335594.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:15.123Z,1761335595.123 [DAT](INFO): DAT read: Rx Time:19:53:13.9498 2025-10-24T19:53:15.125Z,1761335595.125 [DAT](INFO): Rx dataTimestamp_ set to:1761335595.124038 2025-10-24T19:53:15.126Z,1761335595.126 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:15.329Z,1761335595.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:15.373Z,1761335595.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:15.625Z,1761335595.625 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:15.671Z,1761335595.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253224,-0.944638,0.208654],[0.965983,-0.258601,0.001563],[0.052482,0.201952,0.977988]] 2025-10-24T19:53:15.690Z,1761335595.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:15.879Z,1761335595.879 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:16.077Z,1761335596.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252308,-0.944912,0.208525],[0.966260,-0.257562,0.002022],[0.051797,0.202000,0.978015]] 2025-10-24T19:53:16.100Z,1761335596.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:16.132Z,1761335596.132 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:16.385Z,1761335596.385 [DAT](INFO): DAT read: 19:53:13.9498 LVL= 24160, 22065, 21234, 28659, AGC= 69, IDX= 387, 0.25, 2.783,-3.007, 1.232, 2.287, PHS= 0.585, 1.036,-1.058, RAW= 18.2, -6.0, CAL= 18.0, -9.7, ROT= 132.0, 9.7 2025-10-24T19:53:16.387Z,1761335596.387 [DAT](INFO): got valid direction response: 19:53:13.9498 LVL= 24160, 22065, 21234, 28659, AGC= 69, IDX= 387, 0.25, 2.783,-3.007, 1.232, 2.287, PHS= 0.585, 1.036,-1.058, RAW= 18.2, -6.0, CAL= 18.0, -9.7, ROT= 132.0, 9.7 2025-10-24T19:53:16.389Z,1761335596.389 [DAT](INFO): DAT read: 2025-10-24T19:53:16.391Z,1761335596.391 [DAT](INFO): #Rx 6: Read direction message, but no range. 2025-10-24T19:53:16.400Z,1761335596.400 [DAT](INFO): direction in FSK: [-0.659564,0.732520,-0.168489] 2025-10-24T19:53:16.436Z,1761335596.436 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:16.484Z,1761335596.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251598,-0.945164,0.208238],[0.966484,-0.256715,0.002532],[0.051064,0.201895,0.978075]] 2025-10-24T19:53:16.546Z,1761335596.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:16.634Z,1761335596.634 [DAT](INFO): DAT read: DATA(0046):`Y rŒðb½©ÀAzç¹' ûÅVX[‡ÄEœ 2025-10-24T19:53:16.634Z,1761335596.634 [DAT](INFO): Got DATA 46 2025-10-24T19:53:16.635Z,1761335596.635 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:53:16.635Z,1761335596.635 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:53:16.636Z,1761335596.636 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:53:16.638Z,1761335596.638 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:28.4 PSNR:06.2 AGC:71 SPD:+1.7 CCERR:005 2025-10-24T19:53:16.638Z,1761335596.638 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:28.4 PSNR:06.2 AGC:71 SPD:+1.7 CCERR:005 2025-10-24T19:53:16.638Z,1761335596.638 [DAT](INFO): DAT read: 2025-10-24T19:53:16.639Z,1761335596.639 [DAT](INFO): DAT read: 2025-10-24T19:53:16.639Z,1761335596.639 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:16.885Z,1761335596.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:16.936Z,1761335596.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250573,-0.945490,0.207996],[0.966811,-0.255469,0.003433],[0.049891,0.201953,0.978124]] 2025-10-24T19:53:16.957Z,1761335596.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:17.139Z,1761335597.139 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:17.348Z,1761335597.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250336,-0.945536,0.208072],[0.966897,-0.255139,0.003872],[0.049426,0.202153,0.978106]] 2025-10-24T19:53:17.389Z,1761335597.389 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:17.417Z,1761335597.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:17.641Z,1761335597.641 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:17.728Z,1761335597.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250000,-0.945659,0.207916],[0.967002,-0.254737,0.004117],[0.049071,0.202085,0.978138]] 2025-10-24T19:53:17.753Z,1761335597.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:17.893Z,1761335597.893 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:18.138Z,1761335598.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250100,-0.945620,0.207973],[0.966986,-0.254792,0.004359],[0.048868,0.202197,0.978125]] 2025-10-24T19:53:18.147Z,1761335598.147 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:18.232Z,1761335598.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:18.396Z,1761335598.396 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:18.583Z,1761335598.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:18.650Z,1761335598.650 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:18.901Z,1761335598.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:18.971Z,1761335598.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250667,-0.945516,0.207763],[0.966834,-0.255371,0.004310],[0.048981,0.201953,0.978170]] 2025-10-24T19:53:19.008Z,1761335599.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:19.155Z,1761335599.155 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:19.406Z,1761335599.406 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:19.451Z,1761335599.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:19.664Z,1761335599.664 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:19.764Z,1761335599.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251450,-0.945323,0.207698],[0.966606,-0.256238,0.003974],[0.049463,0.201761,0.978185]] 2025-10-24T19:53:19.783Z,1761335599.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:19.909Z,1761335599.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:20.161Z,1761335600.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:20.189Z,1761335600.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252434,-0.944953,0.208182],[0.966309,-0.257359,0.003543],[0.050230,0.202063,0.978084]] 2025-10-24T19:53:20.262Z,1761335600.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:20.413Z,1761335600.413 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:20.575Z,1761335600.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253284,-0.944748,0.208083],[0.966055,-0.258317,0.003088],[0.050834,0.201801,0.978106]] 2025-10-24T19:53:20.621Z,1761335600.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:20.665Z,1761335600.665 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:20.918Z,1761335600.918 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:20.978Z,1761335600.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254325,-0.944355,0.208597],[0.965739,-0.259502,0.002636],[0.051642,0.202121,0.977998]] 2025-10-24T19:53:21.013Z,1761335601.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:21.169Z,1761335601.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:21.385Z,1761335601.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255115,-0.944128,0.208659],[0.965489,-0.260435,0.002045],[0.052411,0.201980,0.977986]] 2025-10-24T19:53:21.420Z,1761335601.420 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:21.449Z,1761335601.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:21.673Z,1761335601.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:21.786Z,1761335601.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256082,-0.943823,0.208853],[0.965193,-0.261534,0.001563],[0.053147,0.201984,0.977946]] 2025-10-24T19:53:21.805Z,1761335601.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:21.924Z,1761335601.924 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:22.177Z,1761335602.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:22.194Z,1761335602.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256839,-0.943619,0.208849],[0.964952,-0.262425,0.000993],[0.053870,0.201784,0.977947]] 2025-10-24T19:53:22.282Z,1761335602.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:22.429Z,1761335602.429 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:22.592Z,1761335602.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258059,-0.943279,0.208880],[0.964584,-0.263775,0.000508],[0.054618,0.201613,0.977941]] 2025-10-24T19:53:22.643Z,1761335602.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:22.681Z,1761335602.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:22.932Z,1761335602.932 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:23.001Z,1761335603.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259194,-0.942907,0.209151],[0.964232,-0.265061,-0.000022],[0.055459,0.201664,0.977883]] 2025-10-24T19:53:23.019Z,1761335603.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:23.187Z,1761335603.187 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:23.437Z,1761335603.437 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:23.477Z,1761335603.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:23.689Z,1761335603.689 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:23.803Z,1761335603.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261363,-0.942215,0.209571],[0.963576,-0.267433,-0.000650],[0.056659,0.201768,0.977793]] 2025-10-24T19:53:23.826Z,1761335603.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:23.941Z,1761335603.941 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:24.193Z,1761335604.193 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:24.219Z,1761335604.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262288,-0.941968,0.209527],[0.963302,-0.268417,-0.000847],[0.057038,0.201615,0.977803]] 2025-10-24T19:53:24.318Z,1761335604.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:24.445Z,1761335604.445 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:24.620Z,1761335604.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263168,-0.941613,0.210015],[0.963035,-0.269375,-0.000984],[0.057499,0.201993,0.977698]] 2025-10-24T19:53:24.663Z,1761335604.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:24.697Z,1761335604.697 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:24.948Z,1761335604.948 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:25.018Z,1761335605.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263735,-0.941506,0.209784],[0.962869,-0.269967,-0.001112],[0.057682,0.201702,0.977747]] 2025-10-24T19:53:25.071Z,1761335605.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:25.201Z,1761335605.201 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:25.424Z,1761335605.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263902,-0.941415,0.209986],[0.962822,-0.270134,-0.001035],[0.057698,0.201906,0.977704]] 2025-10-24T19:53:25.457Z,1761335605.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:25.494Z,1761335605.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:25.708Z,1761335605.708 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:25.829Z,1761335605.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263733,-0.941461,0.209991],[0.962875,-0.269947,-0.000965],[0.057595,0.201941,0.977703]] 2025-10-24T19:53:25.849Z,1761335605.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:25.960Z,1761335605.960 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:26.213Z,1761335606.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:26.237Z,1761335606.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263838,-0.941487,0.209745],[0.962855,-0.270018,-0.000864],[0.057448,0.201726,0.977756]] 2025-10-24T19:53:26.261Z,1761335606.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:26.465Z,1761335606.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:26.636Z,1761335606.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263481,-0.941606,0.209657],[0.962965,-0.269627,-0.000761],[0.057246,0.201692,0.977775]] 2025-10-24T19:53:26.685Z,1761335606.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:26.717Z,1761335606.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:26.969Z,1761335606.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:27.041Z,1761335607.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263044,-0.941730,0.209650],[0.963113,-0.269098,-0.000369],[0.056764,0.201820,0.977776]] 2025-10-24T19:53:27.059Z,1761335607.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:27.220Z,1761335607.220 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:27.449Z,1761335607.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262315,-0.941977,0.209452],[0.963341,-0.268280,-0.000069],[0.056257,0.201756,0.977819]] 2025-10-24T19:53:27.473Z,1761335607.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:27.501Z,1761335607.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:27.725Z,1761335607.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:27.850Z,1761335607.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261765,-0.942181,0.209221],[0.963529,-0.267603,0.000421],[0.055591,0.201701,0.977868]] 2025-10-24T19:53:27.869Z,1761335607.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:27.978Z,1761335607.978 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:28.228Z,1761335608.228 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:28.252Z,1761335608.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260872,-0.942447,0.209139],[0.963813,-0.266578,0.000938],[0.054868,0.201816,0.977885]] 2025-10-24T19:53:28.285Z,1761335608.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:28.481Z,1761335608.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:28.655Z,1761335608.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260437,-0.942632,0.208847],[0.963971,-0.266002,0.001492],[0.054147,0.201712,0.977947]] 2025-10-24T19:53:28.703Z,1761335608.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:28.741Z,1761335608.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:28.993Z,1761335608.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:29.059Z,1761335609.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259814,-0.942770,0.209003],[0.964179,-0.265245,0.002118],[0.053440,0.202066,0.977913]] 2025-10-24T19:53:29.088Z,1761335609.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:29.245Z,1761335609.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:29.469Z,1761335609.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259221,-0.943054,0.208454],[0.964389,-0.264473,0.002771],[0.052517,0.201750,0.978028]] 2025-10-24T19:53:29.497Z,1761335609.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:29.533Z,1761335609.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:29.749Z,1761335609.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:29.867Z,1761335609.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258665,-0.943222,0.208386],[0.964583,-0.263756,0.003473],[0.051687,0.201904,0.978041]] 2025-10-24T19:53:29.903Z,1761335609.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:30.001Z,1761335610.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:30.253Z,1761335610.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:30.362Z,1761335610.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:30.505Z,1761335610.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:30.675Z,1761335610.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257217,-0.943719,0.207929],[0.965075,-0.261923,0.005060],[0.049686,0.201969,0.978131]] 2025-10-24T19:53:30.757Z,1761335610.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:30.763Z,1761335610.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:31.008Z,1761335611.008 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:31.078Z,1761335611.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256719,-0.943919,0.207633],[0.965249,-0.261271,0.005676],[0.048891,0.201875,0.978190]] 2025-10-24T19:53:31.100Z,1761335611.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:31.261Z,1761335611.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:31.513Z,1761335611.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:31.552Z,1761335611.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:31.764Z,1761335611.764 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:31.890Z,1761335611.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255403,-0.944353,0.207283],[0.965684,-0.259625,0.007049],[0.047159,0.201970,0.978256]] 2025-10-24T19:53:31.931Z,1761335611.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:32.018Z,1761335612.018 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:32.269Z,1761335612.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:32.298Z,1761335612.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254076,-0.944770,0.207014],[0.966102,-0.258034,0.008121],[0.045744,0.202061,0.978304]] 2025-10-24T19:53:32.431Z,1761335612.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:32.521Z,1761335612.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:32.773Z,1761335612.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:32.810Z,1761335612.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253404,-0.945060,0.206515],[0.966310,-0.257240,0.008520],[0.045073,0.201717,0.978406]] 2025-10-24T19:53:32.819Z,1761335612.819 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102411545532,35.0, 0.0,1495.1, 0 2025-10-24T19:53:32.835Z,1761335612.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:33.025Z,1761335613.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:33.216Z,1761335613.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253142,-0.945086,0.206714],[0.966385,-0.256952,0.008664],[0.044927,0.201958,0.978363]] 2025-10-24T19:53:33.234Z,1761335613.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:33.278Z,1761335613.278 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:33.528Z,1761335613.528 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:33.619Z,1761335613.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252703,-0.945268,0.206423],[0.966519,-0.256442,0.008895],[0.044527,0.201759,0.978422]] 2025-10-24T19:53:33.658Z,1761335613.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:33.781Z,1761335613.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:34.020Z,1761335614.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252765,-0.945169,0.206800],[0.966502,-0.256499,0.009010],[0.044528,0.202150,0.978342]] 2025-10-24T19:53:34.033Z,1761335614.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:34.058Z,1761335614.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:34.285Z,1761335614.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:34.464Z,1761335614.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252910,-0.945206,0.206449],[0.966467,-0.256635,0.008989],[0.044486,0.201799,0.978416]] 2025-10-24T19:53:34.533Z,1761335614.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:34.537Z,1761335614.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:34.788Z,1761335614.788 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:34.887Z,1761335614.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253286,-0.945054,0.206684],[0.966357,-0.257051,0.008889],[0.044728,0.201982,0.978367]] 2025-10-24T19:53:34.915Z,1761335614.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:35.040Z,1761335615.040 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:35.293Z,1761335615.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:35.299Z,1761335615.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253503,-0.945003,0.206652],[0.966289,-0.257314,0.008686],[0.044966,0.201888,0.978376]] 2025-10-24T19:53:35.318Z,1761335615.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:35.545Z,1761335615.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:35.763Z,1761335615.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:35.797Z,1761335615.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:36.049Z,1761335616.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:36.134Z,1761335616.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:36.302Z,1761335616.302 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:36.500Z,1761335616.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255682,-0.944325,0.207069],[0.965633,-0.259799,0.007539],[0.046677,0.201880,0.978297]] 2025-10-24T19:53:36.553Z,1761335616.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:36.554Z,1761335616.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:36.805Z,1761335616.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:36.911Z,1761335616.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256769,-0.943967,0.207354],[0.965295,-0.261074,0.006810],[0.047706,0.201907,0.978242]] 2025-10-24T19:53:36.934Z,1761335616.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:37.056Z,1761335617.056 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:37.310Z,1761335617.310 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:37.362Z,1761335617.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257686,-0.943659,0.207620],[0.965008,-0.262145,0.006231],[0.048546,0.201961,0.978190]] 2025-10-24T19:53:37.390Z,1761335617.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:37.561Z,1761335617.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:37.743Z,1761335617.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258615,-0.943335,0.207936],[0.964708,-0.263265,0.005487],[0.049567,0.202017,0.978127]] 2025-10-24T19:53:37.791Z,1761335617.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:37.816Z,1761335617.816 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:38.064Z,1761335618.064 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:38.150Z,1761335618.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259591,-0.943088,0.207838],[0.964397,-0.264418,0.004713],[0.050512,0.201662,0.978152]] 2025-10-24T19:53:38.191Z,1761335618.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:38.317Z,1761335618.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:38.554Z,1761335618.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260616,-0.942687,0.208377],[0.964060,-0.265657,0.003923],[0.051659,0.201911,0.978041]] 2025-10-24T19:53:38.569Z,1761335618.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:38.624Z,1761335618.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:38.824Z,1761335618.824 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:38.955Z,1761335618.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261744,-0.942355,0.208464],[0.963690,-0.267005,0.003003],[0.052831,0.201680,0.978025]] 2025-10-24T19:53:38.980Z,1761335618.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:39.073Z,1761335619.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:39.325Z,1761335619.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:39.406Z,1761335619.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:39.577Z,1761335619.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:39.829Z,1761335619.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:39.834Z,1761335619.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:40.081Z,1761335620.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:40.168Z,1761335620.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263577,-0.941645,0.209360],[0.963029,-0.269395,0.000753],[0.055692,0.201818,0.977838]] 2025-10-24T19:53:40.215Z,1761335620.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:40.335Z,1761335620.335 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:40.572Z,1761335620.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263927,-0.941493,0.209601],[0.962881,-0.269927,-0.000019],[0.056595,0.201816,0.977787]] 2025-10-24T19:53:40.591Z,1761335620.591 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:40.631Z,1761335620.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:40.845Z,1761335620.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:40.985Z,1761335620.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264483,-0.941281,0.209857],[0.962658,-0.270719,-0.001031],[0.057783,0.201748,0.977732]] 2025-10-24T19:53:41.004Z,1761335621.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:41.097Z,1761335621.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:41.349Z,1761335621.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:41.394Z,1761335621.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264541,-0.941233,0.209998],[0.962628,-0.270824,-0.001206],[0.058008,0.201831,0.977701]] 2025-10-24T19:53:41.414Z,1761335621.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:41.561Z,1761335621.561 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:53:41.601Z,1761335621.601 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:41.784Z,1761335621.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264627,-0.941174,0.210153],[0.962584,-0.270980,-0.001494],[0.058353,0.201895,0.977667]] 2025-10-24T19:53:41.831Z,1761335621.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:41.861Z,1761335621.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:42.113Z,1761335622.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:42.187Z,1761335622.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264265,-0.941294,0.210070],[0.962693,-0.270593,-0.001437],[0.058196,0.201853,0.977685]] 2025-10-24T19:53:42.206Z,1761335622.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:42.365Z,1761335622.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:42.565Z,1761335622.565 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:53:42.595Z,1761335622.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263877,-0.941353,0.210294],[0.962802,-0.270205,-0.001414],[0.058154,0.202099,0.977637]] 2025-10-24T19:53:42.617Z,1761335622.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:42.639Z,1761335622.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:42.869Z,1761335622.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:42.996Z,1761335622.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263209,-0.941620,0.209935],[0.963006,-0.269475,-0.001295],[0.057791,0.201828,0.977715]] 2025-10-24T19:53:43.031Z,1761335623.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:43.120Z,1761335623.120 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:43.374Z,1761335623.374 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:43.398Z,1761335623.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262212,-0.941872,0.210052],[0.963304,-0.268412,-0.001045],[0.057365,0.202070,0.977690]] 2025-10-24T19:53:43.442Z,1761335623.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:43.625Z,1761335623.625 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:43.807Z,1761335623.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260754,-0.942356,0.209696],[0.963743,-0.266832,-0.000720],[0.056632,0.201905,0.977766]] 2025-10-24T19:53:43.847Z,1761335623.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:43.877Z,1761335623.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:44.132Z,1761335624.132 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:44.209Z,1761335624.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259485,-0.942720,0.209633],[0.964130,-0.265432,-0.000241],[0.055871,0.202051,0.977780]] 2025-10-24T19:53:44.272Z,1761335624.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:44.381Z,1761335624.381 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:44.614Z,1761335624.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257815,-0.943255,0.209288],[0.964631,-0.263604,0.000241],[0.054942,0.201948,0.977854]] 2025-10-24T19:53:44.639Z,1761335624.639 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:44.666Z,1761335624.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:44.897Z,1761335624.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:45.065Z,1761335625.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:45.150Z,1761335625.150 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:45.401Z,1761335625.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:45.427Z,1761335625.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254780,-0.944199,0.208746],[0.965548,-0.260220,0.001448],[0.052952,0.201923,0.977969]] 2025-10-24T19:53:45.455Z,1761335625.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:45.654Z,1761335625.654 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:45.824Z,1761335625.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252977,-0.944743,0.208479],[0.966091,-0.258191,0.002280],[0.051674,0.201987,0.978024]] 2025-10-24T19:53:45.876Z,1761335625.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:45.906Z,1761335625.906 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:46.156Z,1761335626.156 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:46.228Z,1761335626.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251257,-0.945243,0.208292],[0.966601,-0.256270,0.003012],[0.050532,0.202092,0.978062]] 2025-10-24T19:53:46.247Z,1761335626.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:46.409Z,1761335626.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:46.641Z,1761335626.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249726,-0.945761,0.207783],[0.967057,-0.254533,0.003713],[0.049376,0.201865,0.978168]] 2025-10-24T19:53:46.661Z,1761335626.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:46.695Z,1761335626.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:46.913Z,1761335626.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:47.038Z,1761335627.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248373,-0.946124,0.207752],[0.967459,-0.252990,0.004479],[0.048322,0.202104,0.978171]] 2025-10-24T19:53:47.061Z,1761335627.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:47.165Z,1761335627.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:47.418Z,1761335627.418 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:47.443Z,1761335627.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246930,-0.946592,0.207340],[0.967880,-0.251359,0.005130],[0.047261,0.201947,0.978256]] 2025-10-24T19:53:47.475Z,1761335627.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:47.669Z,1761335627.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:47.844Z,1761335627.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246407,-0.946700,0.207468],[0.968042,-0.250726,0.005639],[0.046679,0.202227,0.978226]] 2025-10-24T19:53:47.902Z,1761335627.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:47.925Z,1761335627.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:48.180Z,1761335628.180 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:48.247Z,1761335628.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245591,-0.947011,0.207017],[0.968285,-0.249775,0.006099],[0.045931,0.201949,0.978318]] 2025-10-24T19:53:48.266Z,1761335628.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:48.434Z,1761335628.434 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:48.670Z,1761335628.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245185,-0.947077,0.207193],[0.968413,-0.249263,0.006609],[0.045386,0.202269,0.978278]] 2025-10-24T19:53:48.685Z,1761335628.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:48.758Z,1761335628.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:48.937Z,1761335628.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:49.055Z,1761335629.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244808,-0.947241,0.206892],[0.968532,-0.248790,0.006963],[0.044877,0.202086,0.978339]] 2025-10-24T19:53:49.086Z,1761335629.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:49.189Z,1761335629.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:49.441Z,1761335629.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:49.462Z,1761335629.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244855,-0.947161,0.207200],[0.968526,-0.248807,0.007179],[0.044753,0.202436,0.978272]] 2025-10-24T19:53:49.521Z,1761335629.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:49.693Z,1761335629.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:49.877Z,1761335629.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244824,-0.947253,0.206816],[0.968538,-0.248763,0.007154],[0.044672,0.202061,0.978354]] 2025-10-24T19:53:49.941Z,1761335629.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:53:49.945Z,1761335629.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:49.945Z,1761335629.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:50.197Z,1761335630.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:50.363Z,1761335630.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:50.449Z,1761335630.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:50.700Z,1761335630.700 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:50.723Z,1761335630.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245581,-0.946999,0.207083],[0.968321,-0.249617,0.006830],[0.045224,0.202200,0.978299]] 2025-10-24T19:53:50.775Z,1761335630.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:50.953Z,1761335630.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:51.165Z,1761335631.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:51.205Z,1761335631.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:51.457Z,1761335631.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:51.532Z,1761335631.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247107,-0.946527,0.207423],[0.967873,-0.251368,0.005986],[0.046474,0.202238,0.978233]] 2025-10-24T19:53:51.562Z,1761335631.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:51.709Z,1761335631.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:51.961Z,1761335631.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:52.008Z,1761335632.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:52.213Z,1761335632.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:52.410Z,1761335632.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249690,-0.945766,0.207802],[0.967121,-0.254270,0.004817],[0.048282,0.202173,0.978159]] 2025-10-24T19:53:52.465Z,1761335632.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:52.475Z,1761335632.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:52.718Z,1761335632.718 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:52.805Z,1761335632.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251086,-0.945369,0.207926],[0.966712,-0.255833,0.004187],[0.049236,0.202056,0.978136]] 2025-10-24T19:53:52.863Z,1761335632.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:52.969Z,1761335632.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:53.220Z,1761335633.220 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:53.253Z,1761335633.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:53.473Z,1761335633.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:53.614Z,1761335633.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255509,-0.944075,0.208416],[0.965415,-0.260703,0.002632],[0.051850,0.201881,0.978037]] 2025-10-24T19:53:53.692Z,1761335633.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:53.725Z,1761335633.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:53.978Z,1761335633.978 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:54.015Z,1761335634.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256409,-0.943774,0.208673],[0.965142,-0.261717,0.002249],[0.052491,0.201976,0.977983]] 2025-10-24T19:53:54.064Z,1761335634.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:54.229Z,1761335634.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:54.419Z,1761335634.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257540,-0.943417,0.208896],[0.964807,-0.262950,0.001939],[0.053100,0.202044,0.977936]] 2025-10-24T19:53:54.437Z,1761335634.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:54.481Z,1761335634.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:54.735Z,1761335634.735 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:54.825Z,1761335634.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258006,-0.943293,0.208881],[0.964659,-0.263498,0.001591],[0.053539,0.201909,0.977940]] 2025-10-24T19:53:54.897Z,1761335634.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:54.985Z,1761335634.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:55.237Z,1761335635.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:55.296Z,1761335635.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258324,-0.943219,0.208822],[0.964565,-0.263842,0.001485],[0.053695,0.201806,0.977952]] 2025-10-24T19:53:55.315Z,1761335635.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:55.490Z,1761335635.490 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:55.743Z,1761335635.743 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:55.751Z,1761335635.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258375,-0.943126,0.209179],[0.964542,-0.263925,0.001433],[0.053856,0.202132,0.977876]] 2025-10-24T19:53:55.831Z,1761335635.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:55.993Z,1761335635.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:56.097Z,1761335636.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257896,-0.943361,0.208708],[0.964691,-0.263381,0.001564],[0.053494,0.201742,0.977977]] 2025-10-24T19:53:56.116Z,1761335636.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:56.245Z,1761335636.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:56.497Z,1761335636.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:56.504Z,1761335636.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257194,-0.943492,0.208983],[0.964898,-0.262619,0.001854],[0.053134,0.202124,0.977917]] 2025-10-24T19:53:56.557Z,1761335636.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:56.751Z,1761335636.751 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:56.997Z,1761335636.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:57.001Z,1761335637.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:57.253Z,1761335637.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:57.399Z,1761335637.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254466,-0.944291,0.208713],[0.965707,-0.259619,0.002796],[0.051546,0.202267,0.977973]] 2025-10-24T19:53:57.498Z,1761335637.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:57.505Z,1761335637.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:57.760Z,1761335637.760 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:57.794Z,1761335637.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252504,-0.944913,0.208280],[0.966275,-0.257490,0.003275],[0.050535,0.202083,0.978064]] 2025-10-24T19:53:57.837Z,1761335637.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:58.008Z,1761335638.008 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:58.170Z,1761335638.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250963,-0.945364,0.208096],[0.966726,-0.255784,0.003859],[0.049579,0.202140,0.978101]] 2025-10-24T19:53:58.189Z,1761335638.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:58.261Z,1761335638.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:58.513Z,1761335638.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:58.575Z,1761335638.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248905,-0.945995,0.207702],[0.967316,-0.253535,0.004463],[0.048437,0.202025,0.978182]] 2025-10-24T19:53:58.608Z,1761335638.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:58.767Z,1761335638.767 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:58.975Z,1761335638.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247399,-0.946456,0.207401],[0.967752,-0.251856,0.005065],[0.047441,0.201966,0.978243]] 2025-10-24T19:53:59.017Z,1761335639.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:59.034Z,1761335639.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:59.269Z,1761335639.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:59.380Z,1761335639.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245757,-0.946909,0.207285],[0.968214,-0.250061,0.005596],[0.046535,0.202071,0.978265]] 2025-10-24T19:53:59.399Z,1761335639.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:53:59.521Z,1761335639.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:59.775Z,1761335639.775 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:53:59.821Z,1761335639.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244372,-0.947350,0.206908],[0.968609,-0.248515,0.006138],[0.045605,0.201912,0.978341]] 2025-10-24T19:53:59.867Z,1761335639.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:00.027Z,1761335640.027 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:00.187Z,1761335640.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243351,-0.947581,0.207052],[0.968894,-0.247389,0.006567],[0.044999,0.202210,0.978308]] 2025-10-24T19:54:00.227Z,1761335640.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:00.277Z,1761335640.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:00.529Z,1761335640.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:00.608Z,1761335640.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242250,-0.947963,0.206592],[0.969202,-0.246172,0.006910],[0.044307,0.201903,0.978403]] 2025-10-24T19:54:00.648Z,1761335640.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:00.784Z,1761335640.784 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:01.015Z,1761335641.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241681,-0.948115,0.206565],[0.969359,-0.245546,0.007113],[0.043978,0.201955,0.978407]] 2025-10-24T19:54:01.033Z,1761335641.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:01.068Z,1761335641.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:01.285Z,1761335641.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:01.415Z,1761335641.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241209,-0.948231,0.206582],[0.969480,-0.245066,0.007108],[0.043887,0.201992,0.978404]] 2025-10-24T19:54:01.434Z,1761335641.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:01.537Z,1761335641.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:01.791Z,1761335641.791 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:01.849Z,1761335641.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241440,-0.948155,0.206663],[0.969413,-0.245339,0.006947],[0.044115,0.202019,0.978387]] 2025-10-24T19:54:01.902Z,1761335641.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:02.040Z,1761335642.040 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:02.293Z,1761335642.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:02.304Z,1761335642.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242260,-0.947865,0.207030],[0.969158,-0.246363,0.006130],[0.045195,0.202130,0.978315]] 2025-10-24T19:54:02.324Z,1761335642.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:02.545Z,1761335642.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:02.737Z,1761335642.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.242849,-0.947707,0.207067],[0.968972,-0.247111,0.005434],[0.046019,0.201962,0.978312]] 2025-10-24T19:54:02.770Z,1761335642.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:02.797Z,1761335642.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:03.048Z,1761335643.048 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:03.133Z,1761335643.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244029,-0.947374,0.207200],[0.968626,-0.248479,0.004684],[0.047047,0.201843,0.978287]] 2025-10-24T19:54:03.178Z,1761335643.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:03.301Z,1761335643.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:03.538Z,1761335643.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245374,-0.946938,0.207607],[0.968221,-0.250070,0.003738],[0.048376,0.201926,0.978205]] 2025-10-24T19:54:03.556Z,1761335643.556 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:03.588Z,1761335643.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:03.812Z,1761335643.812 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:03.940Z,1761335643.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246827,-0.946521,0.207786],[0.967788,-0.251749,0.002841],[0.049621,0.201794,0.978170]] 2025-10-24T19:54:03.970Z,1761335643.970 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +25. +14.55, +4.51, 6.76, 0.00 2025-10-24T19:54:03.991Z,1761335643.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:04.062Z,1761335644.062 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:04.312Z,1761335644.312 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:04.344Z,1761335644.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248355,-0.946028,0.208206],[0.967319,-0.253555,0.001772],[0.051116,0.201842,0.978083]] 2025-10-24T19:54:04.364Z,1761335644.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:04.565Z,1761335644.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:04.749Z,1761335644.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250100,-0.945519,0.208431],[0.966792,-0.255565,0.000734],[0.052574,0.201692,0.978037]] 2025-10-24T19:54:04.780Z,1761335644.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:04.819Z,1761335644.819 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:05.069Z,1761335645.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:05.151Z,1761335645.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251788,-0.944939,0.209030],[0.966265,-0.257548,-0.000347],[0.054163,0.201891,0.977909]] 2025-10-24T19:54:05.201Z,1761335645.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:05.320Z,1761335645.320 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:05.573Z,1761335645.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:05.600Z,1761335645.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253214,-0.944524,0.209183],[0.965820,-0.259212,-0.001306],[0.055456,0.201702,0.977876]] 2025-10-24T19:54:05.618Z,1761335645.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:05.825Z,1761335645.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:05.988Z,1761335645.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255078,-0.943927,0.209610],[0.965236,-0.261370,-0.002406],[0.057056,0.201710,0.977782]] 2025-10-24T19:54:06.065Z,1761335646.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:06.078Z,1761335646.078 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:06.329Z,1761335646.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:06.430Z,1761335646.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:06.581Z,1761335646.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:06.805Z,1761335646.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257853,-0.943021,0.210295],[0.964349,-0.264602,-0.004116],[0.059526,0.201736,0.977629]] 2025-10-24T19:54:06.824Z,1761335646.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:06.837Z,1761335646.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:07.089Z,1761335647.089 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:07.202Z,1761335647.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259079,-0.942586,0.210738],[0.963950,-0.266038,-0.004861],[0.060646,0.201881,0.977531]] 2025-10-24T19:54:07.241Z,1761335647.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:07.341Z,1761335647.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:07.593Z,1761335647.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:07.643Z,1761335647.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260134,-0.942264,0.210876],[0.963610,-0.267257,-0.005494],[0.061535,0.201772,0.977497]] 2025-10-24T19:54:07.682Z,1761335647.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:07.847Z,1761335647.847 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:08.047Z,1761335648.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260229,-0.942196,0.211064],[0.963551,-0.267460,-0.005947],[0.062054,0.201824,0.977454]] 2025-10-24T19:54:08.097Z,1761335648.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:08.118Z,1761335648.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:08.349Z,1761335648.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:08.485Z,1761335648.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:08.604Z,1761335648.604 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:08.853Z,1761335648.853 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:08.854Z,1761335648.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260307,-0.942139,0.211222],[0.963478,-0.267702,-0.006688],[0.062845,0.201767,0.977415]] 2025-10-24T19:54:08.899Z,1761335648.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:09.105Z,1761335649.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:09.256Z,1761335649.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259803,-0.942298,0.211133],[0.963614,-0.267210,-0.006831],[0.062854,0.201676,0.977433]] 2025-10-24T19:54:09.316Z,1761335649.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:09.357Z,1761335649.357 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:09.608Z,1761335649.608 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:09.672Z,1761335649.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258616,-0.942590,0.211287],[0.963942,-0.266023,-0.006910],[0.062720,0.201881,0.977400]] 2025-10-24T19:54:09.691Z,1761335649.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:09.861Z,1761335649.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:10.077Z,1761335650.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257559,-0.942877,0.211299],[0.964240,-0.264940,-0.006895],[0.062483,0.201967,0.977397]] 2025-10-24T19:54:10.113Z,1761335650.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:10.119Z,1761335650.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:10.365Z,1761335650.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:10.475Z,1761335650.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256176,-0.943292,0.211127],[0.964626,-0.263531,-0.006976],[0.062219,0.201871,0.977434]] 2025-10-24T19:54:10.494Z,1761335650.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:10.617Z,1761335650.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:10.869Z,1761335650.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:10.884Z,1761335650.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254503,-0.943790,0.210924],[0.965109,-0.261762,-0.006759],[0.061591,0.201844,0.977479]] 2025-10-24T19:54:10.934Z,1761335650.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:11.120Z,1761335651.120 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:11.368Z,1761335651.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:11.373Z,1761335651.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:11.625Z,1761335651.625 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:11.687Z,1761335651.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251264,-0.944745,0.210530],[0.966026,-0.258364,-0.006463],[0.060500,0.201753,0.977566]] 2025-10-24T19:54:11.731Z,1761335651.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:11.878Z,1761335651.878 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:12.090Z,1761335652.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249726,-0.945159,0.210502],[0.966461,-0.256738,-0.006208],[0.059912,0.201891,0.977574]] 2025-10-24T19:54:12.129Z,1761335652.129 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:12.159Z,1761335652.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:12.381Z,1761335652.381 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:12.494Z,1761335652.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248068,-0.945633,0.210334],[0.966919,-0.255010,-0.006106],[0.059411,0.201861,0.977611]] 2025-10-24T19:54:12.513Z,1761335652.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:12.633Z,1761335652.633 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:12.702Z,1761335652.702 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:54:12.885Z,1761335652.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:12.906Z,1761335652.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246678,-0.946044,0.210121],[0.967300,-0.253563,-0.006044],[0.058996,0.201759,0.977657]] 2025-10-24T19:54:12.950Z,1761335652.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:13.137Z,1761335653.137 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:13.301Z,1761335653.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245212,-0.946390,0.210277],[0.967699,-0.252039,-0.005877],[0.058560,0.202044,0.977624]] 2025-10-24T19:54:13.368Z,1761335653.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:13.388Z,1761335653.388 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:13.645Z,1761335653.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:13.704Z,1761335653.704 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:54:13.707Z,1761335653.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244385,-0.946657,0.210040],[0.967923,-0.251178,-0.005873],[0.058317,0.201867,0.977675]] 2025-10-24T19:54:13.728Z,1761335653.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:13.894Z,1761335653.894 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:14.108Z,1761335654.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243944,-0.946698,0.210369],[0.968028,-0.250772,-0.005994],[0.058429,0.202181,0.977604]] 2025-10-24T19:54:14.145Z,1761335654.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:14.187Z,1761335654.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:14.396Z,1761335654.396 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:14.512Z,1761335654.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243499,-0.946897,0.209985],[0.968141,-0.250329,-0.006161],[0.058399,0.201795,0.977685]] 2025-10-24T19:54:14.550Z,1761335654.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:14.649Z,1761335654.649 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:14.901Z,1761335654.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:14.929Z,1761335654.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243465,-0.946911,0.209963],[0.968116,-0.250410,-0.006732],[0.058951,0.201630,0.977686]] 2025-10-24T19:54:14.979Z,1761335654.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:15.153Z,1761335655.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:15.405Z,1761335655.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:15.418Z,1761335655.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243760,-0.946761,0.210298],[0.968014,-0.250798,-0.007052],[0.059419,0.201853,0.977612]] 2025-10-24T19:54:15.470Z,1761335655.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:15.657Z,1761335655.657 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:15.823Z,1761335655.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.244038,-0.946740,0.210068],[0.967911,-0.251179,-0.007589],[0.059949,0.201475,0.977657]] 2025-10-24T19:54:15.841Z,1761335655.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:15.909Z,1761335655.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:16.161Z,1761335656.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:16.224Z,1761335656.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245093,-0.946360,0.210551],[0.967584,-0.252415,-0.008206],[0.060912,0.201714,0.977548]] 2025-10-24T19:54:16.283Z,1761335656.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:16.412Z,1761335656.412 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:16.634Z,1761335656.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245554,-0.946201,0.210729],[0.967420,-0.253025,-0.008822],[0.061667,0.201697,0.977505]] 2025-10-24T19:54:16.657Z,1761335656.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:16.665Z,1761335656.665 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:16.918Z,1761335656.918 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:17.078Z,1761335657.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246450,-0.945926,0.210918],[0.967140,-0.254071,-0.009393],[0.062473,0.201672,0.977459]] 2025-10-24T19:54:17.126Z,1761335657.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:17.169Z,1761335657.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:17.420Z,1761335657.420 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:17.485Z,1761335657.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247483,-0.945534,0.211465],[0.966805,-0.255314,-0.010117],[0.063556,0.201942,0.977333]] 2025-10-24T19:54:17.505Z,1761335657.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:17.673Z,1761335657.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:17.891Z,1761335657.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248527,-0.945227,0.211615],[0.966480,-0.256519,-0.010740],[0.064435,0.201852,0.977294]] 2025-10-24T19:54:17.922Z,1761335657.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:17.925Z,1761335657.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:18.177Z,1761335658.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:18.291Z,1761335658.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249714,-0.944886,0.211739],[0.966115,-0.257865,-0.011334],[0.065309,0.201734,0.977261]] 2025-10-24T19:54:18.336Z,1761335658.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:18.429Z,1761335658.429 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:18.681Z,1761335658.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:18.695Z,1761335658.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250613,-0.944661,0.211679],[0.965837,-0.258880,-0.011825],[0.065971,0.201484,0.977268]] 2025-10-24T19:54:18.737Z,1761335658.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:18.934Z,1761335658.934 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:19.119Z,1761335659.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252144,-0.944201,0.211917],[0.965382,-0.260551,-0.012256],[0.066788,0.201490,0.977211]] 2025-10-24T19:54:19.167Z,1761335659.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:19.186Z,1761335659.186 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:19.439Z,1761335659.439 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:19.506Z,1761335659.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252854,-0.943970,0.212096],[0.965164,-0.261345,-0.012524],[0.067252,0.201541,0.977169]] 2025-10-24T19:54:19.524Z,1761335659.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:19.697Z,1761335659.697 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:19.922Z,1761335659.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253871,-0.943593,0.212562],[0.964870,-0.262426,-0.012563],[0.067637,0.201906,0.977067]] 2025-10-24T19:54:19.940Z,1761335659.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:19.946Z,1761335659.946 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:20.197Z,1761335660.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:20.373Z,1761335660.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:20.450Z,1761335660.450 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:20.701Z,1761335660.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:20.715Z,1761335660.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254893,-0.943328,0.212514],[0.964609,-0.263399,-0.012234],[0.067517,0.201875,0.977081]] 2025-10-24T19:54:20.735Z,1761335660.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:20.953Z,1761335660.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:21.152Z,1761335661.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255515,-0.943190,0.212379],[0.964458,-0.263965,-0.011943],[0.067325,0.201779,0.977114]] 2025-10-24T19:54:21.201Z,1761335661.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:21.205Z,1761335661.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:21.457Z,1761335661.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:21.595Z,1761335661.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255559,-0.943314,0.211772],[0.964496,-0.263852,-0.011379],[0.066611,0.201345,0.977253]] 2025-10-24T19:54:21.614Z,1761335661.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:21.709Z,1761335661.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:21.961Z,1761335661.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:22.010Z,1761335662.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255206,-0.943398,0.211825],[0.964651,-0.263319,-0.010529],[0.065711,0.201650,0.977251]] 2025-10-24T19:54:22.037Z,1761335662.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:22.213Z,1761335662.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:22.407Z,1761335662.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254461,-0.943675,0.211490],[0.964939,-0.262306,-0.009420],[0.064365,0.201678,0.977335]] 2025-10-24T19:54:22.465Z,1761335662.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:22.475Z,1761335662.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:22.717Z,1761335662.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:22.861Z,1761335662.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:22.969Z,1761335662.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:23.221Z,1761335663.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:23.222Z,1761335663.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250701,-0.944836,0.210794],[0.966229,-0.257625,-0.005591],[0.059588,0.202274,0.977514]] 2025-10-24T19:54:23.273Z,1761335663.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:23.473Z,1761335663.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:23.665Z,1761335663.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:23.725Z,1761335663.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:23.977Z,1761335663.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:24.039Z,1761335664.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.247051,-0.946082,0.209510],[0.967404,-0.253222,-0.002725],[0.055631,0.202008,0.977803]] 2025-10-24T19:54:24.057Z,1761335664.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:24.229Z,1761335664.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:24.445Z,1761335664.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.245270,-0.946697,0.208822],[0.967963,-0.251091,-0.001412],[0.053770,0.201785,0.977953]] 2025-10-24T19:54:24.481Z,1761335664.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:24.507Z,1761335664.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:24.733Z,1761335664.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:24.847Z,1761335664.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243563,-0.947218,0.208459],[0.968500,-0.249013,0.000102],[0.051812,0.201918,0.978031]] 2025-10-24T19:54:24.872Z,1761335664.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:24.985Z,1761335664.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:25.238Z,1761335665.238 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:25.249Z,1761335665.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241927,-0.947705,0.208149],[0.969003,-0.247046,0.001447],[0.050051,0.202047,0.978096]] 2025-10-24T19:54:25.352Z,1761335665.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:25.489Z,1761335665.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:25.707Z,1761335665.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:25.741Z,1761335665.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:25.993Z,1761335665.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:26.070Z,1761335666.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239183,-0.948533,0.207550],[0.969840,-0.243712,0.003859],[0.046922,0.202213,0.978217]] 2025-10-24T19:54:26.088Z,1761335666.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:26.247Z,1761335666.247 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:26.484Z,1761335666.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238475,-0.948797,0.207157],[0.970068,-0.242788,0.004734],[0.045803,0.202085,0.978296]] 2025-10-24T19:54:26.497Z,1761335666.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:26.539Z,1761335666.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:26.749Z,1761335666.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:26.938Z,1761335666.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238247,-0.948877,0.207052],[0.970155,-0.242428,0.005322],[0.045145,0.202140,0.978316]] 2025-10-24T19:54:26.974Z,1761335666.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:27.001Z,1761335667.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:27.253Z,1761335667.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:27.348Z,1761335667.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238593,-0.948875,0.206663],[0.970086,-0.242696,0.005650],[0.044795,0.201829,0.978396]] 2025-10-24T19:54:27.449Z,1761335667.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:27.505Z,1761335667.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:27.753Z,1761335667.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.239369,-0.948644,0.206827],[0.969886,-0.243491,0.005677],[0.044975,0.201957,0.978361]] 2025-10-24T19:54:27.757Z,1761335667.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:27.774Z,1761335667.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:28.009Z,1761335668.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:28.174Z,1761335668.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240235,-0.948426,0.206822],[0.969655,-0.244414,0.005493],[0.045341,0.201865,0.978363]] 2025-10-24T19:54:28.251Z,1761335668.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:28.261Z,1761335668.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:28.512Z,1761335668.512 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:28.560Z,1761335668.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241829,-0.947910,0.207330],[0.969221,-0.246140,0.005150],[0.046150,0.202194,0.978258]] 2025-10-24T19:54:28.606Z,1761335668.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:28.767Z,1761335668.767 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:28.960Z,1761335668.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.243851,-0.947298,0.207760],[0.968655,-0.248370,0.004462],[0.047375,0.202335,0.978170]] 2025-10-24T19:54:28.980Z,1761335668.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:29.017Z,1761335669.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:29.269Z,1761335669.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:29.367Z,1761335669.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.246230,-0.946676,0.207784],[0.967979,-0.251008,0.003478],[0.048863,0.201987,0.978168]] 2025-10-24T19:54:29.406Z,1761335669.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:29.524Z,1761335669.524 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:29.772Z,1761335669.772 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:29.811Z,1761335669.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.248415,-0.945978,0.208364],[0.967326,-0.253524,0.002258],[0.050690,0.202117,0.978049]] 2025-10-24T19:54:29.847Z,1761335669.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:30.025Z,1761335670.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:30.262Z,1761335670.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.250966,-0.945287,0.208443],[0.966564,-0.256425,0.000861],[0.052636,0.201690,0.978034]] 2025-10-24T19:54:30.277Z,1761335670.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:30.322Z,1761335670.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:30.529Z,1761335670.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:30.617Z,1761335670.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253483,-0.944435,0.209258],[0.965785,-0.259345,-0.000594],[0.054830,0.201948,0.977860]] 2025-10-24T19:54:30.637Z,1761335670.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:30.781Z,1761335670.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:31.015Z,1761335671.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255918,-0.943681,0.209697],[0.965013,-0.262192,-0.002200],[0.057057,0.201798,0.977764]] 2025-10-24T19:54:31.036Z,1761335671.036 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:31.051Z,1761335671.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:31.295Z,1761335671.295 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:31.419Z,1761335671.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258516,-0.942764,0.210632],[0.964172,-0.265250,-0.003867],[0.059516,0.202086,0.977558]] 2025-10-24T19:54:31.474Z,1761335671.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:31.549Z,1761335671.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:31.801Z,1761335671.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:31.833Z,1761335671.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260971,-0.941976,0.211128],[0.963361,-0.268149,-0.005591],[0.061881,0.201934,0.977442]] 2025-10-24T19:54:31.852Z,1761335671.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:32.053Z,1761335672.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:32.305Z,1761335672.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:32.351Z,1761335672.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:32.557Z,1761335672.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:32.657Z,1761335672.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266113,-0.940270,0.212309],[0.961621,-0.274226,-0.009169],[0.066842,0.201721,0.977160]] 2025-10-24T19:54:32.688Z,1761335672.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:32.810Z,1761335672.810 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:33.056Z,1761335673.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268615,-0.939443,0.212822],[0.960759,-0.277172,-0.010867],[0.069197,0.201551,0.977031]] 2025-10-24T19:54:33.061Z,1761335673.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:33.103Z,1761335673.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:33.315Z,1761335673.315 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:33.523Z,1761335673.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:33.566Z,1761335673.566 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:33.816Z,1761335673.816 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:33.877Z,1761335673.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273647,-0.937566,0.214680],[0.958896,-0.283351,-0.015189],[0.075070,0.201699,0.976566]] 2025-10-24T19:54:33.902Z,1761335673.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:34.069Z,1761335674.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:34.322Z,1761335674.322 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:34.342Z,1761335674.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274474,-0.937276,0.214889],[0.958559,-0.284430,-0.016243],[0.076345,0.201525,0.976503]] 2025-10-24T19:54:34.398Z,1761335674.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:34.573Z,1761335674.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:34.723Z,1761335674.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274989,-0.936983,0.215510],[0.958318,-0.285189,-0.017120],[0.077502,0.201819,0.976352]] 2025-10-24T19:54:34.743Z,1761335674.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:34.826Z,1761335674.826 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:35.077Z,1761335675.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:35.130Z,1761335675.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274748,-0.937084,0.215376],[0.958341,-0.285071,-0.017800],[0.078077,0.201513,0.976369]] 2025-10-24T19:54:35.150Z,1761335675.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:35.331Z,1761335675.331 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:35.534Z,1761335675.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.274179,-0.937243,0.215411],[0.958482,-0.284572,-0.018187],[0.078346,0.201481,0.976354]] 2025-10-24T19:54:35.577Z,1761335675.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:35.581Z,1761335675.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:35.833Z,1761335675.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:35.938Z,1761335675.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.273045,-0.937611,0.215250],[0.958805,-0.283462,-0.018492],[0.078354,0.201334,0.976384]] 2025-10-24T19:54:35.968Z,1761335675.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:36.086Z,1761335676.086 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:36.340Z,1761335676.340 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:36.371Z,1761335676.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.271682,-0.937990,0.215323],[0.959218,-0.282064,-0.018440],[0.078032,0.201532,0.976369]] 2025-10-24T19:54:36.411Z,1761335676.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:36.589Z,1761335676.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:36.761Z,1761335676.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269928,-0.938517,0.215232],[0.959750,-0.280252,-0.018388],[0.077576,0.201606,0.976390]] 2025-10-24T19:54:36.798Z,1761335676.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:36.841Z,1761335676.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:37.093Z,1761335677.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:37.165Z,1761335677.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268319,-0.938964,0.215292],[0.960247,-0.278560,-0.018138],[0.077003,0.201866,0.976381]] 2025-10-24T19:54:37.186Z,1761335677.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:37.348Z,1761335677.348 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:37.567Z,1761335677.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266353,-0.939569,0.215098],[0.960853,-0.276482,-0.017888],[0.076277,0.201913,0.976429]] 2025-10-24T19:54:37.597Z,1761335677.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:37.619Z,1761335677.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:37.849Z,1761335677.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:37.972Z,1761335677.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264497,-0.940199,0.214631],[0.961437,-0.274467,-0.017503],[0.075366,0.201724,0.976538]] 2025-10-24T19:54:38.008Z,1761335678.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:38.101Z,1761335678.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:38.356Z,1761335678.356 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:38.394Z,1761335678.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.262376,-0.940829,0.214473],[0.962092,-0.272191,-0.017045],[0.074414,0.201871,0.976581]] 2025-10-24T19:54:38.439Z,1761335678.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:38.605Z,1761335678.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:38.781Z,1761335678.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260444,-0.941486,0.213948],[0.962707,-0.270047,-0.016423],[0.073238,0.201692,0.976707]] 2025-10-24T19:54:38.805Z,1761335678.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:38.857Z,1761335678.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:39.109Z,1761335679.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:39.183Z,1761335679.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258815,-0.941934,0.213951],[0.963217,-0.268259,-0.015828],[0.072303,0.201985,0.976716]] 2025-10-24T19:54:39.216Z,1761335679.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:39.363Z,1761335679.363 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:39.588Z,1761335679.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.257040,-0.942540,0.213422],[0.963789,-0.266241,-0.015044],[0.071002,0.201826,0.976844]] 2025-10-24T19:54:39.613Z,1761335679.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:39.640Z,1761335679.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:39.865Z,1761335679.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:39.991Z,1761335679.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255701,-0.942889,0.213487],[0.964228,-0.264696,-0.014168],[0.069868,0.202227,0.976843]] 2025-10-24T19:54:40.012Z,1761335680.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:40.117Z,1761335680.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:40.371Z,1761335680.371 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:40.421Z,1761335680.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254594,-0.943304,0.212977],[0.964605,-0.263361,-0.013366],[0.068698,0.202036,0.976966]] 2025-10-24T19:54:40.470Z,1761335680.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:40.620Z,1761335680.620 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:40.799Z,1761335680.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253561,-0.943637,0.212736],[0.964961,-0.262099,-0.012456],[0.067512,0.202124,0.977030]] 2025-10-24T19:54:40.839Z,1761335680.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:40.873Z,1761335680.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:41.125Z,1761335681.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:41.218Z,1761335681.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252554,-0.944009,0.212281],[0.965302,-0.260875,-0.011670],[0.066395,0.201968,0.977139]] 2025-10-24T19:54:41.256Z,1761335681.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:41.379Z,1761335681.379 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:41.629Z,1761335681.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:41.631Z,1761335681.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252357,-0.944141,0.211928],[0.965409,-0.260509,-0.010990],[0.065585,0.201824,0.977223]] 2025-10-24T19:54:41.685Z,1761335681.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:41.881Z,1761335681.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:42.111Z,1761335682.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251764,-0.944321,0.211832],[0.965622,-0.259748,-0.010276],[0.064727,0.201963,0.977252]] 2025-10-24T19:54:42.132Z,1761335682.132 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:42.186Z,1761335682.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:42.389Z,1761335682.389 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:42.512Z,1761335682.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251400,-0.944496,0.211484],[0.965782,-0.259182,-0.009449],[0.063737,0.201872,0.977336]] 2025-10-24T19:54:42.520Z,1761335682.520 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102411560534,35.0, +11.4, 0.0, 0 2025-10-24T19:54:42.573Z,1761335682.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:42.637Z,1761335682.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:42.889Z,1761335682.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:42.929Z,1761335682.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251209,-0.944580,0.211335],[0.965879,-0.258844,-0.008807],[0.063021,0.201912,0.977374]] 2025-10-24T19:54:42.956Z,1761335682.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:43.141Z,1761335683.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:43.318Z,1761335683.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251557,-0.944502,0.211272],[0.965828,-0.259056,-0.008129],[0.062409,0.202008,0.977394]] 2025-10-24T19:54:43.388Z,1761335683.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:43.393Z,1761335683.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:43.645Z,1761335683.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:43.733Z,1761335683.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.251660,-0.944527,0.211034],[0.965840,-0.259029,-0.007564],[0.061809,0.201921,0.977449]] 2025-10-24T19:54:43.789Z,1761335683.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:43.824Z,1761335683.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:54:43.897Z,1761335683.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:44.146Z,1761335684.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.252732,-0.944250,0.210996],[0.965608,-0.259919,-0.006580],[0.061055,0.202076,0.977465]] 2025-10-24T19:54:44.149Z,1761335684.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:44.170Z,1761335684.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:44.403Z,1761335684.403 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:44.549Z,1761335684.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253304,-0.944137,0.210816],[0.965474,-0.260424,-0.006247],[0.060800,0.201955,0.977506]] 2025-10-24T19:54:44.620Z,1761335684.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:44.653Z,1761335684.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:44.828Z,1761335684.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:54:44.905Z,1761335684.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:44.951Z,1761335684.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.253974,-0.943992,0.210658],[0.965320,-0.261006,-0.005796],[0.060454,0.201880,0.977543]] 2025-10-24T19:54:44.990Z,1761335684.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:45.157Z,1761335685.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:45.409Z,1761335685.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:45.429Z,1761335685.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:45.661Z,1761335685.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:45.769Z,1761335685.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.255315,-0.943667,0.210492],[0.964989,-0.262239,-0.005180],[0.060087,0.201800,0.977582]] 2025-10-24T19:54:45.839Z,1761335685.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:45.913Z,1761335685.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:46.165Z,1761335686.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:46.208Z,1761335686.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256569,-0.943294,0.210639],[0.964650,-0.263486,-0.004962],[0.060181,0.201920,0.977551]] 2025-10-24T19:54:46.263Z,1761335686.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:46.418Z,1761335686.418 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:46.669Z,1761335686.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:46.672Z,1761335686.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:46.921Z,1761335686.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:47.020Z,1761335687.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258593,-0.942723,0.210722],[0.964106,-0.265479,-0.004567],[0.060248,0.201977,0.977535]] 2025-10-24T19:54:47.060Z,1761335687.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:47.173Z,1761335687.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:47.424Z,1761335687.424 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:47.465Z,1761335687.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.259463,-0.942504,0.210632],[0.963868,-0.266344,-0.004475],[0.060318,0.201860,0.977555]] 2025-10-24T19:54:47.553Z,1761335687.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:47.681Z,1761335687.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:47.929Z,1761335687.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:47.930Z,1761335687.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260567,-0.942182,0.210708],[0.963561,-0.267453,-0.004356],[0.060459,0.201895,0.977539]] 2025-10-24T19:54:47.986Z,1761335687.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:48.181Z,1761335688.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:48.355Z,1761335688.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.261573,-0.941875,0.210833],[0.963268,-0.268506,-0.004432],[0.060785,0.201929,0.977512]] 2025-10-24T19:54:48.390Z,1761335688.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:48.433Z,1761335688.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:48.685Z,1761335688.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:48.822Z,1761335688.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:48.937Z,1761335688.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:49.163Z,1761335689.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263152,-0.941358,0.211176],[0.962804,-0.270162,-0.004522],[0.061309,0.202132,0.977438]] 2025-10-24T19:54:49.185Z,1761335689.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:49.189Z,1761335689.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:49.441Z,1761335689.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:49.571Z,1761335689.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263855,-0.941198,0.211016],[0.962599,-0.270892,-0.004627],[0.061518,0.201903,0.977472]] 2025-10-24T19:54:49.623Z,1761335689.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:49.640Z,1761335689.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 21.20 m and bearing: 333.292372 deg. Not drifting fast enough. 2025-10-24T19:54:49.693Z,1761335689.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:49.945Z,1761335689.944 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:49.967Z,1761335689.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264295,-0.941058,0.211087],[0.962450,-0.271414,-0.004953],[0.061953,0.201852,0.977455]] 2025-10-24T19:54:49.985Z,1761335689.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:54:49.987Z,1761335689.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:50.005Z,1761335690.005 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-24T19:54:50.005Z,1761335690.005 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-24T19:54:50.006Z,1761335690.006 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-24T19:54:50.006Z,1761335690.006 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-24T19:54:50.197Z,1761335690.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:50.371Z,1761335690.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264932,-0.940850,0.211218],[0.962247,-0.272127,-0.005214],[0.062383,0.201863,0.977425]] 2025-10-24T19:54:50.394Z,1761335690.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:50.450Z,1761335690.450 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:50.701Z,1761335690.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:50.785Z,1761335690.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265551,-0.940581,0.211639],[0.962034,-0.272873,-0.005624],[0.063040,0.202110,0.977332]] 2025-10-24T19:54:50.849Z,1761335690.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:50.953Z,1761335690.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:51.205Z,1761335691.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:51.215Z,1761335691.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.266433,-0.940352,0.211545],[0.961735,-0.273909,-0.006301],[0.063870,0.201772,0.977348]] 2025-10-24T19:54:51.255Z,1761335691.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:51.457Z,1761335691.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:51.617Z,1761335691.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267171,-0.940078,0.211832],[0.961482,-0.274784,-0.006787],[0.064588,0.201859,0.977283]] 2025-10-24T19:54:51.679Z,1761335691.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:51.709Z,1761335691.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:51.961Z,1761335691.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:52.107Z,1761335692.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268552,-0.939535,0.212493],[0.960976,-0.276514,-0.008107],[0.066374,0.202023,0.977129]] 2025-10-24T19:54:52.143Z,1761335692.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:52.213Z,1761335692.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:52.465Z,1761335692.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:52.513Z,1761335692.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269064,-0.939523,0.211897],[0.960757,-0.277236,-0.009268],[0.067453,0.201088,0.977248]] 2025-10-24T19:54:52.605Z,1761335692.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:52.718Z,1761335692.718 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:52.921Z,1761335692.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268959,-0.940233,0.208863],[0.960732,-0.277260,-0.010974],[0.068228,0.197709,0.977883]] 2025-10-24T19:54:52.969Z,1761335692.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:52.986Z,1761335692.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:53.221Z,1761335693.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:53.313Z,1761335693.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.268534,-0.941437,0.203927],[0.960803,-0.276917,-0.013198],[0.068896,0.192390,0.978897]] 2025-10-24T19:54:53.345Z,1761335693.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:53.473Z,1761335693.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:53.725Z,1761335693.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:53.778Z,1761335693.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:53.978Z,1761335693.978 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:54.128Z,1761335694.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265843,-0.945205,0.189515],[0.961557,-0.274023,-0.017859],[0.068811,0.177482,0.981715]] 2025-10-24T19:54:54.178Z,1761335694.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:54.229Z,1761335694.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:54.481Z,1761335694.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:54.542Z,1761335694.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265134,-0.946609,0.183402],[0.961734,-0.273250,-0.020027],[0.069073,0.171074,0.982834]] 2025-10-24T19:54:54.628Z,1761335694.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:54.733Z,1761335694.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:54.930Z,1761335694.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.265320,-0.946594,0.183208],[0.961638,-0.273540,-0.020680],[0.069690,0.170693,0.982857]] 2025-10-24T19:54:54.979Z,1761335694.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:54.985Z,1761335694.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:55.237Z,1761335695.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:55.372Z,1761335695.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:55.489Z,1761335695.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:55.741Z,1761335695.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:55.741Z,1761335695.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267339,-0.944169,0.192550],[0.960947,-0.276050,-0.019421],[0.071490,0.179839,0.981095]] 2025-10-24T19:54:55.802Z,1761335695.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:55.995Z,1761335695.995 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:56.141Z,1761335696.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.269464,-0.943135,0.194642],[0.960271,-0.278386,-0.019507],[0.072584,0.181653,0.980680]] 2025-10-24T19:54:56.178Z,1761335696.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:56.246Z,1761335696.246 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:56.496Z,1761335696.496 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:56.560Z,1761335696.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.272061,-0.942667,0.193290],[0.959496,-0.281013,-0.019971],[0.073143,0.180028,0.980938]] 2025-10-24T19:54:56.718Z,1761335696.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:56.749Z,1761335696.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:56.984Z,1761335696.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.275705,-0.941798,0.192361],[0.958386,-0.284742,-0.020471],[0.074053,0.178712,0.981111]] 2025-10-24T19:54:57.001Z,1761335697.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:57.027Z,1761335697.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:57.252Z,1761335697.252 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:57.383Z,1761335697.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.280138,-0.940507,0.192273],[0.957054,-0.289203,-0.020234],[0.074637,0.178347,0.981133]] 2025-10-24T19:54:57.445Z,1761335697.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:57.513Z,1761335697.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:57.765Z,1761335697.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:57.804Z,1761335697.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.285498,-0.938487,0.194251],[0.955423,-0.294617,-0.019167],[0.075217,0.180119,0.980765]] 2025-10-24T19:54:57.862Z,1761335697.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:58.018Z,1761335698.018 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:58.269Z,1761335698.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:58.275Z,1761335698.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291255,-0.936333,0.196089],[0.953660,-0.300363,-0.017757],[0.075524,0.181830,0.980425]] 2025-10-24T19:54:58.303Z,1761335698.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:58.521Z,1761335698.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:58.778Z,1761335698.778 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:58.816Z,1761335698.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.305732,-0.931091,0.198989],[0.949099,-0.314662,-0.014117],[0.075758,0.184544,0.979900]] 2025-10-24T19:54:58.926Z,1761335698.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:59.033Z,1761335699.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:59.285Z,1761335699.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:59.367Z,1761335699.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.314408,-0.927845,0.200627],[0.946274,-0.323159,-0.011592],[0.075590,0.186203,0.979599]] 2025-10-24T19:54:59.387Z,1761335699.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:54:59.536Z,1761335699.536 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:59.788Z,1761335699.788 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:54:59.825Z,1761335699.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324154,-0.923944,0.203104],[0.943001,-0.332684,-0.008388],[0.075320,0.188808,0.979121]] 2025-10-24T19:54:59.882Z,1761335699.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:00.041Z,1761335700.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:00.221Z,1761335700.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334940,-0.919473,0.205876],[0.939291,-0.343096,-0.004186],[0.074485,0.191975,0.978569]] 2025-10-24T19:55:00.256Z,1761335700.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:00.293Z,1761335700.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:00.547Z,1761335700.547 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:00.638Z,1761335700.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346757,-0.914364,0.209041],[0.935070,-0.354462,0.000644],[0.073508,0.195691,0.977907]] 2025-10-24T19:55:00.729Z,1761335700.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:00.801Z,1761335700.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:01.053Z,1761335701.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:01.087Z,1761335701.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:01.304Z,1761335701.304 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:01.433Z,1761335701.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372337,-0.902831,0.215084],[0.925463,-0.378622,0.012795],[0.069883,0.203816,0.976512]] 2025-10-24T19:55:01.462Z,1761335701.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:01.557Z,1761335701.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:01.809Z,1761335701.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:01.836Z,1761335701.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386275,-0.896192,0.218244],[0.919916,-0.391600,0.020123],[0.067430,0.208540,0.975687]] 2025-10-24T19:55:01.887Z,1761335701.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:02.061Z,1761335702.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:02.240Z,1761335702.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400986,-0.888893,0.221541],[0.913804,-0.405167,0.028314],[0.064593,0.213799,0.974740]] 2025-10-24T19:55:02.265Z,1761335702.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:02.314Z,1761335702.314 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:02.565Z,1761335702.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:02.817Z,1761335702.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:02.823Z,1761335702.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:03.070Z,1761335703.070 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:03.132Z,1761335703.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.448649,-0.864948,0.224897],[0.892005,-0.448913,0.052962],[0.055150,0.224370,0.972942]] 2025-10-24T19:55:03.190Z,1761335703.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:03.321Z,1761335703.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:03.573Z,1761335703.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:03.610Z,1761335703.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465271,-0.856372,0.223942],[0.883683,-0.464029,0.061491],[0.051257,0.226504,0.972661]] 2025-10-24T19:55:03.650Z,1761335703.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:03.825Z,1761335703.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:04.077Z,1761335704.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:04.115Z,1761335704.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:04.329Z,1761335704.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:04.448Z,1761335704.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500259,-0.837011,0.221705],[0.864804,-0.495721,0.079842],[0.043075,0.231673,0.971840]] 2025-10-24T19:55:04.483Z,1761335704.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:04.581Z,1761335704.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:04.832Z,1761335704.832 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:04.921Z,1761335704.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:05.085Z,1761335705.085 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:05.257Z,1761335705.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536241,-0.815458,0.217884],[0.843396,-0.527926,0.099881],[0.033578,0.237323,0.970850]] 2025-10-24T19:55:05.277Z,1761335705.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:05.337Z,1761335705.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:05.589Z,1761335705.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:05.695Z,1761335705.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:05.842Z,1761335705.842 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:06.078Z,1761335706.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572274,-0.791962,0.212835],[0.819734,-0.559785,0.121147],[0.023198,0.243798,0.969549]] 2025-10-24T19:55:06.094Z,1761335706.094 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:06.130Z,1761335706.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:06.344Z,1761335706.344 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:06.481Z,1761335706.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590397,-0.779409,0.209651],[0.806911,-0.575808,0.131682],[0.018085,0.246914,0.968869]] 2025-10-24T19:55:06.499Z,1761335706.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:06.598Z,1761335706.598 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:06.849Z,1761335706.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:06.888Z,1761335706.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607907,-0.766636,0.206682],[0.793898,-0.591196,0.142173],[0.013194,0.250512,0.968024]] 2025-10-24T19:55:06.944Z,1761335706.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:07.101Z,1761335707.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:07.290Z,1761335707.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625013,-0.753814,0.202787],[0.780568,-0.606353,0.151823],[0.008514,0.253181,0.967382]] 2025-10-24T19:55:07.309Z,1761335707.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:07.353Z,1761335707.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:07.605Z,1761335707.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:07.729Z,1761335707.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:07.858Z,1761335707.858 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:08.110Z,1761335708.110 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:08.153Z,1761335708.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:08.362Z,1761335708.362 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:08.502Z,1761335708.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675362,-0.712848,0.189033],[0.737476,-0.651478,0.178058],[-0.003777,0.259661,0.965692]] 2025-10-24T19:55:08.521Z,1761335708.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:08.613Z,1761335708.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:08.865Z,1761335708.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:08.915Z,1761335708.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691440,-0.698405,0.184773],[0.722399,-0.665905,0.186304],[-0.007074,0.262298,0.964961]] 2025-10-24T19:55:08.978Z,1761335708.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:09.117Z,1761335709.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:09.310Z,1761335709.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707454,-0.683470,0.179938],[0.706685,-0.680354,0.194203],[-0.010311,0.264549,0.964317]] 2025-10-24T19:55:09.344Z,1761335709.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:09.368Z,1761335709.368 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:09.621Z,1761335709.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:09.715Z,1761335709.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723011,-0.668111,0.175735],[0.690712,-0.694258,0.202296],[-0.013151,0.267645,0.963428]] 2025-10-24T19:55:09.733Z,1761335709.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:09.873Z,1761335709.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:10.125Z,1761335710.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:10.130Z,1761335710.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738525,-0.652439,0.170014],[0.674037,-0.708482,0.209109],[-0.015979,0.269028,0.963000]] 2025-10-24T19:55:10.186Z,1761335710.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:10.377Z,1761335710.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:10.521Z,1761335710.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753523,-0.636620,0.164067],[0.657160,-0.722355,0.215276],[-0.018534,0.270034,0.962672]] 2025-10-24T19:55:10.559Z,1761335710.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:10.630Z,1761335710.630 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:10.881Z,1761335710.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:10.997Z,1761335710.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:11.143Z,1761335711.143 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:11.329Z,1761335711.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782259,-0.604680,0.149777],[0.622474,-0.749300,0.225997],[-0.024428,0.270020,0.962545]] 2025-10-24T19:55:11.350Z,1761335711.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:11.385Z,1761335711.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:11.637Z,1761335711.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:11.735Z,1761335711.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796156,-0.588353,0.141338],[0.604470,-0.762754,0.229833],[-0.027417,0.268418,0.962912]] 2025-10-24T19:55:11.762Z,1761335711.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:11.891Z,1761335711.891 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:12.135Z,1761335712.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809405,-0.572329,0.131542],[0.586438,-0.775969,0.232297],[-0.030878,0.265164,0.963709]] 2025-10-24T19:55:12.141Z,1761335712.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:12.212Z,1761335712.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:12.393Z,1761335712.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:12.539Z,1761335712.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821863,-0.556401,0.122305],[0.568635,-0.788192,0.235387],[-0.034570,0.263003,0.964176]] 2025-10-24T19:55:12.579Z,1761335712.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:12.646Z,1761335712.646 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:12.897Z,1761335712.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:12.954Z,1761335712.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843564,-0.527264,0.101941],[0.535293,-0.810297,0.238496],[-0.043147,0.255755,0.965778]] 2025-10-24T19:55:13.047Z,1761335713.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:13.149Z,1761335713.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:13.353Z,1761335713.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852731,-0.514307,0.091313],[0.520175,-0.820167,0.238209],[-0.047621,0.250627,0.966912]] 2025-10-24T19:55:13.372Z,1761335713.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:13.400Z,1761335713.400 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:13.653Z,1761335713.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:13.752Z,1761335713.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860974,-0.502418,0.079371],[0.505933,-0.829786,0.235555],[-0.052486,0.242963,0.968615]] 2025-10-24T19:55:13.785Z,1761335713.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:13.908Z,1761335713.908 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:14.155Z,1761335714.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867802,-0.492287,0.067626],[0.493553,-0.838125,0.232275],[-0.057667,0.234946,0.970296]] 2025-10-24T19:55:14.157Z,1761335714.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:14.218Z,1761335714.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:14.409Z,1761335714.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:14.597Z,1761335714.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:14.661Z,1761335714.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:14.916Z,1761335714.916 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:14.952Z,1761335714.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:55:15.024Z,1761335715.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:15.165Z,1761335715.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:15.367Z,1761335715.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883104,-0.467962,0.033740],[0.463216,-0.858198,0.221196],[-0.074556,0.210968,0.974645]] 2025-10-24T19:55:15.417Z,1761335715.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:15.421Z,1761335715.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:15.669Z,1761335715.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:15.773Z,1761335715.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886003,-0.463122,0.022715],[0.456595,-0.862891,0.216657],[-0.080738,0.202331,0.975983]] 2025-10-24T19:55:15.797Z,1761335715.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:15.923Z,1761335715.923 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:15.957Z,1761335715.957 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:55:16.172Z,1761335716.172 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:16.177Z,1761335716.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888216,-0.459283,0.011461],[0.451167,-0.867270,0.210454],[-0.086718,0.192099,0.977537]] 2025-10-24T19:55:16.230Z,1761335716.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:16.425Z,1761335716.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:16.580Z,1761335716.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889824,-0.456304,0.000379],[0.446851,-0.871220,0.203224],[-0.092402,0.181003,0.979132]] 2025-10-24T19:55:16.599Z,1761335716.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:16.678Z,1761335716.678 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:16.931Z,1761335716.931 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:17.057Z,1761335717.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:17.181Z,1761335717.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:17.394Z,1761335717.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890807,-0.453908,-0.020746],[0.442244,-0.876589,0.189768],[-0.104323,0.159872,0.981610]] 2025-10-24T19:55:17.433Z,1761335717.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:17.470Z,1761335717.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:17.684Z,1761335717.684 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:17.840Z,1761335717.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890657,-0.453664,-0.030325],[0.441152,-0.878386,0.183910],[-0.110070,0.150423,0.982475]] 2025-10-24T19:55:17.866Z,1761335717.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:17.940Z,1761335717.940 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:18.189Z,1761335718.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:18.232Z,1761335718.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890047,-0.454139,-0.039679],[0.440794,-0.879547,0.179160],[-0.116263,0.141971,0.983019]] 2025-10-24T19:55:18.286Z,1761335718.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:18.441Z,1761335718.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:18.636Z,1761335718.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889152,-0.455031,-0.048538],[0.440989,-0.880347,0.174696],[-0.122223,0.133926,0.983425]] 2025-10-24T19:55:18.676Z,1761335718.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:18.693Z,1761335718.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:18.948Z,1761335718.948 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:19.066Z,1761335719.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888361,-0.455562,-0.057249],[0.440915,-0.881218,0.170440],[-0.128095,0.126170,0.983704]] 2025-10-24T19:55:19.114Z,1761335719.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:19.197Z,1761335719.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:19.449Z,1761335719.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:19.468Z,1761335719.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887271,-0.456778,-0.064057],[0.441475,-0.881232,0.168911],[-0.133603,0.121590,0.983548]] 2025-10-24T19:55:19.487Z,1761335719.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:19.701Z,1761335719.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:19.934Z,1761335719.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886033,-0.458369,-0.069594],[0.442329,-0.880730,0.169289],[-0.138890,0.119212,0.983106]] 2025-10-24T19:55:19.956Z,1761335719.956 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:20.021Z,1761335720.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:20.205Z,1761335720.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:20.405Z,1761335720.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885003,-0.459547,-0.074745],[0.442856,-0.880427,0.169491],[-0.143697,0.116899,0.982693]] 2025-10-24T19:55:20.457Z,1761335720.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:20.478Z,1761335720.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:20.709Z,1761335720.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:20.803Z,1761335720.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883762,-0.461293,-0.078568],[0.443978,-0.879646,0.170605],[-0.147810,0.115892,0.982202]] 2025-10-24T19:55:20.843Z,1761335720.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:20.964Z,1761335720.964 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:21.213Z,1761335721.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:21.217Z,1761335721.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882746,-0.462516,-0.082696],[0.444590,-0.879181,0.171409],[-0.151984,0.114544,0.981723]] 2025-10-24T19:55:21.271Z,1761335721.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:21.465Z,1761335721.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:21.611Z,1761335721.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881921,-0.463431,-0.086297],[0.445032,-0.878890,0.171754],[-0.155441,0.113068,0.981353]] 2025-10-24T19:55:21.640Z,1761335721.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:21.717Z,1761335721.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:21.969Z,1761335721.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:22.114Z,1761335722.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:22.220Z,1761335722.220 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:22.456Z,1761335722.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880088,-0.465272,-0.094696],[0.445275,-0.878004,0.175609],[-0.164850,0.112385,0.979895]] 2025-10-24T19:55:22.473Z,1761335722.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:22.477Z,1761335722.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:22.725Z,1761335722.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:22.827Z,1761335722.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879633,-0.465663,-0.096969],[0.445196,-0.877797,0.176840],[-0.167467,0.112384,0.979451]] 2025-10-24T19:55:22.847Z,1761335722.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:22.979Z,1761335722.979 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:23.229Z,1761335723.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:23.280Z,1761335723.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:23.484Z,1761335723.484 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:23.632Z,1761335723.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879667,-0.464843,-0.100535],[0.443553,-0.878143,0.179238],[-0.171602,0.113077,0.978655]] 2025-10-24T19:55:23.653Z,1761335723.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:23.733Z,1761335723.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:23.987Z,1761335723.987 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:24.094Z,1761335724.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879845,-0.464339,-0.101300],[0.442681,-0.878257,0.180828],[-0.172933,0.114257,0.978284]] 2025-10-24T19:55:24.164Z,1761335724.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:24.237Z,1761335724.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:24.494Z,1761335724.494 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:24.487Z,1761335724.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880429,-0.462922,-0.102703],[0.440970,-0.878963,0.181575],[-0.174328,0.114575,0.977999]] 2025-10-24T19:55:24.513Z,1761335724.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:24.744Z,1761335724.744 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:24.899Z,1761335724.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881107,-0.461516,-0.103219],[0.439344,-0.879589,0.182480],[-0.175008,0.115436,0.977777]] 2025-10-24T19:55:24.940Z,1761335724.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:24.997Z,1761335724.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:25.249Z,1761335725.249 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:25.296Z,1761335725.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882066,-0.459360,-0.104632],[0.437163,-0.880833,0.181719],[-0.175638,0.114547,0.977768]] 2025-10-24T19:55:25.350Z,1761335725.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:25.501Z,1761335725.501 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:25.714Z,1761335725.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883059,-0.457294,-0.105307],[0.435029,-0.881899,0.181669],[-0.175946,0.114613,0.977705]] 2025-10-24T19:55:25.753Z,1761335725.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:25.763Z,1761335725.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:26.005Z,1761335726.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:26.114Z,1761335726.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884124,-0.455284,-0.105082],[0.432861,-0.882751,0.182708],[-0.175945,0.116050,0.977535]] 2025-10-24T19:55:26.180Z,1761335726.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:26.256Z,1761335726.256 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:26.507Z,1761335726.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885110,-0.453384,-0.104988],[0.430802,-0.883557,0.183673],[-0.176037,0.117342,0.977365]] 2025-10-24T19:55:26.509Z,1761335726.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:26.538Z,1761335726.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:26.761Z,1761335726.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:26.923Z,1761335726.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886172,-0.451456,-0.104340],[0.428513,-0.884155,0.186136],[-0.176285,0.120237,0.976968]] 2025-10-24T19:55:26.956Z,1761335726.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:27.015Z,1761335727.015 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:27.265Z,1761335727.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:27.315Z,1761335727.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887103,-0.449614,-0.104386],[0.426462,-0.884905,0.187280],[-0.176575,0.121620,0.976744]] 2025-10-24T19:55:27.374Z,1761335727.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:27.517Z,1761335727.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:27.720Z,1761335727.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888005,-0.447412,-0.106155],[0.424387,-0.886295,0.185408],[-0.177038,0.119592,0.976911]] 2025-10-24T19:55:27.751Z,1761335727.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:27.770Z,1761335727.770 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:28.021Z,1761335728.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:28.141Z,1761335728.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889089,-0.444742,-0.108281],[0.421959,-0.888019,0.182681],[-0.177401,0.116729,0.977191]] 2025-10-24T19:55:28.195Z,1761335728.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:28.273Z,1761335728.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:28.525Z,1761335728.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:28.534Z,1761335728.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889995,-0.442640,-0.109445],[0.419959,-0.889236,0.181369],[-0.177603,0.115455,0.977306]] 2025-10-24T19:55:28.554Z,1761335728.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:28.781Z,1761335728.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:28.945Z,1761335728.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890650,-0.441369,-0.109250],[0.418429,-0.889638,0.182926],[-0.177931,0.117210,0.977037]] 2025-10-24T19:55:28.965Z,1761335728.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:29.029Z,1761335729.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:29.281Z,1761335729.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:29.336Z,1761335729.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891232,-0.440320,-0.108739],[0.417039,-0.889832,0.185141],[-0.178280,0.119655,0.976677]] 2025-10-24T19:55:29.383Z,1761335729.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:29.533Z,1761335729.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:29.741Z,1761335729.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891432,-0.440068,-0.108120],[0.416645,-0.889767,0.186339],[-0.178204,0.121061,0.976518]] 2025-10-24T19:55:29.762Z,1761335729.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:29.785Z,1761335729.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:30.036Z,1761335730.036 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:30.171Z,1761335730.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891641,-0.439639,-0.108142],[0.416284,-0.890015,0.185959],[-0.178003,0.120791,0.976588]] 2025-10-24T19:55:30.268Z,1761335730.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:30.289Z,1761335730.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:30.541Z,1761335730.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:30.554Z,1761335730.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891011,-0.440659,-0.109177],[0.417305,-0.889686,0.185247],[-0.178764,0.119497,0.976609]] 2025-10-24T19:55:30.574Z,1761335730.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:30.793Z,1761335730.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:30.952Z,1761335730.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890205,-0.441656,-0.111692],[0.418534,-0.889710,0.182331],[-0.179901,0.115565,0.976873]] 2025-10-24T19:55:30.987Z,1761335730.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:31.045Z,1761335731.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:31.297Z,1761335731.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:31.363Z,1761335731.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889039,-0.443186,-0.114872],[0.420491,-0.889658,0.178034],[-0.181099,0.109977,0.977296]] 2025-10-24T19:55:31.410Z,1761335731.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:31.549Z,1761335731.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:31.763Z,1761335731.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888000,-0.444520,-0.117723],[0.422298,-0.889638,0.173809],[-0.181993,0.104628,0.977718]] 2025-10-24T19:55:31.782Z,1761335731.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:31.801Z,1761335731.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:32.053Z,1761335732.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:32.202Z,1761335732.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886800,-0.446653,-0.118691],[0.424470,-0.888748,0.173068],[-0.182788,0.103096,0.977732]] 2025-10-24T19:55:32.302Z,1761335732.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:32.305Z,1761335732.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:32.557Z,1761335732.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:32.569Z,1761335732.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885608,-0.448623,-0.120146],[0.426509,-0.887994,0.171920],[-0.183817,0.101010,0.977757]] 2025-10-24T19:55:32.589Z,1761335732.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:32.809Z,1761335732.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:32.990Z,1761335732.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884400,-0.450742,-0.121112],[0.428640,-0.887076,0.171358],[-0.184673,0.099636,0.977736]] 2025-10-24T19:55:33.022Z,1761335733.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:33.061Z,1761335733.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:33.313Z,1761335733.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:33.391Z,1761335733.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883343,-0.452724,-0.121433],[0.430504,-0.886080,0.171839],[-0.185395,0.099516,0.977612]] 2025-10-24T19:55:33.470Z,1761335733.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:33.564Z,1761335733.564 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:33.817Z,1761335733.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:33.887Z,1761335733.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882018,-0.455150,-0.121994],[0.432801,-0.884879,0.172254],[-0.186351,0.099133,0.977469]] 2025-10-24T19:55:33.933Z,1761335733.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:34.069Z,1761335734.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:34.321Z,1761335734.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:34.396Z,1761335734.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:34.573Z,1761335734.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:34.746Z,1761335734.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881400,-0.456530,-0.121304],[0.434221,-0.884147,0.172439],[-0.185974,0.099315,0.977522]] 2025-10-24T19:55:34.766Z,1761335734.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:34.826Z,1761335734.826 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:35.077Z,1761335735.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:35.157Z,1761335735.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881445,-0.456618,-0.120643],[0.434491,-0.884132,0.171839],[-0.185129,0.099049,0.977710]] 2025-10-24T19:55:35.239Z,1761335735.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:35.330Z,1761335735.330 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:35.547Z,1761335735.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881370,-0.457137,-0.119220],[0.435337,-0.883903,0.170874],[-0.183492,0.098702,0.978053]] 2025-10-24T19:55:35.581Z,1761335735.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:35.607Z,1761335735.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:35.833Z,1761335735.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:35.986Z,1761335735.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:36.086Z,1761335736.086 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:36.337Z,1761335736.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:36.407Z,1761335736.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:36.589Z,1761335736.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:36.832Z,1761335736.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881550,-0.458123,-0.113991],[0.437075,-0.883272,0.169694],[-0.178426,0.099772,0.978882]] 2025-10-24T19:55:36.841Z,1761335736.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:36.853Z,1761335736.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:37.094Z,1761335737.094 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:37.258Z,1761335737.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881922,-0.457634,-0.113070],[0.437032,-0.883666,0.167745],[-0.176682,0.098523,0.979325]] 2025-10-24T19:55:37.327Z,1761335737.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:37.346Z,1761335737.346 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:37.597Z,1761335737.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:37.738Z,1761335737.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882275,-0.457503,-0.110828],[0.437316,-0.883725,0.166689],[-0.174202,0.098599,0.979761]] 2025-10-24T19:55:37.758Z,1761335737.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:37.849Z,1761335737.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:38.102Z,1761335738.102 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:38.249Z,1761335738.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:38.354Z,1761335738.354 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:38.568Z,1761335738.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882797,-0.457900,-0.104868],[0.438546,-0.883360,0.165385],[-0.168366,0.100012,0.980638]] 2025-10-24T19:55:38.605Z,1761335738.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:38.633Z,1761335738.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:38.857Z,1761335738.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:38.978Z,1761335738.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883056,-0.458104,-0.101746],[0.439192,-0.883173,0.164669],[-0.165295,0.100726,0.981087]] 2025-10-24T19:55:39.002Z,1761335739.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:39.110Z,1761335739.110 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:39.361Z,1761335739.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:39.394Z,1761335739.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883432,-0.458209,-0.097939],[0.439853,-0.883027,0.163685],[-0.161484,0.101526,0.981639]] 2025-10-24T19:55:39.432Z,1761335739.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:39.612Z,1761335739.612 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:39.787Z,1761335739.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884364,-0.457805,-0.091184],[0.440733,-0.883259,0.160024],[-0.153799,0.101331,0.982893]] 2025-10-24T19:55:39.825Z,1761335739.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:39.865Z,1761335739.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:40.117Z,1761335740.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:40.189Z,1761335740.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885070,-0.457260,-0.086971],[0.440744,-0.883392,0.159259],[-0.149653,0.102623,0.983398]] 2025-10-24T19:55:40.208Z,1761335740.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:40.370Z,1761335740.370 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:40.589Z,1761335740.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885632,-0.456859,-0.083281],[0.440935,-0.883543,0.157883],[-0.145713,0.103105,0.983940]] 2025-10-24T19:55:40.621Z,1761335740.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:40.661Z,1761335740.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:40.873Z,1761335740.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:40.991Z,1761335740.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886303,-0.456129,-0.080087],[0.440904,-0.884001,0.155387],[-0.141673,0.102409,0.984602]] 2025-10-24T19:55:41.027Z,1761335741.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:41.125Z,1761335741.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:41.377Z,1761335741.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:41.461Z,1761335741.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:41.629Z,1761335741.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:41.800Z,1761335741.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887729,-0.454480,-0.073382],[0.440609,-0.884964,0.150673],[-0.133419,0.101424,0.985856]] 2025-10-24T19:55:41.819Z,1761335741.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:41.881Z,1761335741.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:42.132Z,1761335742.132 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:42.206Z,1761335742.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888318,-0.453717,-0.070942],[0.440561,-0.885574,0.147190],[-0.129607,0.099497,0.986561]] 2025-10-24T19:55:42.225Z,1761335742.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:42.385Z,1761335742.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:42.619Z,1761335742.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888997,-0.452851,-0.067894],[0.440274,-0.886061,0.145099],[-0.125866,0.099101,0.987085]] 2025-10-24T19:55:42.637Z,1761335742.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:42.683Z,1761335742.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:42.889Z,1761335742.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:43.011Z,1761335743.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889449,-0.452504,-0.064195],[0.440440,-0.886162,0.143975],[-0.122037,0.099784,0.987497]] 2025-10-24T19:55:43.045Z,1761335743.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:43.141Z,1761335743.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:43.393Z,1761335743.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:43.490Z,1761335743.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:43.645Z,1761335743.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:43.821Z,1761335743.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889921,-0.452403,-0.058077],[0.441360,-0.886247,0.140595],[-0.115076,0.099486,0.988362]] 2025-10-24T19:55:43.842Z,1761335743.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:43.897Z,1761335743.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:44.148Z,1761335744.148 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:44.223Z,1761335744.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890142,-0.452265,-0.055710],[0.441746,-0.886449,0.138087],[-0.111836,0.098307,0.988852]] 2025-10-24T19:55:44.249Z,1761335744.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:44.401Z,1761335744.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:44.629Z,1761335744.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889910,-0.452998,-0.053414],[0.442927,-0.886171,0.136074],[-0.108976,0.097435,0.989258]] 2025-10-24T19:55:44.653Z,1761335744.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:44.690Z,1761335744.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:44.906Z,1761335744.906 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:45.032Z,1761335745.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889798,-0.453465,-0.051279],[0.443879,-0.886084,0.133514],[-0.105981,0.096039,0.989719]] 2025-10-24T19:55:45.059Z,1761335745.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:45.157Z,1761335745.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:45.409Z,1761335745.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:45.434Z,1761335745.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889365,-0.454594,-0.048716],[0.445423,-0.885556,0.131867],[-0.103087,0.095579,0.990070]] 2025-10-24T19:55:45.497Z,1761335745.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:45.661Z,1761335745.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:45.840Z,1761335745.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888946,-0.455659,-0.046359],[0.446851,-0.885039,0.130498],[-0.100492,0.095290,0.990364]] 2025-10-24T19:55:45.859Z,1761335745.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:45.914Z,1761335745.914 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:46.076Z,1761335746.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:55:46.165Z,1761335746.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:46.246Z,1761335746.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888509,-0.456770,-0.043733],[0.448288,-0.884428,0.129709],[-0.097926,0.095642,0.990587]] 2025-10-24T19:55:46.265Z,1761335746.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:46.417Z,1761335746.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:46.648Z,1761335746.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888250,-0.457483,-0.041496],[0.449325,-0.884070,0.128556],[-0.095497,0.095544,0.990834]] 2025-10-24T19:55:46.671Z,1761335746.671 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:46.695Z,1761335746.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:46.929Z,1761335746.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:47.051Z,1761335747.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887612,-0.458909,-0.039350],[0.451118,-0.883414,0.126779],[-0.092943,0.094779,0.991150]] 2025-10-24T19:55:47.071Z,1761335747.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:47.089Z,1761335747.089 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:55:47.181Z,1761335747.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:47.433Z,1761335747.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:47.491Z,1761335747.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887195,-0.459858,-0.037629],[0.452425,-0.883052,0.124621],[-0.090536,0.093539,0.991491]] 2025-10-24T19:55:47.545Z,1761335747.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:47.685Z,1761335747.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:47.899Z,1761335747.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:47.937Z,1761335747.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:48.189Z,1761335748.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:48.274Z,1761335748.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886181,-0.462165,-0.032968],[0.455292,-0.881786,0.123139],[-0.085981,0.094114,0.991842]] 2025-10-24T19:55:48.304Z,1761335748.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:48.441Z,1761335748.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:48.669Z,1761335748.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885747,-0.463102,-0.031430],[0.456499,-0.881372,0.121620],[-0.084025,0.093377,0.992079]] 2025-10-24T19:55:48.693Z,1761335748.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:48.727Z,1761335748.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:48.945Z,1761335748.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:49.076Z,1761335749.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885251,-0.464196,-0.029208],[0.457838,-0.880746,0.121124],[-0.081950,0.093853,0.992208]] 2025-10-24T19:55:49.095Z,1761335749.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:49.197Z,1761335749.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:49.449Z,1761335749.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:49.474Z,1761335749.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884976,-0.464844,-0.027170],[0.458663,-0.880297,0.121268],[-0.080288,0.094857,0.992248]] 2025-10-24T19:55:49.531Z,1761335749.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:49.533Z,1761335749.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Running Loop=1 2025-10-24T19:55:49.533Z,1761335749.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-10-24T19:55:49.534Z,1761335749.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Running Loop=1 2025-10-24T19:55:49.535Z,1761335749.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 21.200001 m 5.004144 min ago. 2025-10-24T19:55:49.535Z,1761335749.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Stopped 2025-10-24T19:55:49.535Z,1761335749.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Running Loop=1 2025-10-24T19:55:49.701Z,1761335749.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:49.881Z,1761335749.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884548,-0.465789,-0.024798],[0.459798,-0.879649,0.121671],[-0.078486,0.096221,0.992261]] 2025-10-24T19:55:49.927Z,1761335749.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T19:55:49.934Z,1761335749.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Stopped 2025-10-24T19:55:49.934Z,1761335749.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-10-24T19:55:49.934Z,1761335749.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Stopped 2025-10-24T19:55:49.934Z,1761335749.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-10-24T19:55:49.953Z,1761335749.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:50.205Z,1761335750.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:50.284Z,1761335750.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884409,-0.466146,-0.022975],[0.460352,-0.879398,0.121388],[-0.076788,0.096780,0.992339]] 2025-10-24T19:55:50.301Z,1761335750.301 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-10-24T19:55:50.301Z,1761335750.301 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-24T19:55:50.302Z,1761335750.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:55:50.303Z,1761335750.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-24T19:55:50.303Z,1761335750.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-24T19:55:50.303Z,1761335750.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-24T19:55:50.303Z,1761335750.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-24T19:55:50.303Z,1761335750.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-24T19:55:50.303Z,1761335750.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-24T19:55:50.304Z,1761335750.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-24T19:55:50.304Z,1761335750.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-24T19:55:50.304Z,1761335750.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-24T19:55:50.304Z,1761335750.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-24T19:55:50.304Z,1761335750.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-10-24T19:55:50.304Z,1761335750.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-24T19:55:50.304Z,1761335750.304 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-24T19:55:50.305Z,1761335750.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-24T19:55:50.305Z,1761335750.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-24T19:55:50.305Z,1761335750.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-24T19:55:50.305Z,1761335750.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-24T19:55:50.305Z,1761335750.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-24T19:55:50.305Z,1761335750.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-24T19:55:50.305Z,1761335750.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-24T19:55:50.305Z,1761335750.305 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-24T19:55:50.307Z,1761335750.307 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg ) 2025-10-24T19:55:50.307Z,1761335750.307 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-24T19:55:50.307Z,1761335750.307 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-10-24T19:55:50.307Z,1761335750.307 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-10-24T19:55:50.309Z,1761335750.309 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630 2025-10-24T19:55:50.459Z,1761335750.459 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:50.709Z,1761335750.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:50.741Z,1761335750.741 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-24T19:55:50.741Z,1761335750.741 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:55:50.741Z,1761335750.741 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-24T19:55:50.744Z,1761335750.744 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 21.200001 m (mode 0.000000 count ). 2025-10-24T19:55:50.744Z,1761335750.744 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-24T19:55:50.744Z,1761335750.744 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-24T19:55:50.782Z,1761335750.782 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-10-24T19:55:50.782Z,1761335750.782 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-24T19:55:50.960Z,1761335750.960 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:51.091Z,1761335751.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884002,-0.467092,-0.019104],[0.461579,-0.878583,0.122624],[-0.074061,0.099582,0.992269]] 2025-10-24T19:55:51.110Z,1761335751.110 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-24T19:55:51.110Z,1761335751.110 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-24T19:55:51.213Z,1761335751.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:51.466Z,1761335751.466 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:51.496Z,1761335751.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884155,-0.466867,-0.017465],[0.461501,-0.878590,0.122870],[-0.072708,0.100576,0.992269]] 2025-10-24T19:55:51.554Z,1761335751.554 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-24T19:55:51.554Z,1761335751.554 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-24T19:55:51.717Z,1761335751.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:51.910Z,1761335751.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883858,-0.467478,-0.016098],[0.462231,-0.878176,0.123087],[-0.071678,0.101351,0.992265]] 2025-10-24T19:55:51.931Z,1761335751.931 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-24T19:55:51.931Z,1761335751.931 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:55:51.931Z,1761335751.931 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-24T19:55:51.931Z,1761335751.931 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T19:55:51.969Z,1761335751.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:52.221Z,1761335752.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:52.304Z,1761335752.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884011,-0.467233,-0.014770],[0.462137,-0.878254,0.122881],[-0.070386,0.101802,0.992312]] 2025-10-24T19:55:52.330Z,1761335752.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:55:52.475Z,1761335752.475 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:52.708Z,1761335752.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883726,-0.467802,-0.013766],[0.462819,-0.877924,0.122671],[-0.069471,0.102036,0.992352]] 2025-10-24T19:55:52.725Z,1761335752.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:52.977Z,1761335752.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:53.111Z,1761335753.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883608,-0.468034,-0.013430],[0.463119,-0.877834,0.122182],[-0.068975,0.101741,0.992417]] 2025-10-24T19:55:53.229Z,1761335753.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:53.483Z,1761335753.483 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:53.519Z,1761335753.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884623,-0.466132,-0.012750],[0.461224,-0.878682,0.123250],[-0.068654,0.103149,0.992294]] 2025-10-24T19:55:53.733Z,1761335753.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:53.925Z,1761335753.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887387,-0.460928,-0.009463],[0.455967,-0.880497,0.129690],[-0.068110,0.110770,0.991509]] 2025-10-24T19:55:53.985Z,1761335753.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:54.237Z,1761335754.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:54.323Z,1761335754.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891368,-0.453268,-0.003484],[0.448241,-0.882574,0.141925],[-0.067405,0.124945,0.989871]] 2025-10-24T19:55:54.347Z,1761335754.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:55:54.491Z,1761335754.491 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:54.729Z,1761335754.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896191,-0.443662,0.002280],[0.438673,-0.885322,0.154180],[-0.066385,0.139175,0.988040]] 2025-10-24T19:55:54.741Z,1761335754.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:54.993Z,1761335754.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:55.135Z,1761335755.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902524,-0.430563,0.008074],[0.425682,-0.889143,0.167988],[-0.065150,0.155050,0.985756]] 2025-10-24T19:55:55.245Z,1761335755.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:55.499Z,1761335755.499 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:55.535Z,1761335755.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910329,-0.413598,0.015418],[0.409052,-0.893400,0.185776],[-0.063062,0.175424,0.982471]] 2025-10-24T19:55:55.751Z,1761335755.751 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:55.940Z,1761335755.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919416,-0.392517,0.024592],[0.388618,-0.897120,0.210124],[-0.060415,0.202748,0.977365]] 2025-10-24T19:55:56.001Z,1761335756.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:56.253Z,1761335756.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:56.345Z,1761335756.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928991,-0.368581,0.033514],[0.365681,-0.900169,0.236586],[-0.057032,0.232042,0.971032]] 2025-10-24T19:55:56.366Z,1761335756.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:55:56.506Z,1761335756.506 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:56.747Z,1761335756.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938666,-0.342575,0.039348],[0.340702,-0.903777,0.259055],[-0.053184,0.256572,0.965061]] 2025-10-24T19:55:56.757Z,1761335756.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:57.009Z,1761335757.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:57.158Z,1761335757.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957797,-0.283969,0.044566],[0.284240,-0.912576,0.293961],[-0.042806,0.294223,0.954778]] 2025-10-24T19:55:57.262Z,1761335757.262 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:57.516Z,1761335757.516 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:57.572Z,1761335757.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.966280,-0.253565,0.044808],[0.254864,-0.917014,0.306805],[-0.036705,0.307879,0.950717]] 2025-10-24T19:55:57.765Z,1761335757.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:57.964Z,1761335757.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974111,-0.222053,0.042430],[0.223981,-0.922501,0.314363],[-0.030663,0.315728,0.948354]] 2025-10-24T19:55:58.017Z,1761335758.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:58.269Z,1761335758.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:58.404Z,1761335758.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:55:58.523Z,1761335758.523 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:58.773Z,1761335758.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:58.783Z,1761335758.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986210,-0.161702,0.035260],[0.164374,-0.932164,0.322571],[-0.019292,0.323919,0.945888]] 2025-10-24T19:55:59.026Z,1761335759.026 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:59.184Z,1761335759.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990676,-0.132728,0.030747],[0.135505,-0.936448,0.323578],[-0.014155,0.324727,0.945702]] 2025-10-24T19:55:59.277Z,1761335759.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:59.533Z,1761335759.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:59.781Z,1761335759.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:55:59.997Z,1761335759.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996955,-0.076037,0.017325],[0.077599,-0.945123,0.317366],[-0.007758,0.317744,0.948145]] 2025-10-24T19:56:00.033Z,1761335760.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:00.285Z,1761335760.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:00.399Z,1761335760.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998775,-0.048597,0.009358],[0.049080,-0.948328,0.313473],[-0.006359,0.313548,0.949551]] 2025-10-24T19:56:00.434Z,1761335760.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:00.537Z,1761335760.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:00.788Z,1761335760.788 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:00.806Z,1761335760.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999741,-0.022712,0.001359],[0.022013,-0.950413,0.310211],[-0.005754,0.310161,0.950667]] 2025-10-24T19:56:01.041Z,1761335761.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:01.209Z,1761335761.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999971,0.003104,-0.006957],[-0.005096,-0.951358,0.308046],[-0.005662,0.308072,0.951346]] 2025-10-24T19:56:01.293Z,1761335761.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:01.547Z,1761335761.547 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:01.627Z,1761335761.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999472,0.028547,-0.015527],[-0.031937,-0.951116,0.307179],[-0.005999,0.307513,0.951525]] 2025-10-24T19:56:01.797Z,1761335761.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:02.015Z,1761335762.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998282,0.053350,-0.024223],[-0.058216,-0.949896,0.307096],[-0.006626,0.307979,0.951370]] 2025-10-24T19:56:02.049Z,1761335762.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:02.301Z,1761335762.301 [DAT](INFO): DAT read: Rx Time:19:56:01.1112 2025-10-24T19:56:02.301Z,1761335762.301 [DAT](INFO): Rx dataTimestamp_ set to:1761335762.301144 2025-10-24T19:56:02.302Z,1761335762.302 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:02.422Z,1761335762.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996298,0.079251,-0.033309],[-0.085650,-0.948302,0.305595],[-0.007368,0.307316,0.951579]] 2025-10-24T19:56:02.439Z,1761335762.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:02.555Z,1761335762.555 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:02.805Z,1761335762.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:02.824Z,1761335762.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993725,0.103756,-0.041777],[-0.111572,-0.945888,0.304710],[-0.007901,0.307460,0.951528]] 2025-10-24T19:56:03.057Z,1761335763.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:03.229Z,1761335763.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990415,0.128606,-0.050379],[-0.137864,-0.942723,0.303756],[-0.008428,0.307790,0.951417]] 2025-10-24T19:56:03.309Z,1761335763.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:03.589Z,1761335763.589 [DAT](INFO): DAT read: 19:56:01.1112 LVL= 17744, 29281, 19778, 25395, AGC= 62, IDX= 53,-0.34, 0.355,-0.896,-0.784,-0.573, PHS= 1.017,-0.275,-0.214, RAW= 92.4, -8.4, CAL= 100.7, -19.4, ROT= 49.3, 19.4 2025-10-24T19:56:03.594Z,1761335763.594 [DAT](INFO): got valid direction response: 19:56:01.1112 LVL= 17744, 29281, 19778, 25395, AGC= 62, IDX= 53,-0.34, 0.355,-0.896,-0.784,-0.573, PHS= 1.017,-0.275,-0.214, RAW= 92.4, -8.4, CAL= 100.7, -19.4, ROT= 49.3, 19.4 2025-10-24T19:56:03.595Z,1761335763.595 [DAT](INFO): DAT read: 2025-10-24T19:56:03.601Z,1761335763.601 [DAT](INFO): DAT read: DATA(0046):set _.others_observations nan n/a str none_str 2025-10-24T19:56:03.601Z,1761335763.601 [DAT](INFO): Got DATA 46 2025-10-24T19:56:03.605Z,1761335763.605 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:56:03.606Z,1761335763.606 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:56:03.607Z,1761335763.607 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:56:03.645Z,1761335763.645 [DAT](INFO): DAT read: CRC:Pass MPD:03.8 PSNR:11.4 AGC:64 SPD:+2.0 CCERR:009 2025-10-24T19:56:03.645Z,1761335763.645 [DAT](INFO): Got CRC:Pass 2025-10-24T19:56:03.646Z,1761335763.646 [DAT](INFO): Got CRC:Pass 2025-10-24T19:56:03.646Z,1761335763.646 [DAT](INFO): Incoming data is intended for us 2025-10-24T19:56:03.646Z,1761335763.646 [DAT](INFO): Received command: set _.others_observations nan n/a str none_str 2025-10-24T19:56:03.646Z,1761335763.646 [DAT](INFO): #Outgoing data=1 2025-10-24T19:56:03.646Z,1761335763.646 [DAT](INFO): Sending ack 2025-10-24T19:56:03.646Z,1761335763.646 [DAT](INFO): DAT read: 2025-10-24T19:56:03.647Z,1761335763.647 [DAT](INFO): DAT read: 2025-10-24T19:56:03.647Z,1761335763.647 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT 2025-10-24T19:56:03.656Z,1761335763.656 [DAT](INFO): #Rx 7: Read direction message, but no range. 2025-10-24T19:56:03.657Z,1761335763.657 [DAT](INFO): direction in FSK: [0.615074,0.715089,-0.332161] 2025-10-24T19:56:03.668Z,1761335763.668 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:03.680Z,1761335763.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986400,0.153665,-0.058323],[-0.164146,-0.939133,0.301804],[-0.008397,0.307273,0.951584]] 2025-10-24T19:56:03.813Z,1761335763.813 [DAT](INFO): setting remote address to 11 2025-10-24T19:56:03.815Z,1761335763.815 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:04.065Z,1761335764.065 [DAT](INFO): DAT read: 2025-10-24T19:56:04.065Z,1761335764.065 [DAT](INFO): DAT read: RemoteAddr | 11 2025-10-24T19:56:04.066Z,1761335764.066 [DAT](INFO): set remote address to 11 2025-10-24T19:56:04.066Z,1761335764.066 [DAT](INFO): entering online mode 2025-10-24T19:56:04.153Z,1761335764.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981673,0.178658,-0.066325],[-0.190396,-0.934424,0.301002],[-0.008199,0.308113,0.951314]] 2025-10-24T19:56:04.317Z,1761335764.317 [DAT](INFO): DAT read: user:168> 2025-10-24T19:56:04.317Z,1761335764.317 [DAT](INFO): DAT read: 2025-10-24T19:56:04.319Z,1761335764.319 [DAT](INFO): DAT read: CONNECT 00600 bits/sec 1 of 4, Rate 1/2 CC 25.00ms MGP 2025-10-24T19:56:04.319Z,1761335764.319 [DAT](INFO): commRate: 600 2025-10-24T19:56:04.319Z,1761335764.319 [DAT](INFO): online mode acknowledged 2025-10-24T19:56:04.319Z,1761335764.319 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY 2025-10-24T19:56:04.320Z,1761335764.320 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:04.517Z,1761335764.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976164,0.203935,-0.074256],[-0.216892,-0.928995,0.299878],[-0.007828,0.308835,0.951083]] 2025-10-24T19:56:04.569Z,1761335764.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:04.569Z,1761335764.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:04.822Z,1761335764.822 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:05.073Z,1761335765.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:05.325Z,1761335765.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:05.363Z,1761335765.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963060,0.253908,-0.089705],[-0.269197,-0.916411,0.296182],[-0.007004,0.309389,0.950910]] 2025-10-24T19:56:05.577Z,1761335765.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:05.752Z,1761335765.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955385,0.279002,-0.096937],[-0.295291,-0.909426,0.292827],[-0.006458,0.308387,0.951239]] 2025-10-24T19:56:05.832Z,1761335765.832 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:06.081Z,1761335766.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:06.154Z,1761335766.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946746,0.304624,-0.104287],[-0.321926,-0.901507,0.289221],[-0.005912,0.307392,0.951565]] 2025-10-24T19:56:06.333Z,1761335766.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:06.560Z,1761335766.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937548,0.329613,-0.111166],[-0.347817,-0.893009,0.285583],[-0.005140,0.306413,0.951885]] 2025-10-24T19:56:06.585Z,1761335766.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:06.667Z,1761335766.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:06.837Z,1761335766.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:07.089Z,1761335767.089 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:07.341Z,1761335767.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:07.365Z,1761335767.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916172,0.380715,-0.125240],[-0.400769,-0.873112,0.277596],[-0.003663,0.304518,0.952500]] 2025-10-24T19:56:07.594Z,1761335767.594 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:56:06.9363 2025-10-24T19:56:07.594Z,1761335767.594 [DAT](DEBUG): In parseResponses, sent ack so set commsState_ = SENDING_VERIFIED 2025-10-24T19:56:07.594Z,1761335767.594 [DAT](DEBUG): In sendingVerified, data done so set commsState_ = SENDING_FILL_BUFFER 2025-10-24T19:56:07.594Z,1761335767.594 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:07.845Z,1761335767.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:07.857Z,1761335767.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891174,0.431422,-0.140303],[-0.453657,-0.849033,0.270811],[-0.002288,0.304989,0.952353]] 2025-10-24T19:56:08.097Z,1761335768.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:08.235Z,1761335768.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878351,0.456796,-0.140842],[-0.478014,-0.839965,0.256827],[-0.000985,0.292909,0.956140]] 2025-10-24T19:56:08.349Z,1761335768.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:08.603Z,1761335768.603 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:08.702Z,1761335768.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865223,0.478574,-0.149520],[-0.501386,-0.826600,0.255625],[-0.001258,0.296140,0.955144]] 2025-10-24T19:56:08.824Z,1761335768.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:08.854Z,1761335768.854 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:09.082Z,1761335769.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851738,0.500325,-0.155616],[-0.523966,-0.813959,0.250858],[-0.001155,0.295203,0.955434]] 2025-10-24T19:56:09.105Z,1761335769.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:09.357Z,1761335769.357 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:09.473Z,1761335769.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837090,0.521461,-0.165406],[-0.547058,-0.799474,0.248132],[-0.002847,0.298195,0.954501]] 2025-10-24T19:56:09.610Z,1761335769.610 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:09.659Z,1761335769.659 [CommandExec](IMPORTANT): got command set _.others_observations nan none 2025-10-24T19:56:09.860Z,1761335769.860 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:09.880Z,1761335769.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821064,0.543216,-0.175417],[-0.570815,-0.784010,0.243925],[-0.005024,0.300409,0.953797]] 2025-10-24T19:56:10.113Z,1761335770.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:10.279Z,1761335770.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802578,0.566896,-0.185736],[-0.596504,-0.766381,0.238416],[-0.007188,0.302140,0.953237]] 2025-10-24T19:56:10.365Z,1761335770.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:10.617Z,1761335770.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:10.687Z,1761335770.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782791,0.590724,-0.195663],[-0.622213,-0.747797,0.231626],[-0.009489,0.303059,0.952925]] 2025-10-24T19:56:10.868Z,1761335770.868 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:11.112Z,1761335771.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761933,0.614470,-0.204658],[-0.647556,-0.728323,0.224092],[-0.011359,0.303271,0.952837]] 2025-10-24T19:56:11.121Z,1761335771.121 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:11.173Z,1761335771.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:11.373Z,1761335771.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:11.494Z,1761335771.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739911,0.637678,-0.214239],[-0.672574,-0.707532,0.216894],[-0.013273,0.304574,0.952396]] 2025-10-24T19:56:11.626Z,1761335771.626 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:11.877Z,1761335771.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:12.129Z,1761335772.129 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:12.301Z,1761335772.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694164,0.681771,-0.230921],[-0.719634,-0.664545,0.201263],[-0.016242,0.305888,0.951929]] 2025-10-24T19:56:12.381Z,1761335772.381 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:12.633Z,1761335772.633 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:12.711Z,1761335772.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670532,0.702548,-0.238355],[-0.741673,-0.642414,0.192940],[-0.017573,0.306153,0.951820]] 2025-10-24T19:56:12.885Z,1761335772.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:13.117Z,1761335773.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645922,0.722917,-0.245308],[-0.763170,-0.619424,0.184079],[-0.018876,0.306112,0.951808]] 2025-10-24T19:56:13.137Z,1761335773.137 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:13.186Z,1761335773.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:13.389Z,1761335773.389 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:13.512Z,1761335773.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621049,0.742290,-0.251601],[-0.783525,-0.596053,0.175526],[-0.019676,0.306146,0.951781]] 2025-10-24T19:56:13.642Z,1761335773.642 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:13.893Z,1761335773.893 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:14.145Z,1761335774.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:14.321Z,1761335774.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571668,0.777075,-0.263344],[-0.820226,-0.549320,0.159615],[-0.020627,0.307249,0.951406]] 2025-10-24T19:56:14.397Z,1761335774.397 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:14.648Z,1761335774.648 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:14.724Z,1761335774.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546185,0.793904,-0.267203],[-0.837405,-0.525432,0.150580],[-0.020851,0.306002,0.951803]] 2025-10-24T19:56:14.901Z,1761335774.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:15.129Z,1761335775.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520375,0.809718,-0.271230],[-0.853678,-0.501108,0.141859],[-0.021050,0.305363,0.952003]] 2025-10-24T19:56:15.157Z,1761335775.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:15.409Z,1761335775.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:15.531Z,1761335775.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495079,0.824158,-0.275064],[-0.868593,-0.477154,0.133682],[-0.021072,0.305101,0.952087]] 2025-10-24T19:56:15.549Z,1761335775.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:15.661Z,1761335775.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:15.914Z,1761335775.914 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:15.938Z,1761335775.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469772,0.837700,-0.278519],[-0.882532,-0.453236,0.125354],[-0.021226,0.304690,0.952215]] 2025-10-24T19:56:16.165Z,1761335776.165 [DAT](INFO): DAT read: Rx Time:19:56:14.9530 2025-10-24T19:56:16.166Z,1761335776.166 [DAT](INFO): Rx dataTimestamp_ set to:1761335776.165803 2025-10-24T19:56:16.166Z,1761335776.166 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:16.340Z,1761335776.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444008,0.850756,-0.281196],[-0.895764,-0.428998,0.116481],[-0.021536,0.303604,0.952555]] 2025-10-24T19:56:16.417Z,1761335776.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:16.668Z,1761335776.668 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:16.743Z,1761335776.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.418845,0.862509,-0.283984],[-0.907799,-0.405180,0.108304],[-0.021652,0.303163,0.952693]] 2025-10-24T19:56:16.921Z,1761335776.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:17.173Z,1761335777.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:17.212Z,1761335777.212 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:56:17.431Z,1761335777.431 [DAT](INFO): DAT read: 19:56:14.9530 LVL= 23344, 21697, 17394, 31843, AGC= 70, IDX= 368, 0.09, 1.435,-0.070, 1.829, 1.010, PHS= 0.513,-1.033, 0.816, RAW= 158.8, -3.5, CAL= 162.1, -11.6, ROT= 347.9, 11.6 2025-10-24T19:56:17.433Z,1761335777.433 [DAT](INFO): got valid direction response: 19:56:14.9530 LVL= 23344, 21697, 17394, 31843, AGC= 70, IDX= 368, 0.09, 1.435,-0.070, 1.829, 1.010, PHS= 0.513,-1.033, 0.816, RAW= 158.8, -3.5, CAL= 162.1, -11.6, ROT= 347.9, 11.6 2025-10-24T19:56:17.433Z,1761335777.433 [DAT](INFO): DAT read: 2025-10-24T19:56:17.434Z,1761335777.434 [DAT](INFO): DAT read: DATA(0046):Rˆ†]R• ½ 2025-10-24T19:56:17.434Z,1761335777.434 [DAT](INFO): Got DATA 46 2025-10-24T19:56:17.435Z,1761335777.435 [DAT](INFO): DAT read: .MnÏ™‡h9šì šì"vS1F>«vU÷Š¤ñ 2025-10-24T19:56:17.435Z,1761335777.435 [DAT](INFO): Got DATA 0 2025-10-24T19:56:17.437Z,1761335777.437 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:56:17.437Z,1761335777.437 [DAT](INFO): Got DATA 0 2025-10-24T19:56:17.438Z,1761335777.438 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:00.6 PSNR:06.4 AGC:70 SPD:+2.0 CCERR:005 2025-10-24T19:56:17.439Z,1761335777.439 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:00.6 PSNR:06.4 AGC:70 SPD:+2.0 CCERR:005 2025-10-24T19:56:17.439Z,1761335777.439 [DAT](INFO): DAT read: 2025-10-24T19:56:17.439Z,1761335777.439 [DAT](INFO): DAT read: 2025-10-24T19:56:17.453Z,1761335777.453 [DAT](INFO): #Rx 8: Read direction message, but no range. 2025-10-24T19:56:17.454Z,1761335777.454 [DAT](INFO): direction in FSK: [0.957812,-0.205337,-0.201078] 2025-10-24T19:56:17.471Z,1761335777.471 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:17.552Z,1761335777.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368336,0.883694,-0.288814],[-0.929432,-0.357372,0.091877],[-0.022023,0.302275,0.952966]] 2025-10-24T19:56:17.614Z,1761335777.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:17.677Z,1761335777.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:17.930Z,1761335777.930 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:17.961Z,1761335777.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342942,0.892981,-0.291507],[-0.939091,-0.333292,0.083808],[-0.022318,0.302493,0.952890]] 2025-10-24T19:56:18.181Z,1761335778.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:18.216Z,1761335778.216 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:56:18.363Z,1761335778.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.317234,0.901571,-0.294165],[-0.948080,-0.308873,0.075780],[-0.022538,0.302932,0.952746]] 2025-10-24T19:56:18.433Z,1761335778.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:18.686Z,1761335778.686 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:18.764Z,1761335778.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.291019,0.909717,-0.296182],[-0.956442,-0.284075,0.067238],[-0.022970,0.302848,0.952762]] 2025-10-24T19:56:18.936Z,1761335778.936 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:19.171Z,1761335779.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264926,0.917057,-0.298027],[-0.963985,-0.259376,0.058793],[-0.023385,0.302869,0.952745]] 2025-10-24T19:56:19.189Z,1761335779.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:19.441Z,1761335779.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:19.574Z,1761335779.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238373,0.923935,-0.299203],[-0.970883,-0.234250,0.050136],[-0.023766,0.302442,0.952871]] 2025-10-24T19:56:19.693Z,1761335779.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:19.945Z,1761335779.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:20.031Z,1761335780.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:20.197Z,1761335780.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:20.381Z,1761335780.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183603,0.935729,-0.301167],[-0.982693,-0.182379,0.032435],[-0.024577,0.301910,0.953020]] 2025-10-24T19:56:20.449Z,1761335780.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:20.700Z,1761335780.700 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:20.784Z,1761335780.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.155157,0.940773,-0.301451],[-0.987563,-0.155558,0.022831],[-0.025414,0.301244,0.953208]] 2025-10-24T19:56:20.954Z,1761335780.954 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:21.201Z,1761335781.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.126284,0.944907,-0.301998],[-0.991635,-0.128441,0.012789],[-0.026705,0.301087,0.953223]] 2025-10-24T19:56:21.205Z,1761335781.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:21.456Z,1761335781.456 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:21.591Z,1761335781.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.096147,0.948430,-0.302054],[-0.994955,-0.100308,0.001744],[-0.028645,0.300697,0.953289]] 2025-10-24T19:56:21.709Z,1761335781.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:21.962Z,1761335781.962 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:21.994Z,1761335781.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.066267,0.951033,-0.301902],[-0.997336,-0.072373,-0.009069],[-0.030474,0.300497,0.953296]] 2025-10-24T19:56:22.085Z,1761335782.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:22.213Z,1761335782.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:22.400Z,1761335782.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.035495,0.952642,-0.302014],[-0.998842,-0.043642,-0.020266],[-0.032486,0.300945,0.953088]] 2025-10-24T19:56:22.465Z,1761335782.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:22.717Z,1761335782.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:22.813Z,1761335782.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026684,0.952927,-0.302022],[-0.998953,0.014187,-0.043496],[-0.037163,0.302867,0.952308]] 2025-10-24T19:56:22.969Z,1761335782.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:23.222Z,1761335783.222 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:23.240Z,1761335783.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.057827,0.951634,-0.301744],[-0.997555,0.043201,-0.054927],[-0.039235,0.304183,0.951805]] 2025-10-24T19:56:23.473Z,1761335783.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:23.637Z,1761335783.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088488,0.949481,-0.301092],[-0.995231,0.071823,-0.066001],[-0.041041,0.305496,0.951308]] 2025-10-24T19:56:23.726Z,1761335783.726 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:23.977Z,1761335783.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:24.039Z,1761335784.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119209,0.947021,-0.298228],[-0.991918,0.100453,-0.077506],[-0.043442,0.305057,0.951343]] 2025-10-24T19:56:24.096Z,1761335784.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:24.229Z,1761335784.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:24.443Z,1761335784.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149713,0.943846,-0.294519],[-0.987658,0.128900,-0.088971],[-0.046011,0.304204,0.951495]] 2025-10-24T19:56:24.481Z,1761335784.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:24.733Z,1761335784.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:24.849Z,1761335784.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179922,0.939825,-0.290444],[-0.982460,0.156978,-0.100653],[-0.049003,0.303459,0.951584]] 2025-10-24T19:56:24.985Z,1761335784.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:25.236Z,1761335785.236 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:25.253Z,1761335785.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209316,0.935233,-0.285528],[-0.976463,0.184374,-0.111921],[-0.052028,0.302234,0.951813]] 2025-10-24T19:56:25.489Z,1761335785.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:25.655Z,1761335785.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238423,0.929901,-0.280068],[-0.969586,0.211502,-0.123170],[-0.055301,0.300916,0.952046]] 2025-10-24T19:56:25.741Z,1761335785.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:25.993Z,1761335785.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:26.059Z,1761335786.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.266261,0.923728,-0.275374],[-0.962124,0.237354,-0.134094],[-0.058505,0.300648,0.951939]] 2025-10-24T19:56:26.127Z,1761335786.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:26.245Z,1761335786.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:26.465Z,1761335786.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293349,0.917051,-0.270120],[-0.953996,0.262493,-0.144876],[-0.061954,0.300193,0.951864]] 2025-10-24T19:56:26.497Z,1761335786.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:26.753Z,1761335786.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:26.868Z,1761335786.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319830,0.909697,-0.264877],[-0.945204,0.286998,-0.155633],[-0.065560,0.300139,0.951640]] 2025-10-24T19:56:27.001Z,1761335787.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:27.252Z,1761335787.252 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:27.504Z,1761335787.504 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:27.675Z,1761335787.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369944,0.894396,-0.251390],[-0.926237,0.334006,-0.174714],[-0.072298,0.297481,0.951986]] 2025-10-24T19:56:27.757Z,1761335787.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:28.009Z,1761335788.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:28.188Z,1761335788.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:28.261Z,1761335788.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:28.513Z,1761335788.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:28.533Z,1761335788.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417271,0.876302,-0.240790],[-0.905429,0.378134,-0.192907],[-0.077994,0.298513,0.951213]] 2025-10-24T19:56:28.765Z,1761335788.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:28.893Z,1761335788.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440062,0.866288,-0.236412],[-0.894363,0.399270,-0.201736],[-0.080369,0.300214,0.950480]] 2025-10-24T19:56:29.019Z,1761335789.019 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:29.272Z,1761335789.272 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:29.341Z,1761335789.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462136,0.856329,-0.230503],[-0.882956,0.420109,-0.209518],[-0.082580,0.300350,0.950248]] 2025-10-24T19:56:29.520Z,1761335789.520 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:29.744Z,1761335789.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483770,0.845788,-0.224966],[-0.871127,0.440587,-0.216842],[-0.084285,0.300875,0.949932]] 2025-10-24T19:56:29.773Z,1761335789.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:30.028Z,1761335790.028 [DAT](INFO): DAT read: Rx Time:19:56:28.8458 2025-10-24T19:56:30.030Z,1761335790.030 [DAT](INFO): Rx dataTimestamp_ set to:1761335790.028938 2025-10-24T19:56:30.030Z,1761335790.030 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:30.152Z,1761335790.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504747,0.835206,-0.218313],[-0.858986,0.460764,-0.223248],[-0.085867,0.300212,0.950000]] 2025-10-24T19:56:30.219Z,1761335790.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:30.278Z,1761335790.278 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:30.529Z,1761335790.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:30.549Z,1761335790.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525651,0.823645,-0.212840],[-0.846249,0.480708,-0.229745],[-0.086914,0.300881,0.949693]] 2025-10-24T19:56:30.781Z,1761335790.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:30.951Z,1761335790.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546310,0.811469,-0.207518],[-0.832966,0.500380,-0.236195],[-0.087827,0.301890,0.949288]] 2025-10-24T19:56:31.035Z,1761335791.035 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:31.307Z,1761335791.307 [DAT](INFO): DAT read: 19:56:28.8458 LVL= 25280, 31937, 16114, 31731, AGC= 64, IDX= 405,-0.23, 1.603, 1.674,-2.612, 2.614, PHS=-0.924,-0.894, 1.054, RAW= 210.8, 7.8, CAL= 213.3, 3.1, ROT= 296.7, -3.1 2025-10-24T19:56:31.309Z,1761335791.309 [DAT](INFO): got valid direction response: 19:56:28.8458 LVL= 25280, 31937, 16114, 31731, AGC= 64, IDX= 405,-0.23, 1.603, 1.674,-2.612, 2.614, PHS=-0.924,-0.894, 1.054, RAW= 210.8, 7.8, CAL= 213.3, 3.1, ROT= 296.7, -3.1 2025-10-24T19:56:31.309Z,1761335791.309 [DAT](INFO): DAT read: 2025-10-24T19:56:31.311Z,1761335791.311 [DAT](INFO): DAT read: DATA(0046):set _.others_observations nan n/a str none_str 2025-10-24T19:56:31.311Z,1761335791.311 [DAT](INFO): Got DATA 46 2025-10-24T19:56:31.312Z,1761335791.312 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:56:31.312Z,1761335791.312 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:56:31.312Z,1761335791.312 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:56:31.314Z,1761335791.314 [DAT](INFO): DAT read: CRC:Pass MPD:04.0 PSNR:10.9 AGC:68 SPD:+0.8 CCERR:008 2025-10-24T19:56:31.314Z,1761335791.314 [DAT](INFO): Got CRC:Pass 2025-10-24T19:56:31.314Z,1761335791.314 [DAT](INFO): Got CRC:Pass 2025-10-24T19:56:31.314Z,1761335791.314 [DAT](INFO): Incoming data is intended for us 2025-10-24T19:56:31.314Z,1761335791.314 [DAT](INFO): Received command: set _.others_observations nan n/a str none_str 2025-10-24T19:56:31.315Z,1761335791.315 [DAT](INFO): Sending ack 2025-10-24T19:56:31.315Z,1761335791.315 [DAT](INFO): DAT read: 2025-10-24T19:56:31.316Z,1761335791.316 [DAT](INFO): DAT read: 2025-10-24T19:56:31.316Z,1761335791.316 [DAT](INFO): #Rx 9: Read direction message, but no range. 2025-10-24T19:56:31.317Z,1761335791.317 [DAT](INFO): direction in FSK: [0.448662,-0.892064,0.054079] 2025-10-24T19:56:31.372Z,1761335791.372 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:31.384Z,1761335791.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566970,0.798464,-0.202486],[-0.818986,0.520038,-0.242533],[-0.088353,0.303343,0.948776]] 2025-10-24T19:56:31.537Z,1761335791.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:31.759Z,1761335791.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587639,0.784946,-0.196316],[-0.804250,0.540057,-0.248033],[-0.088671,0.303641,0.948652]] 2025-10-24T19:56:31.789Z,1761335791.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:32.043Z,1761335792.043 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:32.163Z,1761335792.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607548,0.771256,-0.189870],[-0.789285,0.559447,-0.253078],[-0.088965,0.303618,0.948631]] 2025-10-24T19:56:32.239Z,1761335792.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:32.293Z,1761335792.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:32.545Z,1761335792.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:32.797Z,1761335792.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:32.973Z,1761335792.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646437,0.742366,-0.176100],[-0.757710,0.597600,-0.262201],[-0.089412,0.302930,0.948809]] 2025-10-24T19:56:33.051Z,1761335793.051 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:33.301Z,1761335793.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:33.381Z,1761335793.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665975,0.726674,-0.168589],[-0.740504,0.616670,-0.267156],[-0.090172,0.302760,0.948792]] 2025-10-24T19:56:33.562Z,1761335793.562 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:33.783Z,1761335793.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684867,0.710623,-0.161158],[-0.723003,0.635188,-0.271667],[-0.090687,0.302574,0.948802]] 2025-10-24T19:56:33.813Z,1761335793.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:34.079Z,1761335794.079 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:34.194Z,1761335794.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703206,0.694440,-0.152493],[-0.705060,0.653484,-0.275407],[-0.091601,0.301185,0.949156]] 2025-10-24T19:56:34.314Z,1761335794.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:34.329Z,1761335794.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:34.581Z,1761335794.581 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:56:33.9366 2025-10-24T19:56:34.582Z,1761335794.582 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:34.591Z,1761335794.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721247,0.677865,-0.142483],[-0.686421,0.671863,-0.278254],[-0.092890,0.298493,0.949881]] 2025-10-24T19:56:34.833Z,1761335794.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:34.991Z,1761335794.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738055,0.661696,-0.132038],[-0.668114,0.689317,-0.280117],[-0.094336,0.294958,0.950842]] 2025-10-24T19:56:35.087Z,1761335795.087 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:35.337Z,1761335795.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:35.397Z,1761335795.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752748,0.646929,-0.121873],[-0.651481,0.705470,-0.279077],[-0.094565,0.289472,0.952504]] 2025-10-24T19:56:35.589Z,1761335795.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:35.803Z,1761335795.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767846,0.631172,-0.109701],[-0.633413,0.722338,-0.277516],[-0.095919,0.282576,0.954437]] 2025-10-24T19:56:35.841Z,1761335795.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:36.095Z,1761335796.095 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:36.210Z,1761335796.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782425,0.614836,-0.098932],[-0.615102,0.738194,-0.276984],[-0.097268,0.277572,0.955768]] 2025-10-24T19:56:36.315Z,1761335796.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:36.345Z,1761335796.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:36.587Z,1761335796.587 [CommandExec](IMPORTANT): got command set _.others_observations nan none 2025-10-24T19:56:36.603Z,1761335796.603 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:36.631Z,1761335796.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807784,0.584661,-0.075211],[-0.580281,0.766231,-0.275978],[-0.103725,0.266574,0.958217]] 2025-10-24T19:56:36.857Z,1761335796.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:37.022Z,1761335797.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818911,0.570296,-0.064402],[-0.563864,0.778565,-0.275486],[-0.106967,0.261913,0.959145]] 2025-10-24T19:56:37.111Z,1761335797.111 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:37.361Z,1761335797.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:37.613Z,1761335797.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:37.866Z,1761335797.866 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:38.119Z,1761335798.119 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:38.347Z,1761335798.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:38.370Z,1761335798.370 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:38.621Z,1761335798.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:38.667Z,1761335798.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853267,0.520925,-0.023900],[-0.507275,0.818541,-0.269561],[-0.120858,0.242131,0.962687]] 2025-10-24T19:56:38.873Z,1761335798.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:39.072Z,1761335799.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860035,0.510036,-0.014224],[-0.494724,0.826746,-0.267842],[-0.124850,0.237391,0.963358]] 2025-10-24T19:56:39.127Z,1761335799.127 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:39.377Z,1761335799.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:39.477Z,1761335799.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866288,0.499519,-0.005008],[-0.482712,0.834476,-0.265780],[-0.128583,0.232659,0.964021]] 2025-10-24T19:56:39.628Z,1761335799.628 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:39.881Z,1761335799.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:39.881Z,1761335799.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871485,0.490403,0.004280],[-0.472232,0.841483,-0.262495],[-0.132330,0.226739,0.964924]] 2025-10-24T19:56:40.136Z,1761335800.136 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:40.285Z,1761335800.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876267,0.481618,0.014156],[-0.462054,0.848277,-0.258713],[-0.136609,0.220160,0.965851]] 2025-10-24T19:56:40.385Z,1761335800.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:40.637Z,1761335800.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:40.691Z,1761335800.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880061,0.474272,0.023649],[-0.453517,0.854222,-0.254218],[-0.140770,0.213002,0.966858]] 2025-10-24T19:56:40.707Z,1761335800.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:40.889Z,1761335800.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:41.091Z,1761335801.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883665,0.466993,0.032446],[-0.445108,0.859671,-0.250686],[-0.144962,0.207081,0.967524]] 2025-10-24T19:56:41.143Z,1761335801.143 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:41.393Z,1761335801.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:41.496Z,1761335801.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887026,0.459921,0.040720],[-0.436998,0.864731,-0.247533],[-0.149058,0.201774,0.968023]] 2025-10-24T19:56:41.645Z,1761335801.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:41.898Z,1761335801.898 [DAT](INFO): DAT read: Rx Time:19:56:40.6923 2025-10-24T19:56:41.898Z,1761335801.898 [DAT](INFO): Rx dataTimestamp_ set to:1761335801.897873 2025-10-24T19:56:41.899Z,1761335801.899 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:41.911Z,1761335801.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890362,0.452683,0.048305],[-0.428757,0.869478,-0.245306],[-0.153046,0.197700,0.968241]] 2025-10-24T19:56:42.151Z,1761335802.151 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:42.309Z,1761335802.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893320,0.445995,0.055389],[-0.421195,0.873819,-0.242971],[-0.156764,0.193721,0.968451]] 2025-10-24T19:56:42.401Z,1761335802.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:42.654Z,1761335802.654 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:42.714Z,1761335802.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896282,0.439188,0.061578],[-0.413527,0.877810,-0.241756],[-0.160230,0.191217,0.968381]] 2025-10-24T19:56:42.732Z,1761335802.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:42.905Z,1761335802.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:43.112Z,1761335803.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899388,0.431974,0.067083],[-0.405549,0.881772,-0.240847],[-0.163192,0.189409,0.968242]] 2025-10-24T19:56:43.157Z,1761335803.157 [DAT](INFO): DAT read: 2025-10-24T19:56:43.160Z,1761335803.160 [DAT](INFO): DAT read: DATA(0046):set _.others_observations nan n/a str none_str 2025-10-24T19:56:43.160Z,1761335803.160 [DAT](INFO): Got DATA 46 2025-10-24T19:56:43.161Z,1761335803.161 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:56:43.161Z,1761335803.161 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:56:43.162Z,1761335803.162 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:56:43.163Z,1761335803.163 [DAT](INFO): DAT read: CRC:Pass MPD:03.4 PSNR:11.1 AGC:63 SPD:+0.4 CCERR:008 2025-10-24T19:56:43.163Z,1761335803.163 [DAT](INFO): Got CRC:Pass 2025-10-24T19:56:43.163Z,1761335803.163 [DAT](INFO): Got CRC:Pass 2025-10-24T19:56:43.163Z,1761335803.163 [DAT](INFO): Incoming data is intended for us 2025-10-24T19:56:43.163Z,1761335803.163 [DAT](INFO): Received command: set _.others_observations nan n/a str none_str 2025-10-24T19:56:43.164Z,1761335803.164 [DAT](INFO): Sending ack 2025-10-24T19:56:43.164Z,1761335803.164 [DAT](INFO): DAT read: 2025-10-24T19:56:43.165Z,1761335803.165 [DAT](INFO): DAT read: 2025-10-24T19:56:43.165Z,1761335803.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:43.409Z,1761335803.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:43.580Z,1761335803.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901886,0.425732,0.073171],[-0.398543,0.885403,-0.239217],[-0.166628,0.186584,0.968205]] 2025-10-24T19:56:43.661Z,1761335803.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:43.913Z,1761335803.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:43.936Z,1761335803.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904568,0.418884,0.079323],[-0.390938,0.889216,-0.237618],[-0.170069,0.183932,0.968114]] 2025-10-24T19:56:44.165Z,1761335804.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:44.338Z,1761335804.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906615,0.413131,0.085857],[-0.384629,0.892796,-0.234470],[-0.173520,0.179551,0.968325]] 2025-10-24T19:56:44.418Z,1761335804.418 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:44.669Z,1761335804.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:44.830Z,1761335804.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:44.921Z,1761335804.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:45.173Z,1761335805.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:45.189Z,1761335805.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910431,0.402049,0.097328],[-0.372389,0.899033,-0.230362],[-0.180118,0.173484,0.968226]] 2025-10-24T19:56:45.425Z,1761335805.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:45.587Z,1761335805.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912002,0.397132,0.102655],[-0.366982,0.901778,-0.228301],[-0.183238,0.170538,0.968164]] 2025-10-24T19:56:45.680Z,1761335805.680 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:45.929Z,1761335805.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:45.991Z,1761335805.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913728,0.392108,0.106544],[-0.361364,0.904081,-0.228153],[-0.185785,0.169969,0.967778]] 2025-10-24T19:56:46.181Z,1761335806.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:46.395Z,1761335806.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915336,0.387403,0.109905],[-0.356122,0.906155,-0.228165],[-0.187983,0.169708,0.967399]] 2025-10-24T19:56:46.433Z,1761335806.433 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:56:45.7867 2025-10-24T19:56:46.434Z,1761335806.434 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:46.685Z,1761335806.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:46.802Z,1761335806.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917136,0.381940,0.113946],[-0.350354,0.908839,-0.226415],[-0.190035,0.167731,0.967343]] 2025-10-24T19:56:46.839Z,1761335806.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:46.937Z,1761335806.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:47.189Z,1761335807.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:47.205Z,1761335807.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918828,0.377032,0.116627],[-0.345370,0.911171,-0.224691],[-0.190982,0.166173,0.967426]] 2025-10-24T19:56:47.441Z,1761335807.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:47.693Z,1761335807.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:47.945Z,1761335807.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:48.027Z,1761335808.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921802,0.369012,0.118790],[-0.336140,0.913485,-0.229248],[-0.193108,0.171392,0.966092]] 2025-10-24T19:56:48.197Z,1761335808.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:48.344Z,1761335808.344 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:56:48.418Z,1761335808.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922355,0.366190,0.123155],[-0.333386,0.915486,-0.225256],[-0.195233,0.166708,0.966485]] 2025-10-24T19:56:48.449Z,1761335808.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:48.701Z,1761335808.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:48.737Z,1761335808.737 [CommandExec](IMPORTANT): got command set _.others_observations nan none 2025-10-24T19:56:48.822Z,1761335808.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923864,0.360984,0.127143],[-0.328072,0.918045,-0.222626],[-0.197087,0.163964,0.966578]] 2025-10-24T19:56:48.843Z,1761335808.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:48.953Z,1761335808.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:49.204Z,1761335809.204 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:49.228Z,1761335809.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925613,0.354977,0.131271],[-0.322020,0.920901,-0.219644],[-0.198856,0.161033,0.966708]] 2025-10-24T19:56:49.350Z,1761335809.350 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:56:49.457Z,1761335809.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:49.638Z,1761335809.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927507,0.348602,0.134937],[-0.315747,0.923844,-0.216373],[-0.200089,0.158081,0.966941]] 2025-10-24T19:56:49.710Z,1761335809.710 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:49.961Z,1761335809.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:50.032Z,1761335810.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929364,0.342177,0.138557],[-0.309344,0.926661,-0.213554],[-0.201468,0.155607,0.967056]] 2025-10-24T19:56:50.213Z,1761335810.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:50.453Z,1761335810.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933121,0.329229,0.144548],[-0.296411,0.931897,-0.209066],[-0.203535,0.152239,0.967159]] 2025-10-24T19:56:50.465Z,1761335810.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:50.717Z,1761335810.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:50.847Z,1761335810.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934971,0.322712,0.147264],[-0.289921,0.934406,-0.206956],[-0.204391,0.150803,0.967204]] 2025-10-24T19:56:50.868Z,1761335810.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:50.969Z,1761335810.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:51.224Z,1761335811.224 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:51.248Z,1761335811.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936554,0.316599,0.150437],[-0.284080,0.936986,-0.203362],[-0.205341,0.147724,0.967477]] 2025-10-24T19:56:51.473Z,1761335811.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:51.660Z,1761335811.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937754,0.311572,0.153432],[-0.279258,0.939105,-0.200244],[-0.206479,0.144933,0.967658]] 2025-10-24T19:56:51.725Z,1761335811.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:51.977Z,1761335811.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:52.056Z,1761335812.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938998,0.306038,0.156919],[-0.274115,0.941522,-0.195953],[-0.207712,0.140985,0.967977]] 2025-10-24T19:56:52.231Z,1761335812.231 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:52.462Z,1761335812.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939770,0.301736,0.160584],[-0.270327,0.943623,-0.191047],[-0.209176,0.136130,0.968356]] 2025-10-24T19:56:52.481Z,1761335812.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:52.734Z,1761335812.734 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:52.863Z,1761335812.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940582,0.297444,0.163806],[-0.266436,0.945532,-0.187034],[-0.210516,0.132277,0.968600]] 2025-10-24T19:56:52.896Z,1761335812.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:52.985Z,1761335812.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:53.237Z,1761335813.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:53.489Z,1761335813.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:53.682Z,1761335813.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941960,0.289611,0.169816],[-0.258754,0.948562,-0.182417],[-0.213911,0.127889,0.968445]] 2025-10-24T19:56:53.741Z,1761335813.741 [DAT](INFO): DAT read: Rx Time:19:56:52.5403 2025-10-24T19:56:53.742Z,1761335813.742 [DAT](INFO): Rx dataTimestamp_ set to:1761335813.741717 2025-10-24T19:56:53.742Z,1761335813.742 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:53.993Z,1761335813.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:54.079Z,1761335814.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942495,0.286116,0.172747],[-0.255341,0.949911,-0.180194],[-0.215650,0.125723,0.968343]] 2025-10-24T19:56:54.245Z,1761335814.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:54.481Z,1761335814.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942971,0.282865,0.175480],[-0.252127,0.951123,-0.178316],[-0.217342,0.123904,0.968199]] 2025-10-24T19:56:54.497Z,1761335814.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:54.749Z,1761335814.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:54.906Z,1761335814.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943431,0.280210,0.177258],[-0.249552,0.952077,-0.176844],[-0.218316,0.122605,0.968146]] 2025-10-24T19:56:54.939Z,1761335814.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:55.014Z,1761335815.014 [DAT](INFO): DAT read: 19:56:52.5403 LVL= 16240, 17793, 11250, 22259, AGC= 67, IDX= 425, 0.24, 0.096, 1.712, 2.690, 1.472, PHS=-1.288, 0.287, 1.215, RAW= 248.5, -2.0, CAL= 250.8, -3.8, ROT= 259.2, 3.8 2025-10-24T19:56:55.015Z,1761335815.015 [DAT](INFO): got valid direction response: 19:56:52.5403 LVL= 16240, 17793, 11250, 22259, AGC= 67, IDX= 425, 0.24, 0.096, 1.712, 2.690, 1.472, PHS=-1.288, 0.287, 1.215, RAW= 248.5, -2.0, CAL= 250.8, -3.8, ROT= 259.2, 3.8 2025-10-24T19:56:55.016Z,1761335815.016 [DAT](INFO): DAT read: 2025-10-24T19:56:55.018Z,1761335815.018 [DAT](INFO): DAT read: DATA(0046):set _.others_obse\søtÃonsè×n n/a str nj è† 4r 2025-10-24T19:56:55.018Z,1761335815.018 [DAT](INFO): Got DATA 46 2025-10-24T19:56:55.019Z,1761335815.019 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:56:55.019Z,1761335815.019 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:56:55.019Z,1761335815.019 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:56:55.025Z,1761335815.025 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:28.0 PSNR:08.8 AGC:70 SPD:+0.1 CCERR:006 2025-10-24T19:56:55.026Z,1761335815.026 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:28.0 PSNR:08.8 AGC:70 SPD:+0.1 CCERR:006 2025-10-24T19:56:55.026Z,1761335815.026 [DAT](INFO): DAT read: 2025-10-24T19:56:55.027Z,1761335815.027 [DAT](INFO): DAT read: 2025-10-24T19:56:55.027Z,1761335815.027 [DAT](INFO): #Rx 10: Read direction message, but no range. 2025-10-24T19:56:55.032Z,1761335815.032 [DAT](INFO): direction in FSK: [-0.186969,-0.980128,-0.066274] 2025-10-24T19:56:55.035Z,1761335815.035 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:55.252Z,1761335815.252 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:55.292Z,1761335815.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943812,0.278325,0.178196],[-0.247833,0.952774,-0.175501],[-0.218627,0.121478,0.968218]] 2025-10-24T19:56:55.505Z,1761335815.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:55.695Z,1761335815.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944546,0.275468,0.178749],[-0.244984,0.953597,-0.175032],[-0.218670,0.121535,0.968201]] 2025-10-24T19:56:55.757Z,1761335815.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:56.009Z,1761335816.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:56.100Z,1761335816.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944926,0.273431,0.179862],[-0.243510,0.954555,-0.171833],[-0.218673,0.118571,0.968568]] 2025-10-24T19:56:56.261Z,1761335816.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:56.506Z,1761335816.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945546,0.270953,0.180351],[-0.241459,0.955483,-0.169560],[-0.218265,0.116779,0.968877]] 2025-10-24T19:56:56.513Z,1761335816.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:56.764Z,1761335816.764 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:56.914Z,1761335816.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945816,0.269662,0.180871],[-0.240657,0.956127,-0.167049],[-0.217983,0.114469,0.969216]] 2025-10-24T19:56:56.946Z,1761335816.946 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:57.017Z,1761335817.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:57.269Z,1761335817.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:57.311Z,1761335817.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946457,0.267835,0.180231],[-0.238706,0.956475,-0.167855],[-0.217344,0.115845,0.969196]] 2025-10-24T19:56:57.522Z,1761335817.522 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:57.772Z,1761335817.772 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:58.026Z,1761335818.026 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:58.120Z,1761335818.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947440,0.264697,0.179704],[-0.235727,0.957314,-0.167281],[-0.216312,0.116128,0.969393]] 2025-10-24T19:56:58.277Z,1761335818.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:58.524Z,1761335818.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947901,0.263729,0.178693],[-0.234935,0.957558,-0.166996],[-0.215151,0.116314,0.969629]] 2025-10-24T19:56:58.529Z,1761335818.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:58.781Z,1761335818.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:58.930Z,1761335818.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948504,0.262574,0.177188],[-0.234044,0.957850,-0.166576],[-0.213458,0.116528,0.969978]] 2025-10-24T19:56:58.947Z,1761335818.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:56:59.033Z,1761335819.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:59.285Z,1761335819.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:59.331Z,1761335819.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949266,0.260937,0.175514],[-0.232821,0.958328,-0.165537],[-0.211395,0.116275,0.970460]] 2025-10-24T19:56:59.537Z,1761335819.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:56:59.789Z,1761335819.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:00.041Z,1761335820.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:00.139Z,1761335820.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950466,0.258935,0.171949],[-0.231733,0.958992,-0.163202],[-0.207157,0.115271,0.971493]] 2025-10-24T19:57:00.293Z,1761335820.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:00.545Z,1761335820.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:00.552Z,1761335820.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950947,0.258197,0.170395],[-0.231718,0.959430,-0.160630],[-0.204956,0.113267,0.972195]] 2025-10-24T19:57:00.797Z,1761335820.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:00.949Z,1761335820.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951288,0.257996,0.168790],[-0.232194,0.959704,-0.158284],[-0.202825,0.111382,0.972860]] 2025-10-24T19:57:00.966Z,1761335820.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:01.049Z,1761335821.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:01.300Z,1761335821.300 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:01.351Z,1761335821.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951413,0.258464,0.167360],[-0.233063,0.959678,-0.157162],[-0.201232,0.110520,0.973289]] 2025-10-24T19:57:01.554Z,1761335821.554 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:01.758Z,1761335821.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951274,0.259557,0.166458],[-0.234485,0.959503,-0.156113],[-0.200237,0.109474,0.973612]] 2025-10-24T19:57:01.805Z,1761335821.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:02.057Z,1761335822.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:02.160Z,1761335822.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951147,0.260776,0.165272],[-0.236194,0.959357,-0.154425],[-0.198825,0.107845,0.974083]] 2025-10-24T19:57:02.309Z,1761335822.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:02.561Z,1761335822.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:02.565Z,1761335822.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950906,0.262521,0.163894],[-0.238394,0.959039,-0.153013],[-0.197350,0.106429,0.974539]] 2025-10-24T19:57:02.603Z,1761335822.603 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, , +96.25, +2.51, 12.44, 0.00 2025-10-24T19:57:02.813Z,1761335822.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:02.967Z,1761335822.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950776,0.263910,0.162407],[-0.240215,0.958787,-0.151735],[-0.195758,0.105254,0.974987]] 2025-10-24T19:57:03.018Z,1761335823.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:03.067Z,1761335823.067 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:03.317Z,1761335823.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:03.377Z,1761335823.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950475,0.265641,0.161346],[-0.242439,0.958513,-0.149918],[-0.194477,0.103376,0.975445]] 2025-10-24T19:57:03.569Z,1761335823.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:03.778Z,1761335823.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950561,0.266185,0.159936],[-0.243318,0.958432,-0.149010],[-0.192952,0.102728,0.975816]] 2025-10-24T19:57:03.822Z,1761335823.822 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:04.073Z,1761335824.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:04.179Z,1761335824.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950415,0.267315,0.158912],[-0.244693,0.958183,-0.148363],[-0.191927,0.102122,0.976082]] 2025-10-24T19:57:04.325Z,1761335824.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:04.580Z,1761335824.580 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:04.584Z,1761335824.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950527,0.267589,0.157782],[-0.245098,0.958086,-0.148317],[-0.190856,0.102307,0.976272]] 2025-10-24T19:57:04.833Z,1761335824.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:04.988Z,1761335824.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950764,0.267505,0.156492],[-0.245259,0.958133,-0.147751],[-0.189464,0.102095,0.976565]] 2025-10-24T19:57:05.085Z,1761335825.085 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:05.341Z,1761335825.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:05.394Z,1761335825.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950801,0.268077,0.155278],[-0.246118,0.958035,-0.146950],[-0.188156,0.101504,0.976880]] 2025-10-24T19:57:05.411Z,1761335825.411 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:05.589Z,1761335825.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:05.800Z,1761335825.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951223,0.267165,0.154264],[-0.245334,0.958259,-0.146802],[-0.187045,0.101796,0.977063]] 2025-10-24T19:57:05.841Z,1761335825.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:06.093Z,1761335826.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:06.200Z,1761335826.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951485,0.266814,0.153254],[-0.245131,0.958347,-0.146566],[-0.185976,0.101888,0.977257]] 2025-10-24T19:57:06.345Z,1761335826.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:06.597Z,1761335826.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:06.612Z,1761335826.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951841,0.265802,0.152800],[-0.244458,0.958759,-0.144989],[-0.185037,0.100653,0.977564]] 2025-10-24T19:57:06.850Z,1761335826.850 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:07.013Z,1761335827.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951985,0.265614,0.152230],[-0.244576,0.958927,-0.143673],[-0.184139,0.099543,0.977847]] 2025-10-24T19:57:07.101Z,1761335827.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:07.353Z,1761335827.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:07.425Z,1761335827.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952513,0.264547,0.150775],[-0.244090,0.959401,-0.141315],[-0.182038,0.097802,0.978415]] 2025-10-24T19:57:07.442Z,1761335827.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:07.609Z,1761335827.609 [DAT](INFO): DAT read: Rx Time:19:57:06.3901 2025-10-24T19:57:07.610Z,1761335827.610 [DAT](INFO): Rx dataTimestamp_ set to:1761335827.609483 2025-10-24T19:57:07.610Z,1761335827.610 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:07.823Z,1761335827.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952770,0.264054,0.150019],[-0.243851,0.959605,-0.140342],[-0.181017,0.097131,0.978672]] 2025-10-24T19:57:07.857Z,1761335827.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:08.109Z,1761335828.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:08.221Z,1761335828.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952990,0.263663,0.149307],[-0.243658,0.959756,-0.139636],[-0.180115,0.096691,0.978882]] 2025-10-24T19:57:08.361Z,1761335828.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:08.613Z,1761335828.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:08.630Z,1761335828.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953161,0.263371,0.148727],[-0.243580,0.959902,-0.138773],[-0.179312,0.096046,0.979093]] 2025-10-24T19:57:08.871Z,1761335828.871 [DAT](INFO): DAT read: 19:57:06.3901 LVL= 14576, 16625, 11842, 22915, AGC= 65, IDX= 454,-0.35, 1.875,-2.657,-1.857,-3.077, PHS=-1.243, 0.467, 1.217, RAW= 252.7, -4.1, CAL= 255.2, -9.1, ROT= 254.8, 9.1 2025-10-24T19:57:08.872Z,1761335828.872 [DAT](INFO): got valid direction response: 19:57:06.3901 LVL= 14576, 16625, 11842, 22915, AGC= 65, IDX= 454,-0.35, 1.875,-2.657,-1.857,-3.077, PHS=-1.243, 0.467, 1.217, RAW= 252.7, -4.1, CAL= 255.2, -9.1, ROT= 254.8, 9.1 2025-10-24T19:57:08.872Z,1761335828.872 [DAT](INFO): DAT read: 2025-10-24T19:57:08.874Z,1761335828.874 [DAT](INFO): DAT read: DATA(0046):set _.others_observations nan n/a str none_str 2025-10-24T19:57:08.874Z,1761335828.874 [DAT](INFO): Got DATA 46 2025-10-24T19:57:08.875Z,1761335828.875 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:57:08.875Z,1761335828.875 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:57:08.876Z,1761335828.876 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:57:08.878Z,1761335828.878 [DAT](INFO): DAT read: CRC:Pass MPD:02.6 PSNR:10.1 AGC:69 SPD:+0.4 CCERR:008 2025-10-24T19:57:08.878Z,1761335828.878 [DAT](INFO): Got CRC:Pass 2025-10-24T19:57:08.878Z,1761335828.878 [DAT](INFO): Got CRC:Pass 2025-10-24T19:57:08.879Z,1761335828.879 [DAT](INFO): Incoming data is intended for us 2025-10-24T19:57:08.879Z,1761335828.879 [DAT](INFO): Received command: set _.others_observations nan n/a str none_str 2025-10-24T19:57:08.880Z,1761335828.880 [DAT](INFO): Sending ack 2025-10-24T19:57:08.881Z,1761335828.881 [DAT](INFO): DAT read: 2025-10-24T19:57:08.882Z,1761335828.882 [DAT](INFO): DAT read: 2025-10-24T19:57:08.883Z,1761335828.883 [DAT](INFO): #Rx 11: Read direction message, but no range. 2025-10-24T19:57:08.905Z,1761335828.905 [DAT](INFO): direction in FSK: [-0.258889,-0.952871,-0.158158] 2025-10-24T19:57:08.910Z,1761335828.910 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:09.027Z,1761335829.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953487,0.262614,0.147973],[-0.242994,0.960130,-0.138215],[-0.178370,0.095830,0.979286]] 2025-10-24T19:57:09.118Z,1761335829.118 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:09.369Z,1761335829.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:09.438Z,1761335829.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953648,0.262433,0.147256],[-0.243017,0.960231,-0.137475],[-0.177478,0.095317,0.979498]] 2025-10-24T19:57:09.487Z,1761335829.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:09.623Z,1761335829.623 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:09.835Z,1761335829.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954130,0.261132,0.146446],[-0.241827,0.960564,-0.137248],[-0.176511,0.095537,0.979651]] 2025-10-24T19:57:09.873Z,1761335829.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:10.125Z,1761335830.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:10.240Z,1761335830.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954395,0.260786,0.145332],[-0.241691,0.960680,-0.136675],[-0.175261,0.095316,0.979897]] 2025-10-24T19:57:10.377Z,1761335830.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:10.630Z,1761335830.630 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:10.661Z,1761335830.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954893,0.259604,0.144169],[-0.240662,0.960976,-0.136410],[-0.173955,0.095561,0.980106]] 2025-10-24T19:57:10.881Z,1761335830.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:11.048Z,1761335831.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955151,0.259705,0.142266],[-0.241105,0.960988,-0.135537],[-0.171915,0.095157,0.980505]] 2025-10-24T19:57:11.133Z,1761335831.133 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:11.385Z,1761335831.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:11.453Z,1761335831.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955546,0.259900,0.139225],[-0.241688,0.960915,-0.135018],[-0.168875,0.095367,0.981013]] 2025-10-24T19:57:11.503Z,1761335831.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:11.639Z,1761335831.639 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:11.855Z,1761335831.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955753,0.260745,0.136195],[-0.242916,0.960673,-0.134535],[-0.165918,0.095499,0.981504]] 2025-10-24T19:57:11.889Z,1761335831.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:12.145Z,1761335832.145 [DAT](INFO): DAT read: Forwarding Delay UpTx time:19:57:11.4870 2025-10-24T19:57:12.146Z,1761335832.146 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:12.261Z,1761335832.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956024,0.261331,0.133130],[-0.243916,0.960513,-0.133866],[-0.162856,0.095507,0.982016]] 2025-10-24T19:57:12.393Z,1761335832.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:12.646Z,1761335832.646 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:12.686Z,1761335832.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956209,0.262341,0.129777],[-0.245272,0.960178,-0.133794],[-0.159709,0.096104,0.982475]] 2025-10-24T19:57:12.898Z,1761335832.898 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:13.067Z,1761335833.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956760,0.261809,0.126756],[-0.245553,0.960554,-0.130537],[-0.155931,0.093767,0.983307]] 2025-10-24T19:57:13.149Z,1761335833.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:13.401Z,1761335833.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:13.474Z,1761335833.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957452,0.261384,0.122328],[-0.245390,0.960452,-0.131587],[-0.151885,0.095970,0.983728]] 2025-10-24T19:57:13.512Z,1761335833.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:13.657Z,1761335833.657 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:13.875Z,1761335833.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957166,0.264472,0.117848],[-0.248400,0.959193,-0.135080],[-0.148764,0.100021,0.983801]] 2025-10-24T19:57:13.905Z,1761335833.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:14.157Z,1761335834.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:14.189Z,1761335834.189 [CommandExec](IMPORTANT): got command set _.others_observations nan none 2025-10-24T19:57:14.279Z,1761335834.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956766,0.266937,0.115516],[-0.251252,0.958586,-0.134112],[-0.146531,0.099290,0.984210]] 2025-10-24T19:57:14.409Z,1761335834.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:14.662Z,1761335834.662 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:14.709Z,1761335834.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956436,0.269101,0.113205],[-0.253816,0.958064,-0.133003],[-0.144249,0.098476,0.984629]] 2025-10-24T19:57:14.913Z,1761335834.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:15.097Z,1761335835.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956213,0.270999,0.110526],[-0.256006,0.957500,-0.132873],[-0.141837,0.098759,0.984951]] 2025-10-24T19:57:15.165Z,1761335835.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:15.417Z,1761335835.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:15.491Z,1761335835.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955865,0.273140,0.108243],[-0.258517,0.956960,-0.131898],[-0.139611,0.098094,0.985336]] 2025-10-24T19:57:15.521Z,1761335835.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:15.671Z,1761335835.671 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:15.902Z,1761335835.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955525,0.275039,0.106424],[-0.260806,0.956541,-0.130420],[-0.137670,0.096863,0.985730]] 2025-10-24T19:57:15.921Z,1761335835.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:16.173Z,1761335836.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:16.303Z,1761335836.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955377,0.276568,0.103752],[-0.262586,0.956041,-0.130516],[-0.135287,0.097448,0.986003]] 2025-10-24T19:57:16.425Z,1761335836.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:16.679Z,1761335836.679 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:16.736Z,1761335836.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955215,0.277878,0.101726],[-0.264266,0.955748,-0.129267],[-0.133145,0.096595,0.986378]] 2025-10-24T19:57:16.929Z,1761335836.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:17.181Z,1761335837.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:17.433Z,1761335837.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:17.535Z,1761335837.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955077,0.279894,0.097401],[-0.266778,0.955121,-0.128735],[-0.129062,0.096967,0.986884]] 2025-10-24T19:57:17.563Z,1761335837.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:17.685Z,1761335837.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:17.924Z,1761335837.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955294,0.279820,0.095470],[-0.266898,0.955091,-0.128709],[-0.127198,0.097474,0.987076]] 2025-10-24T19:57:17.937Z,1761335837.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:18.189Z,1761335838.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:18.319Z,1761335838.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955458,0.279806,0.093850],[-0.267106,0.955099,-0.128223],[-0.125514,0.097443,0.987295]] 2025-10-24T19:57:18.441Z,1761335838.441 [DAT](INFO): DAT read: Rx Time:19:57:17.3832 2025-10-24T19:57:18.442Z,1761335838.442 [DAT](INFO): Rx dataTimestamp_ set to:1761335838.441617 2025-10-24T19:57:18.442Z,1761335838.442 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:18.695Z,1761335838.695 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:18.763Z,1761335838.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955660,0.279732,0.092001],[-0.267266,0.955109,-0.127808],[-0.123623,0.097552,0.987523]] 2025-10-24T19:57:18.945Z,1761335838.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:19.134Z,1761335839.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955722,0.280077,0.090294],[-0.267872,0.955040,-0.127059],[-0.121821,0.097246,0.987777]] 2025-10-24T19:57:19.201Z,1761335839.201 [DAT](INFO): DAT read: 19:57:17.3832 LVL= 17024, 28993, 24146, 32755, AGC= 65, IDX= 366, 0.10, 1.755, 0.074, 0.998, 1.228, PHS= 0.615,-1.108,-0.233, RAW= 120.5, 9.8, CAL= 128.7, 5.7, ROT= 21.3, -5.7 2025-10-24T19:57:19.203Z,1761335839.203 [DAT](INFO): got valid direction response: 19:57:17.3832 LVL= 17024, 28993, 24146, 32755, AGC= 65, IDX= 366, 0.10, 1.755, 0.074, 0.998, 1.228, PHS= 0.615,-1.108,-0.233, RAW= 120.5, 9.8, CAL= 128.7, 5.7, ROT= 21.3, -5.7 2025-10-24T19:57:19.203Z,1761335839.203 [DAT](INFO): DAT read: 2025-10-24T19:57:19.204Z,1761335839.204 [DAT](INFO): DAT read: $Packet for address 11 2025-10-24T19:57:19.204Z,1761335839.204 [DAT](INFO): received a packet notification 2025-10-24T19:57:19.216Z,1761335839.216 [DAT](INFO): #Rx 12: Read direction message, but no range. 2025-10-24T19:57:19.217Z,1761335839.217 [DAT](INFO): direction in FSK: [0.927085,0.361455,0.099320] 2025-10-24T19:57:19.220Z,1761335839.220 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:19.449Z,1761335839.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:19.468Z,1761335839.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:57:19.531Z,1761335839.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956099,0.279373,0.088459],[-0.267378,0.955208,-0.126837],[-0.119932,0.097617,0.987971]] 2025-10-24T19:57:19.701Z,1761335839.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:19.935Z,1761335839.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956385,0.278922,0.086774],[-0.267136,0.955323,-0.126480],[-0.118175,0.097783,0.988167]] 2025-10-24T19:57:19.953Z,1761335839.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:19.988Z,1761335839.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:20.205Z,1761335840.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:20.340Z,1761335840.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956815,0.277908,0.085275],[-0.266277,0.955569,-0.126431],[-0.116622,0.098265,0.988303]] 2025-10-24T19:57:20.457Z,1761335840.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:20.472Z,1761335840.472 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:57:20.710Z,1761335840.710 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:20.795Z,1761335840.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957382,0.276462,0.083595],[-0.264969,0.955896,-0.126705],[-0.114938,0.099155,0.988412]] 2025-10-24T19:57:20.961Z,1761335840.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:21.153Z,1761335841.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957652,0.275931,0.082248],[-0.264626,0.956051,-0.126254],[-0.113471,0.099143,0.988582]] 2025-10-24T19:57:21.213Z,1761335841.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:21.465Z,1761335841.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:21.551Z,1761335841.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958080,0.274869,0.080803],[-0.263742,0.956331,-0.125985],[-0.111904,0.099392,0.988736]] 2025-10-24T19:57:21.717Z,1761335841.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:21.955Z,1761335841.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958282,0.274469,0.079764],[-0.263531,0.956488,-0.125227],[-0.110664,0.098983,0.988916]] 2025-10-24T19:57:21.969Z,1761335841.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:22.023Z,1761335842.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:22.221Z,1761335842.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:22.361Z,1761335842.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958628,0.273625,0.078497],[-0.262870,0.956734,-0.124739],[-0.109232,0.098943,0.989080]] 2025-10-24T19:57:22.472Z,1761335842.472 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:22.725Z,1761335842.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:22.822Z,1761335842.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959078,0.272599,0.076550],[-0.262284,0.957185,-0.122493],[-0.106664,0.097403,0.989513]] 2025-10-24T19:57:22.977Z,1761335842.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:23.229Z,1761335843.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:23.481Z,1761335843.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:23.573Z,1761335843.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959099,0.272884,0.075253],[-0.262801,0.957168,-0.121510],[-0.105188,0.096764,0.989734]] 2025-10-24T19:57:23.733Z,1761335843.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:23.978Z,1761335843.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959308,0.272531,0.073861],[-0.262638,0.957278,-0.120997],[-0.103681,0.096675,0.989901]] 2025-10-24T19:57:23.986Z,1761335843.986 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:24.040Z,1761335844.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:24.237Z,1761335844.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:24.385Z,1761335844.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959622,0.272096,0.071346],[-0.262563,0.957438,-0.119887],[-0.100930,0.096313,0.990221]] 2025-10-24T19:57:24.489Z,1761335844.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:24.741Z,1761335844.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:24.822Z,1761335844.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959704,0.272173,0.069927],[-0.262843,0.957442,-0.119243],[-0.099406,0.096058,0.990400]] 2025-10-24T19:57:24.993Z,1761335844.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:25.188Z,1761335845.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959654,0.272735,0.068405],[-0.263612,0.957307,-0.118622],[-0.097837,0.095804,0.990580]] 2025-10-24T19:57:25.246Z,1761335845.246 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:25.497Z,1761335845.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:25.594Z,1761335845.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959528,0.273607,0.066676],[-0.264671,0.957042,-0.118403],[-0.096207,0.095964,0.990725]] 2025-10-24T19:57:25.749Z,1761335845.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:25.995Z,1761335845.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959298,0.274798,0.065065],[-0.266106,0.956763,-0.117442],[-0.094525,0.095348,0.990946]] 2025-10-24T19:57:26.000Z,1761335846.000 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:26.046Z,1761335846.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:26.252Z,1761335846.252 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:26.399Z,1761335846.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959296,0.275332,0.062797],[-0.266751,0.956444,-0.118572],[-0.092708,0.096995,0.990958]] 2025-10-24T19:57:26.505Z,1761335846.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:26.757Z,1761335846.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:26.809Z,1761335846.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959004,0.276773,0.060887],[-0.268460,0.956080,-0.117647],[-0.090775,0.096479,0.991187]] 2025-10-24T19:57:27.009Z,1761335847.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:27.211Z,1761335847.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958783,0.277970,0.058886],[-0.269929,0.955778,-0.116736],[-0.088731,0.096030,0.991416]] 2025-10-24T19:57:27.261Z,1761335847.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:27.513Z,1761335847.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:27.765Z,1761335847.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:28.015Z,1761335848.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958141,0.281008,0.054771],[-0.273369,0.954817,-0.116591],[-0.085059,0.096737,0.991669]] 2025-10-24T19:57:28.017Z,1761335848.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:28.073Z,1761335848.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:28.269Z,1761335848.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:28.425Z,1761335848.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958000,0.281898,0.052626],[-0.274308,0.954318,-0.118455],[-0.083614,0.099044,0.991564]] 2025-10-24T19:57:28.521Z,1761335848.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:28.772Z,1761335848.772 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:28.830Z,1761335848.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957696,0.283255,0.050847],[-0.275903,0.953958,-0.117647],[-0.081830,0.098642,0.991753]] 2025-10-24T19:57:29.025Z,1761335849.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:29.229Z,1761335849.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957691,0.283564,0.049190],[-0.276320,0.953752,-0.118340],[-0.080472,0.099741,0.991754]] 2025-10-24T19:57:29.278Z,1761335849.278 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:29.529Z,1761335849.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:29.631Z,1761335849.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957577,0.284123,0.048174],[-0.277028,0.953625,-0.117709],[-0.079384,0.099369,0.991879]] 2025-10-24T19:57:29.781Z,1761335849.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:30.032Z,1761335850.032 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:30.086Z,1761335850.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:30.285Z,1761335850.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:30.439Z,1761335850.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957474,0.284760,0.046426],[-0.277913,0.953485,-0.116748],[-0.077512,0.098880,0.992076]] 2025-10-24T19:57:30.537Z,1761335850.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:30.789Z,1761335850.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:30.843Z,1761335850.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957507,0.284742,0.045861],[-0.277961,0.953488,-0.116612],[-0.076932,0.098910,0.992118]] 2025-10-24T19:57:31.041Z,1761335851.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:31.255Z,1761335851.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957839,0.283688,0.045451],[-0.276918,0.953737,-0.117058],[-0.076557,0.099537,0.992084]] 2025-10-24T19:57:31.293Z,1761335851.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:31.545Z,1761335851.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:31.651Z,1761335851.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957949,0.283371,0.045105],[-0.276637,0.953819,-0.117053],[-0.076191,0.099654,0.992101]] 2025-10-24T19:57:31.797Z,1761335851.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:32.049Z,1761335852.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:32.057Z,1761335852.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958288,0.282339,0.044375],[-0.275693,0.954108,-0.116923],[-0.075350,0.099812,0.992149]] 2025-10-24T19:57:32.106Z,1761335852.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:32.300Z,1761335852.300 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:32.464Z,1761335852.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958346,0.282324,0.043193],[-0.275887,0.954201,-0.115703],[-0.073881,0.098967,0.992344]] 2025-10-24T19:57:32.553Z,1761335852.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:32.805Z,1761335852.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:32.863Z,1761335852.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958591,0.281722,0.041671],[-0.275617,0.954571,-0.113268],[-0.071688,0.097093,0.992690]] 2025-10-24T19:57:33.057Z,1761335853.057 [DAT](INFO): DAT read: Rx Time:19:57:31.8881 2025-10-24T19:57:33.058Z,1761335853.058 [DAT](INFO): Rx dataTimestamp_ set to:1761335853.057077 2025-10-24T19:57:33.058Z,1761335853.058 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:33.270Z,1761335853.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958688,0.281618,0.040093],[-0.275853,0.954812,-0.110636],[-0.069438,0.095006,0.993052]] 2025-10-24T19:57:33.310Z,1761335853.310 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:33.561Z,1761335853.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:33.815Z,1761335853.815 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:34.069Z,1761335854.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:34.081Z,1761335854.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959004,0.281155,0.035555],[-0.276083,0.955194,-0.106686],[-0.063957,0.092496,0.993657]] 2025-10-24T19:57:34.120Z,1761335854.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:34.382Z,1761335854.382 [DAT](INFO): DAT read: 19:57:31.8881 LVL= 11600, 8561, 5970, 9907, AGC= 60, IDX= 15,-0.15, 1.420,-3.048,-2.324, 2.874, PHS=-1.366, 0.408, 1.082, RAW= 254.6, -1.2, CAL= 257.0, -1.3, ROT= 253.0, 1.3 2025-10-24T19:57:34.383Z,1761335854.383 [DAT](INFO): got valid direction response: 19:57:31.8881 LVL= 11600, 8561, 5970, 9907, AGC= 60, IDX= 15,-0.15, 1.420,-3.048,-2.324, 2.874, PHS=-1.366, 0.408, 1.082, RAW= 254.6, -1.2, CAL= 257.0, -1.3, ROT= 253.0, 1.3 2025-10-24T19:57:34.384Z,1761335854.384 [DAT](INFO): DAT read: 2025-10-24T19:57:34.386Z,1761335854.386 [DAT](INFO): DAT read: DATA(0046):set _.others_obser\ations nan n/a str none_str 2025-10-24T19:57:34.386Z,1761335854.386 [DAT](INFO): Got DATA 46 2025-10-24T19:57:34.387Z,1761335854.387 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:57:34.387Z,1761335854.387 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:57:34.387Z,1761335854.387 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:57:34.411Z,1761335854.411 [DAT](INFO): DAT read: CRC:Fail {0001} MPD:06.5 PSNR:11.5 AGC:67 SPD:+0.1 CCERR:008 2025-10-24T19:57:34.411Z,1761335854.411 [DAT](INFO): unknown deviceResponse_: CRC:Fail {0001} MPD:06.5 PSNR:11.5 AGC:67 SPD:+0.1 CCERR:008 2025-10-24T19:57:34.411Z,1761335854.411 [DAT](INFO): DAT read: 2025-10-24T19:57:34.412Z,1761335854.412 [DAT](INFO): DAT read: 2025-10-24T19:57:34.413Z,1761335854.413 [DAT](INFO): #Rx 13: Read direction message, but no range. 2025-10-24T19:57:34.414Z,1761335854.414 [DAT](INFO): direction in FSK: [-0.292297,-0.956059,-0.022687] 2025-10-24T19:57:34.421Z,1761335854.421 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:34.573Z,1761335854.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:34.825Z,1761335854.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:34.885Z,1761335854.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959249,0.280910,0.030528],[-0.276513,0.955452,-0.103207],[-0.058160,0.090560,0.994191]] 2025-10-24T19:57:35.077Z,1761335855.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:35.292Z,1761335855.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959137,0.281601,0.027517],[-0.277497,0.955207,-0.102831],[-0.055241,0.090993,0.994318]] 2025-10-24T19:57:35.329Z,1761335855.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:35.581Z,1761335855.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:35.692Z,1761335855.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959222,0.281587,0.024531],[-0.277736,0.955096,-0.103217],[-0.052494,0.092195,0.994356]] 2025-10-24T19:57:35.833Z,1761335855.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:36.087Z,1761335856.087 [DAT](INFO): DAT read: Rx Time:19:57:34.8278 2025-10-24T19:57:36.087Z,1761335856.087 [DAT](INFO): Rx dataTimestamp_ set to:1761335856.086743 2025-10-24T19:57:36.087Z,1761335856.087 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:36.098Z,1761335856.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959062,0.282347,0.021934],[-0.278737,0.954814,-0.103134],[-0.050062,0.092798,0.994426]] 2025-10-24T19:57:36.159Z,1761335856.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:36.337Z,1761335856.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:36.505Z,1761335856.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958973,0.282832,0.019408],[-0.279422,0.954537,-0.103842],[-0.047895,0.094159,0.994404]] 2025-10-24T19:57:36.595Z,1761335856.595 [DAT](INFO): DAT read: 19:57:34.8278 LVL= 18960, 30865, 26274, 32755, AGC= 54, IDX= 374,-0.14, 0.628,-1.255,-0.340,-0.097, PHS= 0.813,-1.112,-0.247, RAW= 116.7, 6.6, CAL= 126.2, 2.9, ROT= 23.8, -2.9 2025-10-24T19:57:36.601Z,1761335856.601 [DAT](INFO): got valid direction response: 19:57:34.8278 LVL= 18960, 30865, 26274, 32755, AGC= 54, IDX= 374,-0.14, 0.628,-1.255,-0.340,-0.097, PHS= 0.813,-1.112,-0.247, RAW= 116.7, 6.6, CAL= 126.2, 2.9, ROT= 23.8, -2.9 2025-10-24T19:57:36.601Z,1761335856.601 [DAT](INFO): DAT read: 2025-10-24T19:57:36.602Z,1761335856.602 [DAT](INFO): DAT read: $Packet for address 11 2025-10-24T19:57:36.602Z,1761335856.602 [DAT](INFO): received a packet notification 2025-10-24T19:57:36.617Z,1761335856.617 [DAT](INFO): #Rx 14: Read direction message, but no range. 2025-10-24T19:57:36.618Z,1761335856.618 [DAT](INFO): direction in FSK: [0.913788,0.403028,0.050593] 2025-10-24T19:57:36.621Z,1761335856.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:36.840Z,1761335856.840 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:36.910Z,1761335856.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958613,0.284169,0.017579],[-0.280938,0.954122,-0.103561],[-0.046201,0.094336,0.994468]] 2025-10-24T19:57:37.093Z,1761335857.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:37.346Z,1761335857.346 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:37.596Z,1761335857.596 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:37.749Z,1761335857.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957875,0.286830,0.014299],[-0.283949,0.953356,-0.102397],[-0.043002,0.094023,0.994641]] 2025-10-24T19:57:37.849Z,1761335857.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:38.101Z,1761335858.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:38.117Z,1761335858.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957412,0.288482,0.011861],[-0.285832,0.952819,-0.102156],[-0.040771,0.094415,0.994698]] 2025-10-24T19:57:38.166Z,1761335858.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:38.353Z,1761335858.353 [DAT](INFO): DAT read: Rx Time:19:57:37.0385 2025-10-24T19:57:38.353Z,1761335858.353 [DAT](INFO): Rx dataTimestamp_ set to:1761335858.352997 2025-10-24T19:57:38.354Z,1761335858.354 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:38.519Z,1761335858.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956846,0.290427,0.009870],[-0.287995,0.952273,-0.101171],[-0.038782,0.093963,0.994820]] 2025-10-24T19:57:38.605Z,1761335858.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:38.862Z,1761335858.862 [DAT](INFO): DAT read: 19:57:37.0385 LVL= 11536, 7889, 5682, 10547, AGC= 56, IDX= 67,-0.47,-1.920,-0.195, 0.551,-0.532, PHS=-1.300, 0.384, 1.081, RAW= 253.5, -1.6, CAL= 256.0, -2.4, ROT= 254.0, 2.4 2025-10-24T19:57:38.863Z,1761335858.863 [DAT](INFO): got valid direction response: 19:57:37.0385 LVL= 11536, 7889, 5682, 10547, AGC= 56, IDX= 67,-0.47,-1.920,-0.195, 0.551,-0.532, PHS=-1.300, 0.384, 1.081, RAW= 253.5, -1.6, CAL= 256.0, -2.4, ROT= 254.0, 2.4 2025-10-24T19:57:38.863Z,1761335858.863 [DAT](INFO): DAT read: 2025-10-24T19:57:38.864Z,1761335858.864 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:57:38.865Z,1761335858.865 [DAT](INFO): received a packet notification 2025-10-24T19:57:38.876Z,1761335858.876 [DAT](INFO): #Rx 15: Read direction message, but no range. 2025-10-24T19:57:38.877Z,1761335858.877 [DAT](INFO): direction in FSK: [-0.275395,-0.960419,-0.041876] 2025-10-24T19:57:38.880Z,1761335858.880 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:38.940Z,1761335858.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956290,0.292319,0.007635],[-0.290112,0.951695,-0.100558],[-0.036661,0.093948,0.994902]] 2025-10-24T19:57:39.109Z,1761335859.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:39.331Z,1761335859.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955796,0.293974,0.005743],[-0.291969,0.951224,-0.099635],[-0.034753,0.093554,0.995007]] 2025-10-24T19:57:39.361Z,1761335859.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:39.389Z,1761335859.389 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Reached waypoint: 36.779130,-121.859630 2025-10-24T19:57:39.389Z,1761335859.389 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-10-24T19:57:39.389Z,1761335859.389 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-10-24T19:57:39.390Z,1761335859.390 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Running Loop=1 2025-10-24T19:57:39.613Z,1761335859.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:39.734Z,1761335859.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955242,0.295803,0.003724],[-0.293997,0.950658,-0.099073],[-0.032846,0.093544,0.995073]] 2025-10-24T19:57:39.756Z,1761335859.756 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F](INFO): Executing search pattern. 2025-10-24T19:57:39.756Z,1761335859.756 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Stopped 2025-10-24T19:57:39.756Z,1761335859.756 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Running Loop=1 2025-10-24T19:57:39.757Z,1761335859.757 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern 2025-10-24T19:57:39.757Z,1761335859.757 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1 2025-10-24T19:57:39.757Z,1761335859.757 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Initialize CircleComponent. 2025-10-24T19:57:39.758Z,1761335859.758 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Running Loop=1 2025-10-24T19:57:39.758Z,1761335859.758 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Initialize Wait Component. 2025-10-24T19:57:39.865Z,1761335859.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:40.117Z,1761335860.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:40.141Z,1761335860.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954903,0.296916,0.001496],[-0.295311,0.950242,-0.099156],[-0.030863,0.094242,0.995071]] 2025-10-24T19:57:40.185Z,1761335860.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:40.186Z,1761335860.186 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1 2025-10-24T19:57:40.369Z,1761335860.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:40.539Z,1761335860.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954403,0.298520,-0.000775],[-0.297120,0.949671,-0.099221],[-0.028883,0.094927,0.995065]] 2025-10-24T19:57:40.621Z,1761335860.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:40.873Z,1761335860.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:40.944Z,1761335860.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954284,0.298889,-0.002677],[-0.297635,0.949381,-0.100440],[-0.027479,0.096645,0.994940]] 2025-10-24T19:57:41.125Z,1761335861.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:41.358Z,1761335861.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954463,0.298297,-0.004443],[-0.297147,0.949245,-0.103136],[-0.026548,0.099759,0.994657]] 2025-10-24T19:57:41.378Z,1761335861.378 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:41.628Z,1761335861.628 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:41.760Z,1761335861.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955971,0.293337,-0.008546],[-0.292374,0.949517,-0.113731],[-0.025247,0.111222,0.993475]] 2025-10-24T19:57:41.881Z,1761335861.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:42.132Z,1761335862.132 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:42.173Z,1761335862.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956278,0.292325,-0.008858],[-0.291375,0.949689,-0.114856],[-0.025163,0.112416,0.993343]] 2025-10-24T19:57:42.210Z,1761335862.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:42.386Z,1761335862.386 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:42.637Z,1761335862.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:42.889Z,1761335862.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:43.141Z,1761335863.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:43.367Z,1761335863.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954131,0.299387,-0.001388],[-0.298136,0.949703,-0.095809],[-0.027366,0.091828,0.995399]] 2025-10-24T19:57:43.394Z,1761335863.394 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:43.645Z,1761335863.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:43.774Z,1761335863.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951329,0.308148,0.004128],[-0.306771,0.948186,-0.082670],[-0.029388,0.077381,0.996568]] 2025-10-24T19:57:43.897Z,1761335863.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:44.150Z,1761335864.150 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:44.176Z,1761335864.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948117,0.317770,0.009853],[-0.316313,0.945979,-0.071203],[-0.031947,0.064393,0.997413]] 2025-10-24T19:57:44.233Z,1761335864.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:44.401Z,1761335864.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:44.582Z,1761335864.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944137,0.329169,0.015909],[-0.327710,0.942860,-0.060169],[-0.034806,0.051594,0.998061]] 2025-10-24T19:57:44.654Z,1761335864.654 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:44.906Z,1761335864.906 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:44.985Z,1761335864.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939228,0.342558,0.022480],[-0.341209,0.938725,-0.048714],[-0.037790,0.038083,0.998560]] 2025-10-24T19:57:45.156Z,1761335865.156 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:45.386Z,1761335865.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932947,0.358762,0.029982],[-0.357656,0.933134,-0.036657],[-0.041129,0.023476,0.998878]] 2025-10-24T19:57:45.409Z,1761335865.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:45.661Z,1761335865.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:45.792Z,1761335865.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925838,0.376081,0.037240],[-0.375272,0.926521,-0.027006],[-0.044660,0.011028,0.998941]] 2025-10-24T19:57:45.913Z,1761335865.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:46.167Z,1761335866.167 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:46.199Z,1761335866.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918165,0.393796,0.043553],[-0.393244,0.919195,-0.020959],[-0.048287,0.002117,0.998831]] 2025-10-24T19:57:46.279Z,1761335866.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:46.417Z,1761335866.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:46.599Z,1761335866.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910230,0.411232,0.048687],[-0.410845,0.911524,-0.018152],[-0.051844,-0.003480,0.998649]] 2025-10-24T19:57:46.669Z,1761335866.669 [DAT](INFO): DAT read: Rx Time:19:57:45.5746 2025-10-24T19:57:46.670Z,1761335866.670 [DAT](INFO): Rx dataTimestamp_ set to:1761335866.669977 2025-10-24T19:57:46.671Z,1761335866.671 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:46.920Z,1761335866.920 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:47.003Z,1761335867.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901850,0.428911,0.051986],[-0.428495,0.903334,-0.019475],[-0.055314,-0.004712,0.998458]] 2025-10-24T19:57:47.176Z,1761335867.176 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:47.411Z,1761335867.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893315,0.446138,0.054301],[-0.445600,0.894954,-0.022325],[-0.058557,-0.004253,0.998275]] 2025-10-24T19:57:47.429Z,1761335867.429 [DAT](INFO): DAT read: 19:57:45.5746 LVL= 12784, 24017, 20914, 28723, AGC= 53, IDX= 323, 0.10,-0.057,-2.276,-1.548,-1.149, PHS= 1.180,-1.081,-0.402, RAW= 107.0, 3.1, CAL= 118.4, 0.4, ROT= 31.6, -0.4 2025-10-24T19:57:47.430Z,1761335867.430 [DAT](INFO): got valid direction response: 19:57:45.5746 LVL= 12784, 24017, 20914, 28723, AGC= 53, IDX= 323, 0.10,-0.057,-2.276,-1.548,-1.149, PHS= 1.180,-1.081,-0.402, RAW= 107.0, 3.1, CAL= 118.4, 0.4, ROT= 31.6, -0.4 2025-10-24T19:57:47.431Z,1761335867.431 [DAT](INFO): DAT read: 2025-10-24T19:57:47.431Z,1761335867.431 [DAT](INFO): DAT read: $Packet for address 11 2025-10-24T19:57:47.432Z,1761335867.432 [DAT](INFO): received a packet notification 2025-10-24T19:57:47.449Z,1761335867.449 [DAT](INFO): #Rx 16: Read direction message, but no range. 2025-10-24T19:57:47.450Z,1761335867.450 [DAT](INFO): direction in FSK: [0.851706,0.523973,0.006981] 2025-10-24T19:57:47.453Z,1761335867.453 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:47.677Z,1761335867.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:47.822Z,1761335867.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884540,0.463306,0.054179],[-0.462365,0.886198,-0.029535],[-0.061697,0.001075,0.998094]] 2025-10-24T19:57:47.929Z,1761335867.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:48.182Z,1761335868.182 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:48.222Z,1761335868.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875593,0.480053,0.053726],[-0.478678,0.877215,-0.036889],[-0.064838,0.006582,0.997874]] 2025-10-24T19:57:48.433Z,1761335868.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:48.621Z,1761335868.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866314,0.496677,0.053022],[-0.494854,0.867852,-0.044187],[-0.067962,0.012042,0.997615]] 2025-10-24T19:57:48.637Z,1761335868.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:48.686Z,1761335868.686 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:48.937Z,1761335868.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:49.023Z,1761335869.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856516,0.513745,0.049462],[-0.511207,0.857649,-0.055723],[-0.071048,0.022442,0.997220]] 2025-10-24T19:57:49.190Z,1761335869.190 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:49.435Z,1761335869.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846844,0.529962,0.044678],[-0.526664,0.847329,-0.068255],[-0.074029,0.034271,0.996667]] 2025-10-24T19:57:49.441Z,1761335869.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:49.692Z,1761335869.692 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:49.831Z,1761335869.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836227,0.546747,0.042325],[-0.542908,0.836288,-0.076635],[-0.077296,0.041106,0.996161]] 2025-10-24T19:57:49.945Z,1761335869.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:50.199Z,1761335870.199 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:50.250Z,1761335870.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825397,0.563133,0.040014],[-0.558803,0.825025,-0.084096],[-0.080369,0.047052,0.995654]] 2025-10-24T19:57:50.449Z,1761335870.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:50.593Z,1761335870.593 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:57:50.645Z,1761335870.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813909,0.579596,0.040261],[-0.574911,0.813453,-0.088160],[-0.083847,0.048608,0.995292]] 2025-10-24T19:57:50.680Z,1761335870.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:50.701Z,1761335870.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:50.953Z,1761335870.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:51.047Z,1761335871.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801677,0.596373,0.040658],[-0.591401,0.801209,-0.091156],[-0.086939,0.049032,0.995006]] 2025-10-24T19:57:51.207Z,1761335871.207 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:51.448Z,1761335871.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788813,0.613211,0.041780],[-0.607977,0.788443,-0.093396],[-0.090213,0.048271,0.994752]] 2025-10-24T19:57:51.457Z,1761335871.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:51.596Z,1761335871.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:57:51.709Z,1761335871.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:51.851Z,1761335871.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775590,0.629833,0.042063],[-0.624271,0.775199,-0.096704],[-0.093515,0.048744,0.994424]] 2025-10-24T19:57:51.961Z,1761335871.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:52.215Z,1761335872.215 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:52.281Z,1761335872.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762033,0.646111,0.042969],[-0.640278,0.761737,-0.098995],[-0.096693,0.047925,0.994160]] 2025-10-24T19:57:52.465Z,1761335872.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:52.672Z,1761335872.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747410,0.662838,0.044996],[-0.656831,0.747409,-0.099758],[-0.099754,0.045006,0.993994]] 2025-10-24T19:57:52.693Z,1761335872.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:52.716Z,1761335872.716 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:52.969Z,1761335872.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:53.064Z,1761335873.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732568,0.679180,0.045361],[-0.672906,0.732629,-0.102239],[-0.102672,0.044373,0.993725]] 2025-10-24T19:57:53.225Z,1761335873.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:53.477Z,1761335873.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:53.729Z,1761335873.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:53.984Z,1761335873.984 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:54.235Z,1761335874.235 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:54.306Z,1761335874.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685692,0.726710,0.041460],[-0.719233,0.685195,-0.114938],[-0.111934,0.048993,0.992507]] 2025-10-24T19:57:54.485Z,1761335874.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:54.679Z,1761335874.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669705,0.741611,0.038840],[-0.733690,0.668830,-0.119858],[-0.114865,0.051773,0.992031]] 2025-10-24T19:57:54.720Z,1761335874.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:54.737Z,1761335874.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:54.989Z,1761335874.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:55.084Z,1761335875.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653998,0.755583,0.037176],[-0.747283,0.652898,-0.123661],[-0.117708,0.053093,0.991628]] 2025-10-24T19:57:55.243Z,1761335875.243 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:55.490Z,1761335875.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637546,0.769560,0.036217],[-0.760920,0.636352,-0.126716],[-0.120562,0.053229,0.991278]] 2025-10-24T19:57:55.493Z,1761335875.493 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:55.745Z,1761335875.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:55.895Z,1761335875.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621825,0.782380,0.034867],[-0.773407,0.620478,-0.129806],[-0.123192,0.053750,0.990926]] 2025-10-24T19:57:55.998Z,1761335875.998 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:56.249Z,1761335876.249 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:56.331Z,1761335876.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605767,0.794807,0.036451],[-0.785676,0.604780,-0.130213],[-0.125539,0.050240,0.990816]] 2025-10-24T19:57:56.501Z,1761335876.501 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:56.753Z,1761335876.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:56.762Z,1761335876.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:57.005Z,1761335877.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:57.106Z,1761335877.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574953,0.817460,0.034458],[-0.807814,0.573846,-0.134677],[-0.129867,0.049597,0.990290]] 2025-10-24T19:57:57.256Z,1761335877.256 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:57.507Z,1761335877.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560500,0.827486,0.033262],[-0.817574,0.559292,-0.136984],[-0.131956,0.049585,0.990015]] 2025-10-24T19:57:57.509Z,1761335877.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:57.761Z,1761335877.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:57.917Z,1761335877.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546435,0.836968,0.029886],[-0.826752,0.544777,-0.140355],[-0.133754,0.051986,0.989650]] 2025-10-24T19:57:58.013Z,1761335878.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:58.265Z,1761335878.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:58.517Z,1761335878.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:58.727Z,1761335878.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510016,0.860032,0.015141],[-0.849015,0.506152,-0.151606],[-0.138049,0.064466,0.988325]] 2025-10-24T19:57:58.769Z,1761335878.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:59.021Z,1761335879.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:59.131Z,1761335879.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499535,0.866199,0.012816],[-0.855055,0.495376,-0.153243],[-0.139088,0.065592,0.988105]] 2025-10-24T19:57:59.149Z,1761335879.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:57:59.275Z,1761335879.275 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:59.526Z,1761335879.526 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:59.530Z,1761335879.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489279,0.872051,0.011489],[-0.860862,0.485028,-0.153829],[-0.139719,0.065375,0.988031]] 2025-10-24T19:57:59.778Z,1761335879.778 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:57:59.933Z,1761335879.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479932,0.877231,0.011418],[-0.866033,0.475805,-0.153613],[-0.140187,0.063835,0.988065]] 2025-10-24T19:58:00.029Z,1761335880.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:00.280Z,1761335880.280 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:00.391Z,1761335880.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471309,0.881869,0.013215],[-0.870730,0.467635,-0.152139],[-0.140347,0.060198,0.988271]] 2025-10-24T19:58:00.533Z,1761335880.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:00.741Z,1761335880.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463635,0.885904,0.014728],[-0.874841,0.460352,-0.150761],[-0.140339,0.057014,0.988461]] 2025-10-24T19:58:00.786Z,1761335880.786 [DAT](INFO): DAT read: Rx Time:19:57:59.6359 2025-10-24T19:58:00.787Z,1761335880.787 [DAT](INFO): Rx dataTimestamp_ set to:1761335880.786433 2025-10-24T19:58:00.788Z,1761335880.788 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:01.036Z,1761335881.036 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:01.143Z,1761335881.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456509,0.889576,0.015909],[-0.878617,0.453557,-0.149392],[-0.140111,0.054221,0.988650]] 2025-10-24T19:58:01.173Z,1761335881.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:01.294Z,1761335881.294 [DAT](INFO): DAT read: 19:57:59.6359 LVL= 16800, 19073, 7346, 21571, AGC= 62, IDX= 90, 0.23,-2.634,-2.377,-0.237,-1.351, PHS=-1.195,-0.979, 1.111, RAW= 214.9, 9.7, CAL= 219.1, 8.1, ROT= 290.9, -8.1 2025-10-24T19:58:01.295Z,1761335881.295 [DAT](INFO): got valid direction response: 19:57:59.6359 LVL= 16800, 19073, 7346, 21571, AGC= 62, IDX= 90, 0.23,-2.634,-2.377,-0.237,-1.351, PHS=-1.195,-0.979, 1.111, RAW= 214.9, 9.7, CAL= 219.1, 8.1, ROT= 290.9, -8.1 2025-10-24T19:58:01.295Z,1761335881.295 [DAT](INFO): DAT read: 2025-10-24T19:58:01.296Z,1761335881.296 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:58:01.296Z,1761335881.296 [DAT](INFO): received a packet notification 2025-10-24T19:58:01.308Z,1761335881.308 [DAT](INFO): #Rx 17: Read direction message, but no range. 2025-10-24T19:58:01.311Z,1761335881.311 [DAT](INFO): direction in FSK: [0.353179,-0.924885,0.140901] 2025-10-24T19:58:01.358Z,1761335881.358 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:01.541Z,1761335881.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:01.561Z,1761335881.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449816,0.892960,0.016951],[-0.882155,0.447178,-0.147765],[-0.139528,0.051514,0.988877]] 2025-10-24T19:58:01.793Z,1761335881.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:01.953Z,1761335881.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443319,0.896220,0.016066],[-0.885615,0.440700,-0.146523],[-0.138397,0.050728,0.989077]] 2025-10-24T19:58:02.045Z,1761335882.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:02.297Z,1761335882.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:02.379Z,1761335882.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437356,0.899185,0.013667],[-0.888723,0.434490,-0.146249],[-0.137443,0.051817,0.989153]] 2025-10-24T19:58:02.550Z,1761335882.550 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:02.758Z,1761335882.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431635,0.901987,0.010500],[-0.891695,0.428411,-0.146094],[-0.136274,0.053696,0.989215]] 2025-10-24T19:58:02.801Z,1761335882.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:03.053Z,1761335883.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:03.164Z,1761335883.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425745,0.904821,0.006375],[-0.894680,0.422006,-0.146490],[-0.135237,0.056664,0.989192]] 2025-10-24T19:58:03.213Z,1761335883.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:03.305Z,1761335883.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:03.557Z,1761335883.557 [DAT](INFO): DAT read: Rx Time:19:58:02.4239 2025-10-24T19:58:03.558Z,1761335883.558 [DAT](INFO): Rx dataTimestamp_ set to:1761335883.557882 2025-10-24T19:58:03.558Z,1761335883.559 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:03.584Z,1761335883.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420537,0.907274,0.001343],[-0.897257,0.416113,-0.147581],[-0.134456,0.060858,0.989049]] 2025-10-24T19:58:03.809Z,1761335883.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:03.979Z,1761335883.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415728,0.909482,-0.003596],[-0.899580,0.410614,-0.148834],[-0.133885,0.065109,0.988856]] 2025-10-24T19:58:04.061Z,1761335884.061 [DAT](INFO): DAT read: 2025-10-24T19:58:04.062Z,1761335884.062 [DAT](INFO): DAT read: $Packet for address 11 2025-10-24T19:58:04.062Z,1761335884.062 [DAT](INFO): received a packet notification 2025-10-24T19:58:04.076Z,1761335884.076 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:04.313Z,1761335884.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:04.409Z,1761335884.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410183,0.911969,-0.007915],[-0.902209,0.404494,-0.149679],[-0.133301,0.068537,0.988703]] 2025-10-24T19:58:04.565Z,1761335884.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:04.787Z,1761335884.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404712,0.914373,-0.011384],[-0.904767,0.398592,-0.150073],[-0.132685,0.071036,0.988609]] 2025-10-24T19:58:04.817Z,1761335884.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:05.069Z,1761335885.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:05.191Z,1761335885.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399245,0.916744,-0.013522],[-0.907236,0.392889,-0.150203],[-0.132385,0.072236,0.988563]] 2025-10-24T19:58:05.215Z,1761335885.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:05.321Z,1761335885.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:05.573Z,1761335885.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:05.604Z,1761335885.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393760,0.919091,-0.015015],[-0.909653,0.387263,-0.150196],[-0.132229,0.072799,0.988542]] 2025-10-24T19:58:05.827Z,1761335885.827 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:06.002Z,1761335886.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388040,0.921511,-0.015592],[-0.912137,0.381560,-0.149728],[-0.132027,0.072322,0.988604]] 2025-10-24T19:58:06.077Z,1761335886.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:06.329Z,1761335886.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:06.408Z,1761335886.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382047,0.924003,-0.016109],[-0.914693,0.375596,-0.149209],[-0.131819,0.071740,0.988674]] 2025-10-24T19:58:06.581Z,1761335886.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:06.810Z,1761335886.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376081,0.926427,-0.017220],[-0.917159,0.369546,-0.149180],[-0.131841,0.071897,0.988660]] 2025-10-24T19:58:06.833Z,1761335886.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:07.084Z,1761335887.084 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:07.211Z,1761335887.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370093,0.928828,-0.017614],[-0.919597,0.363593,-0.148803],[-0.131809,0.071269,0.988710]] 2025-10-24T19:58:07.229Z,1761335887.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:07.337Z,1761335887.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:07.589Z,1761335887.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:07.623Z,1761335887.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364588,0.930987,-0.018372],[-0.921790,0.358053,-0.148667],[-0.131829,0.071138,0.988717]] 2025-10-24T19:58:07.841Z,1761335887.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:08.029Z,1761335888.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359261,0.933011,-0.020552],[-0.923878,0.352461,-0.149065],[-0.131836,0.072541,0.988614]] 2025-10-24T19:58:08.094Z,1761335888.094 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:08.345Z,1761335888.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:08.435Z,1761335888.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354378,0.934824,-0.022808],[-0.925716,0.347269,-0.149848],[-0.132161,0.074216,0.988446]] 2025-10-24T19:58:08.597Z,1761335888.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:08.837Z,1761335888.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350378,0.936312,-0.023555],[-0.927160,0.343170,-0.150360],[-0.132700,0.074522,0.988351]] 2025-10-24T19:58:08.849Z,1761335888.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:09.101Z,1761335889.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:09.246Z,1761335889.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346728,0.937639,-0.024757],[-0.928452,0.339341,-0.151078],[-0.133255,0.075369,0.988212]] 2025-10-24T19:58:09.264Z,1761335889.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:09.353Z,1761335889.353 [DAT](INFO): DAT read: Rx Time:19:58:08.1827 2025-10-24T19:58:09.353Z,1761335889.353 [DAT](INFO): Rx dataTimestamp_ set to:1761335889.352989 2025-10-24T19:58:09.354Z,1761335889.354 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:09.605Z,1761335889.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:09.647Z,1761335889.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342928,0.939015,-0.025533],[-0.929784,0.335435,-0.151612],[-0.133801,0.075732,0.988110]] 2025-10-24T19:58:09.861Z,1761335889.861 [DAT](INFO): DAT read: 19:58:08.1828 LVL= 14944, 14929, 6114, 16467, AGC= 59, IDX= 36,-0.18, 1.301, 1.365,-2.889, 1.933, PHS=-0.544,-0.521, 1.458, RAW= 210.6, -4.0, CAL= 208.5, -10.8, ROT= 301.5, 10.8 2025-10-24T19:58:09.862Z,1761335889.862 [DAT](INFO): got valid direction response: 19:58:08.1828 LVL= 14944, 14929, 6114, 16467, AGC= 59, IDX= 36,-0.18, 1.301, 1.365,-2.889, 1.933, PHS=-0.544,-0.521, 1.458, RAW= 210.6, -4.0, CAL= 208.5, -10.8, ROT= 301.5, 10.8 2025-10-24T19:58:09.863Z,1761335889.863 [DAT](INFO): DAT read: 2025-10-24T19:58:09.863Z,1761335889.863 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:58:09.864Z,1761335889.864 [DAT](INFO): received a packet notification 2025-10-24T19:58:09.876Z,1761335889.876 [DAT](INFO): #Rx 18: Read direction message, but no range. 2025-10-24T19:58:09.878Z,1761335889.878 [DAT](INFO): direction in FSK: [0.513244,-0.837537,-0.187381] 2025-10-24T19:58:09.884Z,1761335889.884 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:10.047Z,1761335890.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339137,0.940367,-0.026376],[-0.931056,0.331503,-0.152448],[-0.134614,0.076259,0.987959]] 2025-10-24T19:58:10.109Z,1761335890.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:10.361Z,1761335890.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:10.456Z,1761335890.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336514,0.941318,-0.026068],[-0.931772,0.328841,-0.153835],[-0.136236,0.076057,0.987753]] 2025-10-24T19:58:10.613Z,1761335890.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:10.865Z,1761335890.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:10.866Z,1761335890.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333953,0.942227,-0.026156],[-0.932402,0.326147,-0.155737],[-0.138209,0.076397,0.987452]] 2025-10-24T19:58:11.118Z,1761335891.118 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:11.261Z,1761335891.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331966,0.942916,-0.026618],[-0.932824,0.323959,-0.157762],[-0.140133,0.077202,0.987118]] 2025-10-24T19:58:11.279Z,1761335891.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:11.369Z,1761335891.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:11.625Z,1761335891.625 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:11.663Z,1761335891.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330573,0.943377,-0.027603],[-0.933001,0.322249,-0.160205],[-0.142239,0.078713,0.986698]] 2025-10-24T19:58:11.873Z,1761335891.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:12.068Z,1761335892.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330083,0.943531,-0.028192],[-0.932876,0.321503,-0.162413],[-0.144178,0.079910,0.986320]] 2025-10-24T19:58:12.126Z,1761335892.126 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:12.377Z,1761335892.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:12.629Z,1761335892.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:12.649Z,1761335892.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329960,0.943553,-0.028896],[-0.932724,0.321151,-0.163973],[-0.145437,0.081056,0.986042]] 2025-10-24T19:58:12.881Z,1761335892.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:13.003Z,1761335893.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329192,0.943722,-0.031960],[-0.932988,0.319860,-0.164991],[-0.145483,0.084132,0.985777]] 2025-10-24T19:58:13.132Z,1761335893.132 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:13.384Z,1761335893.384 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:13.434Z,1761335893.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:13.637Z,1761335893.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:13.803Z,1761335893.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328975,0.943755,-0.033190],[-0.933383,0.319620,-0.163218],[-0.143429,0.084673,0.986032]] 2025-10-24T19:58:13.889Z,1761335893.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:14.141Z,1761335894.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:14.206Z,1761335894.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327977,0.944054,-0.034547],[-0.933957,0.318540,-0.162038],[-0.141968,0.085410,0.986180]] 2025-10-24T19:58:14.394Z,1761335894.394 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:14.623Z,1761335894.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326377,0.944609,-0.034516],[-0.934751,0.317116,-0.160244],[-0.140423,0.084563,0.986474]] 2025-10-24T19:58:14.645Z,1761335894.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:14.897Z,1761335894.897 [DAT](INFO): DAT read: Rx Time:19:58:13.7297 2025-10-24T19:58:14.899Z,1761335894.899 [DAT](INFO): Rx dataTimestamp_ set to:1761335894.897634 2025-10-24T19:58:14.901Z,1761335894.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:15.021Z,1761335895.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.323717,0.945579,-0.032963],[-0.935830,0.314858,-0.158389],[-0.139390,0.082121,0.986826]] 2025-10-24T19:58:15.149Z,1761335895.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:15.406Z,1761335895.406 [DAT](INFO): DAT read: 19:58:13.7297 LVL= 24880, 31825, 15442, 32291, AGC= 57, IDX= 472, 0.18,-0.596,-0.622, 1.380, 0.520, PHS=-1.028,-1.095, 0.857, RAW= 208.3, 13.1, CAL= 210.7, 13.6, ROT= 299.3, -13.6 2025-10-24T19:58:15.407Z,1761335895.407 [DAT](INFO): got valid direction response: 19:58:13.7297 LVL= 24880, 31825, 15442, 32291, AGC= 57, IDX= 472, 0.18,-0.596,-0.622, 1.380, 0.520, PHS=-1.028,-1.095, 0.857, RAW= 208.3, 13.1, CAL= 210.7, 13.6, ROT= 299.3, -13.6 2025-10-24T19:58:15.412Z,1761335895.412 [DAT](INFO): DAT read: 2025-10-24T19:58:15.413Z,1761335895.413 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:58:15.413Z,1761335895.413 [DAT](INFO): received a packet notification 2025-10-24T19:58:15.424Z,1761335895.424 [DAT](INFO): #Rx 19: Read direction message, but no range. 2025-10-24T19:58:15.425Z,1761335895.425 [DAT](INFO): direction in FSK: [0.475660,-0.847617,0.235142] 2025-10-24T19:58:15.428Z,1761335895.428 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:15.430Z,1761335895.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320828,0.946629,-0.031040],[-0.936892,0.312380,-0.157012],[-0.138936,0.079455,0.987109]] 2025-10-24T19:58:15.488Z,1761335895.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:15.652Z,1761335895.652 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:15.827Z,1761335895.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.317781,0.947666,-0.030732],[-0.937773,0.309347,-0.157755],[-0.139993,0.078951,0.987000]] 2025-10-24T19:58:15.905Z,1761335895.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:16.157Z,1761335896.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:16.233Z,1761335896.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314385,0.948745,-0.032341],[-0.938673,0.305604,-0.159685],[-0.141616,0.080560,0.986638]] 2025-10-24T19:58:16.409Z,1761335896.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:16.650Z,1761335896.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310729,0.949864,-0.034742],[-0.939544,0.301409,-0.162512],[-0.143892,0.083139,0.986095]] 2025-10-24T19:58:16.661Z,1761335896.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:16.913Z,1761335896.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:17.040Z,1761335897.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306952,0.951033,-0.036286],[-0.940400,0.297214,-0.165263],[-0.146386,0.084852,0.985582]] 2025-10-24T19:58:17.164Z,1761335897.164 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:17.417Z,1761335897.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:17.444Z,1761335897.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303543,0.952200,-0.034298],[-0.941083,0.293979,-0.167148],[-0.149075,0.083014,0.985335]] 2025-10-24T19:58:17.668Z,1761335897.668 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:17.849Z,1761335897.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299325,0.953625,-0.031692],[-0.942080,0.290108,-0.168293],[-0.151295,0.080231,0.985227]] 2025-10-24T19:58:17.859Z,1761335897.859 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102411594, +11.7, 0.0,1496.1, 0 0.00, 182.05, 165.89, 191.41, 157.38 2025-10-24T19:58:17.873Z,1761335897.873 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:17.921Z,1761335897.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:18.173Z,1761335898.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:18.260Z,1761335898.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.295558,0.954861,-0.029773],[-0.942887,0.286556,-0.169850],[-0.153652,0.078273,0.985020]] 2025-10-24T19:58:18.425Z,1761335898.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:18.677Z,1761335898.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:18.685Z,1761335898.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291089,0.956237,-0.029623],[-0.943863,0.281991,-0.172059],[-0.156176,0.078044,0.984641]] 2025-10-24T19:58:18.929Z,1761335898.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:19.064Z,1761335899.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.287171,0.957366,-0.031373],[-0.944550,0.277578,-0.175432],[-0.159244,0.080012,0.983991]] 2025-10-24T19:58:19.181Z,1761335899.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:19.433Z,1761335899.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:19.463Z,1761335899.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283187,0.958520,-0.032317],[-0.945192,0.273221,-0.178778],[-0.162533,0.081174,0.983359]] 2025-10-24T19:58:19.685Z,1761335899.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:19.868Z,1761335899.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.279279,0.959615,-0.033795],[-0.945811,0.268849,-0.182103],[-0.165663,0.082821,0.982699]] 2025-10-24T19:58:19.932Z,1761335899.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:19.937Z,1761335899.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:20.189Z,1761335900.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:20.274Z,1761335900.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275103,0.960834,-0.033409],[-0.946488,0.264569,-0.184833],[-0.168755,0.082469,0.982202]] 2025-10-24T19:58:20.441Z,1761335900.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:20.692Z,1761335900.692 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:20.712Z,1761335900.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271634,0.961795,-0.034124],[-0.946927,0.260766,-0.187963],[-0.171884,0.083370,0.981583]] 2025-10-24T19:58:20.945Z,1761335900.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:21.197Z,1761335901.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:21.449Z,1761335901.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:21.483Z,1761335901.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265161,0.963601,-0.034109],[-0.947716,0.253949,-0.193246],[-0.177550,0.083567,0.980557]] 2025-10-24T19:58:21.701Z,1761335901.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:21.732Z,1761335901.732 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:58:21.891Z,1761335901.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262398,0.964318,-0.035181],[-0.947999,0.250809,-0.195942],[-0.180126,0.084766,0.979984]] 2025-10-24T19:58:21.951Z,1761335901.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:21.953Z,1761335901.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:22.205Z,1761335902.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:22.461Z,1761335902.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:22.711Z,1761335902.711 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:22.728Z,1761335902.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257461,0.965597,-0.036562],[-0.948396,0.245265,-0.200971],[-0.185090,0.086418,0.978915]] 2025-10-24T19:58:22.737Z,1761335902.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:58:22.961Z,1761335902.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:23.102Z,1761335903.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256012,0.965923,-0.038082],[-0.948287,0.243301,-0.203855],[-0.187642,0.088302,0.978260]] 2025-10-24T19:58:23.213Z,1761335903.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:23.465Z,1761335903.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:23.503Z,1761335903.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255059,0.966129,-0.039244],[-0.948058,0.241897,-0.206572],[-0.190082,0.089893,0.977644]] 2025-10-24T19:58:23.719Z,1761335903.719 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:23.914Z,1761335903.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255218,0.966098,-0.038963],[-0.947473,0.241857,-0.209284],[-0.192766,0.090330,0.977078]] 2025-10-24T19:58:23.959Z,1761335903.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:23.969Z,1761335903.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:24.221Z,1761335904.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:24.311Z,1761335904.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255215,0.966094,-0.039089],[-0.946956,0.241585,-0.211924],[-0.195295,0.091102,0.976504]] 2025-10-24T19:58:24.472Z,1761335904.472 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:24.728Z,1761335904.728 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:24.758Z,1761335904.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255495,0.966074,-0.037725],[-0.946379,0.241925,-0.214101],[-0.197711,0.090404,0.976083]] 2025-10-24T19:58:24.977Z,1761335904.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:25.118Z,1761335905.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255615,0.965999,-0.038827],[-0.945841,0.241564,-0.216869],[-0.200116,0.092159,0.975428]] 2025-10-24T19:58:25.229Z,1761335905.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:25.481Z,1761335905.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:25.523Z,1761335905.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255927,0.965894,-0.039370],[-0.945251,0.241511,-0.219481],[-0.202487,0.093386,0.974822]] 2025-10-24T19:58:25.735Z,1761335905.735 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:25.930Z,1761335905.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255631,0.965992,-0.038878],[-0.944881,0.241130,-0.221484],[-0.204577,0.093353,0.974389]] 2025-10-24T19:58:25.981Z,1761335905.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:25.985Z,1761335905.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:26.237Z,1761335906.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:26.332Z,1761335906.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255534,0.965974,-0.039968],[-0.944412,0.240558,-0.224093],[-0.206853,0.095010,0.973748]] 2025-10-24T19:58:26.489Z,1761335906.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:26.749Z,1761335906.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:26.783Z,1761335906.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.253772,0.966448,-0.039726],[-0.944031,0.238520,-0.227846],[-0.210726,0.095323,0.972886]] 2025-10-24T19:58:27.001Z,1761335907.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:27.145Z,1761335907.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252539,0.966903,-0.036374],[-0.943935,0.237930,-0.228859],[-0.212630,0.092130,0.972780]] 2025-10-24T19:58:27.254Z,1761335907.254 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:27.504Z,1761335907.504 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:27.553Z,1761335907.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251172,0.967377,-0.033080],[-0.943925,0.237230,-0.229623],[-0.214284,0.088900,0.972717]] 2025-10-24T19:58:27.759Z,1761335907.759 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:27.947Z,1761335907.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249562,0.967814,-0.032480],[-0.944061,0.235697,-0.230644],[-0.215565,0.088223,0.972496]] 2025-10-24T19:58:27.994Z,1761335907.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:28.009Z,1761335908.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:28.261Z,1761335908.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:28.351Z,1761335908.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247416,0.968362,-0.032555],[-0.944327,0.233482,-0.231802],[-0.216868,0.088094,0.972218]] 2025-10-24T19:58:28.513Z,1761335908.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:28.768Z,1761335908.768 [DAT](INFO): DAT read: Rx Time:19:58:27.5746 2025-10-24T19:58:28.769Z,1761335908.769 [DAT](INFO): Rx dataTimestamp_ set to:1761335908.768377 2025-10-24T19:58:28.771Z,1761335908.771 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:28.824Z,1761335908.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245749,0.968819,-0.031570],[-0.944431,0.231973,-0.232892],[-0.218306,0.087049,0.971990]] 2025-10-24T19:58:29.017Z,1761335909.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:29.175Z,1761335909.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243251,0.969438,-0.031934],[-0.944808,0.229365,-0.233945],[-0.219470,0.087079,0.971725]] 2025-10-24T19:58:29.274Z,1761335909.274 [DAT](INFO): DAT read: 19:58:27.5746 LVL= 26928, 28369, 13202, 32755, AGC= 53, IDX= 413, 0.29, 0.200,-0.063, 1.980, 0.895, PHS=-0.607,-0.911, 1.082, RAW= 201.9, 4.7, CAL= 202.5, -2.9, ROT= 307.5, 2.9 2025-10-24T19:58:29.275Z,1761335909.275 [DAT](INFO): got valid direction response: 19:58:27.5746 LVL= 26928, 28369, 13202, 32755, AGC= 53, IDX= 413, 0.29, 0.200,-0.063, 1.980, 0.895, PHS=-0.607,-0.911, 1.082, RAW= 201.9, 4.7, CAL= 202.5, -2.9, ROT= 307.5, 2.9 2025-10-24T19:58:29.276Z,1761335909.276 [DAT](INFO): DAT read: 2025-10-24T19:58:29.276Z,1761335909.276 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:58:29.277Z,1761335909.277 [DAT](INFO): received a packet notification 2025-10-24T19:58:29.288Z,1761335909.288 [DAT](INFO): #Rx 20: Read direction message, but no range. 2025-10-24T19:58:29.289Z,1761335909.289 [DAT](INFO): direction in FSK: [0.607982,-0.792337,-0.050593] 2025-10-24T19:58:29.293Z,1761335909.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:29.521Z,1761335909.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:29.566Z,1761335909.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241289,0.969940,-0.031565],[-0.945076,0.227465,-0.234715],[-0.220480,0.086466,0.971552]] 2025-10-24T19:58:29.775Z,1761335909.775 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:29.967Z,1761335909.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239449,0.970380,-0.032053],[-0.945298,0.225473,-0.235740],[-0.221531,0.086748,0.971287]] 2025-10-24T19:58:30.016Z,1761335910.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:30.025Z,1761335910.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:30.278Z,1761335910.278 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:30.372Z,1761335910.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238040,0.970697,-0.032922],[-0.945393,0.223798,-0.236953],[-0.222642,0.087528,0.970963]] 2025-10-24T19:58:30.529Z,1761335910.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:30.787Z,1761335910.787 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:30.830Z,1761335910.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.236248,0.971139,-0.032788],[-0.945613,0.222011,-0.237756],[-0.223615,0.087174,0.970771]] 2025-10-24T19:58:31.037Z,1761335911.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:31.186Z,1761335911.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.234393,0.971566,-0.033445],[-0.945873,0.219981,-0.238606],[-0.224464,0.087562,0.970540]] 2025-10-24T19:58:31.290Z,1761335911.290 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:31.541Z,1761335911.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:31.585Z,1761335911.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232805,0.971938,-0.033752],[-0.946041,0.218286,-0.239496],[-0.225407,0.087686,0.970311]] 2025-10-24T19:58:31.796Z,1761335911.796 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:31.988Z,1761335911.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.231165,0.972275,-0.035266],[-0.946258,0.216257,-0.240478],[-0.226184,0.088960,0.970014]] 2025-10-24T19:58:32.036Z,1761335912.036 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:32.045Z,1761335912.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:32.297Z,1761335912.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:32.391Z,1761335912.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.229836,0.972483,-0.038120],[-0.946338,0.214170,-0.242023],[-0.227199,0.091700,0.969521]] 2025-10-24T19:58:32.549Z,1761335912.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:32.803Z,1761335912.803 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:32.822Z,1761335912.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228229,0.972831,-0.038865],[-0.946488,0.212338,-0.243049],[-0.228194,0.092256,0.969235]] 2025-10-24T19:58:33.053Z,1761335913.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:33.199Z,1761335913.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226666,0.973219,-0.038304],[-0.946652,0.210888,-0.243673],[-0.229070,0.091493,0.969101]] 2025-10-24T19:58:33.305Z,1761335913.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:33.557Z,1761335913.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:33.604Z,1761335913.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.224967,0.973615,-0.038254],[-0.946859,0.209185,-0.244336],[-0.229887,0.091189,0.968936]] 2025-10-24T19:58:33.811Z,1761335913.811 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:34.061Z,1761335914.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:34.071Z,1761335914.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:34.313Z,1761335914.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:34.413Z,1761335914.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222224,0.974215,-0.039007],[-0.947064,0.206178,-0.246091],[-0.231703,0.091629,0.968462]] 2025-10-24T19:58:34.564Z,1761335914.564 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:34.817Z,1761335914.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:34.821Z,1761335914.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220575,0.974586,-0.039089],[-0.947267,0.204497,-0.246711],[-0.232447,0.091446,0.968301]] 2025-10-24T19:58:35.068Z,1761335915.068 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:35.218Z,1761335915.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.219240,0.974888,-0.039071],[-0.947367,0.203134,-0.247452],[-0.233301,0.091266,0.968112]] 2025-10-24T19:58:35.322Z,1761335915.322 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:35.573Z,1761335915.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:35.626Z,1761335915.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217592,0.975239,-0.039531],[-0.947528,0.201344,-0.248298],[-0.234191,0.091485,0.967877]] 2025-10-24T19:58:35.825Z,1761335915.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:36.027Z,1761335916.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.215919,0.975599,-0.039814],[-0.947707,0.199583,-0.249034],[-0.235011,0.091503,0.967676]] 2025-10-24T19:58:36.077Z,1761335916.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:36.329Z,1761335916.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:36.431Z,1761335916.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.214120,0.976060,-0.038193],[-0.947910,0.198186,-0.249377],[-0.235838,0.089600,0.967653]] 2025-10-24T19:58:36.538Z,1761335916.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:36.581Z,1761335916.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:36.833Z,1761335916.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:36.837Z,1761335916.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212552,0.976412,-0.037961],[-0.948085,0.196669,-0.249911],[-0.236551,0.089110,0.967524]] 2025-10-24T19:58:37.085Z,1761335917.085 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:37.244Z,1761335917.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.210691,0.976795,-0.038469],[-0.948280,0.194666,-0.250741],[-0.237434,0.089308,0.967290]] 2025-10-24T19:58:37.338Z,1761335917.338 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:37.590Z,1761335917.590 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:37.643Z,1761335917.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.209388,0.977067,-0.038691],[-0.948305,0.193256,-0.251732],[-0.238482,0.089400,0.967023]] 2025-10-24T19:58:37.843Z,1761335917.843 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:38.047Z,1761335918.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208008,0.977356,-0.038830],[-0.948363,0.191800,-0.252626],[-0.239458,0.089373,0.966784]] 2025-10-24T19:58:38.093Z,1761335918.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:38.345Z,1761335918.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:38.452Z,1761335918.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.206975,0.977576,-0.038824],[-0.948386,0.190733,-0.253347],[-0.240260,0.089256,0.966596]] 2025-10-24T19:58:38.597Z,1761335918.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:38.852Z,1761335918.852 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:38.866Z,1761335918.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205857,0.977872,-0.037268],[-0.948389,0.189974,-0.253904],[-0.241206,0.087612,0.966511]] 2025-10-24T19:58:38.890Z,1761335918.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:39.105Z,1761335919.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:39.261Z,1761335919.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204775,0.978156,-0.035764],[-0.948392,0.189241,-0.254441],[-0.242115,0.086021,0.966427]] 2025-10-24T19:58:39.358Z,1761335919.358 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:39.609Z,1761335919.609 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:39.678Z,1761335919.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.204105,0.978379,-0.033403],[-0.948283,0.189123,-0.254934],[-0.243105,0.083709,0.966381]] 2025-10-24T19:58:39.861Z,1761335919.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:40.067Z,1761335920.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202874,0.978664,-0.032548],[-0.948429,0.188121,-0.255134],[-0.243568,0.082630,0.966358]] 2025-10-24T19:58:40.113Z,1761335920.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:40.364Z,1761335920.364 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:40.617Z,1761335920.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:40.873Z,1761335920.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:40.877Z,1761335920.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202472,0.978749,-0.032489],[-0.948621,0.187785,-0.254668],[-0.243155,0.082383,0.966483]] 2025-10-24T19:58:40.936Z,1761335920.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:41.125Z,1761335921.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:41.281Z,1761335921.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202384,0.978775,-0.032264],[-0.948608,0.187749,-0.254743],[-0.243278,0.082162,0.966470]] 2025-10-24T19:58:41.377Z,1761335921.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:41.629Z,1761335921.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:41.683Z,1761335921.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.202440,0.978793,-0.031340],[-0.948517,0.188017,-0.254881],[-0.243583,0.081325,0.966464]] 2025-10-24T19:58:41.881Z,1761335921.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:42.088Z,1761335922.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201956,0.978937,-0.029942],[-0.948492,0.187873,-0.255083],[-0.244085,0.079915,0.966456]] 2025-10-24T19:58:42.134Z,1761335922.134 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:42.385Z,1761335922.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:42.510Z,1761335922.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201510,0.979061,-0.028865],[-0.948503,0.187698,-0.255168],[-0.244407,0.078797,0.966466]] 2025-10-24T19:58:42.637Z,1761335922.637 [DAT](INFO): DAT read: Rx Time:19:58:41.4708 2025-10-24T19:58:42.637Z,1761335922.637 [DAT](INFO): Rx dataTimestamp_ set to:1761335922.636944 2025-10-24T19:58:42.638Z,1761335922.638 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:42.889Z,1761335922.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:42.909Z,1761335922.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.201485,0.979070,-0.028723],[-0.948360,0.187663,-0.255727],[-0.244984,0.078764,0.966322]] 2025-10-24T19:58:42.938Z,1761335922.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:43.146Z,1761335923.146 [DAT](INFO): DAT read: 19:58:41.4708 LVL= 24176, 26993, 11762, 31219, AGC= 63, IDX= 437, 0.18,-2.514,-3.031,-0.931,-1.942, PHS=-0.485,-1.043, 1.008, RAW= 194.7, 5.7, CAL= 195.1, -2.7, ROT= 314.9, 2.7 2025-10-24T19:58:43.147Z,1761335923.147 [DAT](INFO): got valid direction response: 19:58:41.4708 LVL= 24176, 26993, 11762, 31219, AGC= 63, IDX= 437, 0.18,-2.514,-3.031,-0.931,-1.942, PHS=-0.485,-1.043, 1.008, RAW= 194.7, 5.7, CAL= 195.1, -2.7, ROT= 314.9, 2.7 2025-10-24T19:58:43.147Z,1761335923.147 [DAT](INFO): DAT read: 2025-10-24T19:58:43.148Z,1761335923.148 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:58:43.148Z,1761335923.148 [DAT](INFO): received a packet notification 2025-10-24T19:58:43.160Z,1761335923.160 [DAT](INFO): #Rx 21: Read direction message, but no range. 2025-10-24T19:58:43.161Z,1761335923.161 [DAT](INFO): direction in FSK: [0.705088,-0.707554,-0.047106] 2025-10-24T19:58:43.164Z,1761335923.164 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:43.300Z,1761335923.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200879,0.979210,-0.028203],[-0.948414,0.187192,-0.255873],[-0.245274,0.078148,0.966299]] 2025-10-24T19:58:43.393Z,1761335923.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:43.645Z,1761335923.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:43.708Z,1761335923.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199667,0.979479,-0.027459],[-0.948575,0.186191,-0.256005],[-0.245639,0.077163,0.966285]] 2025-10-24T19:58:43.897Z,1761335923.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:44.112Z,1761335924.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.198733,0.979687,-0.026825],[-0.948684,0.185430,-0.256153],[-0.245976,0.076354,0.966264]] 2025-10-24T19:58:44.149Z,1761335924.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:44.402Z,1761335924.402 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:44.521Z,1761335924.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195735,0.980297,-0.026556],[-0.949018,0.182528,-0.256998],[-0.247088,0.075506,0.966047]] 2025-10-24T19:58:44.653Z,1761335924.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:44.905Z,1761335924.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:44.924Z,1761335924.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193461,0.980707,-0.028034],[-0.949225,0.179872,-0.258105],[-0.248083,0.076544,0.965710]] 2025-10-24T19:58:44.941Z,1761335924.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:45.157Z,1761335925.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:45.330Z,1761335925.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191185,0.981118,-0.029257],[-0.949409,0.177276,-0.259222],[-0.249141,0.077336,0.965374]] 2025-10-24T19:58:45.410Z,1761335925.410 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:45.661Z,1761335925.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:45.728Z,1761335925.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.188616,0.981596,-0.029896],[-0.949681,0.174563,-0.260066],[-0.250061,0.077444,0.965128]] 2025-10-24T19:58:45.913Z,1761335925.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:46.128Z,1761335926.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185736,0.982120,-0.030695],[-0.949992,0.171504,-0.260964],[-0.251033,0.077631,0.964860]] 2025-10-24T19:58:46.165Z,1761335926.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:46.417Z,1761335926.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:46.530Z,1761335926.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.182624,0.982692,-0.031047],[-0.950289,0.168327,-0.261947],[-0.252187,0.077341,0.964583]] 2025-10-24T19:58:46.671Z,1761335926.671 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:46.929Z,1761335926.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:46.939Z,1761335926.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179135,0.983314,-0.031689],[-0.950701,0.164726,-0.262743],[-0.253139,0.077193,0.964345]] 2025-10-24T19:58:46.956Z,1761335926.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:47.181Z,1761335927.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:47.339Z,1761335927.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176087,0.983831,-0.032706],[-0.950915,0.161419,-0.264018],[-0.254470,0.077591,0.963963]] 2025-10-24T19:58:47.433Z,1761335927.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:47.685Z,1761335927.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:47.747Z,1761335927.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172377,0.984480,-0.032952],[-0.951285,0.157697,-0.264931],[-0.255623,0.077015,0.963704]] 2025-10-24T19:58:47.937Z,1761335927.937 [DAT](INFO): DAT read: Rx Time:19:58:46.6687 2025-10-24T19:58:47.937Z,1761335927.937 [DAT](INFO): Rx dataTimestamp_ set to:1761335927.937096 2025-10-24T19:58:47.938Z,1761335927.938 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:48.148Z,1761335928.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.168878,0.985039,-0.034337],[-0.951617,0.153877,-0.265984],[-0.256721,0.077595,0.963366]] 2025-10-24T19:58:48.188Z,1761335928.188 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:48.445Z,1761335928.445 [DAT](INFO): DAT read: 19:58:46.6687 LVL= 22560, 23889, 12274, 27891, AGC= 63, IDX= 448,-0.01, 2.874, 2.479,-1.764,-2.736, PHS=-0.585,-1.021, 0.969, RAW= 198.0, 7.1, CAL= 198.7, -1.3, ROT= 311.3, 1.3 2025-10-24T19:58:48.446Z,1761335928.446 [DAT](INFO): got valid direction response: 19:58:46.6687 LVL= 22560, 23889, 12274, 27891, AGC= 63, IDX= 448,-0.01, 2.874, 2.479,-1.764,-2.736, PHS=-0.585,-1.021, 0.969, RAW= 198.0, 7.1, CAL= 198.7, -1.3, ROT= 311.3, 1.3 2025-10-24T19:58:48.447Z,1761335928.447 [DAT](INFO): DAT read: 2025-10-24T19:58:48.447Z,1761335928.447 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:58:48.448Z,1761335928.448 [DAT](INFO): received a packet notification 2025-10-24T19:58:48.462Z,1761335928.462 [DAT](INFO): #Rx 22: Read direction message, but no range. 2025-10-24T19:58:48.481Z,1761335928.481 [DAT](INFO): direction in FSK: [0.659832,-0.751071,-0.022687] 2025-10-24T19:58:48.488Z,1761335928.488 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:48.555Z,1761335928.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.165692,0.985566,-0.034730],[-0.951797,0.150599,-0.267213],[-0.258126,0.077331,0.963011]] 2025-10-24T19:58:48.693Z,1761335928.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:48.953Z,1761335928.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:48.957Z,1761335928.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162963,0.986029,-0.034493],[-0.951917,0.147941,-0.268266],[-0.259416,0.076552,0.962727]] 2025-10-24T19:58:48.995Z,1761335928.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:49.205Z,1761335929.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:49.359Z,1761335929.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.160459,0.986452,-0.034150],[-0.952029,0.145540,-0.269182],[-0.260565,0.075705,0.962484]] 2025-10-24T19:58:49.457Z,1761335929.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:49.709Z,1761335929.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:49.770Z,1761335929.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.158069,0.986782,-0.035713],[-0.952114,0.142730,-0.270382],[-0.261710,0.076742,0.962091]] 2025-10-24T19:58:49.961Z,1761335929.961 [DAT](INFO): DAT read: Rx Time:19:58:48.7666 2025-10-24T19:58:49.961Z,1761335929.961 [DAT](INFO): Rx dataTimestamp_ set to:1761335929.961058 2025-10-24T19:58:49.962Z,1761335929.962 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:50.167Z,1761335930.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156557,0.987020,-0.035802],[-0.952115,0.141184,-0.271191],[-0.262616,0.076545,0.961859]] 2025-10-24T19:58:50.213Z,1761335930.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:50.465Z,1761335930.465 [DAT](INFO): DAT read: 2025-10-24T19:58:50.465Z,1761335930.465 [DAT](INFO): DAT read: $Packet for address 11 2025-10-24T19:58:50.466Z,1761335930.466 [DAT](INFO): received a packet notification 2025-10-24T19:58:50.480Z,1761335930.480 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:50.573Z,1761335930.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.155612,0.987215,-0.034514],[-0.951992,0.140553,-0.271947],[-0.263619,0.075176,0.961693]] 2025-10-24T19:58:50.717Z,1761335930.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:50.969Z,1761335930.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:50.980Z,1761335930.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154643,0.987368,-0.034498],[-0.951874,0.139549,-0.272877],[-0.264616,0.075036,0.961430]] 2025-10-24T19:58:50.997Z,1761335930.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:51.221Z,1761335931.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:51.381Z,1761335931.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153947,0.987482,-0.034350],[-0.951633,0.138824,-0.274086],[-0.265886,0.074884,0.961092]] 2025-10-24T19:58:51.473Z,1761335931.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:51.725Z,1761335931.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:51.783Z,1761335931.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153621,0.987540,-0.034151],[-0.951317,0.138464,-0.275361],[-0.267201,0.074790,0.960734]] 2025-10-24T19:58:51.977Z,1761335931.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:52.187Z,1761335932.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.153296,0.987622,-0.033216],[-0.950980,0.138306,-0.276602],[-0.268584,0.073990,0.960410]] 2025-10-24T19:58:52.229Z,1761335932.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:52.480Z,1761335932.480 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:52.619Z,1761335932.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152904,0.987724,-0.031965],[-0.950696,0.138187,-0.277637],[-0.269811,0.072841,0.960154]] 2025-10-24T19:58:52.733Z,1761335932.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:52.868Z,1761335932.868 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:58:52.985Z,1761335932.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:53.001Z,1761335933.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.151707,0.987941,-0.030951],[-0.950624,0.137256,-0.278345],[-0.270740,0.071649,0.959982]] 2025-10-24T19:58:53.018Z,1761335933.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:53.236Z,1761335933.236 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:53.400Z,1761335933.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.150607,0.988123,-0.030499],[-0.950600,0.136279,-0.278904],[-0.271435,0.070997,0.959835]] 2025-10-24T19:58:53.489Z,1761335933.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:53.741Z,1761335933.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:53.804Z,1761335933.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.149652,0.988249,-0.031128],[-0.950701,0.135175,-0.279097],[-0.271610,0.071360,0.959758]] 2025-10-24T19:58:53.874Z,1761335933.874 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:58:53.993Z,1761335933.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:54.208Z,1761335934.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148477,0.988368,-0.032910],[-0.950884,0.133547,-0.279256],[-0.271612,0.072757,0.959653]] 2025-10-24T19:58:54.256Z,1761335934.256 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:54.509Z,1761335934.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:54.615Z,1761335934.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147346,0.988502,-0.033968],[-0.951033,0.132160,-0.279412],[-0.271710,0.073475,0.959570]] 2025-10-24T19:58:54.761Z,1761335934.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:55.013Z,1761335935.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:55.017Z,1761335935.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.146257,0.988596,-0.035871],[-0.951163,0.130570,-0.279715],[-0.271841,0.075029,0.959413]] 2025-10-24T19:58:55.049Z,1761335935.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:55.265Z,1761335935.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:55.420Z,1761335935.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144407,0.988785,-0.038087],[-0.951589,0.128215,-0.279354],[-0.271338,0.076584,0.959432]] 2025-10-24T19:58:55.517Z,1761335935.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:55.769Z,1761335935.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:55.827Z,1761335935.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.142073,0.989068,-0.039484],[-0.952029,0.125613,-0.279038],[-0.271028,0.077234,0.959468]] 2025-10-24T19:58:56.021Z,1761335936.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:56.229Z,1761335936.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140100,0.989294,-0.040861],[-0.952386,0.123357,-0.278828],[-0.270802,0.077979,0.959471]] 2025-10-24T19:58:56.273Z,1761335936.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:56.526Z,1761335936.526 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:56.631Z,1761335936.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137795,0.989529,-0.042959],[-0.952841,0.120596,-0.278481],[-0.270384,0.079306,0.959481]] 2025-10-24T19:58:56.777Z,1761335936.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:57.029Z,1761335937.029 [DAT](INFO): DAT read: Rx Time:19:58:55.8158 2025-10-24T19:58:57.029Z,1761335937.029 [DAT](INFO): Rx dataTimestamp_ set to:1761335937.028991 2025-10-24T19:58:57.030Z,1761335937.030 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:57.087Z,1761335937.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:57.280Z,1761335937.280 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:57.439Z,1761335937.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133187,0.990042,-0.045578],[-0.953772,0.115535,-0.277435],[-0.269407,0.080422,0.959663]] 2025-10-24T19:58:57.533Z,1761335937.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:57.785Z,1761335937.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:57.844Z,1761335937.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130784,0.990268,-0.047586],[-0.954288,0.112730,-0.276815],[-0.268756,0.081614,0.959744]] 2025-10-24T19:58:58.037Z,1761335938.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:58.260Z,1761335938.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128440,0.990514,-0.048843],[-0.954908,0.110229,-0.275680],[-0.267681,0.082049,0.960008]] 2025-10-24T19:58:58.296Z,1761335938.296 [DAT](INFO): DAT read: 19:58:55.8158 LVL= 25904, 30593, 12450, 32755, AGC= 68, IDX= 448, 0.37,-1.413,-1.985, 0.083,-0.872, PHS=-0.452,-1.066, 0.953, RAW= 192.8, 6.4, CAL= 193.1, -2.2, ROT= 316.9, 2.2 2025-10-24T19:58:58.297Z,1761335938.297 [DAT](INFO): got valid direction response: 19:58:55.8158 LVL= 25904, 30593, 12450, 32755, AGC= 68, IDX= 448, 0.37,-1.413,-1.985, 0.083,-0.872, PHS=-0.452,-1.066, 0.953, RAW= 192.8, 6.4, CAL= 193.1, -2.2, ROT= 316.9, 2.2 2025-10-24T19:58:58.297Z,1761335938.297 [DAT](INFO): DAT read: 2025-10-24T19:58:58.299Z,1761335938.299 [DAT](INFO): DAT read: DATA(0046):set _.others_observations nan n/a str none_str 2025-10-24T19:58:58.299Z,1761335938.299 [DAT](INFO): Got DATA 46 2025-10-24T19:58:58.300Z,1761335938.300 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:58:58.300Z,1761335938.300 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:58:58.301Z,1761335938.301 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:58:58.302Z,1761335938.302 [DAT](INFO): DAT read: CRC:Pass MPD:04.4 PSNR:09.2 AGC:67 SPD:+0.8 CCERR:007 2025-10-24T19:58:58.302Z,1761335938.302 [DAT](INFO): Got CRC:Pass 2025-10-24T19:58:58.302Z,1761335938.302 [DAT](INFO): Got CRC:Pass 2025-10-24T19:58:58.302Z,1761335938.302 [DAT](INFO): Incoming data is intended for us 2025-10-24T19:58:58.303Z,1761335938.303 [DAT](INFO): Received command: set _.others_observations nan n/a str none_str 2025-10-24T19:58:58.303Z,1761335938.303 [DAT](INFO): Sending ack 2025-10-24T19:58:58.303Z,1761335938.303 [DAT](INFO): DAT read: 2025-10-24T19:58:58.303Z,1761335938.303 [DAT](INFO): DAT read: 2025-10-24T19:58:58.310Z,1761335938.310 [DAT](INFO): #Rx 23: Read direction message, but no range. 2025-10-24T19:58:58.311Z,1761335938.311 [DAT](INFO): direction in FSK: [0.729624,-0.682770,-0.038388] 2025-10-24T19:58:58.337Z,1761335938.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:58.541Z,1761335938.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:58.662Z,1761335938.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126776,0.990682,-0.049777],[-0.955715,0.108557,-0.273541],[-0.265588,0.082251,0.960571]] 2025-10-24T19:58:58.793Z,1761335938.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:59.045Z,1761335939.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:59.058Z,1761335939.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125355,0.990795,-0.051091],[-0.956602,0.107054,-0.271021],[-0.263057,0.082848,0.961217]] 2025-10-24T19:58:59.115Z,1761335939.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:58:59.297Z,1761335939.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:59.461Z,1761335939.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124089,0.990926,-0.051649],[-0.957437,0.105900,-0.268514],[-0.260608,0.082770,0.961890]] 2025-10-24T19:58:59.549Z,1761335939.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:59.801Z,1761335939.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:58:59.864Z,1761335939.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123526,0.990916,-0.053160],[-0.958171,0.105164,-0.266175],[-0.258166,0.083815,0.962458]] 2025-10-24T19:59:00.053Z,1761335940.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:00.271Z,1761335940.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123971,0.990824,-0.053835],[-0.958763,0.105623,-0.263850],[-0.255743,0.084325,0.963060]] 2025-10-24T19:59:00.305Z,1761335940.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:00.557Z,1761335940.557 [DAT](INFO): DAT read: Rx Time:19:58:59.3632 2025-10-24T19:59:00.558Z,1761335940.558 [DAT](INFO): Rx dataTimestamp_ set to:1761335940.557683 2025-10-24T19:59:00.559Z,1761335940.559 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:00.678Z,1761335940.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124545,0.990648,-0.055715],[-0.959365,0.105903,-0.261539],[-0.253193,0.086025,0.963583]] 2025-10-24T19:59:00.809Z,1761335940.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:01.061Z,1761335941.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:01.084Z,1761335941.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125899,0.990404,-0.057006],[-0.959845,0.107091,-0.259286],[-0.250693,0.087360,0.964117]] 2025-10-24T19:59:01.119Z,1761335941.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:01.318Z,1761335941.318 [DAT](INFO): DAT read: 19:58:59.3632 LVL= 24544, 23793, 11442, 30947, AGC= 65, IDX= 455,-0.43, 1.554, 1.092,-3.124, 2.198, PHS=-0.556,-1.059, 0.959, RAW= 196.1, 7.3, CAL= 196.8, -1.3, ROT= 313.2, 1.3 2025-10-24T19:59:01.319Z,1761335941.319 [DAT](INFO): got valid direction response: 19:58:59.3632 LVL= 24544, 23793, 11442, 30947, AGC= 65, IDX= 455,-0.43, 1.554, 1.092,-3.124, 2.198, PHS=-0.556,-1.059, 0.959, RAW= 196.1, 7.3, CAL= 196.8, -1.3, ROT= 313.2, 1.3 2025-10-24T19:59:01.320Z,1761335941.320 [DAT](INFO): DAT read: 2025-10-24T19:59:01.321Z,1761335941.321 [DAT](INFO): DAT read: DATA(0005):+++ 2025-10-24T19:59:01.321Z,1761335941.321 [DAT](INFO): Got DATA 5 2025-10-24T19:59:01.321Z,1761335941.321 [DAT](INFO): DAT read: 2025-10-24T19:59:01.322Z,1761335941.322 [DAT](INFO): DAT read: Source:011 Destination:010 2025-10-24T19:59:01.322Z,1761335941.322 [DAT](INFO): Got Src/Dest after DATA 2025-10-24T19:59:01.323Z,1761335941.323 [DAT](INFO): DATA Src=11, Dst=10 2025-10-24T19:59:01.325Z,1761335941.325 [DAT](INFO): DAT read: CRC:Pass MPD:04.7 PSNR:08.9 AGC:70 SPD:+1.1 CCERR:006 2025-10-24T19:59:01.325Z,1761335941.325 [DAT](INFO): Got CRC:Pass 2025-10-24T19:59:01.325Z,1761335941.325 [DAT](INFO): Got CRC:Pass 2025-10-24T19:59:01.325Z,1761335941.325 [DAT](INFO): Incoming data is intended for us 2025-10-24T19:59:01.325Z,1761335941.325 [DAT](INFO): Received command: +++ 2025-10-24T19:59:01.326Z,1761335941.326 [DAT](INFO): Sending ack 2025-10-24T19:59:01.326Z,1761335941.326 [DAT](INFO): DAT read: 2025-10-24T19:59:01.327Z,1761335941.327 [DAT](INFO): DAT read: 2025-10-24T19:59:01.327Z,1761335941.327 [DAT](INFO): #Rx 24: Read direction message, but no range. 2025-10-24T19:59:01.329Z,1761335941.329 [DAT](INFO): direction in FSK: [0.684371,-0.728781,-0.022687] 2025-10-24T19:59:01.331Z,1761335941.331 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:01.489Z,1761335941.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129097,0.989823,-0.059867],[-0.960660,0.109866,-0.255072],[-0.245899,0.090441,0.965067]] 2025-10-24T19:59:01.565Z,1761335941.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:01.817Z,1761335941.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:01.891Z,1761335941.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130258,0.989549,-0.061848],[-0.961137,0.110711,-0.252900],[-0.243410,0.092386,0.965514]] 2025-10-24T19:59:02.069Z,1761335942.069 [DAT](INFO): DAT read: Rx Time:19:59:00.8373 2025-10-24T19:59:02.069Z,1761335942.069 [DAT](INFO): Rx dataTimestamp_ set to:1761335942.069082 2025-10-24T19:59:02.070Z,1761335942.070 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:02.321Z,1761335942.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:02.578Z,1761335942.578 [DAT](INFO): DAT read: 19:59:00.8373 LVL= 26592, 22417, 13250, 29747, AGC= 67, IDX= 205,-0.05,-2.676,-3.139,-1.101,-2.023, PHS=-0.565,-1.069, 0.919, RAW= 195.9, 8.0, CAL= 196.6, -0.7, ROT= 313.4, 0.7 2025-10-24T19:59:02.579Z,1761335942.579 [DAT](INFO): got valid direction response: 19:59:00.8373 LVL= 26592, 22417, 13250, 29747, AGC= 67, IDX= 205,-0.05,-2.676,-3.139,-1.101,-2.023, PHS=-0.565,-1.069, 0.919, RAW= 195.9, 8.0, CAL= 196.6, -0.7, ROT= 313.4, 0.7 2025-10-24T19:59:02.579Z,1761335942.579 [DAT](INFO): DAT read: 2025-10-24T19:59:02.581Z,1761335942.581 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:59:02.581Z,1761335942.581 [DAT](INFO): received a packet notification 2025-10-24T19:59:02.594Z,1761335942.594 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-24T19:59:02.595Z,1761335942.595 [DAT](INFO): direction in FSK: [0.687036,-0.726520,-0.012217] 2025-10-24T19:59:02.646Z,1761335942.646 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:02.692Z,1761335942.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132239,0.989092,-0.064883],[-0.962092,0.112327,-0.248518],[-0.238519,0.095287,0.966452]] 2025-10-24T19:59:02.825Z,1761335942.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:03.077Z,1761335943.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:03.099Z,1761335943.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132934,0.988894,-0.066460],[-0.962589,0.112842,-0.246351],[-0.236115,0.096723,0.966899]] 2025-10-24T19:59:03.329Z,1761335943.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:03.502Z,1761335943.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133216,0.988754,-0.067965],[-0.963078,0.112959,-0.244379],[-0.233954,0.098011,0.967295]] 2025-10-24T19:59:03.581Z,1761335943.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:03.591Z,1761335943.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:03.833Z,1761335943.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:03.909Z,1761335943.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133116,0.988702,-0.068913],[-0.963637,0.112859,-0.242212],[-0.231698,0.098649,0.967773]] 2025-10-24T19:59:04.056Z,1761335944.056 [CommandExec](IMPORTANT): got command set _.others_observations nan none 2025-10-24T19:59:04.085Z,1761335944.085 [DAT](INFO): DAT read: Rx Time:19:59:02.9473 2025-10-24T19:59:04.085Z,1761335944.085 [DAT](INFO): Rx dataTimestamp_ set to:1761335944.084974 2025-10-24T19:59:04.086Z,1761335944.086 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:04.329Z,1761335944.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.132574,0.988732,-0.069517],[-0.964256,0.112422,-0.239943],[-0.229424,0.098842,0.968295]] 2025-10-24T19:59:04.337Z,1761335944.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:04.588Z,1761335944.588 [DAT](INFO): DAT read: 2025-10-24T19:59:04.589Z,1761335944.589 [DAT](INFO): DAT read: $Packet for address 11 2025-10-24T19:59:04.590Z,1761335944.590 [DAT](INFO): received a packet notification 2025-10-24T19:59:04.604Z,1761335944.604 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:04.710Z,1761335944.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131911,0.988767,-0.070273],[-0.964894,0.111837,-0.237640],[-0.227112,0.099153,0.968808]] 2025-10-24T19:59:04.842Z,1761335944.842 [DAT](INFO): DAT read: Tx time:19:59:04.0881 2025-10-24T19:59:04.843Z,1761335944.843 [DAT](INFO): Ping request sent. 2025-10-24T19:59:04.843Z,1761335944.843 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:04.843Z,1761335944.843 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:05.115Z,1761335945.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130319,0.988895,-0.071443],[-0.965671,0.110266,-0.235206],[-0.224716,0.099643,0.969316]] 2025-10-24T19:59:05.522Z,1761335945.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128151,0.988752,-0.077113],[-0.966665,0.107152,-0.232547],[-0.221668,0.104343,0.969523]] 2025-10-24T19:59:05.929Z,1761335945.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123961,0.989434,-0.075191],[-0.967686,0.103771,-0.229815],[-0.219584,0.101249,0.970325]] 2025-10-24T19:59:05.947Z,1761335945.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:06.101Z,1761335946.101 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:06.101Z,1761335946.101 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:06.152Z,1761335946.152 [DAT](INFO): entering command mode 2025-10-24T19:59:06.353Z,1761335946.353 [DAT](INFO): DAT read: 2025-10-24T19:59:06.353Z,1761335946.353 [DAT](INFO): DAT read: user:169> 2025-10-24T19:59:06.354Z,1761335946.354 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:06.354Z,1761335946.354 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:06.354Z,1761335946.354 [DAT](INFO): setting remote address to 0 2025-10-24T19:59:06.362Z,1761335946.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119130,0.990035,-0.075086],[-0.968880,0.099391,-0.226699],[-0.216977,0.099756,0.971066]] 2025-10-24T19:59:06.605Z,1761335946.605 [DAT](INFO): DAT read: user:169> 2025-10-24T19:59:06.610Z,1761335946.610 [DAT](INFO): DAT read: RemoteAddr | 0 2025-10-24T19:59:06.611Z,1761335946.611 [DAT](INFO): set remote address to 0 2025-10-24T19:59:06.611Z,1761335946.611 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:06.611Z,1761335946.611 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:06.611Z,1761335946.611 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:06.749Z,1761335946.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120373,0.989864,-0.075368],[-0.969138,0.100721,-0.225003],[-0.215131,0.100127,0.971439]] 2025-10-24T19:59:06.857Z,1761335946.857 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:06.857Z,1761335946.857 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:06.857Z,1761335946.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:07.109Z,1761335947.109 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:07.109Z,1761335947.109 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:07.109Z,1761335947.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:07.152Z,1761335947.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120692,0.989926,-0.074026],[-0.969625,0.101578,-0.222507],[-0.212746,0.098632,0.972117]] 2025-10-24T19:59:07.364Z,1761335947.364 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:07.364Z,1761335947.364 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:07.364Z,1761335947.364 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:07.539Z,1761335947.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120967,0.989890,-0.074057],[-0.970214,0.102128,-0.219667],[-0.209883,0.098423,0.972760]] 2025-10-24T19:59:07.612Z,1761335947.612 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:07.613Z,1761335947.613 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:07.613Z,1761335947.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:07.866Z,1761335947.866 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:07.866Z,1761335947.866 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:07.866Z,1761335947.866 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:07.944Z,1761335947.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120950,0.989859,-0.074498],[-0.970850,0.102315,-0.216753],[-0.206933,0.098542,0.973380]] 2025-10-24T19:59:07.968Z,1761335947.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:08.117Z,1761335948.117 [DAT](INFO): DAT read: user:170>Rx Time:19:59:06.8117 2025-10-24T19:59:08.118Z,1761335948.118 [DAT](INFO): Rx dataTimestamp_ set to:1761335948.117266 2025-10-24T19:59:08.118Z,1761335948.118 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:08.118Z,1761335948.118 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:08.118Z,1761335948.118 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:08.371Z,1761335948.371 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:08.371Z,1761335948.371 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:08.372Z,1761335948.372 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:08.385Z,1761335948.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121019,0.989776,-0.075477],[-0.971507,0.102489,-0.213706],[-0.203786,0.099189,0.973978]] 2025-10-24T19:59:08.626Z,1761335948.626 [DAT](INFO): DAT read: 19:59:06.8117 LVL= 28240, 26337, 14322, 30307, AGC= 68, IDX= 53, 0.11, 1.369, 0.884, 2.982, 1.997, PHS=-0.540,-1.066, 0.982, RAW= 195.7, 6.8, CAL= 196.2, -1.7, ROT= 313.8, 1.7 2025-10-24T19:59:08.627Z,1761335948.627 [DAT](INFO): got valid direction response: 19:59:06.8117 LVL= 28240, 26337, 14322, 30307, AGC= 68, IDX= 53, 0.11, 1.369, 0.884, 2.982, 1.997, PHS=-0.540,-1.066, 0.982, RAW= 195.7, 6.8, CAL= 196.2, -1.7, ROT= 313.8, 1.7 2025-10-24T19:59:08.628Z,1761335948.628 [DAT](INFO): DAT read: 2025-10-24T19:59:08.629Z,1761335948.629 [DAT](INFO): DAT read: $Packet for address 50 2025-10-24T19:59:08.629Z,1761335948.629 [DAT](INFO): received a packet notification 2025-10-24T19:59:08.640Z,1761335948.640 [DAT](INFO): #Rx 26: Read direction message, but no range. 2025-10-24T19:59:08.642Z,1761335948.642 [DAT](INFO): direction in FSK: [0.691838,-0.721443,-0.029666] 2025-10-24T19:59:08.646Z,1761335948.646 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:08.646Z,1761335948.646 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:08.646Z,1761335948.646 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:08.750Z,1761335948.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121626,0.989618,-0.076574],[-0.972034,0.103140,-0.210978],[-0.200890,0.100093,0.974487]] 2025-10-24T19:59:08.873Z,1761335948.873 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:08.873Z,1761335948.873 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:08.873Z,1761335948.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:09.125Z,1761335949.125 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:09.125Z,1761335949.125 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:09.125Z,1761335949.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:09.379Z,1761335949.379 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:09.379Z,1761335949.379 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:09.383Z,1761335949.383 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:09.560Z,1761335949.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122289,0.989447,-0.077723],[-0.973142,0.104147,-0.205298],[-0.195037,0.100741,0.975608]] 2025-10-24T19:59:09.629Z,1761335949.629 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:09.629Z,1761335949.629 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:09.629Z,1761335949.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:09.881Z,1761335949.881 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:09.881Z,1761335949.881 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:09.881Z,1761335949.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:09.966Z,1761335949.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122771,0.989457,-0.076824],[-0.973652,0.105097,-0.202377],[-0.192169,0.099645,0.976290]] 2025-10-24T19:59:09.987Z,1761335949.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:10.133Z,1761335950.133 [DAT](INFO): DAT read: Rx Time:19:59:08.9270 2025-10-24T19:59:10.133Z,1761335950.133 [DAT](INFO): Rx dataTimestamp_ set to:1761335950.133093 2025-10-24T19:59:10.134Z,1761335950.134 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:10.134Z,1761335950.134 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:10.134Z,1761335950.134 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:10.387Z,1761335950.387 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:10.387Z,1761335950.387 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:10.387Z,1761335950.387 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:10.411Z,1761335950.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123690,0.989345,-0.076800],[-0.974073,0.106278,-0.199716],[-0.189426,0.099511,0.976840]] 2025-10-24T19:59:10.636Z,1761335950.636 [DAT](INFO): DAT read: 2025-10-24T19:59:10.637Z,1761335950.637 [DAT](INFO): DAT read: $Packet for address 11 2025-10-24T19:59:10.638Z,1761335950.638 [DAT](INFO): received a packet notification 2025-10-24T19:59:10.652Z,1761335950.652 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:10.652Z,1761335950.652 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:10.652Z,1761335950.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:10.771Z,1761335950.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124587,0.989193,-0.077300],[-0.974466,0.107320,-0.197227],[-0.186800,0.099898,0.977306]] 2025-10-24T19:59:10.889Z,1761335950.889 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:10.889Z,1761335950.889 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:10.890Z,1761335950.890 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:11.141Z,1761335951.141 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:11.141Z,1761335951.141 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:11.141Z,1761335951.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:11.183Z,1761335951.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125912,0.988943,-0.078341],[-0.974790,0.108673,-0.194870],[-0.184202,0.100903,0.977695]] 2025-10-24T19:59:11.395Z,1761335951.395 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:11.395Z,1761335951.395 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:11.396Z,1761335951.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:11.581Z,1761335951.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126737,0.988896,-0.077602],[-0.975155,0.109882,-0.192352],[-0.181689,0.100052,0.978253]] 2025-10-24T19:59:11.644Z,1761335951.644 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:11.645Z,1761335951.645 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:11.645Z,1761335951.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:11.901Z,1761335951.901 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:11.901Z,1761335951.901 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:11.902Z,1761335951.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:11.994Z,1761335951.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.127523,0.988814,-0.077359],[-0.975546,0.110969,-0.189723],[-0.179017,0.099661,0.978785]] 2025-10-24T19:59:12.023Z,1761335952.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:12.152Z,1761335952.152 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:12.153Z,1761335952.153 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:12.153Z,1761335952.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:12.407Z,1761335952.407 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:12.408Z,1761335952.408 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:12.409Z,1761335952.409 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:12.446Z,1761335952.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128581,0.988721,-0.076795],[-0.975839,0.112350,-0.187393],[-0.176652,0.099035,0.979278]] 2025-10-24T19:59:12.657Z,1761335952.657 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:12.657Z,1761335952.657 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:12.658Z,1761335952.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:12.793Z,1761335952.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129539,0.988588,-0.076899],[-0.976067,0.113467,-0.185524],[-0.174681,0.099091,0.979626]] 2025-10-24T19:59:12.909Z,1761335952.909 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:12.909Z,1761335952.909 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:12.909Z,1761335952.909 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:13.161Z,1761335953.161 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:13.161Z,1761335953.161 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:13.161Z,1761335953.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:13.195Z,1761335953.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.130077,0.988459,-0.077646],[-0.976376,0.114071,-0.183517],[-0.172542,0.099683,0.979945]] 2025-10-24T19:59:13.414Z,1761335953.414 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:13.415Z,1761335953.415 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:13.415Z,1761335953.415 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:13.600Z,1761335953.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129849,0.988490,-0.077637],[-0.976796,0.114076,-0.181262],[-0.170319,0.099372,0.980366]] 2025-10-24T19:59:13.665Z,1761335953.665 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:13.665Z,1761335953.665 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:13.665Z,1761335953.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:13.917Z,1761335953.917 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:13.917Z,1761335953.917 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:13.917Z,1761335953.917 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:14.006Z,1761335954.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129829,0.988426,-0.078480],[-0.977168,0.114121,-0.179217],[-0.168186,0.099956,0.980674]] 2025-10-24T19:59:14.035Z,1761335954.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:14.169Z,1761335954.169 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:14.169Z,1761335954.169 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:14.169Z,1761335954.169 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:14.422Z,1761335954.422 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:14.423Z,1761335954.423 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:14.423Z,1761335954.423 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:14.445Z,1761335954.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128980,0.988541,-0.078431],[-0.977661,0.113525,-0.176895],[-0.165964,0.099495,0.981100]] 2025-10-24T19:59:14.673Z,1761335954.673 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:14.673Z,1761335954.673 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:14.673Z,1761335954.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T19:59:14.812Z,1761335954.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.128073,0.988649,-0.078558],[-0.978149,0.112837,-0.174623],[-0.163776,0.099206,0.981497]] 2025-10-24T19:59:14.925Z,1761335954.925 [DAT](INFO): Reached modem response timeout 2025-10-24T19:59:14.926Z,1761335954.926 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:14.926Z,1761335954.926 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:14.926Z,1761335954.926 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:15.177Z,1761335955.177 [DAT](INFO): DAT read: 2025-10-24T19:59:15.178Z,1761335955.178 [DAT](INFO): DAT read: Tx time:19:59:14.4394 2025-10-24T19:59:15.178Z,1761335955.178 [DAT](INFO): Ping request sent. 2025-10-24T19:59:15.178Z,1761335955.178 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:15.179Z,1761335955.179 [DAT](INFO): DAT read: TxSync time:19:59:14.4386 2025-10-24T19:59:15.179Z,1761335955.179 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:15.180Z,1761335955.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001700 2025-10-24T19:59:15.431Z,1761335955.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252389 2025-10-24T19:59:15.621Z,1761335955.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.125498,0.988936,-0.079100],[-0.979186,0.110651,-0.170147],[-0.159512,0.098806,0.982239]] 2025-10-24T19:59:15.681Z,1761335955.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502426 2025-10-24T19:59:15.934Z,1761335955.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755313 2025-10-24T19:59:16.023Z,1761335956.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123390,0.990034,-0.067880],[-0.980010,0.110812,-0.165229],[-0.156060,0.086911,0.983916]] 2025-10-24T19:59:16.069Z,1761335956.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:16.185Z,1761335956.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006367 2025-10-24T19:59:16.440Z,1761335956.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260888 2025-10-24T19:59:16.445Z,1761335956.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.120560,0.990195,-0.070561],[-0.980668,0.107761,-0.163333],[-0.154127,0.088888,0.984045]] 2025-10-24T19:59:16.689Z,1761335956.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510354 2025-10-24T19:59:16.833Z,1761335956.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119243,0.990050,-0.074717],[-0.981178,0.105993,-0.161415],[-0.151889,0.092559,0.984054]] 2025-10-24T19:59:16.942Z,1761335956.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763584 2025-10-24T19:59:17.193Z,1761335957.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014408 2025-10-24T19:59:17.235Z,1761335957.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118048,0.989908,-0.078402],[-0.981550,0.104362,-0.160210],[-0.150411,0.095868,0.983964]] 2025-10-24T19:59:17.446Z,1761335957.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268142 2025-10-24T19:59:17.642Z,1761335957.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115751,0.990039,-0.080154],[-0.982195,0.102065,-0.157721],[-0.147969,0.096983,0.984225]] 2025-10-24T19:59:17.697Z,1761335957.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518557 2025-10-24T19:59:17.949Z,1761335957.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770473 2025-10-24T19:59:18.047Z,1761335958.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113818,0.990138,-0.081689],[-0.982764,0.100151,-0.155387],[-0.145674,0.097966,0.984470]] 2025-10-24T19:59:18.070Z,1761335958.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:18.201Z,1761335958.201 [DAT](INFO): DAT read: Rx Time:19:59:16.9639 2025-10-24T19:59:18.201Z,1761335958.201 [DAT](INFO): Rx dataTimestamp_ set to:1761335958.201021 2025-10-24T19:59:18.202Z,1761335958.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023524 2025-10-24T19:59:18.453Z,1761335958.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274670 2025-10-24T19:59:18.475Z,1761335958.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108967,0.990591,-0.082798],[-0.984129,0.095769,-0.149390],[-0.140055,0.097762,0.985306]] 2025-10-24T19:59:18.707Z,1761335958.707 [DAT](INFO): DAT read: Range 10 to 50 : 90.2 m (Round-trip 120.3 ms) speed -0.5 m/s 2025-10-24T19:59:18.708Z,1761335958.708 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:18.709Z,1761335958.709 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:18.709Z,1761335958.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:18.709Z,1761335958.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:18.861Z,1761335958.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106160,0.990902,-0.082729],[-0.984871,0.093323,-0.146013],[-0.136964,0.096979,0.985817]] 2025-10-24T19:59:18.957Z,1761335958.957 [DAT](INFO): DAT read: user:171> 2025-10-24T19:59:18.958Z,1761335958.958 [DAT](INFO): DAT read: Tx time:19:59:18.2395 2025-10-24T19:59:18.958Z,1761335958.958 [DAT](INFO): Ping request sent. 2025-10-24T19:59:18.958Z,1761335958.958 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:18.958Z,1761335958.958 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:18.959Z,1761335958.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-24T19:59:19.209Z,1761335959.209 [DAT](INFO): DAT read: TxSync time:19:59:18.2387 2025-10-24T19:59:19.210Z,1761335959.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251987 2025-10-24T19:59:19.299Z,1761335959.299 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-10-24T19:59:19.299Z,1761335959.299 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-24T19:59:19.299Z,1761335959.299 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-10-24T19:59:19.300Z,1761335959.300 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 90.199997 m 2025-10-24T19:59:19.300Z,1761335959.300 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-10-24T19:59:19.300Z,1761335959.300 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-10-24T19:59:19.461Z,1761335959.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502850 2025-10-24T19:59:19.661Z,1761335959.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100131,0.992482,-0.070384],[-0.986423,0.089767,-0.137522],[-0.130170,0.083199,0.987995]] 2025-10-24T19:59:19.713Z,1761335959.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754809 2025-10-24T19:59:19.739Z,1761335959.739 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-10-24T19:59:19.740Z,1761335959.740 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-24T19:59:19.740Z,1761335959.740 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-10-24T19:59:19.741Z,1761335959.741 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-24T19:59:19.965Z,1761335959.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006755 2025-10-24T19:59:20.065Z,1761335960.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098011,0.992545,-0.072443],[-0.987023,0.087646,-0.134549],[-0.127197,0.084690,0.988255]] 2025-10-24T19:59:20.086Z,1761335960.086 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-24T19:59:20.086Z,1761335960.086 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-24T19:59:20.087Z,1761335960.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:20.088Z,1761335960.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-24T19:59:20.088Z,1761335960.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-24T19:59:20.089Z,1761335960.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-24T19:59:20.090Z,1761335960.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-24T19:59:20.090Z,1761335960.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-24T19:59:20.090Z,1761335960.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-24T19:59:20.091Z,1761335960.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-24T19:59:20.091Z,1761335960.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-24T19:59:20.091Z,1761335960.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-24T19:59:20.092Z,1761335960.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-10-24T19:59:20.092Z,1761335960.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-24T19:59:20.092Z,1761335960.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-10-24T19:59:20.092Z,1761335960.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-10-24T19:59:20.092Z,1761335960.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-10-24T19:59:20.092Z,1761335960.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-24T19:59:20.093Z,1761335960.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-10-24T19:59:20.094Z,1761335960.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00. 2025-10-24T19:59:20.094Z,1761335960.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-24T19:59:20.094Z,1761335960.094 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-24T19:59:20.094Z,1761335960.094 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-24T19:59:20.094Z,1761335960.094 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-24T19:59:20.094Z,1761335960.094 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-24T19:59:20.094Z,1761335960.094 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-24T19:59:20.095Z,1761335960.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-24T19:59:20.095Z,1761335960.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-24T19:59:20.095Z,1761335960.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Stopped 2025-10-24T19:59:20.095Z,1761335960.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern 2025-10-24T19:59:20.095Z,1761335960.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Stopped 2025-10-24T19:59:20.095Z,1761335960.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Uninitialize. 2025-10-24T19:59:20.095Z,1761335960.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Stopped 2025-10-24T19:59:20.095Z,1761335960.095 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Uninitialize Wait Component. 2025-10-24T19:59:20.217Z,1761335960.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258919 2025-10-24T19:59:20.467Z,1761335960.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095815,0.992593,-0.074684],[-0.987522,0.085368,-0.132338],[-0.124982,0.086433,0.988387]] 2025-10-24T19:59:20.469Z,1761335960.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510642 2025-10-24T19:59:20.570Z,1761335960.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.199997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-24T19:59:20.602Z,1761335960.602 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-24T19:59:20.603Z,1761335960.603 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-24T19:59:20.721Z,1761335960.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762797 2025-10-24T19:59:20.881Z,1761335960.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093708,0.992543,-0.077956],[-0.988045,0.083084,-0.129860],[-0.122414,0.089193,0.988463]] 2025-10-24T19:59:20.973Z,1761335960.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014927 2025-10-24T19:59:21.225Z,1761335961.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267399 2025-10-24T19:59:21.277Z,1761335961.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089570,0.992155,-0.087210],[-0.988877,0.078150,-0.126546],[-0.118738,0.097575,0.988120]] 2025-10-24T19:59:21.473Z,1761335961.473 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-24T19:59:21.477Z,1761335961.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518745 2025-10-24T19:59:21.589Z,1761335961.589 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-24T19:59:21.729Z,1761335961.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770881 2025-10-24T19:59:21.747Z,1761335961.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087086,0.991498,-0.096681],[-0.989460,0.074817,-0.123984],[-0.115697,0.106459,0.987563]] 2025-10-24T19:59:21.981Z,1761335961.981 [DAT](INFO): DAT read: Rx Time:19:59:20.7674 2025-10-24T19:59:21.981Z,1761335961.981 [DAT](INFO): Rx dataTimestamp_ set to:1761335961.981147 2025-10-24T19:59:21.982Z,1761335961.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023968 2025-10-24T19:59:22.158Z,1761335962.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086042,0.990882,-0.103681],[-0.989826,0.073182,-0.122023],[-0.113323,0.113125,0.987097]] 2025-10-24T19:59:22.193Z,1761335962.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:22.233Z,1761335962.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275411 2025-10-24T19:59:22.486Z,1761335962.486 [DAT](INFO): DAT read: Range 10 to 50 : 92.8 m (Round-trip 123.8 ms) speed -0.8 m/s 2025-10-24T19:59:22.486Z,1761335962.486 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:22.487Z,1761335962.487 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:22.487Z,1761335962.487 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:22.487Z,1761335962.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:22.700Z,1761335962.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.800003 m, deltaT: 3.779253 s, deltaX: 2.600006 m, approachRate: 0.687968 m/s, rangeRepo size: 2 2025-10-24T19:59:22.737Z,1761335962.737 [DAT](INFO): DAT read: user:172> 2025-10-24T19:59:22.738Z,1761335962.738 [DAT](INFO): DAT read: Tx time:19:59:22.0395 2025-10-24T19:59:22.738Z,1761335962.738 [DAT](INFO): Ping request sent. 2025-10-24T19:59:22.738Z,1761335962.738 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:22.738Z,1761335962.738 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:22.739Z,1761335962.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-24T19:59:22.989Z,1761335962.989 [DAT](INFO): DAT read: TxSync time:19:59:22.0387 2025-10-24T19:59:22.990Z,1761335962.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251657 2025-10-24T19:59:23.143Z,1761335963.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086837,0.989432,-0.116121],[-0.989948,0.072641,-0.121349],[-0.111632,0.125491,0.985794]] 2025-10-24T19:59:23.241Z,1761335963.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503332 2025-10-24T19:59:23.493Z,1761335963.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754762 2025-10-24T19:59:23.745Z,1761335963.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006852 2025-10-24T19:59:23.992Z,1761335963.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:59:23.993Z,1761335963.993 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T19:59:23.997Z,1761335963.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258988 2025-10-24T19:59:24.249Z,1761335964.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-24T19:59:24.351Z,1761335964.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088126,0.989273,-0.116499],[-0.989889,0.073925,-0.121057],[-0.111146,0.125989,0.985786]] 2025-10-24T19:59:24.375Z,1761335964.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:24.501Z,1761335964.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823 2025-10-24T19:59:24.753Z,1761335964.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014942 2025-10-24T19:59:24.773Z,1761335964.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097342,0.988210,-0.118179],[-0.988625,0.082331,-0.125867],[-0.114653,0.129087,0.984983]] 2025-10-24T19:59:24.996Z,1761335964.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:59:25.005Z,1761335965.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267282 2025-10-24T19:59:25.168Z,1761335965.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102999,0.988066,-0.114526],[-0.987806,0.088092,-0.128373],[-0.116752,0.126352,0.985091]] 2025-10-24T19:59:25.214Z,1761335965.214 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T19:59:25.258Z,1761335965.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519744 2025-10-24T19:59:25.509Z,1761335965.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770862 2025-10-24T19:59:25.572Z,1761335965.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.107659,0.988027,-0.110511],[-0.987077,0.092955,-0.130533],[-0.118697,0.123136,0.985266]] 2025-10-24T19:59:25.761Z,1761335965.761 [DAT](INFO): DAT read: Rx Time:19:59:24.5708 2025-10-24T19:59:25.761Z,1761335965.761 [DAT](INFO): Rx dataTimestamp_ set to:1761335965.761062 2025-10-24T19:59:25.762Z,1761335965.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023945 2025-10-24T19:59:25.980Z,1761335965.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111263,0.988051,-0.106653],[-0.986506,0.096838,-0.132019],[-0.120114,0.119903,0.985493]] 2025-10-24T19:59:26.013Z,1761335966.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274944 2025-10-24T19:59:26.266Z,1761335966.266 [DAT](INFO): DAT read: Range 10 to 50 : 95.3 m (Round-trip 127.1 ms) speed -0.7 m/s 2025-10-24T19:59:26.266Z,1761335966.266 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:26.267Z,1761335966.267 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:26.267Z,1761335966.267 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:26.267Z,1761335966.267 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:26.378Z,1761335966.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113414,0.988169,-0.103239],[-0.986135,0.099290,-0.132959],[-0.121136,0.116887,0.985730]] 2025-10-24T19:59:26.403Z,1761335966.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:26.406Z,1761335966.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.300003 m, deltaT: 3.780056 s, deltaX: 2.500000 m, approachRate: 0.661366 m/s, rangeRepo size: 3 2025-10-24T19:59:26.517Z,1761335966.517 [DAT](INFO): DAT read: user:173> 2025-10-24T19:59:26.517Z,1761335966.517 [DAT](INFO): DAT read: Tx time:19:59:25.8395 2025-10-24T19:59:26.518Z,1761335966.518 [DAT](INFO): Ping request sent. 2025-10-24T19:59:26.518Z,1761335966.518 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:26.518Z,1761335966.518 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:26.519Z,1761335966.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-24T19:59:26.769Z,1761335966.769 [DAT](INFO): DAT read: TxSync time:19:59:25.8387 2025-10-24T19:59:26.770Z,1761335966.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251892 2025-10-24T19:59:26.793Z,1761335966.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113658,0.988411,-0.100625],[-0.986043,0.099820,-0.133252],[-0.121663,0.114366,0.985961]] 2025-10-24T19:59:27.022Z,1761335967.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504036 2025-10-24T19:59:27.179Z,1761335967.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112740,0.989872,-0.086271],[-0.986238,0.100913,-0.130962],[-0.120930,0.099848,0.987627]] 2025-10-24T19:59:27.274Z,1761335967.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755812 2025-10-24T19:59:27.529Z,1761335967.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009645 2025-10-24T19:59:27.583Z,1761335967.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111129,0.990016,-0.086705],[-0.986318,0.099181,-0.131679],[-0.121765,0.100152,0.987493]] 2025-10-24T19:59:27.777Z,1761335967.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259075 2025-10-24T19:59:27.989Z,1761335967.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110656,0.989974,-0.087789],[-0.986333,0.098540,-0.132046],[-0.122071,0.101201,0.987348]] 2025-10-24T19:59:28.001Z,1761335968.001 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 283.99, 287.12, 245.42 2025-10-24T19:59:28.029Z,1761335968.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511191 2025-10-24T19:59:28.281Z,1761335968.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763013 2025-10-24T19:59:28.392Z,1761335968.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110206,0.990037,-0.087648],[-0.986150,0.097923,-0.133864],[-0.123947,0.101187,0.987116]] 2025-10-24T19:59:28.422Z,1761335968.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:28.533Z,1761335968.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862 2025-10-24T19:59:28.785Z,1761335968.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266924 2025-10-24T19:59:28.797Z,1761335968.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.108877,0.990078,-0.088831],[-0.986119,0.096305,-0.135260],[-0.125363,0.102325,0.986820]] 2025-10-24T19:59:29.037Z,1761335969.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518816 2025-10-24T19:59:29.205Z,1761335969.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106781,0.990260,-0.089346],[-0.986201,0.094051,-0.136241],[-0.126511,0.102661,0.986639]] 2025-10-24T19:59:29.291Z,1761335969.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772605 2025-10-24T19:59:29.541Z,1761335969.541 [DAT](INFO): DAT read: Rx Time:19:59:28.3742 2025-10-24T19:59:29.542Z,1761335969.542 [DAT](INFO): Rx dataTimestamp_ set to:1761335969.541536 2025-10-24T19:59:29.542Z,1761335969.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024483 2025-10-24T19:59:29.606Z,1761335969.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104467,0.990408,-0.090437],[-0.986306,0.091505,-0.137211],[-0.127619,0.103533,0.986405]] 2025-10-24T19:59:29.793Z,1761335969.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275138 2025-10-24T19:59:30.007Z,1761335970.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101663,0.990716,-0.090262],[-0.986449,0.088648,-0.138056],[-0.128773,0.103074,0.986303]] 2025-10-24T19:59:30.046Z,1761335970.046 [DAT](INFO): DAT read: Range 10 to 50 : 97.8 m (Round-trip 130.4 ms) speed -0.5 m/s 2025-10-24T19:59:30.046Z,1761335970.046 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:30.047Z,1761335970.047 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:30.047Z,1761335970.047 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:30.047Z,1761335970.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:30.064Z,1761335970.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.800003 m, deltaT: 3.780050 s, deltaX: 2.500000 m, approachRate: 0.661367 m/s, rangeRepo size: 4 2025-10-24T19:59:30.298Z,1761335970.298 [DAT](INFO): DAT read: user:174> 2025-10-24T19:59:30.299Z,1761335970.299 [DAT](INFO): DAT read: Tx time:19:59:29.5896 2025-10-24T19:59:30.299Z,1761335970.299 [DAT](INFO): Ping request sent. 2025-10-24T19:59:30.299Z,1761335970.299 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:30.299Z,1761335970.299 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:30.300Z,1761335970.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000846 2025-10-24T19:59:30.425Z,1761335970.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098088,0.991119,-0.089785],[-0.986712,0.085114,-0.138399],[-0.129527,0.102167,0.986298]] 2025-10-24T19:59:30.458Z,1761335970.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:30.549Z,1761335970.549 [DAT](INFO): DAT read: TxSync time:19:59:29.5888 2025-10-24T19:59:30.550Z,1761335970.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250946 2025-10-24T19:59:30.801Z,1761335970.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501767 2025-10-24T19:59:30.837Z,1761335970.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093633,0.991705,-0.088061],[-0.987119,0.080946,-0.138001],[-0.129728,0.099848,0.986510]] 2025-10-24T19:59:31.053Z,1761335971.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753826 2025-10-24T19:59:31.242Z,1761335971.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088918,0.992202,-0.087345],[-0.987597,0.076432,-0.137147],[-0.129402,0.098457,0.986692]] 2025-10-24T19:59:31.305Z,1761335971.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005839 2025-10-24T19:59:31.558Z,1761335971.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258560 2025-10-24T19:59:31.646Z,1761335971.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084449,0.992480,-0.088606],[-0.988042,0.071894,-0.136395],[-0.128999,0.099065,0.986684]] 2025-10-24T19:59:31.809Z,1761335971.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509701 2025-10-24T19:59:32.048Z,1761335972.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082660,0.992565,-0.089342],[-0.988109,0.069965,-0.136916],[-0.129648,0.099597,0.986546]] 2025-10-24T19:59:32.061Z,1761335972.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761943 2025-10-24T19:59:32.315Z,1761335972.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015195 2025-10-24T19:59:32.451Z,1761335972.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081393,0.992665,-0.089398],[-0.988198,0.068696,-0.136914],[-0.129768,0.099486,0.986541]] 2025-10-24T19:59:32.469Z,1761335972.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:32.565Z,1761335972.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265687 2025-10-24T19:59:32.817Z,1761335972.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517726 2025-10-24T19:59:33.069Z,1761335973.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769755 2025-10-24T19:59:33.263Z,1761335973.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079276,0.992794,-0.089859],[-0.988338,0.066522,-0.136977],[-0.130013,0.099670,0.986490]] 2025-10-24T19:59:33.323Z,1761335973.323 [DAT](INFO): DAT read: Rx Time:19:59:32.1276 2025-10-24T19:59:33.324Z,1761335973.324 [DAT](INFO): Rx dataTimestamp_ set to:1761335973.323301 2025-10-24T19:59:33.326Z,1761335973.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026410 2025-10-24T19:59:33.576Z,1761335973.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277338 2025-10-24T19:59:33.831Z,1761335973.831 [DAT](INFO): DAT read: Range 10 to 50 : 100.3 m (Round-trip 133.8 ms) speed -0.5 m/s 2025-10-24T19:59:33.831Z,1761335973.831 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:33.832Z,1761335973.832 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:33.832Z,1761335973.832 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:33.832Z,1761335973.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:34.081Z,1761335974.081 [DAT](INFO): DAT read: user:175> 2025-10-24T19:59:34.081Z,1761335974.081 [DAT](INFO): DAT read: Tx time:19:59:33.3396 2025-10-24T19:59:34.082Z,1761335974.082 [DAT](INFO): Ping request sent. 2025-10-24T19:59:34.082Z,1761335974.082 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:34.083Z,1761335974.083 [DAT](INFO): DAT read: TxSync time:19:59:33.3388 2025-10-24T19:59:34.083Z,1761335974.083 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:34.084Z,1761335974.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001587 2025-10-24T19:59:34.171Z,1761335974.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080618,0.992407,-0.092892],[-0.988084,0.067310,-0.138415],[-0.131112,0.102944,0.986008]] 2025-10-24T19:59:34.229Z,1761335974.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.300003 m, deltaT: 3.784469 s, deltaX: 2.500000 m, approachRate: 0.660595 m/s, rangeRepo size: 4 2025-10-24T19:59:34.335Z,1761335974.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252486 2025-10-24T19:59:34.566Z,1761335974.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081995,0.992168,-0.094235],[-0.987943,0.068457,-0.138863],[-0.131325,0.104484,0.985818]] 2025-10-24T19:59:34.589Z,1761335974.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506989 2025-10-24T19:59:34.599Z,1761335974.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:34.841Z,1761335974.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759318 2025-10-24T19:59:34.998Z,1761335974.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079929,0.991972,-0.097999],[-0.988345,0.066089,-0.137136],[-0.129559,0.107818,0.985693]] 2025-10-24T19:59:35.096Z,1761335975.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014216 2025-10-24T19:59:35.345Z,1761335975.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262895 2025-10-24T19:59:35.400Z,1761335975.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083421,0.991508,-0.099764],[-0.988113,0.069330,-0.137207],[-0.129125,0.110024,0.985506]] 2025-10-24T19:59:35.597Z,1761335975.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515036 2025-10-24T19:59:35.812Z,1761335975.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085831,0.991296,-0.099830],[-0.987957,0.071735,-0.137095],[-0.128741,0.110395,0.985515]] 2025-10-24T19:59:35.849Z,1761335975.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767409 2025-10-24T19:59:36.101Z,1761335976.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018861 2025-10-24T19:59:36.217Z,1761335976.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094954,0.990693,-0.097528],[-0.987129,0.081040,-0.137875],[-0.128688,0.109364,0.985636]] 2025-10-24T19:59:36.353Z,1761335976.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270826 2025-10-24T19:59:36.611Z,1761335976.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529508 2025-10-24T19:59:36.627Z,1761335976.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098724,0.990523,-0.095483],[-0.986825,0.085090,-0.137609],[-0.128180,0.107810,0.985874]] 2025-10-24T19:59:36.645Z,1761335976.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:36.865Z,1761335976.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782910 2025-10-24T19:59:37.021Z,1761335977.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101907,0.990389,-0.093513],[-0.986608,0.088586,-0.136956],[-0.127356,0.106218,0.986153]] 2025-10-24T19:59:37.118Z,1761335977.118 [DAT](INFO): DAT read: Rx Time:19:59:35.8811 2025-10-24T19:59:37.119Z,1761335977.119 [DAT](INFO): Rx dataTimestamp_ set to:1761335977.118158 2025-10-24T19:59:37.119Z,1761335977.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037427 2025-10-24T19:59:37.369Z,1761335977.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286832 2025-10-24T19:59:37.434Z,1761335977.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104182,0.990312,-0.091806],[-0.986481,0.091154,-0.136185],[-0.126497,0.104753,0.986420]] 2025-10-24T19:59:37.622Z,1761335977.622 [DAT](INFO): DAT read: Range 10 to 50 : 103.0 m (Round-trip 137.4 ms) speed -0.8 m/s 2025-10-24T19:59:37.623Z,1761335977.623 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:37.623Z,1761335977.623 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:37.625Z,1761335977.625 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:37.629Z,1761335977.629 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:37.841Z,1761335977.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105973,0.990174,-0.091239],[-0.986391,0.093079,-0.135532],[-0.125708,0.104360,0.986563]] 2025-10-24T19:59:37.876Z,1761335977.876 [DAT](INFO): DAT read: user:176> 2025-10-24T19:59:37.878Z,1761335977.878 [DAT](INFO): DAT read: Tx time:19:59:37.1396 2025-10-24T19:59:37.878Z,1761335977.878 [DAT](INFO): Ping request sent. 2025-10-24T19:59:37.878Z,1761335977.878 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:37.879Z,1761335977.879 [DAT](INFO): DAT read: TxSync time:19:59:37.1388 2025-10-24T19:59:37.879Z,1761335977.879 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:37.881Z,1761335977.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002353 2025-10-24T19:59:37.934Z,1761335977.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.000000 m, deltaT: 3.791743 s, deltaX: 2.699997 m, approachRate: 0.712073 m/s, rangeRepo size: 4 2025-10-24T19:59:38.126Z,1761335978.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247306 2025-10-24T19:59:38.235Z,1761335978.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103450,0.990516,-0.090423],[-0.986987,0.090978,-0.132585],[-0.123101,0.102962,0.987038]] 2025-10-24T19:59:38.377Z,1761335978.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498605 2025-10-24T19:59:38.629Z,1761335978.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750576 2025-10-24T19:59:38.641Z,1761335978.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102509,0.990777,-0.088614],[-0.987240,0.090420,-0.131081],[-0.121859,0.100920,0.987403]] 2025-10-24T19:59:38.658Z,1761335978.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:38.882Z,1761335978.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003402 2025-10-24T19:59:39.041Z,1761335979.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100122,0.991034,-0.088470],[-0.987672,0.088240,-0.129299],[-0.120333,0.100325,0.987651]] 2025-10-24T19:59:39.133Z,1761335979.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254798 2025-10-24T19:59:39.387Z,1761335979.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507927 2025-10-24T19:59:39.454Z,1761335979.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100273,0.991057,-0.088045],[-0.987640,0.088430,-0.129410],[-0.120467,0.099933,0.987675]] 2025-10-24T19:59:39.637Z,1761335979.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758505 2025-10-24T19:59:39.886Z,1761335979.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.100081,0.991147,-0.087240],[-0.987652,0.088340,-0.129384],[-0.120532,0.099111,0.987749]] 2025-10-24T19:59:39.890Z,1761335979.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011583 2025-10-24T19:59:40.141Z,1761335980.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263123 2025-10-24T19:59:40.292Z,1761335980.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098390,0.991330,-0.087087],[-0.987881,0.086741,-0.128713],[-0.120043,0.098696,0.987851]] 2025-10-24T19:59:40.393Z,1761335980.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514850 2025-10-24T19:59:40.645Z,1761335980.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766623 2025-10-24T19:59:40.718Z,1761335980.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096138,0.991470,-0.088002],[-0.988269,0.084538,-0.127193],[-0.118669,0.099198,0.987966]] 2025-10-24T19:59:40.736Z,1761335980.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:40.898Z,1761335980.898 [DAT](INFO): DAT read: Rx Time:19:59:39.6853 2025-10-24T19:59:40.899Z,1761335980.899 [DAT](INFO): Rx dataTimestamp_ set to:1761335980.898830 2025-10-24T19:59:40.900Z,1761335980.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021867 2025-10-24T19:59:41.146Z,1761335981.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093916,0.991681,-0.088022],[-0.988719,0.082542,-0.124985],[-0.116680,0.098767,0.988246]] 2025-10-24T19:59:41.149Z,1761335981.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270621 2025-10-24T19:59:41.402Z,1761335981.402 [DAT](INFO): DAT read: Range 10 to 50 : 106.1 m (Round-trip 141.5 ms) speed -0.4 m/s 2025-10-24T19:59:41.403Z,1761335981.403 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:41.403Z,1761335981.403 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:41.403Z,1761335981.403 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:41.404Z,1761335981.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:41.550Z,1761335981.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091303,0.991903,-0.088275],[-0.989293,0.080212,-0.121925],[-0.113857,0.098462,0.988606]] 2025-10-24T19:59:41.570Z,1761335981.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.099998 m, deltaT: 3.779855 s, deltaX: 3.099998 m, approachRate: 0.820137 m/s, rangeRepo size: 4 2025-10-24T19:59:41.653Z,1761335981.653 [DAT](INFO): DAT read: user:177> 2025-10-24T19:59:41.654Z,1761335981.654 [DAT](INFO): DAT read: Tx time:19:59:40.9397 2025-10-24T19:59:41.655Z,1761335981.655 [DAT](INFO): Ping request sent. 2025-10-24T19:59:41.655Z,1761335981.655 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:41.655Z,1761335981.655 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:41.655Z,1761335981.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-24T19:59:41.905Z,1761335981.905 [DAT](INFO): DAT read: TxSync time:19:59:40.9389 2025-10-24T19:59:41.907Z,1761335981.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252163 2025-10-24T19:59:41.951Z,1761335981.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089460,0.992056,-0.088446],[-0.989785,0.078653,-0.118910],[-0.111009,0.098180,0.988958]] 2025-10-24T19:59:42.157Z,1761335982.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502798 2025-10-24T19:59:42.355Z,1761335982.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087025,0.993002,-0.079829],[-0.990515,0.077696,-0.113328],[-0.106333,0.088934,0.990345]] 2025-10-24T19:59:42.410Z,1761335982.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755090 2025-10-24T19:59:42.661Z,1761335982.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006203 2025-10-24T19:59:42.760Z,1761335982.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085024,0.992832,-0.083993],[-0.991048,0.075560,-0.110065],[-0.102929,0.092599,0.990369]] 2025-10-24T19:59:42.793Z,1761335982.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:42.914Z,1761335982.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258642 2025-10-24T19:59:43.165Z,1761335983.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509963 2025-10-24T19:59:43.417Z,1761335983.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762393 2025-10-24T19:59:43.569Z,1761335983.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085153,0.992272,-0.090252],[-0.991726,0.075675,-0.103695],[-0.096064,0.098335,0.990506]] 2025-10-24T19:59:43.669Z,1761335983.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014092 2025-10-24T19:59:43.921Z,1761335983.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266208 2025-10-24T19:59:44.173Z,1761335984.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518109 2025-10-24T19:59:44.378Z,1761335984.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087533,0.991740,-0.093750],[-0.992057,0.078250,-0.098492],[-0.090342,0.101626,0.990712]] 2025-10-24T19:59:44.425Z,1761335984.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770240 2025-10-24T19:59:44.677Z,1761335984.677 [DAT](INFO): DAT read: Rx Time:19:59:43.4893 2025-10-24T19:59:44.677Z,1761335984.677 [DAT](INFO): Rx dataTimestamp_ set to:1761335984.677060 2025-10-24T19:59:44.678Z,1761335984.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023228 2025-10-24T19:59:44.780Z,1761335984.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088313,0.991480,-0.095753],[-0.992265,0.079148,-0.095633],[-0.087240,0.103458,0.990801]] 2025-10-24T19:59:44.804Z,1761335984.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:44.931Z,1761335984.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276562 2025-10-24T19:59:45.182Z,1761335985.182 [DAT](INFO): DAT read: Range 10 to 50 : 109.1 m (Round-trip 145.5 ms) speed -0.5 m/s 2025-10-24T19:59:45.182Z,1761335985.182 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:45.183Z,1761335985.183 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:45.183Z,1761335985.183 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:45.183Z,1761335985.183 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:45.265Z,1761335985.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.099998 m, deltaT: 3.779804 s, deltaX: 3.000000 m, approachRate: 0.793692 m/s, rangeRepo size: 4 2025-10-24T19:59:45.434Z,1761335985.434 [DAT](INFO): DAT read: user:178> 2025-10-24T19:59:45.435Z,1761335985.435 [DAT](INFO): DAT read: Tx time:19:59:44.6897 2025-10-24T19:59:45.435Z,1761335985.435 [DAT](INFO): Ping request sent. 2025-10-24T19:59:45.435Z,1761335985.435 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:45.437Z,1761335985.437 [DAT](INFO): DAT read: TxSync time:19:59:44.6889 2025-10-24T19:59:45.437Z,1761335985.437 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:45.438Z,1761335985.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002772 2025-10-24T19:59:45.587Z,1761335985.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091401,0.991104,-0.096739],[-0.992475,0.082715,-0.090288],[-0.081483,0.104264,0.991206]] 2025-10-24T19:59:45.687Z,1761335985.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251936 2025-10-24T19:59:45.941Z,1761335985.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505270 2025-10-24T19:59:46.016Z,1761335986.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091047,0.991044,-0.097689],[-0.992873,0.082762,-0.085755],[-0.076903,0.104800,0.991515]] 2025-10-24T19:59:46.190Z,1761335986.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754560 2025-10-24T19:59:46.411Z,1761335986.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091012,0.991153,-0.096609],[-0.993241,0.083328,-0.080803],[-0.072037,0.103310,0.992037]] 2025-10-24T19:59:46.442Z,1761335986.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006785 2025-10-24T19:59:46.693Z,1761335986.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257472 2025-10-24T19:59:46.814Z,1761335986.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090623,0.990946,-0.099065],[-0.993605,0.083240,-0.076286],[-0.067349,0.105345,0.992153]] 2025-10-24T19:59:46.832Z,1761335986.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:46.949Z,1761335986.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512895 2025-10-24T19:59:47.197Z,1761335987.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761375 2025-10-24T19:59:47.216Z,1761335987.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092825,0.990716,-0.099325],[-0.993642,0.085789,-0.072908],[-0.063711,0.105461,0.992380]] 2025-10-24T19:59:47.450Z,1761335987.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014687 2025-10-24T19:59:47.619Z,1761335987.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094499,0.990536,-0.099540],[-0.993723,0.087842,-0.069271],[-0.059871,0.105462,0.992619]] 2025-10-24T19:59:47.701Z,1761335987.701 [DAT](INFO): DAT read: Rx Time:19:59:46.5909 2025-10-24T19:59:47.701Z,1761335987.701 [DAT](INFO): Rx dataTimestamp_ set to:1761335987.701116 2025-10-24T19:59:47.702Z,1761335987.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266556 2025-10-24T19:59:47.955Z,1761335987.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519354 2025-10-24T19:59:48.025Z,1761335988.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095798,0.990353,-0.100116],[-0.993811,0.089479,-0.065823],[-0.056230,0.105802,0.992796]] 2025-10-24T19:59:48.206Z,1761335988.206 [DAT](INFO): DAT read: Range 10 to 50 :-377.1 m (Round-trip -502.9 ms) speed -0.5 m/s 2025-10-24T19:59:48.207Z,1761335988.207 [DAT](INFO): unknown deviceResponse_: Range 10 to 50 :-377.1 m (Round-trip -502.9 ms) speed -0.5 m/s 2025-10-24T19:59:48.208Z,1761335988.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772297 2025-10-24T19:59:48.426Z,1761335988.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.096040,0.990357,-0.099843],[-0.994014,0.090177,-0.061680],[-0.052082,0.105169,0.993090]] 2025-10-24T19:59:48.458Z,1761335988.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022548 2025-10-24T19:59:48.709Z,1761335988.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273711 2025-10-24T19:59:48.832Z,1761335988.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095907,0.990400,-0.099551],[-0.994230,0.090487,-0.057609],[-0.048048,0.104502,0.993363]] 2025-10-24T19:59:48.854Z,1761335988.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:48.965Z,1761335988.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528692 2025-10-24T19:59:49.213Z,1761335989.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777307 2025-10-24T19:59:49.248Z,1761335989.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095093,0.990462,-0.099714],[-0.994494,0.090092,-0.053519],[-0.044025,0.104254,0.993576]] 2025-10-24T19:59:49.465Z,1761335989.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029353 2025-10-24T19:59:49.645Z,1761335989.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093069,0.990855,-0.097694],[-0.995006,0.089005,-0.045174],[-0.036066,0.101411,0.994191]] 2025-10-24T19:59:49.717Z,1761335989.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282025 2025-10-24T19:59:49.975Z,1761335989.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539035 2025-10-24T19:59:50.046Z,1761335990.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091891,0.990909,-0.098264],[-0.995247,0.088199,-0.041286],[-0.032244,0.101591,0.994304]] 2025-10-24T19:59:50.225Z,1761335990.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789475 2025-10-24T19:59:50.449Z,1761335990.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091220,0.991096,-0.096997],[-0.995413,0.087926,-0.037718],[-0.028853,0.099992,0.994570]] 2025-10-24T19:59:50.477Z,1761335990.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041547 2025-10-24T19:59:50.729Z,1761335990.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293358 2025-10-24T19:59:50.855Z,1761335990.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089750,0.991262,-0.096672],[-0.995641,0.086825,-0.034061],[-0.025370,0.099307,0.994733]] 2025-10-24T19:59:50.874Z,1761335990.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:50.985Z,1761335990.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549109 2025-10-24T19:59:51.233Z,1761335991.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797362 2025-10-24T19:59:51.264Z,1761335991.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089093,0.991368,-0.096192],[-0.995773,0.086490,-0.030911],[-0.022324,0.098539,0.994883]] 2025-10-24T19:59:51.485Z,1761335991.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049585 2025-10-24T19:59:51.667Z,1761335991.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088257,0.991470,-0.095907],[-0.995911,0.085965,-0.027784],[-0.019302,0.097967,0.995002]] 2025-10-24T19:59:51.738Z,1761335991.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302145 2025-10-24T19:59:51.992Z,1761335991.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555714 2025-10-24T19:59:52.242Z,1761335992.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806581 2025-10-24T19:59:52.477Z,1761335992.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086951,0.991468,-0.097108],[-0.996123,0.085225,-0.021793],[-0.013331,0.098627,0.995035]] 2025-10-24T19:59:52.493Z,1761335992.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057483 2025-10-24T19:59:52.745Z,1761335992.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309583 2025-10-24T19:59:52.911Z,1761335992.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:53.017Z,1761335993.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.581126 2025-10-24T19:59:53.249Z,1761335993.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813398 2025-10-24T19:59:53.276Z,1761335993.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086355,0.991456,-0.097769],[-0.996234,0.085168,-0.016252],[-0.007786,0.098804,0.995076]] 2025-10-24T19:59:53.501Z,1761335993.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065480 2025-10-24T19:59:53.682Z,1761335993.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086356,0.991534,-0.096973],[-0.996250,0.085425,-0.013714],[-0.005314,0.097794,0.995192]] 2025-10-24T19:59:53.754Z,1761335993.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318160 2025-10-24T19:59:54.008Z,1761335994.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571774 2025-10-24T19:59:54.105Z,1761335994.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087044,0.991516,-0.096532],[-0.996200,0.086339,-0.011463],[-0.003031,0.097163,0.995264]] 2025-10-24T19:59:54.258Z,1761335994.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822649 2025-10-24T19:59:54.487Z,1761335994.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087568,0.991458,-0.096656],[-0.996158,0.087082,-0.009244],[-0.000748,0.097094,0.995275]] 2025-10-24T19:59:54.525Z,1761335994.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.089405 2025-10-24T19:59:54.777Z,1761335994.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.341514 2025-10-24T19:59:54.941Z,1761335994.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:55.033Z,1761335995.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.596117 2025-10-24T19:59:55.116Z,1761335995.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T19:59:55.281Z,1761335995.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.845313 2025-10-24T19:59:55.298Z,1761335995.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089087,0.991192,-0.097990],[-0.996018,0.089005,-0.005220],[0.003548,0.098065,0.995174]] 2025-10-24T19:59:55.535Z,1761335995.535 [DAT](INFO): Reached modem response timeout 2025-10-24T19:59:55.536Z,1761335995.536 [DAT](DEBUG): Acoustic response timeout 2025-10-24T19:59:55.536Z,1761335995.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:55.713Z,1761335995.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090448,0.991041,-0.098273],[-0.995887,0.090541,-0.003520],[0.005410,0.098187,0.995153]] 2025-10-24T19:59:55.785Z,1761335995.785 [DAT](INFO): DAT read: user:179> 2025-10-24T19:59:55.787Z,1761335995.787 [DAT](INFO): DAT read: Tx time:19:59:55.0898 2025-10-24T19:59:55.787Z,1761335995.787 [DAT](INFO): Ping request sent. 2025-10-24T19:59:55.787Z,1761335995.787 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:55.787Z,1761335995.787 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:55.789Z,1761335995.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001254 2025-10-24T19:59:56.042Z,1761335996.042 [DAT](INFO): DAT read: TxSync time:19:59:55.0890 2025-10-24T19:59:56.046Z,1761335996.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258449 2025-10-24T19:59:56.120Z,1761335996.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T19:59:56.160Z,1761335996.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091600,0.990861,-0.099010],[-0.995769,0.091878,-0.001760],[0.007353,0.098752,0.995085]] 2025-10-24T19:59:56.289Z,1761335996.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501467 2025-10-24T19:59:56.541Z,1761335996.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753770 2025-10-24T19:59:56.793Z,1761335996.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005600 2025-10-24T19:59:57.050Z,1761335997.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262231 2025-10-24T19:59:57.163Z,1761335997.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089325,0.991318,-0.096492],[-0.995878,0.090428,0.007105],[0.015769,0.095459,0.995308]] 2025-10-24T19:59:57.268Z,1761335997.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:57.297Z,1761335997.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509569 2025-10-24T19:59:57.549Z,1761335997.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761526 2025-10-24T19:59:57.575Z,1761335997.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092052,0.990715,-0.100049],[-0.995610,0.093280,0.007662],[0.016924,0.098905,0.994953]] 2025-10-24T19:59:57.801Z,1761335997.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013716 2025-10-24T19:59:57.973Z,1761335997.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093709,0.990335,-0.102249],[-0.995422,0.095134,0.009144],[0.018783,0.100924,0.994717]] 2025-10-24T19:59:58.053Z,1761335998.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265620 2025-10-24T19:59:58.306Z,1761335998.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518657 2025-10-24T19:59:58.382Z,1761335998.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094690,0.990267,-0.102005],[-0.995282,0.096347,0.011429],[0.021146,0.100441,0.994718]] 2025-10-24T19:59:58.558Z,1761335998.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770987 2025-10-24T19:59:58.767Z,1761335998.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.095086,0.990141,-0.102857],[-0.995194,0.096982,0.013580],[0.023421,0.101071,0.994604]] 2025-10-24T19:59:58.809Z,1761335998.809 [DAT](INFO): DAT read: Rx Time:19:59:57.6836 2025-10-24T19:59:58.809Z,1761335998.809 [DAT](INFO): Rx dataTimestamp_ set to:1761335998.809212 2025-10-24T19:59:58.810Z,1761335998.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022761 2025-10-24T19:59:59.067Z,1761335999.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276373 2025-10-24T19:59:59.314Z,1761335999.314 [DAT](INFO): DAT read: Range 10 to 50 : 142.2 m (Round-trip 189.7 ms) speed -0.4 m/s 2025-10-24T19:59:59.314Z,1761335999.314 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T19:59:59.315Z,1761335999.315 [DAT](INFO): ****** received valid address query ****** 2025-10-24T19:59:59.315Z,1761335999.315 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T19:59:59.315Z,1761335999.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T19:59:59.565Z,1761335999.565 [DAT](INFO): DAT read: user:180> 2025-10-24T19:59:59.566Z,1761335999.566 [DAT](INFO): DAT read: Tx time:19:59:58.8398 2025-10-24T19:59:59.566Z,1761335999.566 [DAT](INFO): Ping request sent. 2025-10-24T19:59:59.566Z,1761335999.566 [DAT](INFO): transmitted an acoustic signal 2025-10-24T19:59:59.566Z,1761335999.566 [DAT](INFO): publishing transmit ping time 2025-10-24T19:59:59.567Z,1761335999.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-24T19:59:59.789Z,1761335999.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T19:59:59.802Z,1761335999.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.199997 m, deltaT: 14.132123 s, deltaX: 33.099998 m, approachRate: 2.342182 m/s, rangeRepo size: 4 2025-10-24T19:59:59.817Z,1761335999.817 [DAT](INFO): DAT read: TxSync time:19:59:58.8390 2025-10-24T19:59:59.818Z,1761335999.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251765 2025-10-24T20:00:00.070Z,1761336000.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503641 2025-10-24T20:00:00.173Z,1761336000.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090956,0.990405,-0.104038],[-0.995350,0.093739,0.022163],[0.031703,0.101538,0.994326]] 2025-10-24T20:00:00.341Z,1761336000.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.774883 2025-10-24T20:00:00.574Z,1761336000.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007401 2025-10-24T20:00:00.578Z,1761336000.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088781,0.991877,-0.091095],[-0.995488,0.091433,0.025363],[0.033486,0.088432,0.995519]] 2025-10-24T20:00:00.825Z,1761336000.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259312 2025-10-24T20:00:00.974Z,1761336000.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086847,0.991875,-0.092963],[-0.995571,0.089785,0.027892],[0.036012,0.090129,0.995279]] 2025-10-24T20:00:01.081Z,1761336001.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515048 2025-10-24T20:00:01.329Z,1761336001.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763121 2025-10-24T20:00:01.383Z,1761336001.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085761,0.991640,-0.096415],[-0.995593,0.088983,0.029623],[0.037955,0.093450,0.994900]] 2025-10-24T20:00:01.582Z,1761336001.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016044 2025-10-24T20:00:01.825Z,1761336001.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084059,0.991493,-0.099381],[-0.995658,0.087576,0.031567],[0.040002,0.096296,0.994549]] 2025-10-24T20:00:01.833Z,1761336001.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267338 2025-10-24T20:00:01.879Z,1761336001.879 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:02.085Z,1761336002.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519011 2025-10-24T20:00:02.337Z,1761336002.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770873 2025-10-24T20:00:02.357Z,1761336002.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081775,0.991432,-0.101857],[-0.995672,0.085794,0.035722],[0.044154,0.098495,0.994157]] 2025-10-24T20:00:02.589Z,1761336002.589 [DAT](INFO): DAT read: Rx Time:20:00:01.4667 2025-10-24T20:00:02.590Z,1761336002.590 [DAT](INFO): Rx dataTimestamp_ set to:1761336002.589326 2025-10-24T20:00:02.591Z,1761336002.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025309 2025-10-24T20:00:02.842Z,1761336002.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275630 2025-10-24T20:00:03.126Z,1761336003.126 [DAT](INFO): DAT read: 20:00:01.4667 LVL= 23648, 19809, 23778, 29363, AGC= 69, IDX= 245, 0.34, 0.844, 2.182, 0.478, 0.317, PHS= 0.615, 1.912, 0.158, RAW= 344.6, -31.1, CAL= 351.3, -44.1, ROT= 158.7, 44.1 2025-10-24T20:00:03.139Z,1761336003.139 [DAT](INFO): got valid direction response: 20:00:01.4667 LVL= 23648, 19809, 23778, 29363, AGC= 69, IDX= 245, 0.34, 0.844, 2.182, 0.478, 0.317, PHS= 0.615, 1.912, 0.158, RAW= 344.6, -31.1, CAL= 351.3, -44.1, ROT= 158.7, 44.1 2025-10-24T20:00:03.162Z,1761336003.162 [DAT](INFO): DAT read: Bearing 158.7, 44.1 (Local) 2025-10-24T20:00:03.163Z,1761336003.163 [DAT](INFO): Local bearing/azimuth received: Bearing 158.7, 44.1 (Local) 2025-10-24T20:00:03.185Z,1761336003.185 [DAT](INFO): DAT read: Range 10 to 50 : 167.1 m (Round-trip 222.8 ms) speed -0.4 m/s 2025-10-24T20:00:03.187Z,1761336003.187 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:03.197Z,1761336003.197 [DAT](INFO): direction in FSK: [-0.669072,0.260860,-0.695913] 2025-10-24T20:00:03.197Z,1761336003.197 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:03.209Z,1761336003.209 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:00:03.209Z,1761336003.209 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:00:03.209Z,1761336003.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:03.332Z,1761336003.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080312,0.991434,-0.102996],[-0.995567,0.084860,0.040559],[0.048952,0.099282,0.993855]] 2025-10-24T20:00:03.345Z,1761336003.345 [DAT](INFO): DAT read: user:181> 2025-10-24T20:00:03.346Z,1761336003.346 [DAT](INFO): DAT read: Tx time:20:00:02.7398 2025-10-24T20:00:03.346Z,1761336003.346 [DAT](INFO): Ping request sent. 2025-10-24T20:00:03.346Z,1761336003.346 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:00:03.346Z,1761336003.346 [DAT](INFO): publishing transmit ping time 2025-10-24T20:00:03.347Z,1761336003.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761 2025-10-24T20:00:03.479Z,1761336003.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 167.100006 m, deltaT: 3.781441 s, deltaX: 24.900009 m, approachRate: 6.584794 m/s, rangeRepo size: 4 2025-10-24T20:00:03.597Z,1761336003.597 [DAT](INFO): DAT read: TxSync time:20:00:02.7390 2025-10-24T20:00:03.598Z,1761336003.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251845 2025-10-24T20:00:03.852Z,1761336003.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506277 2025-10-24T20:00:03.928Z,1761336003.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078179,0.991695,-0.102124],[-0.995411,0.083319,0.047068],[0.055186,0.097975,0.993658]] 2025-10-24T20:00:03.963Z,1761336003.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:04.106Z,1761336004.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759623 2025-10-24T20:00:04.308Z,1761336004.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077741,0.992280,-0.096622],[-0.995280,0.082891,0.050474],[0.058093,0.092242,0.994041]] 2025-10-24T20:00:04.358Z,1761336004.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011758 2025-10-24T20:00:04.610Z,1761336004.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263509 2025-10-24T20:00:04.716Z,1761336004.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076747,0.992116,-0.099072],[-0.995191,0.082290,0.053132],[0.060866,0.094518,0.993661]] 2025-10-24T20:00:04.862Z,1761336004.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515546 2025-10-24T20:00:05.113Z,1761336005.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766780 2025-10-24T20:00:05.122Z,1761336005.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078475,0.991756,-0.101298],[-0.994966,0.084269,0.054236],[0.062325,0.096532,0.993377]] 2025-10-24T20:00:05.366Z,1761336005.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019359 2025-10-24T20:00:05.525Z,1761336005.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080631,0.991327,-0.103775],[-0.994698,0.086697,0.055321],[0.063838,0.098764,0.993061]] 2025-10-24T20:00:05.617Z,1761336005.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270716 2025-10-24T20:00:05.871Z,1761336005.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524534 2025-10-24T20:00:05.932Z,1761336005.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082399,0.991113,-0.104433],[-0.994455,0.088639,0.056585],[0.065339,0.099191,0.992921]] 2025-10-24T20:00:06.122Z,1761336006.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775361 2025-10-24T20:00:06.374Z,1761336006.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027523 2025-10-24T20:00:06.393Z,1761336006.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:06.630Z,1761336006.630 [DAT](INFO): DAT read: Rx Time:20:00:05.3116 2025-10-24T20:00:06.632Z,1761336006.632 [DAT](INFO): Rx dataTimestamp_ set to:1761336006.630377 2025-10-24T20:00:06.633Z,1761336006.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286394 2025-10-24T20:00:06.734Z,1761336006.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084827,0.990665,-0.106708],[-0.993994,0.091568,0.059934],[0.069145,0.100983,0.992482]] 2025-10-24T20:00:06.877Z,1761336006.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530655 2025-10-24T20:00:07.130Z,1761336007.130 [DAT](INFO): DAT read: Range 10 to 50 : 125.6 m (Round-trip 167.5 ms) speed -0.8 m/s 2025-10-24T20:00:07.131Z,1761336007.131 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:00:07.132Z,1761336007.132 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:00:07.132Z,1761336007.132 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:00:07.133Z,1761336007.133 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:07.187Z,1761336007.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085663,0.990449,-0.108039],[-0.993749,0.092728,0.062158],[0.071583,0.102039,0.992202]] 2025-10-24T20:00:07.292Z,1761336007.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.599998 m, deltaT: 7.815882 s, deltaX: -16.599998 m, approachRate: -2.123880 m/s, rangeRepo size: 4 2025-10-24T20:00:07.381Z,1761336007.381 [DAT](INFO): DAT read: user:182> 2025-10-24T20:00:07.382Z,1761336007.382 [DAT](INFO): DAT read: Tx time:20:00:06.6399 2025-10-24T20:00:07.382Z,1761336007.382 [DAT](INFO): Ping request sent. 2025-10-24T20:00:07.382Z,1761336007.382 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:00:07.383Z,1761336007.383 [DAT](INFO): DAT read: TxSync time:20:00:06.6391 2025-10-24T20:00:07.383Z,1761336007.383 [DAT](INFO): publishing transmit ping time 2025-10-24T20:00:07.384Z,1761336007.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001959 2025-10-24T20:00:07.637Z,1761336007.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253090 2025-10-24T20:00:07.710Z,1761336007.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087016,0.990268,-0.108616],[-0.993430,0.094391,0.064703],[0.074326,0.102272,0.991976]] 2025-10-24T20:00:07.886Z,1761336007.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503305 2025-10-24T20:00:08.109Z,1761336008.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085553,0.991796,-0.094983],[-0.993175,0.092478,0.071071],[0.079272,0.088255,0.992939]] 2025-10-24T20:00:08.137Z,1761336008.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754642 2025-10-24T20:00:08.389Z,1761336008.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006892 2025-10-24T20:00:08.494Z,1761336008.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086031,0.991483,-0.097780],[-0.992810,0.093515,0.074722],[0.083229,0.090649,0.992399]] 2025-10-24T20:00:08.538Z,1761336008.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:08.642Z,1761336008.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259542 2025-10-24T20:00:08.893Z,1761336008.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510971 2025-10-24T20:00:08.913Z,1761336008.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085627,0.991186,-0.101083],[-0.992488,0.093755,0.078599],[0.087383,0.093594,0.991768]] 2025-10-24T20:00:09.146Z,1761336009.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763218 2025-10-24T20:00:09.346Z,1761336009.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087056,0.990708,-0.104490],[-0.992093,0.095737,0.081158],[0.090407,0.096598,0.991209]] 2025-10-24T20:00:09.397Z,1761336009.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014538 2025-10-24T20:00:09.649Z,1761336009.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266555 2025-10-24T20:00:09.744Z,1761336009.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088224,0.990396,-0.106457],[-0.991714,0.097352,0.083825],[0.093384,0.098180,0.990777]] 2025-10-24T20:00:09.763Z,1761336009.763 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:00:09.903Z,1761336009.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520254 2025-10-24T20:00:10.153Z,1761336010.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770505 2025-10-24T20:00:10.202Z,1761336010.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089669,0.990004,-0.108869],[-0.990974,0.099621,0.089699],[0.099648,0.099843,0.990001]] 2025-10-24T20:00:10.405Z,1761336010.405 [DAT](INFO): DAT read: Rx Time:20:00:09.2158 2025-10-24T20:00:10.405Z,1761336010.405 [DAT](INFO): Rx dataTimestamp_ set to:1761336010.405077 2025-10-24T20:00:10.406Z,1761336010.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023623 2025-10-24T20:00:10.604Z,1761336010.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.090064,0.989954,-0.108990],[-0.990634,0.100324,0.092626],[0.102630,0.099627,0.989718]] 2025-10-24T20:00:10.658Z,1761336010.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275287 2025-10-24T20:00:10.661Z,1761336010.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:10.911Z,1761336010.911 [DAT](INFO): DAT read: Range 10 to 50 : 128.7 m (Round-trip 171.7 ms) speed -0.4 m/s 2025-10-24T20:00:10.915Z,1761336010.915 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:00:10.917Z,1761336010.917 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:00:10.917Z,1761336010.917 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:00:10.918Z,1761336010.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:11.094Z,1761336011.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.699997 m, deltaT: 3.780690 s, deltaX: 3.099998 m, approachRate: 0.819956 m/s, rangeRepo size: 4 2025-10-24T20:00:11.163Z,1761336011.163 [DAT](INFO): DAT read: user:183> 2025-10-24T20:00:11.164Z,1761336011.164 [DAT](INFO): DAT read: Tx time:20:00:10.4399 2025-10-24T20:00:11.164Z,1761336011.164 [DAT](INFO): Ping request sent. 2025-10-24T20:00:11.165Z,1761336011.165 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:00:11.165Z,1761336011.165 [DAT](INFO): publishing transmit ping time 2025-10-24T20:00:11.165Z,1761336011.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-24T20:00:11.413Z,1761336011.413 [DAT](INFO): DAT read: TxSync time:20:00:10.4391 2025-10-24T20:00:11.414Z,1761336011.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249016 2025-10-24T20:00:11.665Z,1761336011.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500105 2025-10-24T20:00:11.865Z,1761336011.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086879,0.989833,-0.112613],[-0.989645,0.098717,0.104199],[0.114257,0.102395,0.988160]] 2025-10-24T20:00:11.918Z,1761336011.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752965 2025-10-24T20:00:12.169Z,1761336012.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004075 2025-10-24T20:00:12.422Z,1761336012.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256596 2025-10-24T20:00:12.674Z,1761336012.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509718 2025-10-24T20:00:12.705Z,1761336012.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083791,0.990371,-0.110201],[-0.989089,0.096106,0.111656],[0.121172,0.099643,0.987618]] 2025-10-24T20:00:12.763Z,1761336012.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:12.925Z,1761336012.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760087 2025-10-24T20:00:13.071Z,1761336013.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084498,0.990422,-0.109201],[-0.988800,0.096877,0.113529],[0.123021,0.098385,0.987515]] 2025-10-24T20:00:13.177Z,1761336013.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012551 2025-10-24T20:00:13.429Z,1761336013.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264393 2025-10-24T20:00:13.681Z,1761336013.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516266 2025-10-24T20:00:13.878Z,1761336013.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.082345,0.990622,-0.109028],[-0.988341,0.095231,0.118800],[0.128068,0.097974,0.986914]] 2025-10-24T20:00:13.933Z,1761336013.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768782 2025-10-24T20:00:14.185Z,1761336014.185 [DAT](INFO): DAT read: Rx Time:20:00:13.0485 2025-10-24T20:00:14.185Z,1761336014.185 [DAT](INFO): Rx dataTimestamp_ set to:1761336014.185067 2025-10-24T20:00:14.186Z,1761336014.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021310 2025-10-24T20:00:14.283Z,1761336014.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080495,0.990744,-0.109305],[-0.988094,0.093739,0.121997],[0.131114,0.098184,0.986493]] 2025-10-24T20:00:14.438Z,1761336014.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273086 2025-10-24T20:00:14.690Z,1761336014.690 [DAT](INFO): DAT read: Range 10 to 50 : 153.3 m (Round-trip 204.4 ms) speed 0.0 m/s 2025-10-24T20:00:14.691Z,1761336014.691 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:00:14.692Z,1761336014.692 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:00:14.692Z,1761336014.692 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:00:14.692Z,1761336014.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:14.700Z,1761336014.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078670,0.990855,-0.109628],[-0.987846,0.092271,0.125087],[0.134058,0.098455,0.986070]] 2025-10-24T20:00:14.779Z,1761336014.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:14.786Z,1761336014.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 153.300003 m, deltaT: 3.779424 s, deltaX: 24.600006 m, approachRate: 6.508930 m/s, rangeRepo size: 4 2025-10-24T20:00:14.941Z,1761336014.941 [DAT](INFO): DAT read: user:184> 2025-10-24T20:00:14.941Z,1761336014.941 [DAT](INFO): DAT read: Tx time:20:00:14.2399 2025-10-24T20:00:14.942Z,1761336014.942 [DAT](INFO): Ping request sent. 2025-10-24T20:00:14.942Z,1761336014.942 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:00:14.942Z,1761336014.942 [DAT](INFO): publishing transmit ping time 2025-10-24T20:00:14.943Z,1761336014.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-24T20:00:15.091Z,1761336015.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077118,0.991049,-0.108971],[-0.987577,0.090938,0.128147],[0.136909,0.097735,0.985750]] 2025-10-24T20:00:15.193Z,1761336015.193 [DAT](INFO): DAT read: TxSync time:20:00:14.2391 2025-10-24T20:00:15.194Z,1761336015.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252367 2025-10-24T20:00:15.445Z,1761336015.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503159 2025-10-24T20:00:15.511Z,1761336015.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074058,0.991364,-0.108227],[-0.987267,0.088204,0.132381],[0.140783,0.097045,0.985273]] 2025-10-24T20:00:15.697Z,1761336015.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754866 2025-10-24T20:00:15.914Z,1761336015.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071604,0.989845,-0.122802],[-0.987138,0.087970,0.133491],[0.142938,0.111664,0.983412]] 2025-10-24T20:00:15.949Z,1761336015.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006980 2025-10-24T20:00:16.201Z,1761336016.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259231 2025-10-24T20:00:16.303Z,1761336016.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070473,0.990251,-0.120154],[-0.986786,0.086825,0.136803],[0.145902,0.108926,0.983284]] 2025-10-24T20:00:16.453Z,1761336016.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511381 2025-10-24T20:00:16.705Z,1761336016.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762910 2025-10-24T20:00:16.715Z,1761336016.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.070711,0.990713,-0.116138],[-0.986377,0.086784,0.139746],[0.148527,0.104674,0.983353]] 2025-10-24T20:00:16.824Z,1761336016.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:16.958Z,1761336016.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015493 2025-10-24T20:00:17.125Z,1761336017.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072468,0.990897,-0.113450],[-0.985931,0.088351,0.141893],[0.150624,0.101571,0.983359]] 2025-10-24T20:00:17.210Z,1761336017.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268178 2025-10-24T20:00:17.461Z,1761336017.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518877 2025-10-24T20:00:17.516Z,1761336017.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.074207,0.991018,-0.111252],[-0.985514,0.089936,0.143781],[0.152495,0.098971,0.983336]] 2025-10-24T20:00:17.713Z,1761336017.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871 2025-10-24T20:00:17.924Z,1761336017.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075968,0.990868,-0.111400],[-0.985068,0.091892,0.145592],[0.154499,0.098677,0.983053]] 2025-10-24T20:00:17.967Z,1761336017.967 [DAT](INFO): DAT read: Rx Time:20:00:16.8517 2025-10-24T20:00:17.969Z,1761336017.969 [DAT](INFO): Rx dataTimestamp_ set to:1761336017.967209 2025-10-24T20:00:17.969Z,1761336017.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027479 2025-10-24T20:00:18.217Z,1761336018.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275058 2025-10-24T20:00:18.324Z,1761336018.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077091,0.990742,-0.111745],[-0.984615,0.093279,0.147755],[0.156810,0.098635,0.982691]] 2025-10-24T20:00:18.471Z,1761336018.471 [DAT](INFO): DAT read: $Error in header 2025-10-24T20:00:18.471Z,1761336018.471 [DAT](INFO): Received a bad header 2025-10-24T20:00:18.485Z,1761336018.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543354 2025-10-24T20:00:18.721Z,1761336018.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778926 2025-10-24T20:00:18.736Z,1761336018.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.079217,0.990636,-0.111199],[-0.984104,0.095502,0.149729],[0.158947,0.097570,0.982454]] 2025-10-24T20:00:18.973Z,1761336018.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030917 2025-10-24T20:00:19.132Z,1761336019.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081154,0.990431,-0.111622],[-0.983628,0.097665,0.151454],[0.160906,0.097504,0.982142]] 2025-10-24T20:00:19.167Z,1761336019.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:19.226Z,1761336019.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283608 2025-10-24T20:00:19.477Z,1761336019.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535146 2025-10-24T20:00:19.536Z,1761336019.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083440,0.990128,-0.112630],[-0.983144,0.100244,0.152900],[0.162681,0.097973,0.981803]] 2025-10-24T20:00:19.729Z,1761336019.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787091 2025-10-24T20:00:19.942Z,1761336019.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085495,0.989872,-0.113333],[-0.982717,0.102524,0.154131],[0.164189,0.098197,0.981529]] 2025-10-24T20:00:19.981Z,1761336019.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038792 2025-10-24T20:00:20.233Z,1761336020.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290778 2025-10-24T20:00:20.347Z,1761336020.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087576,0.989606,-0.114061],[-0.982238,0.104858,0.155603],[0.165946,0.098408,0.981212]] 2025-10-24T20:00:20.485Z,1761336020.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543192 2025-10-24T20:00:20.737Z,1761336020.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794754 2025-10-24T20:00:20.989Z,1761336020.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046891 2025-10-24T20:00:21.217Z,1761336021.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:21.241Z,1761336021.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299296 2025-10-24T20:00:21.497Z,1761336021.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554877 2025-10-24T20:00:21.559Z,1761336021.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092690,0.989029,-0.115021],[-0.981061,0.110448,0.159121],[0.170080,0.098093,0.980536]] 2025-10-24T20:00:21.745Z,1761336021.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802947 2025-10-24T20:00:21.961Z,1761336021.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093787,0.988833,-0.115817],[-0.980746,0.111776,0.160135],[0.171292,0.098568,0.980277]] 2025-10-24T20:00:22.000Z,1761336022.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058484 2025-10-24T20:00:22.249Z,1761336022.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306700 2025-10-24T20:00:22.363Z,1761336022.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094201,0.988872,-0.115142],[-0.980471,0.112207,0.161514],[0.172636,0.097679,0.980130]] 2025-10-24T20:00:22.502Z,1761336022.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559956 2025-10-24T20:00:22.753Z,1761336022.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810788 2025-10-24T20:00:22.769Z,1761336022.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093717,0.988920,-0.115130],[-0.980444,0.111771,0.161980],[0.173054,0.097698,0.980055]] 2025-10-24T20:00:23.005Z,1761336023.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062814 2025-10-24T20:00:23.175Z,1761336023.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.092352,0.989116,-0.114546],[-0.980413,0.110426,0.163087],[0.173961,0.097241,0.979940]] 2025-10-24T20:00:23.258Z,1761336023.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316213 2025-10-24T20:00:23.512Z,1761336023.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569394 2025-10-24T20:00:23.582Z,1761336023.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.088263,0.989632,-0.113301],[-0.980331,0.106460,0.166184],[0.176523,0.096405,0.979564]] 2025-10-24T20:00:23.636Z,1761336023.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:23.761Z,1761336023.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818815 2025-10-24T20:00:23.986Z,1761336023.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.085757,0.989915,-0.112756],[-0.980263,0.104067,0.168091],[0.178130,0.096116,0.979302]] 2025-10-24T20:00:24.013Z,1761336024.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071001 2025-10-24T20:00:24.265Z,1761336024.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322843 2025-10-24T20:00:24.384Z,1761336024.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083558,0.990202,-0.111883],[-0.980176,0.101910,0.169910],[0.179648,0.095468,0.979088]] 2025-10-24T20:00:24.521Z,1761336024.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578326 2025-10-24T20:00:24.769Z,1761336024.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826839 2025-10-24T20:00:24.788Z,1761336024.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080654,0.990526,-0.111146],[-0.980112,0.099098,0.171933],[0.181318,0.095069,0.978818]] 2025-10-24T20:00:25.023Z,1761336025.023 [DAT](INFO): Reached modem response timeout 2025-10-24T20:00:25.024Z,1761336025.024 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:25.025Z,1761336025.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:25.204Z,1761336025.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.078460,0.990761,-0.110619],[-0.979993,0.097011,0.173788],[0.182914,0.094771,0.978550]] 2025-10-24T20:00:25.273Z,1761336025.273 [DAT](INFO): DAT read: 2025-10-24T20:00:25.274Z,1761336025.274 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:25.527Z,1761336025.527 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:25.596Z,1761336025.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075423,0.991059,-0.110059],[-0.979877,0.094120,0.176020],[0.184805,0.094568,0.978215]] 2025-10-24T20:00:25.646Z,1761336025.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:25.777Z,1761336025.777 [DAT](INFO): DAT read: Response Not Received 2025-10-24T20:00:25.778Z,1761336025.778 [DAT](INFO): response not received 2025-10-24T20:00:25.778Z,1761336025.778 [DAT](INFO): DAT read: user:186>Tx time:20:00:25.1901 2025-10-24T20:00:25.779Z,1761336025.779 [DAT](ERROR): No response from remote modem. 2025-10-24T20:00:25.779Z,1761336025.779 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:25.779Z,1761336025.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:25.999Z,1761336025.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.073091,0.991167,-0.110664],[-0.979717,0.092116,0.177961],[0.186583,0.095412,0.977795]] 2025-10-24T20:00:26.029Z,1761336026.029 [DAT](INFO): DAT read: 2025-10-24T20:00:26.029Z,1761336026.029 [DAT](INFO): DAT read: TxSync time:20:00:25.1893 2025-10-24T20:00:26.030Z,1761336026.030 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:26.249Z,1761336026.249 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:00:26.281Z,1761336026.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:26.535Z,1761336026.535 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:26.785Z,1761336026.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:26.817Z,1761336026.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.069649,0.993336,-0.091831],[-0.979335,0.085607,0.183233],[0.189873,0.077172,0.978771]] 2025-10-24T20:00:27.037Z,1761336027.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:27.211Z,1761336027.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068815,0.993072,-0.095247],[-0.979146,0.085525,0.184279],[0.191148,0.080579,0.978248]] 2025-10-24T20:00:27.252Z,1761336027.252 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:00:27.289Z,1761336027.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:27.543Z,1761336027.543 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:27.717Z,1761336027.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:27.794Z,1761336027.794 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:28.045Z,1761336028.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:28.297Z,1761336028.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:28.426Z,1761336028.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064339,0.992184,-0.106920],[-0.978674,0.083679,0.187602],[0.195082,0.092569,0.976409]] 2025-10-24T20:00:28.551Z,1761336028.551 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:28.801Z,1761336028.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:28.828Z,1761336028.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063642,0.991931,-0.109645],[-0.978411,0.083664,0.188977],[0.196626,0.095251,0.975841]] 2025-10-24T20:00:29.054Z,1761336029.054 [DAT](INFO): DAT read: Rx Time:20:00:27.8392 2025-10-24T20:00:29.055Z,1761336029.055 [DAT](INFO): Rx dataTimestamp_ set to:1761336029.054724 2025-10-24T20:00:29.055Z,1761336029.055 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:29.234Z,1761336029.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.064766,0.991612,-0.111848],[-0.978091,0.085303,0.189898],[0.197847,0.097098,0.975412]] 2025-10-24T20:00:29.305Z,1761336029.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:29.579Z,1761336029.579 [DAT](INFO): DAT read: 20:00:27.8392 LVL= 18672, 22257, 21394, 30691, AGC= 71, IDX= 328, 0.33, 2.507,-1.893, 2.200, 2.423, PHS= 0.172, 2.014,-0.226, RAW= 339.6, -18.5, CAL= 342.7, -26.0, ROT= 167.3, 26.0 2025-10-24T20:00:29.584Z,1761336029.584 [DAT](INFO): got valid direction response: 20:00:27.8392 LVL= 18672, 22257, 21394, 30691, AGC= 71, IDX= 328, 0.33, 2.507,-1.893, 2.200, 2.423, PHS= 0.172, 2.014,-0.226, RAW= 339.6, -18.5, CAL= 342.7, -26.0, ROT= 167.3, 26.0 2025-10-24T20:00:29.589Z,1761336029.589 [DAT](INFO): DAT read: Range 10 to 50 : 183.7 m (Round-trip 245.0 ms) speed -0.6 m/s 2025-10-24T20:00:29.595Z,1761336029.595 [DAT](INFO): DAT read: user:187>Tx time:20:00:28.9401 2025-10-24T20:00:29.597Z,1761336029.597 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:29.603Z,1761336029.603 [DAT](INFO): direction in FSK: [-0.876805,0.197596,-0.438371] 2025-10-24T20:00:29.605Z,1761336029.605 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:29.619Z,1761336029.619 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:29.619Z,1761336029.619 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:29.638Z,1761336029.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067201,0.991226,-0.113818],[-0.977781,0.088129,0.190206],[0.198568,0.098507,0.975124]] 2025-10-24T20:00:29.781Z,1761336029.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.699997 m, deltaT: 18.649064 s, deltaX: 55.000000 m, approachRate: 2.949210 m/s, rangeRepo size: 4 2025-10-24T20:00:29.783Z,1761336029.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 182.954727 m, bearing: 76.715989 deg, lat: 36.779537 deg, lon: -121.859547 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-24T20:00:29.788Z,1761336029.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:29.797Z,1761336029.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 138.111404 m, bearing: 71.318832 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 275.670888 deg, new cmd heading: 71.318832 deg. 2025-10-24T20:00:29.798Z,1761336029.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.244748 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:29.809Z,1761336029.809 [DAT](INFO): DAT read: TxSync time:20:00:28.9393 2025-10-24T20:00:29.810Z,1761336029.810 [DAT](INFO): DAT read: 2025-10-24T20:00:29.810Z,1761336029.810 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:30.061Z,1761336030.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:30.067Z,1761336030.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067638,0.991094,-0.114712],[-0.977470,0.088867,0.191453],[0.199942,0.099178,0.974775]] 2025-10-24T20:00:30.096Z,1761336030.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:30.098Z,1761336030.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:30.103Z,1761336030.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 138.362518 m, bearing: 71.336884 deg, approach rate: 0.780114 m/s, LOS rate: 0.055979 deg/s, cmd heading: 71.318834 deg, new cmd heading: 71.336884 deg. 2025-10-24T20:00:30.104Z,1761336030.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245064 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:30.313Z,1761336030.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:30.467Z,1761336030.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067216,0.991859,-0.108156],[-0.977251,0.087302,0.193283],[0.201152,0.092704,0.975164]] 2025-10-24T20:00:30.494Z,1761336030.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:30.518Z,1761336030.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 138.657120 m, bearing: 71.357938 deg, approach rate: 0.742863 m/s, LOS rate: 0.052977 deg/s, cmd heading: 71.336886 deg, new cmd heading: 71.357938 deg. 2025-10-24T20:00:30.518Z,1761336030.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245431 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:30.567Z,1761336030.567 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:30.817Z,1761336030.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:30.873Z,1761336030.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.068522,0.991300,-0.112375],[-0.976890,0.089529,0.194090],[0.202462,0.096478,0.974526]] 2025-10-24T20:00:30.935Z,1761336030.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:30.938Z,1761336030.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 138.985382 m, bearing: 71.381826 deg, approach rate: 0.745309 m/s, LOS rate: 0.054108 deg/s, cmd heading: 71.357937 deg, new cmd heading: 71.381826 deg. 2025-10-24T20:00:30.938Z,1761336030.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245848 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:31.068Z,1761336031.068 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:31.279Z,1761336031.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071476,0.990593,-0.116692],[-0.976527,0.093329,0.194128],[0.203192,0.100077,0.974011]] 2025-10-24T20:00:31.317Z,1761336031.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:31.326Z,1761336031.326 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:31.341Z,1761336031.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 139.265411 m, bearing: 71.402477 deg, approach rate: 0.732128 m/s, LOS rate: 0.053883 deg/s, cmd heading: 71.381829 deg, new cmd heading: 71.402477 deg. 2025-10-24T20:00:31.342Z,1761336031.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246208 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:31.577Z,1761336031.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:31.680Z,1761336031.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077221,0.989423,-0.122795],[-0.976078,0.100132,0.192993],[0.203247,0.104954,0.973486]] 2025-10-24T20:00:31.735Z,1761336031.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:31.737Z,1761336031.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 139.578522 m, bearing: 71.428362 deg, approach rate: 0.750636 m/s, LOS rate: 0.061917 deg/s, cmd heading: 71.402477 deg, new cmd heading: 71.428362 deg. 2025-10-24T20:00:31.738Z,1761336031.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246660 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:31.829Z,1761336031.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:32.080Z,1761336032.080 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:32.090Z,1761336032.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083181,0.988014,-0.130039],[-0.975434,0.107434,0.192321],[0.203987,0.110847,0.972678]] 2025-10-24T20:00:32.117Z,1761336032.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:32.119Z,1761336032.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:32.122Z,1761336032.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 139.862930 m, bearing: 71.452548 deg, approach rate: 0.739765 m/s, LOS rate: 0.062780 deg/s, cmd heading: 71.428363 deg, new cmd heading: 71.452548 deg. 2025-10-24T20:00:32.122Z,1761336032.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247082 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:32.333Z,1761336032.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:32.555Z,1761336032.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091460,0.986147,-0.138380],[-0.974441,0.117262,0.191610],[0.205182,0.117318,0.971667]] 2025-10-24T20:00:32.604Z,1761336032.604 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:32.640Z,1761336032.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:32.650Z,1761336032.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 140.202927 m, bearing: 71.482609 deg, approach rate: 0.673611 m/s, LOS rate: 0.059414 deg/s, cmd heading: 71.452549 deg, new cmd heading: 71.482609 deg. 2025-10-24T20:00:32.650Z,1761336032.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.247607 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:32.853Z,1761336032.853 [DAT](INFO): DAT read: Rx Time:20:00:31.5936 2025-10-24T20:00:32.854Z,1761336032.854 [DAT](INFO): Rx dataTimestamp_ set to:1761336032.853245 2025-10-24T20:00:32.854Z,1761336032.854 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:32.897Z,1761336032.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103228,0.982416,-0.155572],[-0.972851,0.132293,0.189891],[0.207133,0.131746,0.969401]] 2025-10-24T20:00:32.975Z,1761336032.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:32.977Z,1761336032.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 140.498611 m, bearing: 71.511598 deg, approach rate: 0.842654 m/s, LOS rate: 0.082441 deg/s, cmd heading: 71.482608 deg, new cmd heading: 71.511598 deg. 2025-10-24T20:00:32.978Z,1761336032.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248113 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:33.105Z,1761336033.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:33.301Z,1761336033.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119498,0.976026,-0.181914],[-0.970382,0.153565,0.186486],[0.209951,0.154241,0.965469]] 2025-10-24T20:00:33.335Z,1761336033.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.95 m. 2025-10-24T20:00:33.338Z,1761336033.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 182.954727 m, nav range: 140.762787 m, bearing: 71.539484 deg, approach rate: 0.735400 m/s, LOS rate: 0.077481 deg/s, cmd heading: 71.511596 deg, new cmd heading: 71.539484 deg. 2025-10-24T20:00:33.339Z,1761336033.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248600 target range: 182.954727 and range: 183.70 m. 2025-10-24T20:00:33.363Z,1761336033.363 [DAT](INFO): DAT read: 20:00:31.5936 LVL= 25008, 21617, 26322, 32755, AGC= 66, IDX= 470,-0.34, 1.332,-3.134, 0.966, 1.192, PHS= 0.227, 2.003,-0.229, RAW= 341.2, -19.1, CAL= 344.4, -27.0, ROT= 165.6, 27.0 2025-10-24T20:00:33.365Z,1761336033.365 [DAT](INFO): got valid direction response: 20:00:31.5936 LVL= 25008, 21617, 26322, 32755, AGC= 66, IDX= 470,-0.34, 1.332,-3.134, 0.966, 1.192, PHS= 0.227, 2.003,-0.229, RAW= 341.2, -19.1, CAL= 344.4, -27.0, ROT= 165.6, 27.0 2025-10-24T20:00:33.366Z,1761336033.366 [DAT](INFO): DAT read: Bearing 165.6, 27.0 (Local) 2025-10-24T20:00:33.366Z,1761336033.366 [DAT](INFO): Local bearing/azimuth received: Bearing 165.6, 27.0 (Local) 2025-10-24T20:00:33.367Z,1761336033.367 [DAT](INFO): DAT read: Range 10 to 50 : 187.0 m (Round-trip 249.4 ms) speed -0.8 m/s 2025-10-24T20:00:33.369Z,1761336033.369 [DAT](INFO): DAT read: user:188>Tx time:20:00:32.6901 2025-10-24T20:00:33.370Z,1761336033.370 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:33.371Z,1761336033.371 [DAT](INFO): direction in FSK: [-0.863014,0.221584,-0.453991] 2025-10-24T20:00:33.371Z,1761336033.371 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:33.375Z,1761336033.375 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:33.384Z,1761336033.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:33.618Z,1761336033.618 [DAT](INFO): DAT read: 2025-10-24T20:00:33.621Z,1761336033.621 [DAT](INFO): DAT read: TxSync time:20:00:32.6893 2025-10-24T20:00:33.623Z,1761336033.623 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:33.716Z,1761336033.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.138843,0.967409,-0.211761],[-0.967048,0.178524,0.181514],[0.213403,0.179581,0.960318]] 2025-10-24T20:00:33.847Z,1761336033.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 187.000000 m, deltaT: 3.798957 s, deltaX: 3.300003 m, approachRate: 0.868660 m/s, rangeRepo size: 4 2025-10-24T20:00:33.861Z,1761336033.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:33.863Z,1761336033.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.238113 m, bearing: 76.459035 deg, lat: 36.779514 deg, lon: -121.859546 deg, deltaT: 3.798957 s, deltaX: 3.283386 m, approachRate: 0.864286 m/s, posRepo size: 2 2025-10-24T20:00:33.872Z,1761336033.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:33.875Z,1761336033.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 140.459778 m, bearing: 72.594209 deg, approach rate: 0.000000 m/s, LOS rate: 0.077481 deg/s, cmd heading: 71.539483 deg, new cmd heading: 71.658690 deg. 2025-10-24T20:00:33.885Z,1761336033.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250680 target range: 186.238113 and range: 187.00 m. 2025-10-24T20:00:34.112Z,1761336034.112 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:34.120Z,1761336034.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159076,0.959672,-0.231787],[-0.962921,0.202633,0.178111],[0.217896,0.194859,0.956322]] 2025-10-24T20:00:34.203Z,1761336034.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:34.210Z,1761336034.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:34.217Z,1761336034.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 140.738480 m, bearing: 72.627597 deg, approach rate: 0.767256 m/s, LOS rate: 0.091734 deg/s, cmd heading: 71.658691 deg, new cmd heading: 71.758656 deg. 2025-10-24T20:00:34.218Z,1761336034.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252425 target range: 186.238113 and range: 187.00 m. 2025-10-24T20:00:34.365Z,1761336034.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:34.549Z,1761336034.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.180842,0.948129,-0.261436],[-0.958087,0.229879,0.170951],[0.222182,0.219563,0.949962]] 2025-10-24T20:00:34.588Z,1761336034.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:34.596Z,1761336034.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 141.040527 m, bearing: 72.666945 deg, approach rate: 0.799341 m/s, LOS rate: 0.103910 deg/s, cmd heading: 71.758657 deg, new cmd heading: 71.876451 deg. 2025-10-24T20:00:34.597Z,1761336034.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254481 target range: 186.238113 and range: 187.00 m. 2025-10-24T20:00:34.619Z,1761336034.619 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:34.869Z,1761336034.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:35.045Z,1761336035.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.226717,0.921993,-0.313894],[-0.945725,0.285437,0.155338],[0.232818,0.261640,0.936665]] 2025-10-24T20:00:35.062Z,1761336035.062 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, -159, +A 2025-10-24T20:00:35.079Z,1761336035.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:35.082Z,1761336035.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 141.403732 m, bearing: 72.722650 deg, approach rate: 0.739338 m/s, LOS rate: 0.113100 deg/s, cmd heading: 71.876451 deg, new cmd heading: 72.043134 deg. 2025-10-24T20:00:35.083Z,1761336035.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257390 target range: 186.238113 and range: 187.00 m. 2025-10-24T20:00:35.121Z,1761336035.121 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:35.373Z,1761336035.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:35.485Z,1761336035.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252907,0.907122,-0.336404],[-0.937648,0.315506,0.145852],[0.238443,0.278541,0.930355]] 2025-10-24T20:00:35.503Z,1761336035.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:35.506Z,1761336035.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 141.715393 m, bearing: 72.774521 deg, approach rate: 0.734938 m/s, LOS rate: 0.122050 deg/s, cmd heading: 72.043135 deg, new cmd heading: 72.198405 deg. 2025-10-24T20:00:35.508Z,1761336035.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.260100 target range: 186.238113 and range: 187.00 m. 2025-10-24T20:00:35.626Z,1761336035.626 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:35.877Z,1761336035.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:35.889Z,1761336035.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.280121,0.891831,-0.355204],[-0.928470,0.345703,0.135766],[0.243876,0.291765,0.924877]] 2025-10-24T20:00:35.970Z,1761336035.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:35.997Z,1761336035.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 142.043839 m, bearing: 72.829725 deg, approach rate: 0.703463 m/s, LOS rate: 0.117962 deg/s, cmd heading: 72.198405 deg, new cmd heading: 72.363634 deg. 2025-10-24T20:00:36.004Z,1761336036.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262984 target range: 186.238113 and range: 187.00 m. 2025-10-24T20:00:36.129Z,1761336036.129 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:36.289Z,1761336036.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306576,0.877385,-0.369061],[-0.918571,0.374338,0.126882],[0.249478,0.300110,0.920703]] 2025-10-24T20:00:36.307Z,1761336036.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:36.311Z,1761336036.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:36.332Z,1761336036.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 142.304367 m, bearing: 72.877046 deg, approach rate: 0.766554 m/s, LOS rate: 0.138976 deg/s, cmd heading: 72.363634 deg, new cmd heading: 72.505336 deg. 2025-10-24T20:00:36.334Z,1761336036.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265457 target range: 186.238113 and range: 187.00 m. 2025-10-24T20:00:36.382Z,1761336036.382 [DAT](INFO): DAT read: Rx Time:20:00:35.3198 2025-10-24T20:00:36.383Z,1761336036.383 [DAT](INFO): Rx dataTimestamp_ set to:1761336036.382573 2025-10-24T20:00:36.384Z,1761336036.384 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:36.633Z,1761336036.633 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:36.717Z,1761336036.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.333378,0.863299,-0.378911],[-0.907805,0.402413,0.118129],[0.254459,0.304596,0.917863]] 2025-10-24T20:00:36.762Z,1761336036.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:36.765Z,1761336036.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 142.628235 m, bearing: 72.935635 deg, approach rate: 0.715945 m/s, LOS rate: 0.129224 deg/s, cmd heading: 72.505334 deg, new cmd heading: 72.680702 deg. 2025-10-24T20:00:36.766Z,1761336036.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268517 target range: 186.238113 and range: 187.00 m. 2025-10-24T20:00:36.885Z,1761336036.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:37.092Z,1761336037.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359356,0.849759,-0.385712],[-0.896497,0.429132,0.110177],[0.259145,0.306196,0.916017]] 2025-10-24T20:00:37.138Z,1761336037.138 [DAT](INFO): DAT read: Range 10 to 50 : 169.1 m (Round-trip 225.5 ms) speed -0.3 m/s 2025-10-24T20:00:37.140Z,1761336037.140 [DAT](INFO): DAT read: user:189>Tx time:20:00:36.3902 2025-10-24T20:00:37.141Z,1761336037.141 [DAT](INFO): DAT read: TxSync time:20:00:36.3894 2025-10-24T20:00:37.141Z,1761336037.141 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:00:37.142Z,1761336037.142 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:37.142Z,1761336037.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:37.150Z,1761336037.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 169.100006 m, deltaT: 3.779394 s, deltaX: -17.899994 m, approachRate: -4.736207 m/s, rangeRepo size: 4 2025-10-24T20:00:37.150Z,1761336037.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:37.154Z,1761336037.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 142.874969 m, bearing: 72.983613 deg, approach rate: 0.638144 m/s, LOS rate: 0.123875 deg/s, cmd heading: 72.680699 deg, new cmd heading: 72.824385 deg. 2025-10-24T20:00:37.155Z,1761336037.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271025 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:37.391Z,1761336037.391 [DAT](INFO): DAT read: 2025-10-24T20:00:37.394Z,1761336037.394 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:37.498Z,1761336037.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384827,0.836179,-0.390785],[-0.884529,0.455052,0.102650],[0.263661,0.306158,0.914741]] 2025-10-24T20:00:37.516Z,1761336037.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:37.519Z,1761336037.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 143.155487 m, bearing: 73.042009 deg, approach rate: 0.763089 m/s, LOS rate: 0.158542 deg/s, cmd heading: 72.824385 deg, new cmd heading: 72.999228 deg. 2025-10-24T20:00:37.520Z,1761336037.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274077 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:37.641Z,1761336037.641 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:37.893Z,1761336037.893 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:37.917Z,1761336037.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409853,0.822512,-0.394328],[-0.871749,0.480443,0.096063],[0.268465,0.304383,0.913935]] 2025-10-24T20:00:37.931Z,1761336037.931 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412020064,35.0, +12.2, 0.0,1497.6RA, 0.00, 330.99, 235.64, 2025-10-24T20:00:37.948Z,1761336037.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:37.950Z,1761336037.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 143.448914 m, bearing: 73.107158 deg, approach rate: 0.680420 m/s, LOS rate: 0.150764 deg/s, cmd heading: 72.999231 deg, new cmd heading: 73.194279 deg. 2025-10-24T20:00:37.951Z,1761336037.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277481 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:38.144Z,1761336038.144 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:38.305Z,1761336038.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432628,0.808812,-0.398316],[-0.859422,0.503479,0.088900],[0.272448,0.303861,0.912930]] 2025-10-24T20:00:38.337Z,1761336038.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:38.339Z,1761336038.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:38.341Z,1761336038.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 143.712234 m, bearing: 73.169078 deg, approach rate: 0.673650 m/s, LOS rate: 0.158119 deg/s, cmd heading: 73.194281 deg, new cmd heading: 73.379701 deg. 2025-10-24T20:00:38.342Z,1761336038.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280717 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:38.397Z,1761336038.397 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:38.648Z,1761336038.648 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:38.745Z,1761336038.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457048,0.793734,-0.401364],[-0.845748,0.527528,0.080149],[0.275348,0.302821,0.912405]] 2025-10-24T20:00:38.810Z,1761336038.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:38.817Z,1761336038.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 144.005127 m, bearing: 73.239417 deg, approach rate: 0.620869 m/s, LOS rate: 0.148799 deg/s, cmd heading: 73.379700 deg, new cmd heading: 73.590285 deg. 2025-10-24T20:00:38.818Z,1761336038.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284393 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:38.902Z,1761336038.902 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:39.113Z,1761336039.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481249,0.778291,-0.403315],[-0.831570,0.550887,0.070809],[0.277291,0.301308,0.912318]] 2025-10-24T20:00:39.132Z,1761336039.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:39.135Z,1761336039.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 144.205368 m, bearing: 73.290497 deg, approach rate: 0.622853 m/s, LOS rate: 0.158667 deg/s, cmd heading: 73.590282 deg, new cmd heading: 73.743311 deg. 2025-10-24T20:00:39.137Z,1761336039.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.287064 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:39.153Z,1761336039.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:39.405Z,1761336039.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:39.569Z,1761336039.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504053,0.762542,-0.405538],[-0.817306,0.572921,0.061426],[0.279181,0.300486,0.912012]] 2025-10-24T20:00:39.589Z,1761336039.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:39.593Z,1761336039.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 144.482452 m, bearing: 73.365292 deg, approach rate: 0.606123 m/s, LOS rate: 0.163299 deg/s, cmd heading: 73.743312 deg, new cmd heading: 73.967263 deg. 2025-10-24T20:00:39.594Z,1761336039.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290972 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:39.659Z,1761336039.659 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:39.909Z,1761336039.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:40.030Z,1761336040.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:40.049Z,1761336040.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 144.739105 m, bearing: 73.436132 deg, approach rate: 0.582428 m/s, LOS rate: 0.160475 deg/s, cmd heading: 73.967260 deg, new cmd heading: 74.179404 deg. 2025-10-24T20:00:40.050Z,1761336040.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.294675 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:40.161Z,1761336040.161 [DAT](INFO): DAT read: Rx Time:20:00:38.9956 2025-10-24T20:00:40.161Z,1761336040.161 [DAT](INFO): Rx dataTimestamp_ set to:1761336040.160963 2025-10-24T20:00:40.162Z,1761336040.162 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:40.413Z,1761336040.413 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:40.448Z,1761336040.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547970,0.729586,-0.409187],[-0.787536,0.614859,0.041658],[0.281985,0.299422,0.911499]] 2025-10-24T20:00:40.474Z,1761336040.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:40.493Z,1761336040.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:40.495Z,1761336040.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 144.990356 m, bearing: 73.513617 deg, approach rate: 0.542572 m/s, LOS rate: 0.167037 deg/s, cmd heading: 74.179406 deg, new cmd heading: 74.411456 deg. 2025-10-24T20:00:40.496Z,1761336040.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298725 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:40.674Z,1761336040.674 [DAT](INFO): DAT read: 20:00:38.9956 LVL= 15024, 16369, 19314, 29107, AGC= 66, IDX= 169, 0.03, 1.598, 2.025,-0.290, 1.253, PHS= 0.433, 0.819,-1.546, RAW= 21.3, 2.7, CAL= 20.6, 3.0, ROT= 129.4, -3.0 2025-10-24T20:00:40.675Z,1761336040.675 [DAT](INFO): got valid direction response: 20:00:38.9956 LVL= 15024, 16369, 19314, 29107, AGC= 66, IDX= 169, 0.03, 1.598, 2.025,-0.290, 1.253, PHS= 0.433, 0.819,-1.546, RAW= 21.3, 2.7, CAL= 20.6, 3.0, ROT= 129.4, -3.0 2025-10-24T20:00:40.677Z,1761336040.677 [DAT](INFO): DAT read: Bearing 129.4, -3.0 (Local) 2025-10-24T20:00:40.678Z,1761336040.678 [DAT](INFO): Local bearing/azimuth received: Bearing 129.4, -3.0 (Local) 2025-10-24T20:00:40.682Z,1761336040.682 [DAT](INFO): DAT read: Range 10 to 50 : 150.9 m (Round-trip 201.2 ms) speed -0.4 m/s 2025-10-24T20:00:40.735Z,1761336040.735 [DAT](INFO): DAT read: user:190>Tx time:20:00:40.0902 2025-10-24T20:00:40.743Z,1761336040.743 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:40.751Z,1761336040.751 [DAT](INFO): direction in FSK: [-0.633861,0.771675,0.052336] 2025-10-24T20:00:40.760Z,1761336040.760 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:40.775Z,1761336040.775 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:40.775Z,1761336040.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:40.889Z,1761336040.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569194,0.712637,-0.410081],[-0.772074,0.634755,0.031433],[0.282701,0.298721,0.911507]] 2025-10-24T20:00:40.917Z,1761336040.917 [DAT](INFO): DAT read: 2025-10-24T20:00:40.918Z,1761336040.918 [DAT](INFO): DAT read: TxSync time:20:00:40.0894 2025-10-24T20:00:40.919Z,1761336040.919 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:40.999Z,1761336040.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 150.899994 m, deltaT: 3.528352 s, deltaX: -18.200012 m, approachRate: -5.158219 m/s, rangeRepo size: 4 2025-10-24T20:00:40.999Z,1761336040.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:41.010Z,1761336041.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 145.266113 m, bearing: 73.603086 deg, approach rate: 0.545695 m/s, LOS rate: 0.176715 deg/s, cmd heading: 74.411455 deg, new cmd heading: 74.679352 deg. 2025-10-24T20:00:41.011Z,1761336041.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303401 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:41.031Z,1761336041.031 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-24T19:50:40.6Z 2025-10-24T20:00:41.031Z,1761336041.031 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T20:00:41.031Z,1761336041.031 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:00:41.031Z,1761336041.031 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T20:00:41.031Z,1761336041.031 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:00:41.036Z,1761336041.036 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-24T20:00:41.169Z,1761336041.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:41.311Z,1761336041.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590425,0.695543,-0.409412],[-0.756046,0.654180,0.021058],[0.282476,0.297101,0.912107]] 2025-10-24T20:00:41.352Z,1761336041.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:41.355Z,1761336041.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 145.454880 m, bearing: 73.667556 deg, approach rate: 0.533659 m/s, LOS rate: 0.182025 deg/s, cmd heading: 74.679349 deg, new cmd heading: 74.872506 deg. 2025-10-24T20:00:41.356Z,1761336041.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.306772 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:41.374Z,1761336041.374 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T20:00:41.375Z,1761336041.375 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T20:00:41.375Z,1761336041.375 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T20:00:41.375Z,1761336041.375 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:00:41.380Z,1761336041.380 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T20:00:41.421Z,1761336041.421 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:41.673Z,1761336041.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:41.925Z,1761336041.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:41.930Z,1761336041.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630378,0.661163,-0.406802],[-0.723228,0.690608,0.001714],[0.282074,0.293130,0.913515]] 2025-10-24T20:00:41.982Z,1761336041.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:41.985Z,1761336041.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 145.766510 m, bearing: 73.785145 deg, approach rate: 0.494322 m/s, LOS rate: 0.186126 deg/s, cmd heading: 74.872506 deg, new cmd heading: 75.224513 deg. 2025-10-24T20:00:41.986Z,1761336041.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312915 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:42.177Z,1761336042.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:42.331Z,1761336042.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649871,0.641536,-0.407553],[-0.706026,0.708098,-0.011178],[0.281416,0.295007,0.913113]] 2025-10-24T20:00:42.349Z,1761336042.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:42.353Z,1761336042.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 145.942200 m, bearing: 73.854835 deg, approach rate: 0.478483 m/s, LOS rate: 0.189570 deg/s, cmd heading: 75.224514 deg, new cmd heading: 75.433332 deg. 2025-10-24T20:00:42.354Z,1761336042.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316560 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:42.431Z,1761336042.431 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:42.681Z,1761336042.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:42.781Z,1761336042.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669269,0.622652,-0.405444],[-0.688541,0.724818,-0.023455],[0.279269,0.294862,0.913819]] 2025-10-24T20:00:42.837Z,1761336042.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:42.868Z,1761336042.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:42.870Z,1761336042.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 146.176300 m, bearing: 73.950460 deg, approach rate: 0.477979 m/s, LOS rate: 0.194932 deg/s, cmd heading: 75.433333 deg, new cmd heading: 75.719747 deg. 2025-10-24T20:00:42.871Z,1761336042.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321559 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:42.933Z,1761336042.933 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:43.174Z,1761336043.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687424,0.603960,-0.403337],[-0.671224,0.740414,-0.035294],[0.277320,0.294991,0.914371]] 2025-10-24T20:00:43.185Z,1761336043.185 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:43.194Z,1761336043.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:43.197Z,1761336043.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 146.340958 m, bearing: 74.021035 deg, approach rate: 0.463649 m/s, LOS rate: 0.198503 deg/s, cmd heading: 75.719750 deg, new cmd heading: 75.931235 deg. 2025-10-24T20:00:43.198Z,1761336043.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325250 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:43.437Z,1761336043.437 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:43.613Z,1761336043.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705137,0.584758,-0.401048],[-0.653457,0.755479,-0.047388],[0.275272,0.295483,0.914831]] 2025-10-24T20:00:43.652Z,1761336043.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:43.655Z,1761336043.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 146.540283 m, bearing: 74.110738 deg, approach rate: 0.435067 m/s, LOS rate: 0.195527 deg/s, cmd heading: 75.931233 deg, new cmd heading: 76.199974 deg. 2025-10-24T20:00:43.657Z,1761336043.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329940 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:43.690Z,1761336043.690 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:43.942Z,1761336043.942 [DAT](INFO): DAT read: Rx Time:20:00:42.6980 2025-10-24T20:00:43.942Z,1761336043.942 [DAT](INFO): Rx dataTimestamp_ set to:1761336043.942084 2025-10-24T20:00:43.943Z,1761336043.943 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:44.020Z,1761336044.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721627,0.566777,-0.397514],[-0.636032,0.769523,-0.057431],[0.273346,0.294276,0.915797]] 2025-10-24T20:00:44.067Z,1761336044.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.24 m. 2025-10-24T20:00:44.070Z,1761336044.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 186.238113 m, nav range: 146.722946 m, bearing: 74.198115 deg, approach rate: 0.440943 m/s, LOS rate: 0.210664 deg/s, cmd heading: 76.199974 deg, new cmd heading: 76.461778 deg. 2025-10-24T20:00:44.071Z,1761336044.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334510 target range: 186.238113 and range: 169.10 m. 2025-10-24T20:00:44.193Z,1761336044.193 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:44.452Z,1761336044.452 [DAT](INFO): DAT read: 20:00:42.6980 LVL= 15680, 15857, 20658, 26675, AGC= 64, IDX= 450,-0.12,-1.031,-1.670, 2.837,-2.039, PHS= 1.096, 0.416,-1.410, RAW= 45.2, -0.9, CAL= 45.7, -3.4, ROT= 104.3, 3.4 2025-10-24T20:00:44.453Z,1761336044.453 [DAT](INFO): got valid direction response: 20:00:42.6980 LVL= 15680, 15857, 20658, 26675, AGC= 64, IDX= 450,-0.12,-1.031,-1.670, 2.837,-2.039, PHS= 1.096, 0.416,-1.410, RAW= 45.2, -0.9, CAL= 45.7, -3.4, ROT= 104.3, 3.4 2025-10-24T20:00:44.454Z,1761336044.454 [DAT](INFO): DAT read: Bearing 104.3, 3.4 (Local) 2025-10-24T20:00:44.454Z,1761336044.454 [DAT](INFO): Local bearing/azimuth received: Bearing 104.3, 3.4 (Local) 2025-10-24T20:00:44.464Z,1761336044.464 [DAT](INFO): DAT read: Range 10 to 50 : 152.7 m (Round-trip 203.7 ms) speed -0.4 m/s 2025-10-24T20:00:44.465Z,1761336044.465 [DAT](INFO): DAT read: user:191>Tx time:20:00:43.7902 2025-10-24T20:00:44.466Z,1761336044.466 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:44.467Z,1761336044.467 [DAT](INFO): direction in FSK: [-0.246564,0.967310,-0.059306] 2025-10-24T20:00:44.467Z,1761336044.467 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:44.470Z,1761336044.470 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:44.471Z,1761336044.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:44.473Z,1761336044.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738281,0.547638,-0.393744],[-0.617706,0.783410,-0.068611],[0.270889,0.293872,0.916656]] 2025-10-24T20:00:44.570Z,1761336044.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.699997 m, deltaT: 7.308586 s, deltaX: -16.400009 m, approachRate: -2.243937 m/s, rangeRepo size: 4 2025-10-24T20:00:44.580Z,1761336044.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.058197 m, bearing: 67.908271 deg, lat: 36.779455 deg, lon: -121.859455 deg, deltaT: 11.087980 s, deltaX: -34.179916 m, approachRate: -3.082610 m/s, posRepo size: 3 2025-10-24T20:00:44.581Z,1761336044.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:44.592Z,1761336044.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 153.120407 m, bearing: 77.452918 deg, approach rate: 0.000000 m/s, LOS rate: 0.210664 deg/s, cmd heading: 76.461775 deg, new cmd heading: 76.779215 deg. 2025-10-24T20:00:44.593Z,1761336044.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340050 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:44.698Z,1761336044.698 [DAT](INFO): DAT read: 2025-10-24T20:00:44.698Z,1761336044.698 [DAT](INFO): DAT read: TxSync time:20:00:43.7894 2025-10-24T20:00:44.699Z,1761336044.699 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:44.867Z,1761336044.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754470,0.528116,-0.389704],[-0.599108,0.796631,-0.080305],[0.268039,0.294063,0.917432]] 2025-10-24T20:00:44.943Z,1761336044.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:44.949Z,1761336044.949 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:44.950Z,1761336044.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:44.958Z,1761336044.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 153.284958 m, bearing: 77.527500 deg, approach rate: 0.431507 m/s, LOS rate: 0.195369 deg/s, cmd heading: 76.779215 deg, new cmd heading: 77.002720 deg. 2025-10-24T20:00:44.959Z,1761336044.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.343951 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:45.201Z,1761336045.201 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:45.269Z,1761336045.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769559,0.508683,-0.386032],[-0.580547,0.809109,-0.091146],[0.265978,0.294252,0.917971]] 2025-10-24T20:00:45.294Z,1761336045.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:45.297Z,1761336045.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 153.423462 m, bearing: 77.593319 deg, approach rate: 0.402811 m/s, LOS rate: 0.191246 deg/s, cmd heading: 77.002719 deg, new cmd heading: 77.199995 deg. 2025-10-24T20:00:45.298Z,1761336045.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347394 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:45.453Z,1761336045.453 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:45.665Z,1761336045.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784606,0.488924,-0.381244],[-0.561331,0.821285,-0.101976],[0.263251,0.294015,0.918833]] 2025-10-24T20:00:45.705Z,1761336045.705 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:45.710Z,1761336045.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:45.713Z,1761336045.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 153.576630 m, bearing: 77.669754 deg, approach rate: 0.368309 m/s, LOS rate: 0.183615 deg/s, cmd heading: 77.199996 deg, new cmd heading: 77.429073 deg. 2025-10-24T20:00:45.714Z,1761336045.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351392 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:45.958Z,1761336045.958 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:46.068Z,1761336046.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798939,0.469768,-0.375519],[-0.542171,0.832816,-0.111662],[0.260283,0.292806,0.920064]] 2025-10-24T20:00:46.129Z,1761336046.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:46.132Z,1761336046.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 153.736572 m, bearing: 77.753627 deg, approach rate: 0.381751 m/s, LOS rate: 0.199979 deg/s, cmd heading: 77.429073 deg, new cmd heading: 77.680428 deg. 2025-10-24T20:00:46.133Z,1761336046.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355779 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:46.209Z,1761336046.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:46.461Z,1761336046.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:46.490Z,1761336046.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828349,0.428176,-0.361251],[-0.500703,0.855088,-0.134612],[0.251264,0.292386,0.922701]] 2025-10-24T20:00:46.508Z,1761336046.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:46.515Z,1761336046.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 153.864105 m, bearing: 77.828237 deg, approach rate: 0.336650 m/s, LOS rate: 0.196785 deg/s, cmd heading: 77.680431 deg, new cmd heading: 77.904074 deg. 2025-10-24T20:00:46.516Z,1761336046.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359683 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:46.713Z,1761336046.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:46.883Z,1761336046.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842273,0.406145,-0.354432],[-0.479175,0.865293,-0.147171],[0.246914,0.293793,0.923428]] 2025-10-24T20:00:46.954Z,1761336046.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:46.960Z,1761336046.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:46.963Z,1761336046.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 153.992279 m, bearing: 77.910606 deg, approach rate: 0.286098 m/s, LOS rate: 0.183703 deg/s, cmd heading: 77.904072 deg, new cmd heading: 78.150972 deg. 2025-10-24T20:00:46.965Z,1761336046.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:46.969Z,1761336046.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363992 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:47.217Z,1761336047.217 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:47.280Z,1761336047.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855184,0.384817,-0.347240],[-0.458043,0.874633,-0.158790],[0.242602,0.294846,0.924235]] 2025-10-24T20:00:47.311Z,1761336047.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:47.318Z,1761336047.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 154.096634 m, bearing: 77.981560 deg, approach rate: 0.293801 m/s, LOS rate: 0.199630 deg/s, cmd heading: 78.150970 deg, new cmd heading: 78.363688 deg. 2025-10-24T20:00:47.319Z,1761336047.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367704 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:47.470Z,1761336047.470 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:47.709Z,1761336047.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867610,0.362883,-0.339955],[-0.436397,0.883402,-0.170759],[0.238352,0.296508,0.924809]] 2025-10-24T20:00:47.721Z,1761336047.721 [DAT](INFO): DAT read: Rx Time:20:00:46.3997 2025-10-24T20:00:47.721Z,1761336047.721 [DAT](INFO): Rx dataTimestamp_ set to:1761336047.721116 2025-10-24T20:00:47.722Z,1761336047.722 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:47.747Z,1761336047.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:47.759Z,1761336047.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 154.213913 m, bearing: 78.066130 deg, approach rate: 0.268717 m/s, LOS rate: 0.193623 deg/s, cmd heading: 78.363689 deg, new cmd heading: 78.617203 deg. 2025-10-24T20:00:47.765Z,1761336047.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372129 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:47.973Z,1761336047.973 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:48.089Z,1761336048.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878978,0.342528,-0.331771],[-0.415493,0.891539,-0.180342],[0.234015,0.296366,0.925961]] 2025-10-24T20:00:48.153Z,1761336048.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.06 m. 2025-10-24T20:00:48.160Z,1761336048.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.058197 m, nav range: 154.310318 m, bearing: 78.144391 deg, approach rate: 0.237723 m/s, LOS rate: 0.192862 deg/s, cmd heading: 78.617205 deg, new cmd heading: 78.851841 deg. 2025-10-24T20:00:48.161Z,1761336048.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376224 target range: 152.058197 and range: 152.70 m. 2025-10-24T20:00:48.232Z,1761336048.232 [DAT](INFO): DAT read: 20:00:46.3997 LVL= 14560, 18737, 16882, 23971, AGC= 64, IDX= 435, 0.48,-0.677,-1.737,-3.048,-1.899, PHS= 1.310, 0.209,-1.152, RAW= 56.5, -3.5, CAL= 60.6, -7.9, ROT= 89.4, 7.9 2025-10-24T20:00:48.233Z,1761336048.233 [DAT](INFO): got valid direction response: 20:00:46.3997 LVL= 14560, 18737, 16882, 23971, AGC= 64, IDX= 435, 0.48,-0.677,-1.737,-3.048,-1.899, PHS= 1.310, 0.209,-1.152, RAW= 56.5, -3.5, CAL= 60.6, -7.9, ROT= 89.4, 7.9 2025-10-24T20:00:48.234Z,1761336048.234 [DAT](INFO): DAT read: Bearing 89.4, 7.9 (Local) 2025-10-24T20:00:48.234Z,1761336048.234 [DAT](INFO): Local bearing/azimuth received: Bearing 89.4, 7.9 (Local) 2025-10-24T20:00:48.237Z,1761336048.237 [DAT](INFO): DAT read: Range 10 to 50 : 153.9 m (Round-trip 205.3 ms) speed -0.3 m/s 2025-10-24T20:00:48.238Z,1761336048.238 [DAT](INFO): DAT read: user:192>Tx time:20:00:47.4902 2025-10-24T20:00:48.247Z,1761336048.247 [DAT](INFO): DAT read: TxSync time:20:00:47.4894 2025-10-24T20:00:48.247Z,1761336048.247 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:48.249Z,1761336048.249 [DAT](INFO): direction in FSK: [0.010372,0.990455,-0.137445] 2025-10-24T20:00:48.250Z,1761336048.250 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:48.255Z,1761336048.255 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:48.255Z,1761336048.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:48.476Z,1761336048.476 [DAT](INFO): DAT read: 2025-10-24T20:00:48.477Z,1761336048.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:48.513Z,1761336048.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890011,0.320697,-0.324090],[-0.393553,0.899257,-0.190928],[0.230210,0.297474,0.926559]] 2025-10-24T20:00:48.551Z,1761336048.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 153.899994 m, deltaT: 3.780252 s, deltaX: 1.199997 m, approachRate: 0.317438 m/s, rangeRepo size: 4 2025-10-24T20:00:48.553Z,1761336048.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.247177 m, bearing: 67.859690 deg, lat: 36.779455 deg, lon: -121.859455 deg, deltaT: 3.780252 s, deltaX: 1.188980 m, approachRate: 0.314524 m/s, posRepo size: 4 2025-10-24T20:00:48.554Z,1761336048.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.25 m. 2025-10-24T20:00:48.557Z,1761336048.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.247177 m, nav range: 154.402374 m, bearing: 78.224078 deg, approach rate: 0.000000 m/s, LOS rate: 0.192862 deg/s, cmd heading: 78.851843 deg, new cmd heading: 79.081769 deg. 2025-10-24T20:00:48.558Z,1761336048.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380237 target range: 153.247177 and range: 153.90 m. 2025-10-24T20:00:48.729Z,1761336048.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:48.954Z,1761336048.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.25 m. 2025-10-24T20:00:48.957Z,1761336048.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.247177 m, nav range: 154.492889 m, bearing: 78.306722 deg, approach rate: 0.224379 m/s, LOS rate: 0.204748 deg/s, cmd heading: 79.081768 deg, new cmd heading: 79.329553 deg. 2025-10-24T20:00:48.958Z,1761336048.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384562 target range: 153.247177 and range: 153.90 m. 2025-10-24T20:00:48.981Z,1761336048.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:49.235Z,1761336049.235 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:49.308Z,1761336049.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910748,0.278293,-0.305110],[-0.347761,0.915295,-0.203215],[0.222712,0.291183,0.930382]] 2025-10-24T20:00:49.351Z,1761336049.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:49.359Z,1761336049.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.25 m. 2025-10-24T20:00:49.366Z,1761336049.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.247177 m, nav range: 154.563126 m, bearing: 78.381032 deg, approach rate: 0.173454 m/s, LOS rate: 0.183431 deg/s, cmd heading: 79.329553 deg, new cmd heading: 79.552380 deg. 2025-10-24T20:00:49.367Z,1761336049.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388451 target range: 153.247177 and range: 153.90 m. 2025-10-24T20:00:49.485Z,1761336049.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:49.703Z,1761336049.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920372,0.254031,-0.297295],[-0.323558,0.921658,-0.214143],[0.219606,0.293283,0.930461]] 2025-10-24T20:00:49.729Z,1761336049.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.25 m. 2025-10-24T20:00:49.731Z,1761336049.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.247177 m, nav range: 154.633163 m, bearing: 78.461709 deg, approach rate: 0.189365 m/s, LOS rate: 0.218031 deg/s, cmd heading: 79.552381 deg, new cmd heading: 79.794301 deg. 2025-10-24T20:00:49.732Z,1761336049.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392673 target range: 153.247177 and range: 153.90 m. 2025-10-24T20:00:49.737Z,1761336049.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:49.989Z,1761336049.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:50.137Z,1761336050.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929320,0.230226,-0.288723],[-0.299490,0.927297,-0.224556],[0.216033,0.295154,0.930706]] 2025-10-24T20:00:50.196Z,1761336050.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.25 m. 2025-10-24T20:00:50.199Z,1761336050.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.247177 m, nav range: 154.701523 m, bearing: 78.551333 deg, approach rate: 0.152790 m/s, LOS rate: 0.200230 deg/s, cmd heading: 79.794300 deg, new cmd heading: 80.063051 deg. 2025-10-24T20:00:50.200Z,1761336050.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397364 target range: 153.247177 and range: 153.90 m. 2025-10-24T20:00:50.241Z,1761336050.241 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:50.493Z,1761336050.493 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:50.547Z,1761336050.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937080,0.207521,-0.280742],[-0.276470,0.932153,-0.233785],[0.213179,0.296692,0.930875]] 2025-10-24T20:00:50.566Z,1761336050.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.25 m. 2025-10-24T20:00:50.568Z,1761336050.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.247177 m, nav range: 154.756104 m, bearing: 78.629934 deg, approach rate: 0.140103 m/s, LOS rate: 0.201689 deg/s, cmd heading: 80.063054 deg, new cmd heading: 80.298772 deg. 2025-10-24T20:00:50.569Z,1761336050.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401478 target range: 153.247177 and range: 153.90 m. 2025-10-24T20:00:50.745Z,1761336050.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:50.997Z,1761336050.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:51.026Z,1761336051.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.25 m. 2025-10-24T20:00:51.028Z,1761336051.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.247177 m, nav range: 154.818970 m, bearing: 78.721751 deg, approach rate: 0.136667 m/s, LOS rate: 0.199524 deg/s, cmd heading: 80.298771 deg, new cmd heading: 80.574110 deg. 2025-10-24T20:00:51.029Z,1761336051.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406283 target range: 153.247177 and range: 153.90 m. 2025-10-24T20:00:51.249Z,1761336051.249 [DAT](INFO): DAT read: Rx Time:20:00:50.1007 2025-10-24T20:00:51.249Z,1761336051.249 [DAT](INFO): Rx dataTimestamp_ set to:1761336051.249159 2025-10-24T20:00:51.250Z,1761336051.250 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:51.343Z,1761336051.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949973,0.164399,-0.265563],[-0.232339,0.940199,-0.249087],[0.208732,0.298327,0.931360]] 2025-10-24T20:00:51.385Z,1761336051.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:51.387Z,1761336051.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.25 m. 2025-10-24T20:00:51.391Z,1761336051.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.247177 m, nav range: 154.857559 m, bearing: 78.791383 deg, approach rate: 0.106669 m/s, LOS rate: 0.192427 deg/s, cmd heading: 80.574109 deg, new cmd heading: 80.782950 deg. 2025-10-24T20:00:51.393Z,1761336051.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409928 target range: 153.247177 and range: 153.90 m. 2025-10-24T20:00:51.501Z,1761336051.501 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:51.759Z,1761336051.759 [DAT](INFO): DAT read: 20:00:50.1007 LVL= 21792, 32753, 26594, 32755, AGC= 65, IDX= 429, 0.03, 0.991, 0.288,-1.043,-0.075, PHS= 1.154, 0.410,-0.972, RAW= 50.2, -6.4, CAL= 54.7, -11.8, ROT= 95.3, 11.8 2025-10-24T20:00:51.769Z,1761336051.769 [DAT](INFO): got valid direction response: 20:00:50.1007 LVL= 21792, 32753, 26594, 32755, AGC= 65, IDX= 429, 0.03, 0.991, 0.288,-1.043,-0.075, PHS= 1.154, 0.410,-0.972, RAW= 50.2, -6.4, CAL= 54.7, -11.8, ROT= 95.3, 11.8 2025-10-24T20:00:51.770Z,1761336051.770 [DAT](INFO): DAT read: Bearing 95.3, 11.8 (Local) 2025-10-24T20:00:51.770Z,1761336051.770 [DAT](INFO): Local bearing/azimuth received: Bearing 95.3, 11.8 (Local) 2025-10-24T20:00:51.771Z,1761336051.771 [DAT](INFO): DAT read: Range 10 to 50 : 154.7 m (Round-trip 206.3 ms) speed -0.3 m/s 2025-10-24T20:00:51.773Z,1761336051.773 [DAT](INFO): DAT read: user:193>Tx time:20:00:51.1903 2025-10-24T20:00:51.774Z,1761336051.774 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:51.775Z,1761336051.775 [DAT](INFO): direction in FSK: [-0.090419,0.974682,-0.204496] 2025-10-24T20:00:51.775Z,1761336051.775 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:51.782Z,1761336051.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955483,0.143253,-0.257937],[-0.210456,0.943616,-0.255533],[0.206788,0.298442,0.931757]] 2025-10-24T20:00:51.786Z,1761336051.786 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:51.787Z,1761336051.787 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:51.811Z,1761336051.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.699997 m, deltaT: 3.527195 s, deltaX: 0.800003 m, approachRate: 0.226810 m/s, rangeRepo size: 4 2025-10-24T20:00:51.851Z,1761336051.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.037521 m, bearing: 83.895943 deg, lat: 36.779455 deg, lon: -121.859455 deg, deltaT: 3.527195 s, deltaX: 0.790344 m, approachRate: 0.224072 m/s, posRepo size: 4 2025-10-24T20:00:51.852Z,1761336051.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:51.855Z,1761336051.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 154.901306 m, bearing: 78.880024 deg, approach rate: 0.000000 m/s, LOS rate: 0.192427 deg/s, cmd heading: 80.782949 deg, new cmd heading: 81.027429 deg. 2025-10-24T20:00:51.855Z,1761336051.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414195 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:52.005Z,1761336052.005 [DAT](INFO): DAT read: 2025-10-24T20:00:52.007Z,1761336052.007 [DAT](INFO): DAT read: TxSync time:20:00:51.1895 2025-10-24T20:00:52.007Z,1761336052.007 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:52.198Z,1761336052.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960349,0.122007,-0.250688],[-0.188447,0.946724,-0.261153],[0.205470,0.298040,0.932177]] 2025-10-24T20:00:52.238Z,1761336052.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:52.242Z,1761336052.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 154.937973 m, bearing: 78.966987 deg, approach rate: 0.085826 m/s, LOS rate: 0.203505 deg/s, cmd heading: 81.027429 deg, new cmd heading: 81.288254 deg. 2025-10-24T20:00:52.243Z,1761336052.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418748 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:52.257Z,1761336052.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:52.509Z,1761336052.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:52.594Z,1761336052.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964523,0.100697,-0.244041],[-0.166155,0.949895,-0.264748],[0.205154,0.295904,0.932927]] 2025-10-24T20:00:52.630Z,1761336052.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:52.634Z,1761336052.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 154.965469 m, bearing: 79.042724 deg, approach rate: 0.070131 m/s, LOS rate: 0.193139 deg/s, cmd heading: 81.288253 deg, new cmd heading: 81.515424 deg. 2025-10-24T20:00:52.642Z,1761336052.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422713 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:52.761Z,1761336052.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:53.008Z,1761336053.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968289,0.078734,-0.237103],[-0.143838,0.951659,-0.271395],[0.204273,0.296893,0.932806]] 2025-10-24T20:00:53.013Z,1761336053.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:53.048Z,1761336053.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:53.051Z,1761336053.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 154.993347 m, bearing: 79.129433 deg, approach rate: 0.066739 m/s, LOS rate: 0.207542 deg/s, cmd heading: 81.515425 deg, new cmd heading: 81.775504 deg. 2025-10-24T20:00:53.072Z,1761336053.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.427252 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:53.264Z,1761336053.264 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:53.403Z,1761336053.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971350,0.056392,-0.230866],[-0.121237,0.953108,-0.277286],[0.204404,0.297331,0.932638]] 2025-10-24T20:00:53.421Z,1761336053.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:53.423Z,1761336053.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:53.446Z,1761336053.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 155.012924 m, bearing: 79.204421 deg, approach rate: 0.052217 m/s, LOS rate: 0.199983 deg/s, cmd heading: 81.775505 deg, new cmd heading: 82.000437 deg. 2025-10-24T20:00:53.447Z,1761336053.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431178 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:53.521Z,1761336053.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:53.773Z,1761336053.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:53.807Z,1761336053.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974253,0.034699,-0.222771],[-0.098610,0.954146,-0.282634],[0.202749,0.297325,0.933001]] 2025-10-24T20:00:53.851Z,1761336053.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:53.856Z,1761336053.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 155.029877 m, bearing: 79.288524 deg, approach rate: 0.039663 m/s, LOS rate: 0.196752 deg/s, cmd heading: 82.000437 deg, new cmd heading: 82.252719 deg. 2025-10-24T20:00:53.858Z,1761336053.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435581 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:54.025Z,1761336054.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:54.229Z,1761336054.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976511,0.012059,-0.215128],[-0.075325,0.954540,-0.288409],[0.201871,0.297839,0.933027]] 2025-10-24T20:00:54.277Z,1761336054.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:54.287Z,1761336054.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:54.291Z,1761336054.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 155.048233 m, bearing: 79.375650 deg, approach rate: 0.042071 m/s, LOS rate: 0.199660 deg/s, cmd heading: 82.252717 deg, new cmd heading: 82.514061 deg. 2025-10-24T20:00:54.292Z,1761336054.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440142 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:54.529Z,1761336054.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:54.631Z,1761336054.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978067,-0.009322,-0.208084],[-0.053222,0.954652,-0.292929],[0.201378,0.297579,0.933217]] 2025-10-24T20:00:54.653Z,1761336054.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:54.656Z,1761336054.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 155.059174 m, bearing: 79.447062 deg, approach rate: 0.029836 m/s, LOS rate: 0.194736 deg/s, cmd heading: 82.514061 deg, new cmd heading: 82.728282 deg. 2025-10-24T20:00:54.657Z,1761336054.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443881 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:54.781Z,1761336054.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:55.033Z,1761336055.033 [DAT](INFO): DAT read: Rx Time:20:00:53.8012 2025-10-24T20:00:55.033Z,1761336055.033 [DAT](INFO): Rx dataTimestamp_ set to:1761336055.033148 2025-10-24T20:00:55.034Z,1761336055.034 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:55.041Z,1761336055.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979062,-0.032422,-0.200961],[-0.029555,0.954132,-0.297925],[0.201403,0.297626,0.933196]] 2025-10-24T20:00:55.079Z,1761336055.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:55.101Z,1761336055.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 155.067703 m, bearing: 79.528358 deg, approach rate: 0.020048 m/s, LOS rate: 0.191062 deg/s, cmd heading: 82.728283 deg, new cmd heading: 82.972155 deg. 2025-10-24T20:00:55.102Z,1761336055.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448137 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:55.285Z,1761336055.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:55.462Z,1761336055.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979455,-0.054389,-0.194191],[-0.006953,0.953265,-0.302057],[0.201544,0.297201,0.933302]] 2025-10-24T20:00:55.493Z,1761336055.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:55.495Z,1761336055.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.04 m. 2025-10-24T20:00:55.498Z,1761336055.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.037521 m, nav range: 155.071365 m, bearing: 79.607298 deg, approach rate: 0.008785 m/s, LOS rate: 0.189374 deg/s, cmd heading: 82.972154 deg, new cmd heading: 83.208967 deg. 2025-10-24T20:00:55.499Z,1761336055.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452271 target range: 154.037521 and range: 154.70 m. 2025-10-24T20:00:55.554Z,1761336055.554 [DAT](INFO): DAT read: 20:00:53.8012 LVL= 21488, 32753, 22578, 27443, AGC= 61, IDX= 433, 0.08,-1.941, 2.972, 2.116, 2.746, PHS= 1.684, 0.273,-0.634, RAW= 67.2, -13.0, CAL= 79.1, -21.7, ROT= 70.9, 21.7 2025-10-24T20:00:55.555Z,1761336055.555 [DAT](INFO): got valid direction response: 20:00:53.8012 LVL= 21488, 32753, 22578, 27443, AGC= 61, IDX= 433, 0.08,-1.941, 2.972, 2.116, 2.746, PHS= 1.684, 0.273,-0.634, RAW= 67.2, -13.0, CAL= 79.1, -21.7, ROT= 70.9, 21.7 2025-10-24T20:00:55.593Z,1761336055.593 [DAT](INFO): DAT read: Bearing 70.9, 21.7 (Local) 2025-10-24T20:00:55.593Z,1761336055.593 [DAT](INFO): Local bearing/azimuth received: Bearing 70.9, 21.7 (Local) 2025-10-24T20:00:55.595Z,1761336055.595 [DAT](INFO): DAT read: Range 10 to 50 : 155.1 m (Round-trip 206.8 ms) speed 0.0 m/s 2025-10-24T20:00:55.609Z,1761336055.609 [DAT](INFO): DAT read: user:194>Tx time:20:00:54.8903 2025-10-24T20:00:55.610Z,1761336055.610 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:55.632Z,1761336055.632 [DAT](INFO): direction in FSK: [0.304029,0.877983,-0.369747] 2025-10-24T20:00:55.632Z,1761336055.632 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:55.640Z,1761336055.640 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:55.640Z,1761336055.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:55.789Z,1761336055.789 [DAT](INFO): DAT read: TxSync time:20:00:54.8895 2025-10-24T20:00:55.790Z,1761336055.790 [DAT](INFO): DAT read: 2025-10-24T20:00:55.791Z,1761336055.791 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:55.843Z,1761336055.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979320,-0.077153,-0.187030],[0.016317,0.951542,-0.307085],[0.201660,0.297682,0.933123]] 2025-10-24T20:00:55.887Z,1761336055.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 155.100006 m, deltaT: 3.784516 s, deltaX: 0.400009 m, approachRate: 0.105696 m/s, rangeRepo size: 4 2025-10-24T20:00:55.895Z,1761336055.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.429962 m, bearing: 72.588552 deg, lat: 36.779621 deg, lon: -121.859514 deg, deltaT: 3.784516 s, deltaX: 0.392441 m, approachRate: 0.103696 m/s, posRepo size: 4 2025-10-24T20:00:55.900Z,1761336055.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:55.908Z,1761336055.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 154.391022 m, bearing: 72.588013 deg, approach rate: 0.000000 m/s, LOS rate: 0.189374 deg/s, cmd heading: 83.208971 deg, new cmd heading: 83.430510 deg. 2025-10-24T20:00:55.910Z,1761336055.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456137 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:56.041Z,1761336056.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:56.293Z,1761336056.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:56.327Z,1761336056.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:56.354Z,1761336056.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 154.360306 m, bearing: 72.671098 deg, approach rate: -0.069582 m/s, LOS rate: 0.188252 deg/s, cmd heading: 83.430508 deg, new cmd heading: 83.679811 deg. 2025-10-24T20:00:56.355Z,1761336056.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460488 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:56.545Z,1761336056.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:56.664Z,1761336056.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977213,-0.121971,-0.173719],[0.061167,0.945515,-0.319780],[0.203258,0.301867,0.931430]] 2025-10-24T20:00:56.710Z,1761336056.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:56.717Z,1761336056.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 154.327682 m, bearing: 72.736948 deg, approach rate: -0.085075 m/s, LOS rate: 0.171760 deg/s, cmd heading: 83.679810 deg, new cmd heading: 83.877400 deg. 2025-10-24T20:00:56.718Z,1761336056.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463937 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:56.797Z,1761336056.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:57.048Z,1761336057.048 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:57.069Z,1761336057.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975414,-0.142497,-0.168113],[0.082417,0.943347,-0.321411],[0.204389,0.299653,0.931898]] 2025-10-24T20:00:57.132Z,1761336057.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:57.135Z,1761336057.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 154.285751 m, bearing: 72.807475 deg, approach rate: -0.099443 m/s, LOS rate: 0.167307 deg/s, cmd heading: 83.877400 deg, new cmd heading: 84.089040 deg. 2025-10-24T20:00:57.136Z,1761336057.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.467631 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:57.301Z,1761336057.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:57.384Z,1761336057.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:00:57.471Z,1761336057.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973366,-0.163482,-0.160726],[0.104486,0.940366,-0.323720],[0.204064,0.298304,0.932402]] 2025-10-24T20:00:57.507Z,1761336057.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:57.509Z,1761336057.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:57.512Z,1761336057.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 154.241211 m, bearing: 72.875531 deg, approach rate: -0.118015 m/s, LOS rate: 0.180374 deg/s, cmd heading: 84.089041 deg, new cmd heading: 84.293266 deg. 2025-10-24T20:00:57.513Z,1761336057.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471195 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:57.553Z,1761336057.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:57.805Z,1761336057.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:57.936Z,1761336057.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:57.938Z,1761336057.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 154.195786 m, bearing: 72.945333 deg, approach rate: -0.106599 m/s, LOS rate: 0.163850 deg/s, cmd heading: 84.293263 deg, new cmd heading: 84.502728 deg. 2025-10-24T20:00:57.940Z,1761336057.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474851 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:58.058Z,1761336058.058 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:58.284Z,1761336058.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967514,-0.206636,-0.145665],[0.149412,0.932123,-0.329884],[0.203943,0.297404,0.932716]] 2025-10-24T20:00:58.312Z,1761336058.312 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:58.345Z,1761336058.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:58.366Z,1761336058.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 154.134537 m, bearing: 73.012858 deg, approach rate: -0.150242 m/s, LOS rate: 0.165704 deg/s, cmd heading: 84.502732 deg, new cmd heading: 84.705387 deg. 2025-10-24T20:00:58.369Z,1761336058.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478388 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:58.389Z,1761336058.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:00:58.564Z,1761336058.564 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:58.686Z,1761336058.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963552,-0.229344,-0.137729],[0.172855,0.926668,-0.333779],[0.204179,0.297806,0.932536]] 2025-10-24T20:00:58.709Z,1761336058.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:58.725Z,1761336058.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 154.078094 m, bearing: 73.070619 deg, approach rate: -0.154706 m/s, LOS rate: 0.158377 deg/s, cmd heading: 84.705390 deg, new cmd heading: 84.878735 deg. 2025-10-24T20:00:58.726Z,1761336058.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481413 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:58.814Z,1761336058.814 [DAT](INFO): DAT read: Rx Time:20:00:57.5007 2025-10-24T20:00:58.814Z,1761336058.814 [DAT](INFO): Rx dataTimestamp_ set to:1761336058.814059 2025-10-24T20:00:58.815Z,1761336058.815 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:59.065Z,1761336059.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:59.111Z,1761336059.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959206,-0.251140,-0.129820],[0.195633,0.921142,-0.336489],[0.204089,0.297365,0.932696]] 2025-10-24T20:00:59.191Z,1761336059.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.43 m. 2025-10-24T20:00:59.194Z,1761336059.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.429962 m, nav range: 153.990234 m, bearing: 73.145504 deg, approach rate: -0.182121 m/s, LOS rate: 0.155315 deg/s, cmd heading: 84.878733 deg, new cmd heading: 85.103516 deg. 2025-10-24T20:00:59.195Z,1761336059.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485337 target range: 154.429962 and range: 155.10 m. 2025-10-24T20:00:59.327Z,1761336059.327 [DAT](INFO): DAT read: 20:00:57.5007 LVL= 17680, 31025, 22674, 30819, AGC= 61, IDX= 429, 0.14,-1.282,-2.799,-2.935,-2.496, PHS= 1.301,-0.257,-0.442, RAW= 84.4, -7.3, CAL= 93.7, -16.2, ROT= 56.3, 16.2 2025-10-24T20:00:59.328Z,1761336059.328 [DAT](INFO): got valid direction response: 20:00:57.5007 LVL= 17680, 31025, 22674, 30819, AGC= 61, IDX= 429, 0.14,-1.282,-2.799,-2.935,-2.496, PHS= 1.301,-0.257,-0.442, RAW= 84.4, -7.3, CAL= 93.7, -16.2, ROT= 56.3, 16.2 2025-10-24T20:00:59.329Z,1761336059.329 [DAT](INFO): DAT read: Bearing 56.3, 16.2 (Local) 2025-10-24T20:00:59.330Z,1761336059.330 [DAT](INFO): Local bearing/azimuth received: Bearing 56.3, 16.2 (Local) 2025-10-24T20:00:59.331Z,1761336059.331 [DAT](INFO): DAT read: Range 10 to 50 : 154.7 m (Round-trip 206.3 ms) speed 0.0 m/s 2025-10-24T20:00:59.333Z,1761336059.333 [DAT](INFO): DAT read: user:195>Tx time:20:00:58.5903 2025-10-24T20:00:59.334Z,1761336059.334 [DAT](INFO): DAT read: TxSync time:20:00:58.5895 2025-10-24T20:00:59.334Z,1761336059.334 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:00:59.335Z,1761336059.335 [DAT](INFO): direction in FSK: [0.532814,0.798920,-0.278991] 2025-10-24T20:00:59.335Z,1761336059.335 [DAT](INFO): publishing direction and range info 2025-10-24T20:00:59.339Z,1761336059.339 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:59.340Z,1761336059.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:00:59.515Z,1761336059.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948516,-0.295454,-0.114125],[0.241660,0.908009,-0.342227],[0.204739,0.297028,0.932661]] 2025-10-24T20:00:59.543Z,1761336059.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.699997 m, deltaT: 3.780531 s, deltaX: -0.400009 m, approachRate: -0.105808 m/s, rangeRepo size: 4 2025-10-24T20:00:59.545Z,1761336059.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.019302 m, bearing: 72.404019 deg, lat: 36.779638 deg, lon: -121.859526 deg, deltaT: 3.780531 s, deltaX: -0.410660 m, approachRate: -0.108625 m/s, posRepo size: 4 2025-10-24T20:00:59.546Z,1761336059.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.02 m. 2025-10-24T20:00:59.549Z,1761336059.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.019302 m, nav range: 153.445831 m, bearing: 72.403482 deg, approach rate: 0.000000 m/s, LOS rate: 0.155315 deg/s, cmd heading: 85.103515 deg, new cmd heading: 85.267333 deg. 2025-10-24T20:00:59.550Z,1761336059.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488196 target range: 154.019302 and range: 154.70 m. 2025-10-24T20:00:59.569Z,1761336059.569 [DAT](INFO): DAT read: 2025-10-24T20:00:59.569Z,1761336059.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:59.821Z,1761336059.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:00:59.910Z,1761336059.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941910,-0.318064,-0.107890],[0.265089,0.901272,-0.342690],[0.206236,0.294183,0.933233]] 2025-10-24T20:00:59.929Z,1761336059.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:00:59.931Z,1761336059.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.02 m. 2025-10-24T20:00:59.935Z,1761336059.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.019302 m, nav range: 153.361298 m, bearing: 72.461808 deg, approach rate: -0.217227 m/s, LOS rate: 0.149963 deg/s, cmd heading: 85.267330 deg, new cmd heading: 85.442403 deg. 2025-10-24T20:00:59.936Z,1761336059.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491251 target range: 154.019302 and range: 154.70 m. 2025-10-24T20:01:00.073Z,1761336060.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:00.313Z,1761336060.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934406,-0.341781,-0.100351],[0.289308,0.892528,-0.345970],[0.207812,0.294244,0.932864]] 2025-10-24T20:01:00.325Z,1761336060.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:00.374Z,1761336060.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.02 m. 2025-10-24T20:01:00.381Z,1761336060.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.019302 m, nav range: 153.252594 m, bearing: 72.521714 deg, approach rate: -0.245741 m/s, LOS rate: 0.135523 deg/s, cmd heading: 85.442402 deg, new cmd heading: 85.622247 deg. 2025-10-24T20:01:00.382Z,1761336060.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494390 target range: 154.019302 and range: 154.70 m. 2025-10-24T20:01:00.577Z,1761336060.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:00.714Z,1761336060.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927011,-0.363685,-0.091563],[0.312277,0.883732,-0.348568],[0.207686,0.294534,0.932800]] 2025-10-24T20:01:00.732Z,1761336060.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.02 m. 2025-10-24T20:01:00.735Z,1761336060.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.019302 m, nav range: 153.151657 m, bearing: 72.574625 deg, approach rate: -0.281636 m/s, LOS rate: 0.147732 deg/s, cmd heading: 85.622247 deg, new cmd heading: 85.781086 deg. 2025-10-24T20:01:00.736Z,1761336060.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497162 target range: 154.019302 and range: 154.70 m. 2025-10-24T20:01:00.830Z,1761336060.830 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:01.081Z,1761336061.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:01.176Z,1761336061.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.02 m. 2025-10-24T20:01:01.179Z,1761336061.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.019302 m, nav range: 153.028183 m, bearing: 72.637203 deg, approach rate: -0.278088 m/s, LOS rate: 0.141051 deg/s, cmd heading: 85.781083 deg, new cmd heading: 85.968968 deg. 2025-10-24T20:01:01.180Z,1761336061.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500442 target range: 154.019302 and range: 154.70 m. 2025-10-24T20:01:01.333Z,1761336061.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:01.513Z,1761336061.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910509,-0.406810,-0.074024],[0.357613,0.864617,-0.352917],[0.207573,0.294862,0.932722]] 2025-10-24T20:01:01.549Z,1761336061.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.02 m. 2025-10-24T20:01:01.551Z,1761336061.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.019302 m, nav range: 152.921982 m, bearing: 72.685947 deg, approach rate: -0.284874 m/s, LOS rate: 0.130840 deg/s, cmd heading: 85.968968 deg, new cmd heading: 86.115299 deg. 2025-10-24T20:01:01.553Z,1761336061.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502995 target range: 154.019302 and range: 154.70 m. 2025-10-24T20:01:01.585Z,1761336061.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:01.837Z,1761336061.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:01.974Z,1761336061.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901096,-0.428718,-0.065008],[0.380560,0.853758,-0.355346],[0.207845,0.295461,0.932472]] 2025-10-24T20:01:01.991Z,1761336061.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:01.993Z,1761336061.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.02 m. 2025-10-24T20:01:01.996Z,1761336061.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.019302 m, nav range: 152.781342 m, bearing: 72.747417 deg, approach rate: -0.316477 m/s, LOS rate: 0.138453 deg/s, cmd heading: 86.115298 deg, new cmd heading: 86.299880 deg. 2025-10-24T20:01:01.997Z,1761336061.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506217 target range: 154.019302 and range: 154.70 m. 2025-10-24T20:01:02.092Z,1761336062.092 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:02.341Z,1761336062.341 [DAT](INFO): DAT read: Rx Time:20:01:01.1997 2025-10-24T20:01:02.342Z,1761336062.342 [DAT](INFO): Rx dataTimestamp_ set to:1761336062.341293 2025-10-24T20:01:02.342Z,1761336062.342 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:02.388Z,1761336062.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891580,-0.449279,-0.056860],[0.402305,0.843425,-0.356070],[0.207932,0.294590,0.932728]] 2025-10-24T20:01:02.448Z,1761336062.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.02 m. 2025-10-24T20:01:02.450Z,1761336062.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.019302 m, nav range: 152.631851 m, bearing: 72.808249 deg, approach rate: -0.328969 m/s, LOS rate: 0.133998 deg/s, cmd heading: 86.299877 deg, new cmd heading: 86.482551 deg. 2025-10-24T20:01:02.451Z,1761336062.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509405 target range: 154.019302 and range: 154.70 m. 2025-10-24T20:01:02.593Z,1761336062.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:02.775Z,1761336062.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881037,-0.470598,-0.048082],[0.425322,0.832537,-0.354942],[0.207066,0.292267,0.933651]] 2025-10-24T20:01:02.862Z,1761336062.862 [DAT](INFO): DAT read: 20:01:01.1997 LVL= 21856, 32753, 29842, 32755, AGC= 63, IDX= 434,-0.25, 0.520,-0.972,-0.647,-0.361, PHS= 0.969,-0.564,-0.289, RAW= 99.7, -1.7, CAL= 108.3, -7.7, ROT= 41.7, 7.7 2025-10-24T20:01:02.866Z,1761336062.866 [DAT](INFO): got valid direction response: 20:01:01.1997 LVL= 21856, 32753, 29842, 32755, AGC= 63, IDX= 434,-0.25, 0.520,-0.972,-0.647,-0.361, PHS= 0.969,-0.564,-0.289, RAW= 99.7, -1.7, CAL= 108.3, -7.7, ROT= 41.7, 7.7 2025-10-24T20:01:02.868Z,1761336062.868 [DAT](INFO): DAT read: Bearing 41.7, 7.7 (Local) 2025-10-24T20:01:02.869Z,1761336062.869 [DAT](INFO): Local bearing/azimuth received: Bearing 41.7, 7.7 (Local) 2025-10-24T20:01:02.872Z,1761336062.872 [DAT](INFO): DAT read: Range 10 to 50 : 153.9 m (Round-trip 205.2 ms) speed 0.2 m/s 2025-10-24T20:01:02.874Z,1761336062.874 [DAT](INFO): DAT read: user:196>Tx time:20:01:02.2903 2025-10-24T20:01:02.875Z,1761336062.875 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:02.878Z,1761336062.878 [DAT](INFO): direction in FSK: [0.739906,0.659232,-0.133986] 2025-10-24T20:01:02.878Z,1761336062.878 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:02.901Z,1761336062.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:02.901Z,1761336062.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:02.922Z,1761336062.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 153.899994 m, deltaT: 3.531198 s, deltaX: -0.800003 m, approachRate: -0.226553 m/s, rangeRepo size: 4 2025-10-24T20:01:02.929Z,1761336062.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.212875 m, bearing: 69.090044 deg, lat: 36.779638 deg, lon: -121.859526 deg, deltaT: 3.531198 s, deltaX: -0.806427 m, approachRate: -0.228372 m/s, posRepo size: 4 2025-10-24T20:01:02.930Z,1761336062.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:02.936Z,1761336062.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 152.500443 m, bearing: 72.859205 deg, approach rate: 0.000000 m/s, LOS rate: 0.133998 deg/s, cmd heading: 86.482551 deg, new cmd heading: 86.672868 deg. 2025-10-24T20:01:02.937Z,1761336062.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512727 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:03.104Z,1761336063.104 [DAT](INFO): DAT read: 2025-10-24T20:01:03.108Z,1761336063.108 [DAT](INFO): DAT read: TxSync time:20:01:02.2895 2025-10-24T20:01:03.109Z,1761336063.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:03.353Z,1761336063.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:03.422Z,1761336063.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:03.449Z,1761336063.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 152.298553 m, bearing: 72.937893 deg, approach rate: -0.403073 m/s, LOS rate: 0.157309 deg/s, cmd heading: 86.672867 deg, new cmd heading: 86.909243 deg. 2025-10-24T20:01:03.450Z,1761336063.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.516852 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:03.605Z,1761336063.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:03.858Z,1761336063.858 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:03.925Z,1761336063.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:03.928Z,1761336063.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 152.127472 m, bearing: 73.004832 deg, approach rate: -0.339955 m/s, LOS rate: 0.133164 deg/s, cmd heading: 86.909239 deg, new cmd heading: 87.110282 deg. 2025-10-24T20:01:03.929Z,1761336063.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520361 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:04.113Z,1761336064.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:04.265Z,1761336064.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831623,-0.555340,0.000087],[0.521706,0.781201,-0.342853],[0.190332,0.285170,0.939389]] 2025-10-24T20:01:04.317Z,1761336064.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:04.319Z,1761336064.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:04.323Z,1761336064.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 151.990738 m, bearing: 73.052745 deg, approach rate: -0.346738 m/s, LOS rate: 0.121610 deg/s, cmd heading: 87.110279 deg, new cmd heading: 87.254148 deg. 2025-10-24T20:01:04.326Z,1761336064.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.522872 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:04.361Z,1761336064.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:04.612Z,1761336064.612 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:04.668Z,1761336064.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818134,-0.574789,0.016599],[0.545223,0.766231,-0.340033],[0.182729,0.287243,0.940267]] 2025-10-24T20:01:04.687Z,1761336064.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:04.692Z,1761336064.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 151.854904 m, bearing: 73.097860 deg, approach rate: -0.369124 m/s, LOS rate: 0.122709 deg/s, cmd heading: 87.254150 deg, new cmd heading: 87.389616 deg. 2025-10-24T20:01:04.693Z,1761336064.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525236 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:04.865Z,1761336064.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:05.072Z,1761336065.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.804395,-0.593237,0.031914],[0.567602,0.751551,-0.336153],[0.175433,0.288514,0.941267]] 2025-10-24T20:01:05.121Z,1761336065.121 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:05.175Z,1761336065.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:05.182Z,1761336065.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 151.704376 m, bearing: 73.145334 deg, approach rate: -0.308509 m/s, LOS rate: 0.097395 deg/s, cmd heading: 87.389613 deg, new cmd heading: 87.532177 deg. 2025-10-24T20:01:05.183Z,1761336065.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.527725 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:05.368Z,1761336065.368 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:05.476Z,1761336065.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789120,-0.612342,0.048232],[0.590799,0.735178,-0.332370],[0.168065,0.290775,0.941915]] 2025-10-24T20:01:05.535Z,1761336065.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:05.543Z,1761336065.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 151.550949 m, bearing: 73.195593 deg, approach rate: -0.426417 m/s, LOS rate: 0.139826 deg/s, cmd heading: 87.532180 deg, new cmd heading: 87.683110 deg. 2025-10-24T20:01:05.545Z,1761336065.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530359 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:05.621Z,1761336065.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:05.873Z,1761336065.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:05.931Z,1761336065.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:05.934Z,1761336065.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 151.416290 m, bearing: 73.239822 deg, approach rate: -0.340860 m/s, LOS rate: 0.112056 deg/s, cmd heading: 87.683107 deg, new cmd heading: 87.815912 deg. 2025-10-24T20:01:05.934Z,1761336065.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532677 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:06.129Z,1761336066.129 [DAT](INFO): DAT read: Rx Time:20:01:04.8983 2025-10-24T20:01:06.131Z,1761336066.131 [DAT](INFO): Rx dataTimestamp_ set to:1761336066.129743 2025-10-24T20:01:06.132Z,1761336066.132 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:06.283Z,1761336066.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756610,-0.648928,0.080206],[0.635609,0.701146,-0.323102],[0.153434,0.295442,0.942959]] 2025-10-24T20:01:06.349Z,1761336066.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:06.356Z,1761336066.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.21 m. 2025-10-24T20:01:06.359Z,1761336066.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.212875 m, nav range: 151.270706 m, bearing: 73.282276 deg, approach rate: -0.345595 m/s, LOS rate: 0.100875 deg/s, cmd heading: 87.815913 deg, new cmd heading: 87.943395 deg. 2025-10-24T20:01:06.365Z,1761336066.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534902 target range: 153.212875 and range: 153.90 m. 2025-10-24T20:01:06.377Z,1761336066.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:06.635Z,1761336066.635 [DAT](INFO): DAT read: 20:01:04.8983 LVL= 25312, 32753, 32754, 32755, AGC= 66, IDX= 419,-0.16, 0.472,-0.941,-0.258,-0.089, PHS= 0.649,-0.805,-0.172, RAW= 115.7, 5.2, CAL= 125.8, 1.6, ROT= 24.2, -1.6 2025-10-24T20:01:06.641Z,1761336066.641 [DAT](INFO): got valid direction response: 20:01:04.8983 LVL= 25312, 32753, 32754, 32755, AGC= 66, IDX= 419,-0.16, 0.472,-0.941,-0.258,-0.089, PHS= 0.649,-0.805,-0.172, RAW= 115.7, 5.2, CAL= 125.8, 1.6, ROT= 24.2, -1.6 2025-10-24T20:01:06.642Z,1761336066.642 [DAT](INFO): DAT read: Bearing 24.2, -1.6 (Local) 2025-10-24T20:01:06.642Z,1761336066.642 [DAT](INFO): Local bearing/azimuth received: Bearing 24.2, -1.6 (Local) 2025-10-24T20:01:06.653Z,1761336066.653 [DAT](INFO): DAT read: Range 10 to 50 : 152.8 m (Round-trip 203.8 ms) speed 0.0 m/s 2025-10-24T20:01:06.654Z,1761336066.654 [DAT](INFO): DAT read: user:197>Tx time:20:01:05.9904 2025-10-24T20:01:06.654Z,1761336066.654 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:06.655Z,1761336066.655 [DAT](INFO): direction in FSK: [0.911764,0.409763,0.027922] 2025-10-24T20:01:06.657Z,1761336066.657 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:06.684Z,1761336066.684 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:06.685Z,1761336066.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:06.703Z,1761336066.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739344,-0.666652,0.094582],[0.657286,0.684093,-0.316214],[0.146102,0.295959,0.943961]] 2025-10-24T20:01:06.769Z,1761336066.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.800003 m, deltaT: 3.779723 s, deltaX: -1.099991 m, approachRate: -0.291024 m/s, rangeRepo size: 4 2025-10-24T20:01:06.771Z,1761336066.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 152.096207 m, bearing: 65.133725 deg, lat: 36.779638 deg, lon: -121.859526 deg, deltaT: 3.779723 s, deltaX: -1.116669 m, approachRate: -0.295437 m/s, posRepo size: 4 2025-10-24T20:01:06.771Z,1761336066.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:06.778Z,1761336066.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 151.128098 m, bearing: 73.321596 deg, approach rate: 0.000000 m/s, LOS rate: 0.100875 deg/s, cmd heading: 87.943392 deg, new cmd heading: 88.068092 deg. 2025-10-24T20:01:06.779Z,1761336066.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537078 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:06.892Z,1761336066.892 [DAT](INFO): DAT read: 2025-10-24T20:01:06.893Z,1761336066.893 [DAT](INFO): DAT read: TxSync time:20:01:05.9896 2025-10-24T20:01:06.894Z,1761336066.894 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:07.092Z,1761336067.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720137,-0.685310,0.108412],[0.679669,0.665363,-0.308776],[0.139473,0.296045,0.944936]] 2025-10-24T20:01:07.118Z,1761336067.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:07.120Z,1761336067.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 150.996689 m, bearing: 73.355689 deg, approach rate: -0.371197 m/s, LOS rate: 0.096390 deg/s, cmd heading: 88.068090 deg, new cmd heading: 88.170460 deg. 2025-10-24T20:01:07.121Z,1761336067.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538865 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:07.151Z,1761336067.151 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:07.401Z,1761336067.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:07.605Z,1761336067.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:07.612Z,1761336067.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 150.831696 m, bearing: 73.398158 deg, approach rate: -0.338843 m/s, LOS rate: 0.087312 deg/s, cmd heading: 88.170461 deg, new cmd heading: 88.298006 deg. 2025-10-24T20:01:07.613Z,1761336067.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541091 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:07.653Z,1761336067.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:07.905Z,1761336067.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:07.929Z,1761336067.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677191,-0.723827,0.132239],[0.724780,0.625182,-0.289553],[0.126913,0.291927,0.947983]] 2025-10-24T20:01:07.969Z,1761336067.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:07.976Z,1761336067.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 150.697098 m, bearing: 73.428425 deg, approach rate: -0.368802 m/s, LOS rate: 0.083008 deg/s, cmd heading: 88.298008 deg, new cmd heading: 88.388891 deg. 2025-10-24T20:01:07.977Z,1761336067.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542677 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:08.159Z,1761336068.159 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:08.330Z,1761336068.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655191,-0.741099,0.146620],[0.745853,0.603699,-0.281515],[0.120116,0.293803,0.948289]] 2025-10-24T20:01:08.366Z,1761336068.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:08.389Z,1761336068.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:08.394Z,1761336068.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 150.537888 m, bearing: 73.458312 deg, approach rate: -0.379604 m/s, LOS rate: 0.071334 deg/s, cmd heading: 88.388891 deg, new cmd heading: 88.478645 deg. 2025-10-24T20:01:08.395Z,1761336068.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544244 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:08.409Z,1761336068.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:08.661Z,1761336068.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:08.729Z,1761336068.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633068,-0.757322,0.160277],[0.765745,0.582336,-0.272983],[0.113401,0.295548,0.948573]] 2025-10-24T20:01:08.756Z,1761336068.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:08.759Z,1761336068.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 150.389175 m, bearing: 73.484204 deg, approach rate: -0.405517 m/s, LOS rate: 0.070676 deg/s, cmd heading: 88.478646 deg, new cmd heading: 88.556401 deg. 2025-10-24T20:01:08.761Z,1761336068.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545601 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:08.914Z,1761336068.914 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:09.132Z,1761336069.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609449,-0.773610,0.173490],[0.785560,0.559673,-0.263934],[0.107084,0.297141,0.948810]] 2025-10-24T20:01:09.154Z,1761336069.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:09.167Z,1761336069.167 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:09.186Z,1761336069.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 150.233963 m, bearing: 73.509091 deg, approach rate: -0.389117 m/s, LOS rate: 0.062455 deg/s, cmd heading: 88.556401 deg, new cmd heading: 88.631138 deg. 2025-10-24T20:01:09.195Z,1761336069.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546905 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:09.417Z,1761336069.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:09.651Z,1761336069.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585587,-0.789199,0.185076],[0.804280,0.537193,-0.254080],[0.101099,0.297639,0.949310]] 2025-10-24T20:01:09.671Z,1761336069.671 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:09.706Z,1761336069.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:09.726Z,1761336069.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 149.997635 m, bearing: 73.535721 deg, approach rate: -0.428784 m/s, LOS rate: 0.048391 deg/s, cmd heading: 88.631137 deg, new cmd heading: 88.711151 deg. 2025-10-24T20:01:09.727Z,1761336069.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548302 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:09.921Z,1761336069.921 [DAT](INFO): DAT read: Rx Time:20:01:08.5966 2025-10-24T20:01:09.922Z,1761336069.922 [DAT](INFO): Rx dataTimestamp_ set to:1761336069.921239 2025-10-24T20:01:09.922Z,1761336069.922 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:10.040Z,1761336070.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559840,-0.804860,0.196925],[0.823052,0.512698,-0.244389],[0.095736,0.298898,0.949471]] 2025-10-24T20:01:10.079Z,1761336070.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m. 2025-10-24T20:01:10.086Z,1761336070.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 152.096207 m, nav range: 149.844574 m, bearing: 73.551002 deg, approach rate: -0.409729 m/s, LOS rate: 0.040949 deg/s, cmd heading: 88.711153 deg, new cmd heading: 88.757044 deg. 2025-10-24T20:01:10.087Z,1761336070.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549103 target range: 152.096207 and range: 152.80 m. 2025-10-24T20:01:10.175Z,1761336070.175 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:10.431Z,1761336070.431 [DAT](INFO): DAT read: 20:01:08.5966 LVL= 16592, 29473, 19618, 32755, AGC= 67, IDX= 418, 0.21,-2.956, 1.732, 2.767, 2.590, PHS= 0.825,-0.811, 0.174, RAW= 126.7, -2.7, CAL= 132.4, -12.7, ROT= 17.6, 12.7 2025-10-24T20:01:10.433Z,1761336070.433 [DAT](INFO): got valid direction response: 20:01:08.5966 LVL= 16592, 29473, 19618, 32755, AGC= 67, IDX= 418, 0.21,-2.956, 1.732, 2.767, 2.590, PHS= 0.825,-0.811, 0.174, RAW= 126.7, -2.7, CAL= 132.4, -12.7, ROT= 17.6, 12.7 2025-10-24T20:01:10.434Z,1761336070.434 [DAT](INFO): DAT read: Bearing 17.6, 12.7 (Local) 2025-10-24T20:01:10.434Z,1761336070.434 [DAT](INFO): Local bearing/azimuth received: Bearing 17.6, 12.7 (Local) 2025-10-24T20:01:10.439Z,1761336070.439 [DAT](INFO): DAT read: Range 10 to 50 : 151.5 m (Round-trip 202.1 ms) speed 0.4 m/s 2025-10-24T20:01:10.443Z,1761336070.443 [DAT](INFO): DAT read: user:198>Tx time:20:01:09.6904 2025-10-24T20:01:10.444Z,1761336070.444 [DAT](INFO): DAT read: TxSync time:20:01:09.6896 2025-10-24T20:01:10.445Z,1761336070.445 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:10.446Z,1761336070.446 [DAT](INFO): direction in FSK: [0.929870,0.294972,-0.219846] 2025-10-24T20:01:10.446Z,1761336070.446 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:10.450Z,1761336070.450 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:10.450Z,1761336070.450 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:10.500Z,1761336070.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533970,-0.819572,0.207791],[0.840645,0.488310,-0.234243],[0.090513,0.299757,0.949712]] 2025-10-24T20:01:10.642Z,1761336070.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 151.500000 m, deltaT: 3.796132 s, deltaX: -1.300003 m, approachRate: -0.342455 m/s, rangeRepo size: 4 2025-10-24T20:01:10.649Z,1761336070.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 150.794281 m, bearing: 77.922944 deg, lat: 36.779638 deg, lon: -121.859526 deg, deltaT: 3.796132 s, deltaX: -1.301926 m, approachRate: -0.342961 m/s, posRepo size: 4 2025-10-24T20:01:10.650Z,1761336070.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.79 m. 2025-10-24T20:01:10.657Z,1761336070.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.794281 m, nav range: 149.569870 m, bearing: 73.570793 deg, approach rate: 0.000000 m/s, LOS rate: 0.040949 deg/s, cmd heading: 88.757045 deg, new cmd heading: 88.826141 deg. 2025-10-24T20:01:10.658Z,1761336070.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550309 target range: 150.794281 and range: 151.50 m. 2025-10-24T20:01:10.677Z,1761336070.677 [DAT](INFO): DAT read: 2025-10-24T20:01:10.677Z,1761336070.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:10.929Z,1761336070.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:10.994Z,1761336070.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:11.006Z,1761336071.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.79 m. 2025-10-24T20:01:11.018Z,1761336071.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.794281 m, nav range: 149.389282 m, bearing: 73.583843 deg, approach rate: -0.496722 m/s, LOS rate: 0.035941 deg/s, cmd heading: 88.826139 deg, new cmd heading: 88.865338 deg. 2025-10-24T20:01:11.019Z,1761336071.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550993 target range: 150.794281 and range: 151.50 m. 2025-10-24T20:01:11.181Z,1761336071.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:11.355Z,1761336071.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450337,-0.862767,0.229848],[0.889456,0.411046,-0.199774],[0.077880,0.294405,0.952502]] 2025-10-24T20:01:11.407Z,1761336071.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.79 m. 2025-10-24T20:01:11.410Z,1761336071.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.794281 m, nav range: 149.170486 m, bearing: 73.588599 deg, approach rate: -0.544271 m/s, LOS rate: 0.011848 deg/s, cmd heading: 88.865337 deg, new cmd heading: 88.879626 deg. 2025-10-24T20:01:11.411Z,1761336071.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551242 target range: 150.794281 and range: 151.50 m. 2025-10-24T20:01:11.450Z,1761336071.450 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:11.701Z,1761336071.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:11.745Z,1761336071.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420460,-0.875215,0.239189],[0.904211,0.382429,-0.190131],[0.074933,0.296220,0.952176]] 2025-10-24T20:01:11.792Z,1761336071.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.79 m. 2025-10-24T20:01:11.795Z,1761336071.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.794281 m, nav range: 148.979126 m, bearing: 73.590322 deg, approach rate: -0.536628 m/s, LOS rate: 0.004836 deg/s, cmd heading: 88.879626 deg, new cmd heading: 88.884799 deg. 2025-10-24T20:01:11.800Z,1761336071.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551332 target range: 150.794281 and range: 151.50 m. 2025-10-24T20:01:11.953Z,1761336071.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:12.146Z,1761336072.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389382,-0.886716,0.249232],[0.918231,0.352444,-0.180653],[0.072348,0.299196,0.951445]] 2025-10-24T20:01:12.207Z,1761336072.207 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:12.213Z,1761336072.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.79 m. 2025-10-24T20:01:12.241Z,1761336072.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.794281 m, nav range: 148.764771 m, bearing: 73.589458 deg, approach rate: -0.535828 m/s, LOS rate: -0.002163 deg/s, cmd heading: 88.884797 deg, new cmd heading: 88.882201 deg. 2025-10-24T20:01:12.258Z,1761336072.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551287 target range: 150.794281 and range: 151.50 m. 2025-10-24T20:01:12.457Z,1761336072.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:12.551Z,1761336072.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358334,-0.897000,0.258819],[0.930939,0.322419,-0.171461],[0.070353,0.302385,0.950586]] 2025-10-24T20:01:12.630Z,1761336072.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.79 m. 2025-10-24T20:01:12.637Z,1761336072.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.794281 m, nav range: 148.509018 m, bearing: 73.583602 deg, approach rate: -0.548507 m/s, LOS rate: -0.012579 deg/s, cmd heading: 88.882201 deg, new cmd heading: 88.864605 deg. 2025-10-24T20:01:12.638Z,1761336072.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550980 target range: 150.794281 and range: 151.50 m. 2025-10-24T20:01:12.712Z,1761336072.712 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:12.960Z,1761336072.960 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:13.110Z,1761336073.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328280,-0.906258,0.266326],[0.942104,0.293733,-0.161742],[0.068351,0.304003,0.950216]] 2025-10-24T20:01:13.143Z,1761336073.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:13.150Z,1761336073.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.79 m. 2025-10-24T20:01:13.157Z,1761336073.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.794281 m, nav range: 148.226700 m, bearing: 73.573603 deg, approach rate: -0.543398 m/s, LOS rate: -0.019283 deg/s, cmd heading: 88.864606 deg, new cmd heading: 88.834551 deg. 2025-10-24T20:01:13.158Z,1761336073.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550455 target range: 150.794281 and range: 151.50 m. 2025-10-24T20:01:13.213Z,1761336073.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:13.465Z,1761336073.465 [DAT](INFO): DAT read: Rx Time:20:01:12.2939 2025-10-24T20:01:13.466Z,1761336073.466 [DAT](INFO): Rx dataTimestamp_ set to:1761336073.465414 2025-10-24T20:01:13.466Z,1761336073.466 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:13.527Z,1761336073.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.298118,-0.914794,0.272538],[0.952195,0.265055,-0.151890],[0.066711,0.304791,0.950080]] 2025-10-24T20:01:13.569Z,1761336073.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.79 m. 2025-10-24T20:01:13.572Z,1761336073.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 150.794281 m, nav range: 147.969910 m, bearing: 73.562491 deg, approach rate: -0.612181 m/s, LOS rate: -0.026536 deg/s, cmd heading: 88.834554 deg, new cmd heading: 88.801161 deg. 2025-10-24T20:01:13.574Z,1761336073.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549873 target range: 150.794281 and range: 151.50 m. 2025-10-24T20:01:13.717Z,1761336073.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:13.975Z,1761336073.975 [DAT](INFO): DAT read: 20:01:12.2939 LVL= 21584, 29601, 18658, 24803, AGC= 70, IDX= 406, 0.13, 1.603, 0.132, 1.630, 1.178, PHS= 0.513,-0.999, 0.449, RAW= 147.8, 0.5, CAL= 151.2, -8.4, ROT= 358.8, 8.4 2025-10-24T20:01:13.976Z,1761336073.976 [DAT](INFO): got valid direction response: 20:01:12.2939 LVL= 21584, 29601, 18658, 24803, AGC= 70, IDX= 406, 0.13, 1.603, 0.132, 1.630, 1.178, PHS= 0.513,-0.999, 0.449, RAW= 147.8, 0.5, CAL= 151.2, -8.4, ROT= 358.8, 8.4 2025-10-24T20:01:13.977Z,1761336073.977 [DAT](INFO): DAT read: Bearing 358.8, 8.4 (Local) 2025-10-24T20:01:13.977Z,1761336073.977 [DAT](INFO): Local bearing/azimuth received: Bearing 358.8, 8.4 (Local) 2025-10-24T20:01:13.979Z,1761336073.979 [DAT](INFO): DAT read: Range 10 to 50 : 149.5 m (Round-trip 199.4 ms) speed 0.5 m/s 2025-10-24T20:01:13.984Z,1761336073.984 [DAT](INFO): DAT read: user:199>Tx time:20:01:13.3904 2025-10-24T20:01:13.985Z,1761336073.985 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:13.986Z,1761336073.986 [DAT](INFO): direction in FSK: [0.989055,-0.020718,-0.146083] 2025-10-24T20:01:13.986Z,1761336073.986 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:13.989Z,1761336073.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:13.990Z,1761336073.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:14.091Z,1761336074.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 149.500000 m, deltaT: 3.544296 s, deltaX: -2.000000 m, approachRate: -0.564287 m/s, rangeRepo size: 4 2025-10-24T20:01:14.105Z,1761336074.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 148.803024 m, bearing: 74.046558 deg, lat: 36.779638 deg, lon: -121.859526 deg, deltaT: 3.544296 s, deltaX: -1.991257 m, approachRate: -0.561820 m/s, posRepo size: 4 2025-10-24T20:01:14.106Z,1761336074.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:14.113Z,1761336074.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 147.691116 m, bearing: 73.550384 deg, approach rate: 0.000000 m/s, LOS rate: -0.026536 deg/s, cmd heading: 88.801161 deg, new cmd heading: 88.759749 deg. 2025-10-24T20:01:14.114Z,1761336074.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549150 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:14.223Z,1761336074.223 [DAT](INFO): DAT read: 2025-10-24T20:01:14.226Z,1761336074.226 [DAT](INFO): DAT read: TxSync time:20:01:13.3896 2025-10-24T20:01:14.227Z,1761336074.227 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:14.358Z,1761336074.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238755,-0.928992,0.282789],[0.968853,0.208172,-0.134122],[0.065729,0.306003,0.949759]] 2025-10-24T20:01:14.464Z,1761336074.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:14.467Z,1761336074.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 147.467087 m, bearing: 73.536884 deg, approach rate: -0.604769 m/s, LOS rate: -0.036500 deg/s, cmd heading: 88.759749 deg, new cmd heading: 88.719187 deg. 2025-10-24T20:01:14.473Z,1761336074.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:14.474Z,1761336074.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548442 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:14.725Z,1761336074.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:14.755Z,1761336074.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.208720,-0.935097,0.286409],[0.975708,0.179176,-0.126054],[0.066556,0.305761,0.949779]] 2025-10-24T20:01:14.801Z,1761336074.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:14.803Z,1761336074.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 147.284637 m, bearing: 73.523603 deg, approach rate: -0.535359 m/s, LOS rate: -0.039019 deg/s, cmd heading: 88.719185 deg, new cmd heading: 88.679292 deg. 2025-10-24T20:01:14.804Z,1761336074.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547746 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:14.978Z,1761336074.978 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:15.160Z,1761336075.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.179127,-0.940319,0.289334],[0.981542,0.150778,-0.117653],[0.067006,0.305068,0.949970]] 2025-10-24T20:01:15.178Z,1761336075.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:15.180Z,1761336075.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:15.183Z,1761336075.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 147.065918 m, bearing: 73.504956 deg, approach rate: -0.576839 m/s, LOS rate: -0.049252 deg/s, cmd heading: 88.679290 deg, new cmd heading: 88.623266 deg. 2025-10-24T20:01:15.183Z,1761336075.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546768 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:15.231Z,1761336075.231 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:15.481Z,1761336075.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:15.625Z,1761336075.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:15.627Z,1761336075.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 146.828110 m, bearing: 73.483990 deg, approach rate: -0.534243 m/s, LOS rate: -0.047176 deg/s, cmd heading: 88.623269 deg, new cmd heading: 88.560270 deg. 2025-10-24T20:01:15.629Z,1761336075.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545668 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:15.733Z,1761336075.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:15.967Z,1761336075.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126486,-0.950006,0.285465],[0.989636,0.101129,-0.101944],[0.067979,0.295401,0.952952]] 2025-10-24T20:01:15.985Z,1761336075.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:16.011Z,1761336076.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:16.014Z,1761336076.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 146.621475 m, bearing: 73.461140 deg, approach rate: -0.535567 m/s, LOS rate: -0.059307 deg/s, cmd heading: 88.560267 deg, new cmd heading: 88.491621 deg. 2025-10-24T20:01:16.014Z,1761336076.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544470 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:16.237Z,1761336076.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:16.375Z,1761336076.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.104165,-0.954142,0.280648],[0.992269,0.080560,-0.094404],[0.067466,0.288312,0.955157]] 2025-10-24T20:01:16.443Z,1761336076.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:16.462Z,1761336076.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 146.408188 m, bearing: 73.434790 deg, approach rate: -0.493741 m/s, LOS rate: -0.061087 deg/s, cmd heading: 88.491624 deg, new cmd heading: 88.412458 deg. 2025-10-24T20:01:16.463Z,1761336076.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543088 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:16.489Z,1761336076.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:16.742Z,1761336076.742 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:16.779Z,1761336076.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.084724,-0.958699,0.271512],[0.994163,0.063067,-0.087535],[0.066796,0.277343,0.958446]] 2025-10-24T20:01:16.799Z,1761336076.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:16.802Z,1761336076.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 146.232986 m, bearing: 73.411613 deg, approach rate: -0.492274 m/s, LOS rate: -0.065200 deg/s, cmd heading: 88.412455 deg, new cmd heading: 88.342840 deg. 2025-10-24T20:01:16.803Z,1761336076.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541873 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:16.994Z,1761336076.994 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:17.180Z,1761336077.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066905,-0.962875,0.261524],[0.995581,0.047112,-0.081238],[0.065901,0.265804,0.961772]] 2025-10-24T20:01:17.216Z,1761336077.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:17.218Z,1761336077.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:17.221Z,1761336077.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 146.027283 m, bearing: 73.382727 deg, approach rate: -0.490191 m/s, LOS rate: -0.068933 deg/s, cmd heading: 88.342842 deg, new cmd heading: 88.256061 deg. 2025-10-24T20:01:17.222Z,1761336077.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540359 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:17.245Z,1761336077.245 [DAT](INFO): DAT read: Rx Time:20:01:16.0214 2025-10-24T20:01:17.245Z,1761336077.245 [DAT](INFO): Rx dataTimestamp_ set to:1761336077.245077 2025-10-24T20:01:17.246Z,1761336077.246 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:17.497Z,1761336077.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:17.585Z,1761336077.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050769,-0.966373,0.252084],[0.996600,0.032622,-0.075656],[0.064889,0.255068,0.964743]] 2025-10-24T20:01:17.715Z,1761336077.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:17.735Z,1761336077.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 145.801193 m, bearing: 73.349061 deg, approach rate: -0.473539 m/s, LOS rate: -0.070621 deg/s, cmd heading: 88.256064 deg, new cmd heading: 88.154911 deg. 2025-10-24T20:01:17.735Z,1761336077.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538593 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:17.755Z,1761336077.755 [DAT](INFO): DAT read: 20:01:16.0214 LVL= 16880, 18929, 15602, 16755, AGC= 69, IDX= 206,-0.07, 2.461, 1.971, 3.033, 1.617, PHS= 0.932, 0.401, 1.413, RAW= 178.3, -47.9, CAL= 177.5, -48.3, ROT= 332.5, 48.3 2025-10-24T20:01:17.757Z,1761336077.757 [DAT](INFO): got valid direction response: 20:01:16.0214 LVL= 16880, 18929, 15602, 16755, AGC= 69, IDX= 206,-0.07, 2.461, 1.971, 3.033, 1.617, PHS= 0.932, 0.401, 1.413, RAW= 178.3, -47.9, CAL= 177.5, -48.3, ROT= 332.5, 48.3 2025-10-24T20:01:17.758Z,1761336077.758 [DAT](INFO): DAT read: Bearing 332.5, 48.3 (Local) 2025-10-24T20:01:17.758Z,1761336077.758 [DAT](INFO): Local bearing/azimuth received: Bearing 332.5, 48.3 (Local) 2025-10-24T20:01:17.760Z,1761336077.760 [DAT](INFO): DAT read: Range 10 to 50 : 170.1 m (Round-trip 226.8 ms) speed 0.6 m/s 2025-10-24T20:01:17.761Z,1761336077.761 [DAT](INFO): DAT read: user:200>Tx time:20:01:17.0905 2025-10-24T20:01:17.762Z,1761336077.762 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:17.763Z,1761336077.763 [DAT](INFO): direction in FSK: [0.590067,-0.307169,-0.746638] 2025-10-24T20:01:17.763Z,1761336077.763 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:17.766Z,1761336077.766 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:17.767Z,1761336077.767 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:18.000Z,1761336078.000 [DAT](INFO): DAT read: 2025-10-24T20:01:18.001Z,1761336078.001 [DAT](INFO): DAT read: TxSync time:20:01:17.0897 2025-10-24T20:01:18.002Z,1761336078.002 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:18.068Z,1761336078.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 170.100006 m, deltaT: 3.779800 s, deltaX: 20.600006 m, approachRate: 5.450026 m/s, rangeRepo size: 4 2025-10-24T20:01:18.069Z,1761336078.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:18.071Z,1761336078.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 145.637344 m, bearing: 73.324593 deg, approach rate: -0.447144 m/s, LOS rate: -0.066848 deg/s, cmd heading: 88.154909 deg, new cmd heading: 88.081423 deg. 2025-10-24T20:01:18.076Z,1761336078.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537311 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:18.253Z,1761336078.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:18.392Z,1761336078.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.023700,-0.971886,0.234254],[0.997789,0.008442,-0.065925],[0.062094,0.235299,0.969938]] 2025-10-24T20:01:18.449Z,1761336078.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:18.451Z,1761336078.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 145.453583 m, bearing: 73.292442 deg, approach rate: -0.475529 m/s, LOS rate: -0.083304 deg/s, cmd heading: 88.081423 deg, new cmd heading: 87.984848 deg. 2025-10-24T20:01:18.469Z,1761336078.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535625 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:18.505Z,1761336078.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:18.758Z,1761336078.758 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:18.796Z,1761336078.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.012526,-0.972514,0.232507],[0.998085,-0.001925,-0.061820],[0.060568,0.232836,0.970628]] 2025-10-24T20:01:18.816Z,1761336078.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:18.819Z,1761336078.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 145.285385 m, bearing: 73.262037 deg, approach rate: -0.457892 m/s, LOS rate: -0.082870 deg/s, cmd heading: 87.984851 deg, new cmd heading: 87.893529 deg. 2025-10-24T20:01:18.820Z,1761336078.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534032 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:19.009Z,1761336079.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:19.201Z,1761336079.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004770,-0.975984,0.217789],[0.998273,-0.008105,-0.058185],[0.058552,0.217690,0.974260]] 2025-10-24T20:01:19.219Z,1761336079.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:19.221Z,1761336079.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:19.225Z,1761336079.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 145.102081 m, bearing: 73.228087 deg, approach rate: -0.452609 m/s, LOS rate: -0.083934 deg/s, cmd heading: 87.893531 deg, new cmd heading: 87.791553 deg. 2025-10-24T20:01:19.226Z,1761336079.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532252 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:19.261Z,1761336079.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:19.512Z,1761336079.512 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:19.639Z,1761336079.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004075,-0.982540,0.186008],[0.998655,-0.013613,-0.050032],[0.051691,0.185554,0.981274]] 2025-10-24T20:01:19.691Z,1761336079.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:19.694Z,1761336079.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 144.887115 m, bearing: 73.185463 deg, approach rate: -0.456919 m/s, LOS rate: -0.090734 deg/s, cmd heading: 87.791556 deg, new cmd heading: 87.663494 deg. 2025-10-24T20:01:19.695Z,1761336079.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530017 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:19.765Z,1761336079.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:20.017Z,1761336080.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:20.054Z,1761336080.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005659,-0.985491,0.169636],[0.998827,-0.013730,-0.046439],[0.048094,0.169174,0.984412]] 2025-10-24T20:01:20.075Z,1761336080.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:20.078Z,1761336080.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 144.710770 m, bearing: 73.150187 deg, approach rate: -0.459520 m/s, LOS rate: -0.092033 deg/s, cmd heading: 87.663497 deg, new cmd heading: 87.557541 deg. 2025-10-24T20:01:20.079Z,1761336080.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528167 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:20.270Z,1761336080.270 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:20.438Z,1761336080.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007133,-0.987787,0.155647],[0.998958,-0.014055,-0.043417],[0.045074,0.155175,0.986858]] 2025-10-24T20:01:20.487Z,1761336080.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:20.491Z,1761336080.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 144.524780 m, bearing: 73.108717 deg, approach rate: -0.451638 m/s, LOS rate: -0.100831 deg/s, cmd heading: 87.557541 deg, new cmd heading: 87.432971 deg. 2025-10-24T20:01:20.492Z,1761336080.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525993 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:20.521Z,1761336080.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:20.774Z,1761336080.774 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:20.846Z,1761336080.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.006992,-0.989713,0.142896],[0.999089,-0.012930,-0.040670],[0.042100,0.142481,0.988902]] 2025-10-24T20:01:20.927Z,1761336080.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:20.930Z,1761336080.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 144.329010 m, bearing: 73.064886 deg, approach rate: -0.444410 m/s, LOS rate: -0.099634 deg/s, cmd heading: 87.432972 deg, new cmd heading: 87.301300 deg. 2025-10-24T20:01:20.931Z,1761336080.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523695 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:21.025Z,1761336081.025 [DAT](INFO): DAT read: Rx Time:20:01:19.7489 2025-10-24T20:01:21.025Z,1761336081.025 [DAT](INFO): Rx dataTimestamp_ set to:1761336081.025079 2025-10-24T20:01:21.026Z,1761336081.026 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:21.247Z,1761336081.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.005988,-0.991459,0.130280],[0.999208,-0.011056,-0.038215],[0.039329,0.129948,0.990740]] 2025-10-24T20:01:21.271Z,1761336081.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:21.277Z,1761336081.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:21.294Z,1761336081.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:21.304Z,1761336081.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 144.169342 m, bearing: 73.029069 deg, approach rate: -0.436127 m/s, LOS rate: -0.097940 deg/s, cmd heading: 87.301299 deg, new cmd heading: 87.193730 deg. 2025-10-24T20:01:21.305Z,1761336081.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.521818 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:21.530Z,1761336081.530 [DAT](INFO): DAT read: Range 10 to 50 : 190.6 m (Round-trip 254.2 ms) speed 0.4 m/s 2025-10-24T20:01:21.531Z,1761336081.531 [DAT](INFO): DAT read: user:201>Tx time:20:01:20.8405 2025-10-24T20:01:21.531Z,1761336081.531 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:01:21.532Z,1761336081.532 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:21.532Z,1761336081.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:21.650Z,1761336081.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.003282,-0.993063,0.117537],[0.999324,-0.007560,-0.035973],[0.036612,0.117340,0.992417]] 2025-10-24T20:01:21.719Z,1761336081.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 190.600006 m, deltaT: 7.559528 s, deltaX: 41.100006 m, approachRate: 5.436848 m/s, rangeRepo size: 4 2025-10-24T20:01:21.719Z,1761336081.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:21.726Z,1761336081.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 143.964432 m, bearing: 72.981135 deg, approach rate: -0.482602 m/s, LOS rate: -0.113055 deg/s, cmd heading: 87.193730 deg, new cmd heading: 87.049723 deg. 2025-10-24T20:01:21.727Z,1761336081.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519304 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:21.781Z,1761336081.781 [DAT](INFO): DAT read: 2025-10-24T20:01:21.781Z,1761336081.781 [DAT](INFO): DAT read: TxSync time:20:01:20.8397 2025-10-24T20:01:21.782Z,1761336081.782 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:22.034Z,1761336082.034 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:22.059Z,1761336082.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.002824,-0.994543,0.104286],[0.999381,-0.006465,-0.034589],[0.035075,0.104124,0.993946]] 2025-10-24T20:01:22.100Z,1761336082.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:22.103Z,1761336082.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 143.783234 m, bearing: 72.938610 deg, approach rate: -0.474666 m/s, LOS rate: -0.111539 deg/s, cmd heading: 87.049723 deg, new cmd heading: 86.921987 deg. 2025-10-24T20:01:22.104Z,1761336082.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.517075 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:22.285Z,1761336082.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:22.487Z,1761336082.487 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +121, +549A 2025-10-24T20:01:22.505Z,1761336082.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:22.509Z,1761336082.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 143.592300 m, bearing: 72.893662 deg, approach rate: -0.471679 m/s, LOS rate: -0.111186 deg/s, cmd heading: 86.921985 deg, new cmd heading: 86.786962 deg. 2025-10-24T20:01:22.510Z,1761336082.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.514718 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:22.536Z,1761336082.536 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:22.789Z,1761336082.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:22.970Z,1761336082.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:22.974Z,1761336082.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 143.373550 m, bearing: 72.841991 deg, approach rate: -0.469637 m/s, LOS rate: -0.111104 deg/s, cmd heading: 86.786965 deg, new cmd heading: 86.631714 deg. 2025-10-24T20:01:22.975Z,1761336082.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512009 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:23.042Z,1761336083.042 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:23.293Z,1761336083.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:23.443Z,1761336083.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:23.450Z,1761336083.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:23.457Z,1761336083.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 143.179764 m, bearing: 72.796065 deg, approach rate: -0.404333 m/s, LOS rate: -0.095952 deg/s, cmd heading: 86.631715 deg, new cmd heading: 86.493753 deg. 2025-10-24T20:01:23.458Z,1761336083.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509601 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:23.545Z,1761336083.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:23.797Z,1761336083.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:23.860Z,1761336083.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.016812,-0.996675,0.079721],[0.999542,0.014747,-0.026417],[0.025153,0.080129,0.996467]] 2025-10-24T20:01:23.958Z,1761336083.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:23.971Z,1761336083.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 142.907242 m, bearing: 72.734670 deg, approach rate: -0.535690 m/s, LOS rate: -0.120914 deg/s, cmd heading: 86.493752 deg, new cmd heading: 86.309215 deg. 2025-10-24T20:01:23.977Z,1761336083.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506380 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:24.049Z,1761336084.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:24.301Z,1761336084.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:24.422Z,1761336084.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028180,-0.996848,0.074167],[0.999348,0.026421,-0.024598],[0.022561,0.074812,0.996942]] 2025-10-24T20:01:24.503Z,1761336084.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:24.510Z,1761336084.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 142.616638 m, bearing: 72.673892 deg, approach rate: -0.533347 m/s, LOS rate: -0.111773 deg/s, cmd heading: 86.309214 deg, new cmd heading: 86.126510 deg. 2025-10-24T20:01:24.511Z,1761336084.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503191 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:24.553Z,1761336084.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:24.768Z,1761336084.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.033172,-0.996833,0.072281],[0.999206,0.031479,-0.024432],[0.022079,0.073034,0.997085]] 2025-10-24T20:01:24.801Z,1761336084.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:24.805Z,1761336084.805 [DAT](INFO): DAT read: Rx Time:20:01:23.4976 2025-10-24T20:01:24.806Z,1761336084.806 [DAT](INFO): Rx dataTimestamp_ set to:1761336084.805130 2025-10-24T20:01:24.806Z,1761336084.806 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:24.807Z,1761336084.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 142.452789 m, bearing: 72.639917 deg, approach rate: -0.550203 m/s, LOS rate: -0.114220 deg/s, cmd heading: 86.126507 deg, new cmd heading: 86.024463 deg. 2025-10-24T20:01:24.808Z,1761336084.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501410 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:25.058Z,1761336085.058 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:25.169Z,1761336085.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038670,-0.996715,0.071162],[0.999016,0.037016,-0.024420],[0.021706,0.072036,0.997166]] 2025-10-24T20:01:25.205Z,1761336085.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.80 m. 2025-10-24T20:01:25.209Z,1761336085.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 148.803024 m, nav range: 142.243332 m, bearing: 72.596941 deg, approach rate: -0.521302 m/s, LOS rate: -0.107115 deg/s, cmd heading: 86.024464 deg, new cmd heading: 85.895348 deg. 2025-10-24T20:01:25.210Z,1761336085.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499157 target range: 148.803024 and range: 149.50 m. 2025-10-24T20:01:25.321Z,1761336085.321 [DAT](INFO): DAT read: 20:01:23.4977 LVL= 22000, 22689, 18962, 20771, AGC= 68, IDX= 113, 0.07,-2.581, 2.648,-1.903,-2.553, PHS= 0.061,-1.035, 0.647, RAW= 170.1, 4.5, CAL= 170.3, -4.6, ROT= 339.7, 4.6 2025-10-24T20:01:25.323Z,1761336085.323 [DAT](INFO): got valid direction response: 20:01:23.4977 LVL= 22000, 22689, 18962, 20771, AGC= 68, IDX= 113, 0.07,-2.581, 2.648,-1.903,-2.553, PHS= 0.061,-1.035, 0.647, RAW= 170.1, 4.5, CAL= 170.3, -4.6, ROT= 339.7, 4.6 2025-10-24T20:01:25.325Z,1761336085.325 [DAT](INFO): DAT read: Bearing 339.7, 4.6 (Local) 2025-10-24T20:01:25.325Z,1761336085.325 [DAT](INFO): Local bearing/azimuth received: Bearing 339.7, 4.6 (Local) 2025-10-24T20:01:25.327Z,1761336085.327 [DAT](INFO): DAT read: Range 10 to 50 : 189.7 m (Round-trip 253.0 ms) speed 0.8 m/s 2025-10-24T20:01:25.329Z,1761336085.329 [DAT](INFO): DAT read: user:202>Tx time:20:01:24.5906 2025-10-24T20:01:25.330Z,1761336085.330 [DAT](INFO): DAT read: TxSync time:20:01:24.5898 2025-10-24T20:01:25.330Z,1761336085.330 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:25.331Z,1761336085.331 [DAT](INFO): direction in FSK: [0.934868,-0.345818,-0.080199] 2025-10-24T20:01:25.331Z,1761336085.331 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:25.335Z,1761336085.335 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:25.335Z,1761336085.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:25.560Z,1761336085.560 [DAT](INFO): DAT read: 2025-10-24T20:01:25.561Z,1761336085.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:25.578Z,1761336085.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.042684,-0.996542,0.071283],[0.998851,0.041008,-0.024805],[0.021796,0.072260,0.997148]] 2025-10-24T20:01:25.660Z,1761336085.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 189.699997 m, deltaT: 11.340067 s, deltaX: 40.199997 m, approachRate: 3.544952 m/s, rangeRepo size: 4 2025-10-24T20:01:25.662Z,1761336085.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 188.814941 m, bearing: 67.655694 deg, lat: 36.779629 deg, lon: -121.859515 deg, deltaT: 11.340067 s, deltaX: 40.011917 m, approachRate: 3.528367 m/s, posRepo size: 4 2025-10-24T20:01:25.663Z,1761336085.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:25.670Z,1761336085.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 142.635483 m, bearing: 73.073219 deg, approach rate: 0.000000 m/s, LOS rate: -0.107115 deg/s, cmd heading: 85.895346 deg, new cmd heading: 85.750153 deg. 2025-10-24T20:01:25.670Z,1761336085.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.496622 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:25.813Z,1761336085.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:25.977Z,1761336085.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.047296,-0.997220,0.057575],[0.998634,0.045923,-0.024940],[0.022227,0.058676,0.998030]] 2025-10-24T20:01:26.000Z,1761336086.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:26.002Z,1761336086.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:26.005Z,1761336086.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 142.433685 m, bearing: 73.036502 deg, approach rate: -0.580764 m/s, LOS rate: -0.105819 deg/s, cmd heading: 85.750150 deg, new cmd heading: 85.639843 deg. 2025-10-24T20:01:26.007Z,1761336086.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494697 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:26.065Z,1761336086.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:26.316Z,1761336086.316 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:26.479Z,1761336086.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.051657,-0.996823,0.060621],[0.998412,0.050182,-0.025616],[0.022492,0.061847,0.997832]] 2025-10-24T20:01:26.536Z,1761336086.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:26.541Z,1761336086.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 142.148239 m, bearing: 72.985009 deg, approach rate: -0.536137 m/s, LOS rate: -0.096910 deg/s, cmd heading: 85.639842 deg, new cmd heading: 85.485054 deg. 2025-10-24T20:01:26.544Z,1761336086.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491996 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:26.569Z,1761336086.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:26.821Z,1761336086.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:27.002Z,1761336087.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.056386,-0.996284,0.065106],[0.998154,0.054778,-0.026235],[0.022572,0.066465,0.997533]] 2025-10-24T20:01:27.024Z,1761336087.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:27.027Z,1761336087.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 141.882401 m, bearing: 72.937451 deg, approach rate: -0.544158 m/s, LOS rate: -0.097531 deg/s, cmd heading: 85.485056 deg, new cmd heading: 85.342115 deg. 2025-10-24T20:01:27.028Z,1761336087.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489501 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:27.074Z,1761336087.074 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:27.325Z,1761336087.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:27.490Z,1761336087.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.061028,-0.995704,0.069639],[0.997855,0.059208,-0.027906],[0.023663,0.071193,0.997182]] 2025-10-24T20:01:27.577Z,1761336087.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:27.615Z,1761336087.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:27.619Z,1761336087.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 141.564911 m, bearing: 72.887211 deg, approach rate: -0.536371 m/s, LOS rate: -0.085066 deg/s, cmd heading: 85.342114 deg, new cmd heading: 85.191057 deg. 2025-10-24T20:01:27.621Z,1761336087.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.486864 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:27.828Z,1761336087.828 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:27.948Z,1761336087.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.071616,-0.994833,0.071966],[0.997058,0.069427,-0.032483],[0.027319,0.074081,0.996878]] 2025-10-24T20:01:27.984Z,1761336087.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:27.987Z,1761336087.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 141.367371 m, bearing: 72.856802 deg, approach rate: -0.535556 m/s, LOS rate: -0.082559 deg/s, cmd heading: 85.191058 deg, new cmd heading: 85.099702 deg. 2025-10-24T20:01:27.988Z,1761336087.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485270 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:28.081Z,1761336088.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:28.333Z,1761336088.333 [DAT](INFO): DAT read: Rx Time:20:01:27.1839 2025-10-24T20:01:28.333Z,1761336088.333 [DAT](INFO): Rx dataTimestamp_ set to:1761336088.332907 2025-10-24T20:01:28.334Z,1761336088.334 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:28.363Z,1761336088.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.077212,-0.994406,0.072073],[0.996571,0.074820,-0.035329],[0.029739,0.074553,0.996773]] 2025-10-24T20:01:28.408Z,1761336088.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:28.420Z,1761336088.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:28.423Z,1761336088.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 141.139877 m, bearing: 72.822257 deg, approach rate: -0.531586 m/s, LOS rate: -0.080852 deg/s, cmd heading: 85.099704 deg, new cmd heading: 84.995901 deg. 2025-10-24T20:01:28.426Z,1761336088.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483458 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:28.512Z,1761336088.512 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:01:28.586Z,1761336088.586 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:28.785Z,1761336088.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.081791,-0.993901,0.073959],[0.996123,0.079111,-0.038473],[0.032387,0.076819,0.996519]] 2025-10-24T20:01:28.844Z,1761336088.844 [DAT](INFO): DAT read: 20:01:27.1839 LVL= 24000, 32753, 19954, 26355, AGC= 68, IDX= 303,-0.49,-2.448, 2.730,-1.815,-2.482, PHS= 0.122,-1.025, 0.663, RAW= 168.3, 3.2, CAL= 168.9, -5.6, ROT= 341.1, 5.6 2025-10-24T20:01:28.845Z,1761336088.845 [DAT](INFO): got valid direction response: 20:01:27.1839 LVL= 24000, 32753, 19954, 26355, AGC= 68, IDX= 303,-0.49,-2.448, 2.730,-1.815,-2.482, PHS= 0.122,-1.025, 0.663, RAW= 168.3, 3.2, CAL= 168.9, -5.6, ROT= 341.1, 5.6 2025-10-24T20:01:28.846Z,1761336088.846 [DAT](INFO): DAT read: Bearing 341.1, 5.6 (Local) 2025-10-24T20:01:28.847Z,1761336088.847 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, 5.6 (Local) 2025-10-24T20:01:28.849Z,1761336088.849 [DAT](INFO): DAT read: Range 10 to 50 : 141.9 m (Round-trip 189.2 ms) speed 0.5 m/s 2025-10-24T20:01:28.849Z,1761336088.849 [DAT](INFO): DAT read: Tx time:20:01:28.2437 2025-10-24T20:01:28.850Z,1761336088.850 [DAT](INFO): Ping request sent. 2025-10-24T20:01:28.850Z,1761336088.850 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:01:28.850Z,1761336088.850 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:28.851Z,1761336088.851 [DAT](INFO): direction in FSK: [0.941570,-0.322371,-0.097583] 2025-10-24T20:01:28.851Z,1761336088.851 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:28.852Z,1761336088.852 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:28.855Z,1761336088.855 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:28.855Z,1761336088.855 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:28.997Z,1761336088.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 141.899994 m, deltaT: 3.527515 s, deltaX: -47.800003 m, approachRate: -13.550616 m/s, rangeRepo size: 4 2025-10-24T20:01:28.997Z,1761336088.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:29.004Z,1761336089.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 140.833786 m, bearing: 72.777270 deg, approach rate: -0.539232 m/s, LOS rate: -0.079425 deg/s, cmd heading: 84.995899 deg, new cmd heading: 84.860644 deg. 2025-10-24T20:01:29.005Z,1761336089.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481098 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:29.095Z,1761336089.095 [DAT](INFO): DAT read: user:203>TxSync time:20:01:28.2429 2025-10-24T20:01:29.290Z,1761336089.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.086166,-0.993490,0.074515],[0.995653,0.083216,-0.041827],[0.035354,0.077796,0.996342]] 2025-10-24T20:01:29.358Z,1761336089.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:29.365Z,1761336089.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 140.614883 m, bearing: 72.745412 deg, approach rate: -0.588315 m/s, LOS rate: -0.085754 deg/s, cmd heading: 84.860647 deg, new cmd heading: 84.764924 deg. 2025-10-24T20:01:29.366Z,1761336089.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479427 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:29.517Z,1761336089.517 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:01:29.672Z,1761336089.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087434,-0.994138,0.063592],[0.995388,0.084658,-0.045113],[0.039465,0.067243,0.996956]] 2025-10-24T20:01:29.719Z,1761336089.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:29.721Z,1761336089.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 140.399506 m, bearing: 72.716192 deg, approach rate: -0.587068 m/s, LOS rate: -0.079767 deg/s, cmd heading: 84.764922 deg, new cmd heading: 84.677130 deg. 2025-10-24T20:01:29.723Z,1761336089.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477895 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:30.078Z,1761336090.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.091398,-0.993497,0.067904],[0.994917,0.088209,-0.048569],[0.042263,0.071998,0.996509]] 2025-10-24T20:01:30.097Z,1761336090.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:30.101Z,1761336090.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 140.187180 m, bearing: 72.687677 deg, approach rate: -0.560279 m/s, LOS rate: -0.075359 deg/s, cmd heading: 84.677127 deg, new cmd heading: 84.591452 deg. 2025-10-24T20:01:30.102Z,1761336090.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476399 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:30.534Z,1761336090.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094140,-0.992959,0.071911],[0.994499,0.090461,-0.052810],[0.045933,0.076487,0.996012]] 2025-10-24T20:01:30.574Z,1761336090.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:30.577Z,1761336090.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:30.579Z,1761336090.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 139.918686 m, bearing: 72.652776 deg, approach rate: -0.560116 m/s, LOS rate: -0.072949 deg/s, cmd heading: 84.591449 deg, new cmd heading: 84.486544 deg. 2025-10-24T20:01:30.597Z,1761336090.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474568 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:30.605Z,1761336090.605 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:01:30.605Z,1761336090.605 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:01:30.605Z,1761336090.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:30.857Z,1761336090.857 [DAT](INFO): DAT read: 2025-10-24T20:01:30.858Z,1761336090.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007858 2025-10-24T20:01:30.887Z,1761336090.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.098272,-0.992317,0.075161],[0.993980,0.094198,-0.055952],[0.048442,0.080207,0.995600]] 2025-10-24T20:01:30.941Z,1761336090.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:30.957Z,1761336090.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 139.714081 m, bearing: 72.626475 deg, approach rate: -0.561349 m/s, LOS rate: -0.072264 deg/s, cmd heading: 84.486544 deg, new cmd heading: 84.407526 deg. 2025-10-24T20:01:30.958Z,1761336090.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473189 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:31.109Z,1761336091.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259150 2025-10-24T20:01:31.290Z,1761336091.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.102670,-0.991735,0.076944],[0.993412,0.098270,-0.058954],[0.050906,0.082490,0.995291]] 2025-10-24T20:01:31.343Z,1761336091.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:31.353Z,1761336091.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 139.501251 m, bearing: 72.599457 deg, approach rate: -0.530530 m/s, LOS rate: -0.067451 deg/s, cmd heading: 84.407526 deg, new cmd heading: 84.326348 deg. 2025-10-24T20:01:31.354Z,1761336091.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471772 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:31.361Z,1761336091.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511110 2025-10-24T20:01:31.613Z,1761336091.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762894 2025-10-24T20:01:31.694Z,1761336091.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.105929,-0.991218,0.079159],[0.992938,0.101165,-0.061964],[0.053412,0.085163,0.994934]] 2025-10-24T20:01:31.733Z,1761336091.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:31.757Z,1761336091.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 139.263077 m, bearing: 72.569041 deg, approach rate: -0.609346 m/s, LOS rate: -0.077948 deg/s, cmd heading: 84.326349 deg, new cmd heading: 84.234946 deg. 2025-10-24T20:01:31.758Z,1761336091.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.470177 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:31.865Z,1761336091.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015326 2025-10-24T20:01:32.096Z,1761336092.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.109133,-0.990762,0.080502],[0.992456,0.104052,-0.064834],[0.055859,0.086970,0.994644]] 2025-10-24T20:01:32.117Z,1761336092.117 [DAT](INFO): DAT read: Rx Time:20:01:30.8662 2025-10-24T20:01:32.118Z,1761336092.118 [DAT](INFO): Rx dataTimestamp_ set to:1761336092.117353 2025-10-24T20:01:32.118Z,1761336092.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268329 2025-10-24T20:01:32.119Z,1761336092.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:32.122Z,1761336092.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 139.043182 m, bearing: 72.541190 deg, approach rate: -0.574814 m/s, LOS rate: -0.072919 deg/s, cmd heading: 84.234947 deg, new cmd heading: 84.151262 deg. 2025-10-24T20:01:32.123Z,1761336092.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468717 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:32.369Z,1761336092.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518892 2025-10-24T20:01:32.559Z,1761336092.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.111448,-0.990510,0.080431],[0.992053,0.106134,-0.067580],[0.058402,0.087323,0.994467]] 2025-10-24T20:01:32.598Z,1761336092.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:32.601Z,1761336092.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.81 m. 2025-10-24T20:01:32.603Z,1761336092.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 188.814941 m, nav range: 138.756714 m, bearing: 72.504367 deg, approach rate: -0.591008 m/s, LOS rate: -0.076127 deg/s, cmd heading: 84.151264 deg, new cmd heading: 84.040565 deg. 2025-10-24T20:01:32.627Z,1761336092.627 [DAT](INFO): DAT read: 20:01:30.8662 LVL= 32160, 32753, 18386, 32755, AGC= 64, IDX= 488, 0.15, 0.696,-0.440, 1.286, 0.607, PHS= 0.176,-1.000, 0.675, RAW= 166.9, 2.0, CAL= 167.8, -6.6, ROT= 342.2, 6.6 2025-10-24T20:01:32.629Z,1761336092.629 [DAT](INFO): got valid direction response: 20:01:30.8662 LVL= 32160, 32753, 18386, 32755, AGC= 64, IDX= 488, 0.15, 0.696,-0.440, 1.286, 0.607, PHS= 0.176,-1.000, 0.675, RAW= 166.9, 2.0, CAL= 167.8, -6.6, ROT= 342.2, 6.6 2025-10-24T20:01:32.629Z,1761336092.629 [DAT](INFO): DAT read: Bearing 342.2, 6.6 (Local) 2025-10-24T20:01:32.630Z,1761336092.630 [DAT](INFO): Local bearing/azimuth received: Bearing 342.2, 6.6 (Local) 2025-10-24T20:01:32.631Z,1761336092.631 [DAT](INFO): DAT read: Range 10 to 50 : 163.7 m (Round-trip 218.3 ms) speed 0.0 m/s 2025-10-24T20:01:32.633Z,1761336092.633 [DAT](INFO): DAT read: user:204>Tx time:20:01:31.9406 2025-10-24T20:01:32.634Z,1761336092.634 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:32.635Z,1761336092.635 [DAT](INFO): direction in FSK: [0.945820,-0.303669,-0.114937] 2025-10-24T20:01:32.635Z,1761336092.635 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:32.638Z,1761336092.638 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:01:32.638Z,1761336092.638 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:01:32.639Z,1761336092.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:32.642Z,1761336092.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.466785 target range: 188.814941 and range: 189.70 m. 2025-10-24T20:01:32.876Z,1761336092.876 [DAT](INFO): DAT read: 2025-10-24T20:01:32.880Z,1761336092.880 [DAT](INFO): DAT read: TxSync time:20:01:31.9398 2025-10-24T20:01:32.881Z,1761336092.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031342 2025-10-24T20:01:32.955Z,1761336092.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113794,-0.990184,0.081158],[0.991635,0.108191,-0.070385],[0.060914,0.088488,0.994213]] 2025-10-24T20:01:33.003Z,1761336093.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 163.699997 m, deltaT: 7.311418 s, deltaX: -26.000000 m, approachRate: -3.556082 m/s, rangeRepo size: 4 2025-10-24T20:01:33.010Z,1761336093.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.936737 m, bearing: 66.397581 deg, lat: 36.779749 deg, lon: -121.859515 deg, deltaT: 7.311418 s, deltaX: -25.878204 m, approachRate: -3.539423 m/s, posRepo size: 4 2025-10-24T20:01:33.010Z,1761336093.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:33.025Z,1761336093.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 143.139297 m, bearing: 67.348405 deg, approach rate: 0.000000 m/s, LOS rate: -0.076127 deg/s, cmd heading: 84.040567 deg, new cmd heading: 83.948743 deg. 2025-10-24T20:01:33.025Z,1761336093.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465182 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:33.125Z,1761336093.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.275057 2025-10-24T20:01:33.351Z,1761336093.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114065,-0.990484,0.077012],[0.991415,0.108498,-0.072975],[0.063925,0.084674,0.994356]] 2025-10-24T20:01:33.382Z,1761336093.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532003 2025-10-24T20:01:33.391Z,1761336093.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:33.397Z,1761336093.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 142.919876 m, bearing: 67.312252 deg, approach rate: -0.565911 m/s, LOS rate: -0.093384 deg/s, cmd heading: 83.948742 deg, new cmd heading: 83.840118 deg. 2025-10-24T20:01:33.398Z,1761336093.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463286 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:33.634Z,1761336093.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783407 2025-10-24T20:01:33.753Z,1761336093.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115926,-0.990833,0.069357],[0.991046,0.110728,-0.074617],[0.066253,0.077386,0.994797]] 2025-10-24T20:01:33.825Z,1761336093.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:33.833Z,1761336093.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 142.672165 m, bearing: 67.269011 deg, approach rate: -0.569706 m/s, LOS rate: -0.099622 deg/s, cmd heading: 83.840114 deg, new cmd heading: 83.710167 deg. 2025-10-24T20:01:33.840Z,1761336093.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461018 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:33.886Z,1761336093.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036536 2025-10-24T20:01:34.137Z,1761336094.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.286914 2025-10-24T20:01:34.158Z,1761336094.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115421,-0.990615,0.073214],[0.990935,0.109730,-0.077507],[0.068745,0.081497,0.994300]] 2025-10-24T20:01:34.197Z,1761336094.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:34.199Z,1761336094.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 142.451859 m, bearing: 67.230385 deg, approach rate: -0.592704 m/s, LOS rate: -0.104078 deg/s, cmd heading: 83.710163 deg, new cmd heading: 83.594107 deg. 2025-10-24T20:01:34.201Z,1761336094.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.458992 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:34.390Z,1761336094.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540402 2025-10-24T20:01:34.592Z,1761336094.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115106,-0.990308,0.077728],[0.990813,0.108867,-0.080236],[0.070997,0.086250,0.993741]] 2025-10-24T20:01:34.641Z,1761336094.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791413 2025-10-24T20:01:34.653Z,1761336094.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:34.655Z,1761336094.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:34.662Z,1761336094.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 142.184845 m, bearing: 67.180861 deg, approach rate: -0.583382 m/s, LOS rate: -0.108405 deg/s, cmd heading: 83.594105 deg, new cmd heading: 83.445254 deg. 2025-10-24T20:01:34.663Z,1761336094.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456394 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:34.893Z,1761336094.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043507 2025-10-24T20:01:34.967Z,1761336094.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.115089,-0.990003,0.081541],[0.990648,0.108331,-0.082954],[0.073292,0.090326,0.993212]] 2025-10-24T20:01:34.987Z,1761336094.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:34.991Z,1761336094.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 141.983490 m, bearing: 67.143395 deg, approach rate: -0.605380 m/s, LOS rate: -0.112803 deg/s, cmd heading: 83.445254 deg, new cmd heading: 83.332697 deg. 2025-10-24T20:01:34.992Z,1761336094.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.454430 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:35.146Z,1761336095.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295931 2025-10-24T20:01:35.371Z,1761336095.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114845,-0.989801,0.084286],[0.990524,0.107669,-0.085258],[0.075314,0.093279,0.992787]] 2025-10-24T20:01:35.397Z,1761336095.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546985 2025-10-24T20:01:35.399Z,1761336095.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:35.420Z,1761336095.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 141.747330 m, bearing: 67.099289 deg, approach rate: -0.574191 m/s, LOS rate: -0.107417 deg/s, cmd heading: 83.332700 deg, new cmd heading: 83.200161 deg. 2025-10-24T20:01:35.421Z,1761336095.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452117 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:35.650Z,1761336095.650 [DAT](INFO): DAT read: Rx Time:20:01:34.5601 2025-10-24T20:01:35.651Z,1761336095.651 [DAT](INFO): Rx dataTimestamp_ set to:1761336095.650317 2025-10-24T20:01:35.651Z,1761336095.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801654 2025-10-24T20:01:35.776Z,1761336095.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114509,-0.989779,0.084997],[0.990427,0.107106,-0.087076],[0.077082,0.094155,0.992569]] 2025-10-24T20:01:35.823Z,1761336095.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:35.846Z,1761336095.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 141.506409 m, bearing: 67.051634 deg, approach rate: -0.567359 m/s, LOS rate: -0.112417 deg/s, cmd heading: 83.200160 deg, new cmd heading: 83.056951 deg. 2025-10-24T20:01:35.847Z,1761336095.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449617 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:35.902Z,1761336095.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052072 2025-10-24T20:01:36.155Z,1761336096.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304687 2025-10-24T20:01:36.219Z,1761336096.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.112990,-0.989850,0.086199],[0.990304,0.105135,-0.090797],[0.080813,0.095622,0.992132]] 2025-10-24T20:01:36.238Z,1761336096.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.94 m. 2025-10-24T20:01:36.253Z,1761336096.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.936737 m, nav range: 141.271606 m, bearing: 67.004831 deg, approach rate: -0.566145 m/s, LOS rate: -0.113036 deg/s, cmd heading: 83.056951 deg, new cmd heading: 82.916310 deg. 2025-10-24T20:01:36.254Z,1761336096.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447163 target range: 162.936737 and range: 163.70 m. 2025-10-24T20:01:36.414Z,1761336096.414 [DAT](INFO): DAT read: 20:01:34.5601 LVL= 23856, 32753, 20594, 30371, AGC= 69, IDX= 409,-0.06,-2.610, 2.624,-1.983,-2.614, PHS= 0.092,-0.998, 0.627, RAW= 168.8, 3.9, CAL= 169.2, -5.0, ROT= 340.8, 5.0 2025-10-24T20:01:36.415Z,1761336096.415 [DAT](INFO): got valid direction response: 20:01:34.5601 LVL= 23856, 32753, 20594, 30371, AGC= 69, IDX= 409,-0.06,-2.610, 2.624,-1.983,-2.614, PHS= 0.092,-0.998, 0.627, RAW= 168.8, 3.9, CAL= 169.2, -5.0, ROT= 340.8, 5.0 2025-10-24T20:01:36.428Z,1761336096.428 [DAT](INFO): DAT read: Bearing 340.8, 5.0 (Local) 2025-10-24T20:01:36.429Z,1761336096.429 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, 5.0 (Local) 2025-10-24T20:01:36.431Z,1761336096.431 [DAT](INFO): DAT read: Range 10 to 50 : 161.4 m (Round-trip 215.3 ms) speed 0.5 m/s 2025-10-24T20:01:36.432Z,1761336096.432 [DAT](INFO): DAT read: user:205>Tx time:20:01:35.6407 2025-10-24T20:01:36.433Z,1761336096.433 [DAT](INFO): DAT read: TxSync time:20:01:35.6399 2025-10-24T20:01:36.434Z,1761336096.434 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:36.435Z,1761336096.435 [DAT](INFO): direction in FSK: [0.940783,-0.327615,-0.087156] 2025-10-24T20:01:36.435Z,1761336096.435 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:36.471Z,1761336096.471 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:01:36.471Z,1761336096.471 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:01:36.471Z,1761336096.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:36.657Z,1761336096.657 [DAT](INFO): DAT read: 2025-10-24T20:01:36.658Z,1761336096.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807841 2025-10-24T20:01:36.746Z,1761336096.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 161.399994 m, deltaT: 3.786193 s, deltaX: -2.300003 m, approachRate: -0.607471 m/s, rangeRepo size: 4 2025-10-24T20:01:36.748Z,1761336096.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 160.647415 m, bearing: 64.947651 deg, lat: 36.779838 deg, lon: -121.859340 deg, deltaT: 3.786193 s, deltaX: -2.289322 m, approachRate: -0.604650 m/s, posRepo size: 4 2025-10-24T20:01:36.749Z,1761336096.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.65 m. 2025-10-24T20:01:36.751Z,1761336096.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.647415 m, nav range: 159.314240 m, bearing: 65.880903 deg, approach rate: 0.000000 m/s, LOS rate: -0.113036 deg/s, cmd heading: 82.916311 deg, new cmd heading: 82.744221 deg. 2025-10-24T20:01:36.753Z,1761336096.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444159 target range: 160.647415 and range: 161.40 m. 2025-10-24T20:01:36.910Z,1761336096.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059792 2025-10-24T20:01:37.063Z,1761336097.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113863,-0.990224,0.080568],[0.989886,0.106168,-0.094101],[0.084627,0.090468,0.992297]] 2025-10-24T20:01:37.097Z,1761336097.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:37.099Z,1761336097.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.65 m. 2025-10-24T20:01:37.106Z,1761336097.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.647415 m, nav range: 159.135635 m, bearing: 65.844503 deg, approach rate: -0.505234 m/s, LOS rate: -0.103082 deg/s, cmd heading: 82.744217 deg, new cmd heading: 82.634897 deg. 2025-10-24T20:01:37.107Z,1761336097.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442251 target range: 160.647415 and range: 161.40 m. 2025-10-24T20:01:37.161Z,1761336097.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311460 2025-10-24T20:01:37.413Z,1761336097.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.563025 2025-10-24T20:01:37.497Z,1761336097.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113254,-0.990295,0.080554],[0.989739,0.105337,-0.096542],[0.087120,0.090661,0.992064]] 2025-10-24T20:01:37.516Z,1761336097.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.65 m. 2025-10-24T20:01:37.519Z,1761336097.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.647415 m, nav range: 158.909149 m, bearing: 65.798139 deg, approach rate: -0.543270 m/s, LOS rate: -0.111373 deg/s, cmd heading: 82.634893 deg, new cmd heading: 82.495602 deg. 2025-10-24T20:01:37.519Z,1761336097.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439820 target range: 160.647415 and range: 161.40 m. 2025-10-24T20:01:37.665Z,1761336097.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.815034 2025-10-24T20:01:37.902Z,1761336097.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.114207,-0.990221,0.080116],[0.989374,0.106063,-0.099449],[0.089979,0.090622,0.991812]] 2025-10-24T20:01:37.917Z,1761336097.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067355 2025-10-24T20:01:37.961Z,1761336097.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.65 m. 2025-10-24T20:01:37.963Z,1761336097.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.647415 m, nav range: 158.694061 m, bearing: 65.752927 deg, approach rate: -0.483542 m/s, LOS rate: -0.101780 deg/s, cmd heading: 82.495599 deg, new cmd heading: 82.359778 deg. 2025-10-24T20:01:37.984Z,1761336097.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437449 target range: 160.647415 and range: 161.40 m. 2025-10-24T20:01:38.169Z,1761336098.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318974 2025-10-24T20:01:38.302Z,1761336098.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.116838,-0.989954,0.079618],[0.988855,0.108510,-0.101936],[0.092273,0.090641,0.991600]] 2025-10-24T20:01:38.323Z,1761336098.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.65 m. 2025-10-24T20:01:38.326Z,1761336098.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.647415 m, nav range: 158.517670 m, bearing: 65.715971 deg, approach rate: -0.486600 m/s, LOS rate: -0.102061 deg/s, cmd heading: 82.359780 deg, new cmd heading: 82.248790 deg. 2025-10-24T20:01:38.327Z,1761336098.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435512 target range: 160.647415 and range: 161.40 m. 2025-10-24T20:01:38.422Z,1761336098.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.571848 2025-10-24T20:01:38.673Z,1761336098.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.823518 2025-10-24T20:01:38.710Z,1761336098.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.119451,-0.989812,0.077484],[0.988288,0.111076,-0.104633],[0.094961,0.089075,0.991488]] 2025-10-24T20:01:38.768Z,1761336098.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.65 m. 2025-10-24T20:01:38.771Z,1761336098.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.647415 m, nav range: 158.325226 m, bearing: 65.676249 deg, approach rate: -0.432175 m/s, LOS rate: -0.089313 deg/s, cmd heading: 82.248790 deg, new cmd heading: 82.129479 deg. 2025-10-24T20:01:38.773Z,1761336098.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433430 target range: 160.647415 and range: 161.40 m. 2025-10-24T20:01:38.925Z,1761336098.925 [DAT](INFO): Reached modem response timeout 2025-10-24T20:01:38.925Z,1761336098.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:38.925Z,1761336098.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:39.108Z,1761336099.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.122822,-0.989646,0.074272],[0.987637,0.114541,-0.107017],[0.097402,0.086498,0.991479]] 2025-10-24T20:01:39.125Z,1761336099.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:39.127Z,1761336099.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.65 m. 2025-10-24T20:01:39.130Z,1761336099.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.647415 m, nav range: 158.152740 m, bearing: 65.640859 deg, approach rate: -0.480718 m/s, LOS rate: -0.098738 deg/s, cmd heading: 82.129480 deg, new cmd heading: 82.023196 deg. 2025-10-24T20:01:39.131Z,1761336099.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431575 target range: 160.647415 and range: 161.40 m. 2025-10-24T20:01:39.177Z,1761336099.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:39.429Z,1761336099.429 [DAT](INFO): DAT read: Rx Time:20:01:38.2585 2025-10-24T20:01:39.429Z,1761336099.429 [DAT](INFO): Rx dataTimestamp_ set to:1761336099.428955 2025-10-24T20:01:39.430Z,1761336099.430 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:39.552Z,1761336099.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.65 m. 2025-10-24T20:01:39.554Z,1761336099.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 160.647415 m, nav range: 157.962845 m, bearing: 65.601788 deg, approach rate: -0.447400 m/s, LOS rate: -0.092164 deg/s, cmd heading: 82.023195 deg, new cmd heading: 81.905841 deg. 2025-10-24T20:01:39.557Z,1761336099.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429527 target range: 160.647415 and range: 161.40 m. 2025-10-24T20:01:39.681Z,1761336099.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:01:39.926Z,1761336099.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.129725,-0.989115,0.069442],[0.986212,0.121453,-0.112402],[0.102745,0.083066,0.991233]] 2025-10-24T20:01:39.939Z,1761336099.939 [DAT](INFO): DAT read: 20:01:38.2585 LVL= 19232, 23745, 16226, 23715, AGC= 66, IDX= 91, 0.17, 0.644,-0.421, 1.230, 0.551, PHS= 0.181,-0.925, 0.675, RAW= 167.5, 1.0, CAL= 168.8, -7.5, ROT= 341.2, 7.5 2025-10-24T20:01:39.941Z,1761336099.941 [DAT](INFO): got valid direction response: 20:01:38.2585 LVL= 19232, 23745, 16226, 23715, AGC= 66, IDX= 91, 0.17, 0.644,-0.421, 1.230, 0.551, PHS= 0.181,-0.925, 0.675, RAW= 167.5, 1.0, CAL= 168.8, -7.5, ROT= 341.2, 7.5 2025-10-24T20:01:39.942Z,1761336099.942 [DAT](INFO): DAT read: Bearing 341.2, 7.5 (Local) 2025-10-24T20:01:39.942Z,1761336099.942 [DAT](INFO): Local bearing/azimuth received: Bearing 341.2, 7.5 (Local) 2025-10-24T20:01:39.944Z,1761336099.944 [DAT](INFO): DAT read: Range 10 to 50 : 160.2 m (Round-trip 213.7 ms) speed 0.3 m/s 2025-10-24T20:01:39.945Z,1761336099.945 [DAT](INFO): DAT read: user:206> 2025-10-24T20:01:39.945Z,1761336099.945 [DAT](INFO): DAT read: Tx time:20:01:39.3407 2025-10-24T20:01:39.946Z,1761336099.946 [DAT](INFO): Ping request sent. 2025-10-24T20:01:39.946Z,1761336099.946 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:01:39.946Z,1761336099.946 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:39.947Z,1761336099.947 [DAT](INFO): direction in FSK: [0.938551,-0.319508,-0.130526] 2025-10-24T20:01:39.947Z,1761336099.947 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:39.947Z,1761336099.947 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:39.951Z,1761336099.951 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:39.951Z,1761336099.951 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:40.090Z,1761336100.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 160.199997 m, deltaT: 3.525876 s, deltaX: -1.199997 m, approachRate: -0.340340 m/s, rangeRepo size: 4 2025-10-24T20:01:40.105Z,1761336100.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 159.453064 m, bearing: 64.565415 deg, lat: 36.779864 deg, lon: -121.859338 deg, deltaT: 3.525876 s, deltaX: -1.194351 m, approachRate: -0.338739 m/s, posRepo size: 4 2025-10-24T20:01:40.106Z,1761336100.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:40.115Z,1761336100.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 159.074158 m, bearing: 64.637624 deg, approach rate: 0.000000 m/s, LOS rate: -0.092164 deg/s, cmd heading: 81.905839 deg, new cmd heading: 81.760912 deg. 2025-10-24T20:01:40.120Z,1761336100.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426997 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:40.186Z,1761336100.186 [DAT](INFO): DAT read: TxSync time:20:01:39.3399 2025-10-24T20:01:40.399Z,1761336100.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133625,-0.988651,0.068661],[0.985408,0.125177,-0.115331],[0.105428,0.083070,0.990951]] 2025-10-24T20:01:40.444Z,1761336100.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:40.446Z,1761336100.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 158.916321 m, bearing: 64.604571 deg, approach rate: -0.429015 m/s, LOS rate: -0.089928 deg/s, cmd heading: 81.760909 deg, new cmd heading: 81.661654 deg. 2025-10-24T20:01:40.447Z,1761336100.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425265 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:40.799Z,1761336100.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.137143,-0.989165,0.052381],[0.984602,0.130342,-0.116487],[0.108398,0.067550,0.991810]] 2025-10-24T20:01:40.887Z,1761336100.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:40.920Z,1761336100.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 158.728134 m, bearing: 64.566431 deg, approach rate: -0.424732 m/s, LOS rate: -0.086183 deg/s, cmd heading: 81.661653 deg, new cmd heading: 81.547097 deg. 2025-10-24T20:01:40.921Z,1761336100.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423265 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:41.218Z,1761336101.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.140356,-0.988632,0.053922],[0.983912,0.133192,-0.119067],[0.110531,0.069766,0.991421]] 2025-10-24T20:01:41.259Z,1761336101.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:41.261Z,1761336101.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:41.265Z,1761336101.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 158.578934 m, bearing: 64.536337 deg, approach rate: -0.398223 m/s, LOS rate: -0.080398 deg/s, cmd heading: 81.547097 deg, new cmd heading: 81.456730 deg. 2025-10-24T20:01:41.266Z,1761336101.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421688 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:41.446Z,1761336101.446 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:01:41.446Z,1761336101.446 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:01:41.446Z,1761336101.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:41.608Z,1761336101.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144072,-0.987970,0.056200],[0.983063,0.136393,-0.122412],[0.113274,0.072885,0.990887]] 2025-10-24T20:01:41.654Z,1761336101.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:41.693Z,1761336101.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 158.414108 m, bearing: 64.503295 deg, approach rate: -0.421920 m/s, LOS rate: -0.084669 deg/s, cmd heading: 81.456727 deg, new cmd heading: 81.357497 deg. 2025-10-24T20:01:41.700Z,1761336101.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753485 2025-10-24T20:01:41.705Z,1761336101.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419956 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:41.949Z,1761336101.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003296 2025-10-24T20:01:42.016Z,1761336102.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147784,-0.987234,0.059401],[0.982276,0.139509,-0.125185],[0.115300,0.076848,0.990354]] 2025-10-24T20:01:42.070Z,1761336102.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:42.077Z,1761336102.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 158.235123 m, bearing: 64.469446 deg, approach rate: -0.428122 m/s, LOS rate: -0.081056 deg/s, cmd heading: 81.357498 deg, new cmd heading: 81.255836 deg. 2025-10-24T20:01:42.078Z,1761336102.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418182 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:42.201Z,1761336102.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255060 2025-10-24T20:01:42.453Z,1761336102.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506908 2025-10-24T20:01:42.594Z,1761336102.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:42.597Z,1761336102.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 158.022202 m, bearing: 64.429068 deg, approach rate: -0.406237 m/s, LOS rate: -0.077141 deg/s, cmd heading: 81.255837 deg, new cmd heading: 81.134542 deg. 2025-10-24T20:01:42.598Z,1761336102.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.416065 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:42.708Z,1761336102.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761900 2025-10-24T20:01:42.944Z,1761336102.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:42.947Z,1761336102.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 157.862839 m, bearing: 64.398368 deg, approach rate: -0.455752 m/s, LOS rate: -0.087886 deg/s, cmd heading: 81.134540 deg, new cmd heading: 81.042346 deg. 2025-10-24T20:01:42.948Z,1761336102.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414456 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:42.957Z,1761336102.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011278 2025-10-24T20:01:43.209Z,1761336103.209 [DAT](INFO): DAT read: Rx Time:20:01:41.9236 2025-10-24T20:01:43.209Z,1761336103.209 [DAT](INFO): Rx dataTimestamp_ set to:1761336103.208970 2025-10-24T20:01:43.210Z,1761336103.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264015 2025-10-24T20:01:43.275Z,1761336103.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159119,-0.985117,0.065009],[0.979598,0.149353,-0.134470],[0.122760,0.085079,0.988783]] 2025-10-24T20:01:43.294Z,1761336103.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:43.296Z,1761336103.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:43.299Z,1761336103.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 157.708038 m, bearing: 64.369325 deg, approach rate: -0.439974 m/s, LOS rate: -0.082627 deg/s, cmd heading: 81.042346 deg, new cmd heading: 80.955132 deg. 2025-10-24T20:01:43.299Z,1761336103.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412934 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:43.463Z,1761336103.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517361 2025-10-24T20:01:43.673Z,1761336103.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162996,-0.984485,0.064968],[0.978635,0.152961,-0.137393],[0.125324,0.085974,0.988384]] 2025-10-24T20:01:43.733Z,1761336103.733 [DAT](INFO): DAT read: 20:01:41.9236 LVL= 20720, 23793, 14322, 22803, AGC= 67, IDX= 83,-0.07,-1.958,-2.951,-1.416,-2.130, PHS= 0.260,-0.775, 0.711, RAW= 167.2, -3.0, CAL= 169.5, -10.7, ROT= 340.5, 10.7 2025-10-24T20:01:43.737Z,1761336103.737 [DAT](INFO): got valid direction response: 20:01:41.9236 LVL= 20720, 23793, 14322, 22803, AGC= 67, IDX= 83,-0.07,-1.958,-2.951,-1.416,-2.130, PHS= 0.260,-0.775, 0.711, RAW= 167.2, -3.0, CAL= 169.5, -10.7, ROT= 340.5, 10.7 2025-10-24T20:01:43.739Z,1761336103.739 [DAT](INFO): DAT read: Bearing 340.5, 10.7 (Local) 2025-10-24T20:01:43.739Z,1761336103.739 [DAT](INFO): Local bearing/azimuth received: Bearing 340.5, 10.7 (Local) 2025-10-24T20:01:43.742Z,1761336103.742 [DAT](INFO): DAT read: Range 10 to 50 : 134.1 m (Round-trip 178.8 ms) speed 0.7 m/s 2025-10-24T20:01:43.743Z,1761336103.743 [DAT](INFO): DAT read: user:207> 2025-10-24T20:01:43.743Z,1761336103.743 [DAT](INFO): DAT read: Tx time:20:01:43.0407 2025-10-24T20:01:43.754Z,1761336103.754 [DAT](INFO): Ping request sent. 2025-10-24T20:01:43.754Z,1761336103.754 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:01:43.755Z,1761336103.755 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:43.764Z,1761336103.764 [DAT](INFO): direction in FSK: [0.926252,-0.328003,-0.185667] 2025-10-24T20:01:43.765Z,1761336103.765 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:43.765Z,1761336103.765 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:43.777Z,1761336103.777 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:43.777Z,1761336103.777 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:43.878Z,1761336103.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 134.100006 m, deltaT: 3.781582 s, deltaX: -26.099991 m, approachRate: -6.901871 m/s, rangeRepo size: 4 2025-10-24T20:01:43.879Z,1761336103.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:43.897Z,1761336103.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 157.444885 m, bearing: 64.320318 deg, approach rate: -0.452434 m/s, LOS rate: -0.084398 deg/s, cmd heading: 80.955131 deg, new cmd heading: 80.807865 deg. 2025-10-24T20:01:43.898Z,1761336103.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410363 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:43.966Z,1761336103.966 [DAT](INFO): DAT read: TxSync time:20:01:43.0399 2025-10-24T20:01:44.182Z,1761336104.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169217,-0.983545,0.063279],[0.976890,0.158872,-0.142991],[0.130585,0.086013,0.987699]] 2025-10-24T20:01:44.213Z,1761336104.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:44.218Z,1761336104.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 157.266449 m, bearing: 64.287496 deg, approach rate: -0.530966 m/s, LOS rate: -0.097780 deg/s, cmd heading: 80.807866 deg, new cmd heading: 80.709286 deg. 2025-10-24T20:01:44.218Z,1761336104.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408643 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:44.633Z,1761336104.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:44.635Z,1761336104.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 157.064178 m, bearing: 64.250186 deg, approach rate: -0.482574 m/s, LOS rate: -0.089128 deg/s, cmd heading: 80.709285 deg, new cmd heading: 80.597212 deg. 2025-10-24T20:01:44.636Z,1761336104.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406687 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:44.991Z,1761336104.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172182,-0.983242,0.059897],[0.975586,0.161795,-0.148507],[0.136328,0.084005,0.987096]] 2025-10-24T20:01:45.032Z,1761336105.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:45.035Z,1761336105.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 156.853775 m, bearing: 64.211749 deg, approach rate: -0.527425 m/s, LOS rate: -0.096479 deg/s, cmd heading: 80.597209 deg, new cmd heading: 80.481745 deg. 2025-10-24T20:01:45.052Z,1761336105.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404671 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:45.393Z,1761336105.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173200,-0.982984,0.061184],[0.975086,0.162403,-0.151101],[0.138594,0.085831,0.986623]] 2025-10-24T20:01:45.418Z,1761336105.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:45.420Z,1761336105.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:45.423Z,1761336105.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 156.647980 m, bearing: 64.174156 deg, approach rate: -0.529802 m/s, LOS rate: -0.096909 deg/s, cmd heading: 80.481745 deg, new cmd heading: 80.368815 deg. 2025-10-24T20:01:45.424Z,1761336105.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.402700 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:45.478Z,1761336105.478 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:01:45.478Z,1761336105.478 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:01:45.479Z,1761336105.479 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:45.733Z,1761336105.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977948 2025-10-24T20:01:45.830Z,1761336105.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173645,-0.982868,0.061793],[0.974711,0.162564,-0.153334],[0.140662,0.086856,0.986240]] 2025-10-24T20:01:45.886Z,1761336105.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:45.891Z,1761336105.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 156.379868 m, bearing: 64.123848 deg, approach rate: -0.575333 m/s, LOS rate: -0.108137 deg/s, cmd heading: 80.368814 deg, new cmd heading: 80.217635 deg. 2025-10-24T20:01:45.909Z,1761336105.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400062 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:45.981Z,1761336105.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226475 2025-10-24T20:01:46.233Z,1761336106.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478608 2025-10-24T20:01:46.287Z,1761336106.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174402,-0.982739,0.061703],[0.974235,0.163114,-0.155754],[0.143001,0.087277,0.985867]] 2025-10-24T20:01:46.308Z,1761336106.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:46.310Z,1761336106.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 156.134644 m, bearing: 64.077753 deg, approach rate: -0.581649 m/s, LOS rate: -0.109505 deg/s, cmd heading: 80.217635 deg, new cmd heading: 80.079132 deg. 2025-10-24T20:01:46.311Z,1761336106.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397645 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:46.485Z,1761336106.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730991 2025-10-24T20:01:46.693Z,1761336106.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174595,-0.982694,0.061884],[0.973845,0.163058,-0.158230],[0.145401,0.087891,0.985461]] 2025-10-24T20:01:46.740Z,1761336106.740 [DAT](INFO): DAT read: Rx Time:20:01:45.6208 2025-10-24T20:01:46.741Z,1761336106.741 [DAT](INFO): Rx dataTimestamp_ set to:1761336106.740591 2025-10-24T20:01:46.743Z,1761336106.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988370 2025-10-24T20:01:46.787Z,1761336106.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:46.803Z,1761336106.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 155.872543 m, bearing: 64.028327 deg, approach rate: -0.546378 m/s, LOS rate: -0.103208 deg/s, cmd heading: 80.079132 deg, new cmd heading: 79.930605 deg. 2025-10-24T20:01:46.803Z,1761336106.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395052 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:46.990Z,1761336106.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234788 2025-10-24T20:01:47.098Z,1761336107.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174576,-0.982675,0.062233],[0.973472,0.162756,-0.160817],[0.147902,0.088656,0.985020]] 2025-10-24T20:01:47.145Z,1761336107.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.45 m. 2025-10-24T20:01:47.148Z,1761336107.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 159.453064 m, nav range: 155.640381 m, bearing: 63.983683 deg, approach rate: -0.648549 m/s, LOS rate: -0.124898 deg/s, cmd heading: 79.930603 deg, new cmd heading: 79.796473 deg. 2025-10-24T20:01:47.149Z,1761336107.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392711 target range: 159.453064 and range: 160.20 m. 2025-10-24T20:01:47.276Z,1761336107.276 [DAT](INFO): DAT read: 20:01:45.6208 LVL= 21696, 32753, 17826, 31891, AGC= 69, IDX= 405,-0.08,-2.682, 2.607,-2.112,-2.850, PHS= 0.257,-0.778, 0.735, RAW= 168.0, -3.2, CAL= 170.2, -10.8, ROT= 339.8, 10.8 2025-10-24T20:01:47.278Z,1761336107.278 [DAT](INFO): got valid direction response: 20:01:45.6208 LVL= 21696, 32753, 17826, 31891, AGC= 69, IDX= 405,-0.08,-2.682, 2.607,-2.112,-2.850, PHS= 0.257,-0.778, 0.735, RAW= 168.0, -3.2, CAL= 170.2, -10.8, ROT= 339.8, 10.8 2025-10-24T20:01:47.278Z,1761336107.278 [DAT](INFO): DAT read: Bearing 339.8, 10.8 (Local) 2025-10-24T20:01:47.279Z,1761336107.279 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 10.8 (Local) 2025-10-24T20:01:47.290Z,1761336107.290 [DAT](INFO): DAT read: Range 10 to 50 : 131.8 m (Round-trip 175.8 ms) speed 0.7 m/s 2025-10-24T20:01:47.291Z,1761336107.291 [DAT](INFO): DAT read: user:208> 2025-10-24T20:01:47.291Z,1761336107.291 [DAT](INFO): DAT read: Tx time:20:01:46.7408 2025-10-24T20:01:47.296Z,1761336107.296 [DAT](INFO): Ping request sent. 2025-10-24T20:01:47.296Z,1761336107.296 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:01:47.297Z,1761336107.297 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:47.297Z,1761336107.297 [DAT](INFO): direction in FSK: [0.921870,-0.339182,-0.187381] 2025-10-24T20:01:47.298Z,1761336107.298 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:47.298Z,1761336107.298 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:47.307Z,1761336107.307 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:47.307Z,1761336107.307 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:47.499Z,1761336107.499 [DAT](INFO): DAT read: TxSync time:20:01:46.7400 2025-10-24T20:01:47.581Z,1761336107.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 131.800003 m, deltaT: 7.311996 s, deltaX: -28.399994 m, approachRate: -3.884027 m/s, rangeRepo size: 4 2025-10-24T20:01:47.583Z,1761336107.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.185165 m, bearing: 61.048660 deg, lat: 36.779838 deg, lon: -121.859340 deg, deltaT: 7.311996 s, deltaX: -28.267899 m, approachRate: -3.865962 m/s, posRepo size: 4 2025-10-24T20:01:47.589Z,1761336107.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:47.591Z,1761336107.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 154.035263 m, bearing: 64.871968 deg, approach rate: 0.000000 m/s, LOS rate: -0.124898 deg/s, cmd heading: 79.796472 deg, new cmd heading: 79.633364 deg. 2025-10-24T20:01:47.606Z,1761336107.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389864 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:47.914Z,1761336107.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174850,-0.982629,0.062192],[0.972614,0.162554,-0.166127],[0.153131,0.089536,0.984141]] 2025-10-24T20:01:47.929Z,1761336107.929 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412031070,35.0, +12.0, 0.0,1497.0RA, 0.00, 200.85, 179.57, 171.91, 208.51 2025-10-24T20:01:47.944Z,1761336107.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:47.946Z,1761336107.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:47.949Z,1761336107.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 153.799835 m, bearing: 64.827812 deg, approach rate: -0.644088 m/s, LOS rate: -0.120986 deg/s, cmd heading: 79.633367 deg, new cmd heading: 79.500698 deg. 2025-10-24T20:01:47.950Z,1761336107.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387549 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:48.008Z,1761336108.008 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:01:48.008Z,1761336108.008 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:01:48.008Z,1761336108.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:48.257Z,1761336108.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.960974 2025-10-24T20:01:48.309Z,1761336108.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174359,-0.983286,0.052425],[0.972397,0.163555,-0.166417],[0.155061,0.079994,0.984661]] 2025-10-24T20:01:48.327Z,1761336108.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:48.330Z,1761336108.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 153.567993 m, bearing: 64.784037 deg, approach rate: -0.608200 m/s, LOS rate: -0.115012 deg/s, cmd heading: 79.500697 deg, new cmd heading: 79.369172 deg. 2025-10-24T20:01:48.331Z,1761336108.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385253 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:48.510Z,1761336108.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214064 2025-10-24T20:01:48.716Z,1761336108.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.175047,-0.983084,0.053886],[0.971999,0.163840,-0.168446],[0.156768,0.081863,0.984237]] 2025-10-24T20:01:48.764Z,1761336108.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467129 2025-10-24T20:01:48.799Z,1761336108.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:48.806Z,1761336108.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 153.320099 m, bearing: 64.737160 deg, approach rate: -0.525881 m/s, LOS rate: -0.099605 deg/s, cmd heading: 79.369175 deg, new cmd heading: 79.228318 deg. 2025-10-24T20:01:48.807Z,1761336108.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382795 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:49.013Z,1761336109.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716933 2025-10-24T20:01:49.126Z,1761336109.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173719,-0.983248,0.055177],[0.971830,0.162101,-0.171083],[0.159273,0.083343,0.983710]] 2025-10-24T20:01:49.182Z,1761336109.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:49.185Z,1761336109.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 153.054001 m, bearing: 64.684983 deg, approach rate: -0.694804 m/s, LOS rate: -0.136476 deg/s, cmd heading: 79.228316 deg, new cmd heading: 79.071513 deg. 2025-10-24T20:01:49.186Z,1761336109.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380058 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:49.265Z,1761336109.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968650 2025-10-24T20:01:49.517Z,1761336109.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220659 2025-10-24T20:01:49.583Z,1761336109.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:49.590Z,1761336109.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 152.800140 m, bearing: 64.635008 deg, approach rate: -0.632655 m/s, LOS rate: -0.124749 deg/s, cmd heading: 79.071515 deg, new cmd heading: 78.921344 deg. 2025-10-24T20:01:49.591Z,1761336109.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.377437 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:49.771Z,1761336109.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474728 2025-10-24T20:01:49.927Z,1761336109.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172269,-0.983460,0.055939],[0.971350,0.160161,-0.175575],[0.163712,0.084583,0.982875]] 2025-10-24T20:01:49.977Z,1761336109.977 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:49.979Z,1761336109.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:49.981Z,1761336109.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 152.559280 m, bearing: 64.588770 deg, approach rate: -0.608636 m/s, LOS rate: -0.117026 deg/s, cmd heading: 78.921347 deg, new cmd heading: 78.782413 deg. 2025-10-24T20:01:49.982Z,1761336109.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375013 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:50.022Z,1761336110.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725265 2025-10-24T20:01:50.274Z,1761336110.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977525 2025-10-24T20:01:50.329Z,1761336110.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.172190,-0.983488,0.055699],[0.970975,0.159927,-0.177850],[0.166005,0.084706,0.982480]] 2025-10-24T20:01:50.373Z,1761336110.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:50.376Z,1761336110.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 152.337006 m, bearing: 64.545943 deg, approach rate: -0.567366 m/s, LOS rate: -0.109477 deg/s, cmd heading: 78.782414 deg, new cmd heading: 78.653746 deg. 2025-10-24T20:01:50.377Z,1761336110.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372767 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:50.525Z,1761336110.525 [DAT](INFO): DAT read: Rx Time:20:01:49.3175 2025-10-24T20:01:50.525Z,1761336110.525 [DAT](INFO): Rx dataTimestamp_ set to:1761336110.524947 2025-10-24T20:01:50.526Z,1761336110.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229541 2025-10-24T20:01:50.732Z,1761336110.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.173128,-0.983303,0.056056],[0.970443,0.160594,-0.180139],[0.168129,0.085586,0.982043]] 2025-10-24T20:01:50.754Z,1761336110.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.19 m. 2025-10-24T20:01:50.762Z,1761336110.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.185165 m, nav range: 152.093842 m, bearing: 64.499038 deg, approach rate: -0.633144 m/s, LOS rate: -0.122325 deg/s, cmd heading: 78.653747 deg, new cmd heading: 78.512807 deg. 2025-10-24T20:01:50.780Z,1761336110.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483109 2025-10-24T20:01:50.790Z,1761336110.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370307 target range: 131.185165 and range: 131.80 m. 2025-10-24T20:01:51.036Z,1761336111.036 [DAT](INFO): DAT read: 20:01:49.3175 LVL= 28496, 32561, 17266, 28227, AGC= 67, IDX= 404, 0.42,-0.814,-1.933,-0.279,-1.079, PHS= 0.354,-0.806, 0.798, RAW= 165.5, -4.9, CAL= 168.4, -12.3, ROT= 341.6, 12.3 2025-10-24T20:01:51.038Z,1761336111.038 [DAT](INFO): got valid direction response: 20:01:49.3175 LVL= 28496, 32561, 17266, 28227, AGC= 67, IDX= 404, 0.42,-0.814,-1.933,-0.279,-1.079, PHS= 0.354,-0.806, 0.798, RAW= 165.5, -4.9, CAL= 168.4, -12.3, ROT= 341.6, 12.3 2025-10-24T20:01:51.039Z,1761336111.039 [DAT](INFO): DAT read: Bearing 341.6, 12.3 (Local) 2025-10-24T20:01:51.041Z,1761336111.041 [DAT](INFO): Local bearing/azimuth received: Bearing 341.6, 12.3 (Local) 2025-10-24T20:01:51.043Z,1761336111.043 [DAT](INFO): DAT read: Range 10 to 50 : 129.4 m (Round-trip 172.6 ms) speed 0.4 m/s 2025-10-24T20:01:51.044Z,1761336111.044 [DAT](INFO): DAT read: user:209> 2025-10-24T20:01:51.045Z,1761336111.045 [DAT](INFO): DAT read: Tx time:20:01:50.4408 2025-10-24T20:01:51.046Z,1761336111.046 [DAT](INFO): Ping request sent. 2025-10-24T20:01:51.046Z,1761336111.046 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:01:51.046Z,1761336111.046 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:51.080Z,1761336111.080 [DAT](INFO): direction in FSK: [0.927095,-0.308404,-0.213030] 2025-10-24T20:01:51.080Z,1761336111.080 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:51.081Z,1761336111.081 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:51.088Z,1761336111.088 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:51.088Z,1761336111.088 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:51.259Z,1761336111.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.399994 m, deltaT: 3.785461 s, deltaX: -2.400009 m, approachRate: -0.634007 m/s, rangeRepo size: 4 2025-10-24T20:01:51.266Z,1761336111.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.796097 m, bearing: 63.046892 deg, lat: 36.779819 deg, lon: -121.859593 deg, deltaT: 3.785461 s, deltaX: -2.389069 m, approachRate: -0.631117 m/s, posRepo size: 4 2025-10-24T20:01:51.266Z,1761336111.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:51.274Z,1761336111.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 130.817978 m, bearing: 61.021399 deg, approach rate: 0.000000 m/s, LOS rate: -0.122325 deg/s, cmd heading: 78.512806 deg, new cmd heading: 78.327766 deg. 2025-10-24T20:01:51.275Z,1761336111.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367077 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:51.281Z,1761336111.281 [DAT](INFO): DAT read: TxSync time:20:01:50.4400 2025-10-24T20:01:51.540Z,1761336111.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177557,-0.982625,0.054050],[0.969201,0.165079,-0.182753],[0.170656,0.084834,0.981672]] 2025-10-24T20:01:51.585Z,1761336111.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:51.587Z,1761336111.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 130.633163 m, bearing: 60.976861 deg, approach rate: -0.566573 m/s, LOS rate: -0.136731 deg/s, cmd heading: 78.327762 deg, new cmd heading: 78.193959 deg. 2025-10-24T20:01:51.589Z,1761336111.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364742 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:51.947Z,1761336111.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.178514,-0.982591,0.051461],[0.968748,0.166363,-0.183988],[0.172223,0.082697,0.981580]] 2025-10-24T20:01:51.986Z,1761336111.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:51.992Z,1761336111.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:52.013Z,1761336112.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 130.433838 m, bearing: 60.932457 deg, approach rate: -0.494762 m/s, LOS rate: -0.110387 deg/s, cmd heading: 78.193959 deg, new cmd heading: 78.060544 deg. 2025-10-24T20:01:52.013Z,1761336112.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362414 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:52.040Z,1761336112.040 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:01:52.040Z,1761336112.040 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:01:52.041Z,1761336112.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:52.290Z,1761336112.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243614 2025-10-24T20:01:52.347Z,1761336112.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.181373,-0.982073,0.051340],[0.968137,0.169145,-0.184665],[0.172671,0.083197,0.981460]] 2025-10-24T20:01:52.393Z,1761336112.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:52.395Z,1761336112.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 130.237167 m, bearing: 60.888811 deg, approach rate: -0.485792 m/s, LOS rate: -0.107971 deg/s, cmd heading: 78.060545 deg, new cmd heading: 77.929411 deg. 2025-10-24T20:01:52.397Z,1761336112.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360125 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:52.541Z,1761336112.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494876 2025-10-24T20:01:52.795Z,1761336112.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748916 2025-10-24T20:01:52.867Z,1761336112.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:52.874Z,1761336112.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 130.015564 m, bearing: 60.839451 deg, approach rate: -0.467394 m/s, LOS rate: -0.104285 deg/s, cmd heading: 77.929412 deg, new cmd heading: 77.781080 deg. 2025-10-24T20:01:52.875Z,1761336112.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357536 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:53.045Z,1761336113.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998598 2025-10-24T20:01:53.214Z,1761336113.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:53.217Z,1761336113.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 129.847748 m, bearing: 60.804758 deg, approach rate: -0.483133 m/s, LOS rate: -0.100009 deg/s, cmd heading: 77.781081 deg, new cmd heading: 77.676867 deg. 2025-10-24T20:01:53.218Z,1761336113.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355717 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:53.298Z,1761336113.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252067 2025-10-24T20:01:53.549Z,1761336113.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502498 2025-10-24T20:01:53.582Z,1761336113.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.200825,-0.978543,0.046079],[0.964431,0.189238,-0.184558],[0.171878,0.081504,0.981741]] 2025-10-24T20:01:53.634Z,1761336113.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:53.641Z,1761336113.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 129.671188 m, bearing: 60.770069 deg, approach rate: -0.420574 m/s, LOS rate: -0.082744 deg/s, cmd heading: 77.676866 deg, new cmd heading: 77.572656 deg. 2025-10-24T20:01:53.643Z,1761336113.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353898 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:53.804Z,1761336113.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757560 2025-10-24T20:01:53.986Z,1761336113.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.205801,-0.977549,0.045198],[0.963400,0.194282,-0.184704],[0.171776,0.081556,0.981754]] 2025-10-24T20:01:54.023Z,1761336114.023 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:54.042Z,1761336114.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:54.045Z,1761336114.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 129.495728 m, bearing: 60.738514 deg, approach rate: -0.430481 m/s, LOS rate: -0.077524 deg/s, cmd heading: 77.572658 deg, new cmd heading: 77.477864 deg. 2025-10-24T20:01:54.046Z,1761336114.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352244 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:54.053Z,1761336114.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006794 2025-10-24T20:01:54.305Z,1761336114.305 [DAT](INFO): DAT read: Rx Time:20:01:53.0154 2025-10-24T20:01:54.306Z,1761336114.306 [DAT](INFO): Rx dataTimestamp_ set to:1761336114.305004 2025-10-24T20:01:54.307Z,1761336114.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260417 2025-10-24T20:01:54.377Z,1761336114.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212305,-0.976237,0.043441],[0.962024,0.200995,-0.184693],[0.171572,0.081003,0.981836]] 2025-10-24T20:01:54.416Z,1761336114.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:54.419Z,1761336114.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 129.339142 m, bearing: 60.710824 deg, approach rate: -0.422914 m/s, LOS rate: -0.074876 deg/s, cmd heading: 77.477862 deg, new cmd heading: 77.394692 deg. 2025-10-24T20:01:54.428Z,1761336114.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350792 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:54.557Z,1761336114.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510653 2025-10-24T20:01:54.779Z,1761336114.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.217713,-0.975067,0.042964],[0.960802,0.206370,-0.185125],[0.171643,0.081584,0.981775]] 2025-10-24T20:01:54.798Z,1761336114.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.80 m. 2025-10-24T20:01:54.806Z,1761336114.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.796097 m, nav range: 129.169693 m, bearing: 60.681259 deg, approach rate: -0.438474 m/s, LOS rate: -0.076605 deg/s, cmd heading: 77.394690 deg, new cmd heading: 77.305878 deg. 2025-10-24T20:01:54.807Z,1761336114.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349242 target range: 128.796097 and range: 129.40 m. 2025-10-24T20:01:54.815Z,1761336114.815 [DAT](INFO): DAT read: 20:01:53.0154 LVL= 24976, 30641, 20274, 32179, AGC= 67, IDX= 414,-0.04, 1.447, 0.323, 1.933, 1.205, PHS= 0.330,-0.835, 0.725, RAW= 164.1, -3.2, CAL= 166.7, -11.0, ROT= 343.3, 11.0 2025-10-24T20:01:54.816Z,1761336114.816 [DAT](INFO): got valid direction response: 20:01:53.0154 LVL= 24976, 30641, 20274, 32179, AGC= 67, IDX= 414,-0.04, 1.447, 0.323, 1.933, 1.205, PHS= 0.330,-0.835, 0.725, RAW= 164.1, -3.2, CAL= 166.7, -11.0, ROT= 343.3, 11.0 2025-10-24T20:01:54.818Z,1761336114.818 [DAT](INFO): DAT read: Bearing 343.3, 11.0 (Local) 2025-10-24T20:01:54.819Z,1761336114.819 [DAT](INFO): Local bearing/azimuth received: Bearing 343.3, 11.0 (Local) 2025-10-24T20:01:54.845Z,1761336114.845 [DAT](INFO): DAT read: Range 10 to 50 : 127.8 m (Round-trip 170.5 ms) speed 0.4 m/s 2025-10-24T20:01:54.856Z,1761336114.856 [DAT](INFO): DAT read: user:210> 2025-10-24T20:01:54.859Z,1761336114.859 [DAT](INFO): DAT read: Tx time:20:01:54.1408 2025-10-24T20:01:54.869Z,1761336114.869 [DAT](INFO): Ping request sent. 2025-10-24T20:01:54.869Z,1761336114.869 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:01:54.871Z,1761336114.871 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:54.883Z,1761336114.883 [DAT](INFO): direction in FSK: [0.940224,-0.282081,-0.190809] 2025-10-24T20:01:54.892Z,1761336114.892 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:54.892Z,1761336114.892 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:54.907Z,1761336114.907 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:54.907Z,1761336114.907 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:55.061Z,1761336115.061 [DAT](INFO): DAT read: TxSync time:20:01:54.1400 2025-10-24T20:01:55.180Z,1761336115.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.221889,-0.974156,0.042266],[0.959631,0.210486,-0.186557],[0.172839,0.081954,0.981535]] 2025-10-24T20:01:55.237Z,1761336115.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.800003 m, deltaT: 3.778656 s, deltaX: -1.599991 m, approachRate: -0.423429 m/s, rangeRepo size: 4 2025-10-24T20:01:55.257Z,1761336115.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 127.203445 m, bearing: 61.582188 deg, lat: 36.779805 deg, lon: -121.859600 deg, deltaT: 3.778656 s, deltaX: -1.592651 m, approachRate: -0.421486 m/s, posRepo size: 4 2025-10-24T20:01:55.257Z,1761336115.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-10-24T20:01:55.260Z,1761336115.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.203445 m, nav range: 127.603371 m, bearing: 61.131693 deg, approach rate: 0.000000 m/s, LOS rate: -0.076605 deg/s, cmd heading: 77.305877 deg, new cmd heading: 77.205151 deg. 2025-10-24T20:01:55.261Z,1761336115.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347484 target range: 127.203445 and range: 127.80 m. 2025-10-24T20:01:55.590Z,1761336115.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.225452,-0.973705,0.032699],[0.958576,0.215702,-0.186023],[0.174078,0.073284,0.982001]] 2025-10-24T20:01:55.608Z,1761336115.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-10-24T20:01:55.610Z,1761336115.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.203445 m, nav range: 127.449303 m, bearing: 61.105917 deg, approach rate: -0.415197 m/s, LOS rate: -0.069546 deg/s, cmd heading: 77.205153 deg, new cmd heading: 77.127732 deg. 2025-10-24T20:01:55.611Z,1761336115.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.346133 target range: 127.203445 and range: 127.80 m. 2025-10-24T20:01:56.049Z,1761336116.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:56.051Z,1761336116.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-10-24T20:01:56.054Z,1761336116.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.203445 m, nav range: 127.264275 m, bearing: 61.072476 deg, approach rate: -0.417654 m/s, LOS rate: -0.075596 deg/s, cmd heading: 77.127732 deg, new cmd heading: 77.027261 deg. 2025-10-24T20:01:56.055Z,1761336116.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344379 target range: 127.203445 and range: 127.80 m. 2025-10-24T20:01:56.077Z,1761336116.077 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:01:56.077Z,1761336116.077 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:01:56.077Z,1761336116.077 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:01:56.329Z,1761336116.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460309 2025-10-24T20:01:56.392Z,1761336116.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.232832,-0.971803,0.037252],[0.956619,0.221960,-0.188715],[0.175125,0.079575,0.981325]] 2025-10-24T20:01:56.422Z,1761336116.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-10-24T20:01:56.425Z,1761336116.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.203445 m, nav range: 127.108421 m, bearing: 61.044859 deg, approach rate: -0.420153 m/s, LOS rate: -0.074539 deg/s, cmd heading: 77.027260 deg, new cmd heading: 76.944310 deg. 2025-10-24T20:01:56.426Z,1761336116.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342932 target range: 127.203445 and range: 127.80 m. 2025-10-24T20:01:56.581Z,1761336116.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712245 2025-10-24T20:01:56.796Z,1761336116.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.237268,-0.970662,0.038981],[0.955490,0.225941,-0.189711],[0.175337,0.082258,0.981066]] 2025-10-24T20:01:56.815Z,1761336116.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-10-24T20:01:56.818Z,1761336116.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.203445 m, nav range: 126.943359 m, bearing: 61.015933 deg, approach rate: -0.419420 m/s, LOS rate: -0.073598 deg/s, cmd heading: 76.944308 deg, new cmd heading: 76.857415 deg. 2025-10-24T20:01:56.819Z,1761336116.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341415 target range: 127.203445 and range: 127.80 m. 2025-10-24T20:01:56.835Z,1761336116.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966225 2025-10-24T20:01:57.086Z,1761336117.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217809 2025-10-24T20:01:57.201Z,1761336117.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241168,-0.969713,0.038669],[0.954396,0.229757,-0.190629],[0.175971,0.082879,0.980900]] 2025-10-24T20:01:57.251Z,1761336117.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-10-24T20:01:57.254Z,1761336117.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.203445 m, nav range: 126.745285 m, bearing: 60.978052 deg, approach rate: -0.453947 m/s, LOS rate: -0.086952 deg/s, cmd heading: 76.857414 deg, new cmd heading: 76.743593 deg. 2025-10-24T20:01:57.256Z,1761336117.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339428 target range: 127.203445 and range: 127.80 m. 2025-10-24T20:01:57.337Z,1761336117.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468536 2025-10-24T20:01:57.589Z,1761336117.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720374 2025-10-24T20:01:57.615Z,1761336117.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244268,-0.968908,0.039365],[0.953376,0.232537,-0.192357],[0.177223,0.084517,0.980535]] 2025-10-24T20:01:57.635Z,1761336117.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-10-24T20:01:57.638Z,1761336117.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.203445 m, nav range: 126.571220 m, bearing: 60.944970 deg, approach rate: -0.453265 m/s, LOS rate: -0.086262 deg/s, cmd heading: 76.743596 deg, new cmd heading: 76.644215 deg. 2025-10-24T20:01:57.639Z,1761336117.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.337694 target range: 127.203445 and range: 127.80 m. 2025-10-24T20:01:57.841Z,1761336117.841 [DAT](INFO): DAT read: Rx Time:20:01:56.7128 2025-10-24T20:01:57.841Z,1761336117.841 [DAT](INFO): Rx dataTimestamp_ set to:1761336117.841166 2025-10-24T20:01:57.842Z,1761336117.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973555 2025-10-24T20:01:58.012Z,1761336118.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246828,-0.968265,0.039240],[0.952454,0.234935,-0.194000],[0.178625,0.085259,0.980216]] 2025-10-24T20:01:58.050Z,1761336118.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:01:58.052Z,1761336118.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.20 m. 2025-10-24T20:01:58.055Z,1761336118.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 127.203445 m, nav range: 126.359718 m, bearing: 60.901340 deg, approach rate: -0.507814 m/s, LOS rate: -0.104931 deg/s, cmd heading: 76.644216 deg, new cmd heading: 76.513107 deg. 2025-10-24T20:01:58.073Z,1761336118.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335406 target range: 127.203445 and range: 127.80 m. 2025-10-24T20:01:58.093Z,1761336118.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224444 2025-10-24T20:01:58.361Z,1761336118.361 [DAT](INFO): DAT read: 20:01:56.7128 LVL= 23072, 27441, 17202, 25907, AGC= 66, IDX= 419, 0.00,-1.969,-3.092,-1.599,-2.362, PHS= 0.481,-0.683, 0.760, RAW= 160.5, -8.5, CAL= 164.9, -15.5, ROT= 345.1, 15.5 2025-10-24T20:01:58.362Z,1761336118.362 [DAT](INFO): got valid direction response: 20:01:56.7128 LVL= 23072, 27441, 17202, 25907, AGC= 66, IDX= 419, 0.00,-1.969,-3.092,-1.599,-2.362, PHS= 0.481,-0.683, 0.760, RAW= 160.5, -8.5, CAL= 164.9, -15.5, ROT= 345.1, 15.5 2025-10-24T20:01:58.363Z,1761336118.363 [DAT](INFO): DAT read: Bearing 345.1, 15.5 (Local) 2025-10-24T20:01:58.363Z,1761336118.363 [DAT](INFO): Local bearing/azimuth received: Bearing 345.1, 15.5 (Local) 2025-10-24T20:01:58.366Z,1761336118.366 [DAT](INFO): DAT read: Range 10 to 50 : 125.8 m (Round-trip 167.8 ms) speed 0.8 m/s 2025-10-24T20:01:58.366Z,1761336118.366 [DAT](INFO): DAT read: user:211> 2025-10-24T20:01:58.367Z,1761336118.367 [DAT](INFO): DAT read: Tx time:20:01:57.7909 2025-10-24T20:01:58.367Z,1761336118.367 [DAT](INFO): Ping request sent. 2025-10-24T20:01:58.368Z,1761336118.368 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:01:58.368Z,1761336118.368 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:01:58.369Z,1761336118.369 [DAT](INFO): direction in FSK: [0.931229,-0.247781,-0.267238] 2025-10-24T20:01:58.370Z,1761336118.370 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:58.370Z,1761336118.370 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:58.374Z,1761336118.374 [DAT](INFO): publishing transmit ping time 2025-10-24T20:01:58.374Z,1761336118.374 [DAT](INFO): publishing direction and range info 2025-10-24T20:01:58.597Z,1761336118.597 [DAT](INFO): DAT read: TxSync time:20:01:57.7901 2025-10-24T20:01:58.602Z,1761336118.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 125.800003 m, deltaT: 3.538700 s, deltaX: -2.000000 m, approachRate: -0.565179 m/s, rangeRepo size: 4 2025-10-24T20:01:58.614Z,1761336118.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 125.210381 m, bearing: 62.454948 deg, lat: 36.779794 deg, lon: -121.859600 deg, deltaT: 3.538700 s, deltaX: -1.993065 m, approachRate: -0.563219 m/s, posRepo size: 4 2025-10-24T20:01:58.615Z,1761336118.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:01:58.626Z,1761336118.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 125.553719 m, bearing: 61.302729 deg, approach rate: 0.000000 m/s, LOS rate: -0.104931 deg/s, cmd heading: 76.513104 deg, new cmd heading: 76.340161 deg. 2025-10-24T20:01:58.627Z,1761336118.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332387 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:01:58.961Z,1761336118.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250693,-0.967269,0.039295],[0.950772,0.238373,-0.198019],[0.182171,0.087002,0.979410]] 2025-10-24T20:01:59.000Z,1761336119.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:01:59.003Z,1761336119.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 125.301247 m, bearing: 61.249081 deg, approach rate: -0.633490 m/s, LOS rate: -0.134882 deg/s, cmd heading: 76.340164 deg, new cmd heading: 76.178896 deg. 2025-10-24T20:01:59.024Z,1761336119.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329573 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:01:59.327Z,1761336119.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251673,-0.967091,0.037359],[0.950093,0.239528,-0.199873],[0.184346,0.085797,0.979109]] 2025-10-24T20:01:59.346Z,1761336119.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:01:59.349Z,1761336119.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 125.105957 m, bearing: 61.207511 deg, approach rate: -0.564906 m/s, LOS rate: -0.120435 deg/s, cmd heading: 76.178896 deg, new cmd heading: 76.053993 deg. 2025-10-24T20:01:59.350Z,1761336119.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327393 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:01:59.636Z,1761336119.636 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:01:59.727Z,1761336119.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250996,-0.967253,0.037725],[0.949861,0.238601,-0.202074],[0.186456,0.086553,0.978643]] 2025-10-24T20:01:59.749Z,1761336119.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:01:59.769Z,1761336119.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 124.879593 m, bearing: 61.159067 deg, approach rate: -0.560732 m/s, LOS rate: -0.120219 deg/s, cmd heading: 76.053992 deg, new cmd heading: 75.908397 deg. 2025-10-24T20:01:59.771Z,1761336119.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324852 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:02:00.133Z,1761336120.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.251074,-0.967217,0.038125],[0.949602,0.238483,-0.203425],[0.187664,0.087278,0.978348]] 2025-10-24T20:02:00.178Z,1761336120.178 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:00.180Z,1761336120.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:02:00.183Z,1761336120.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 124.614166 m, bearing: 61.099988 deg, approach rate: -0.616182 m/s, LOS rate: -0.137443 deg/s, cmd heading: 75.908400 deg, new cmd heading: 75.730785 deg. 2025-10-24T20:02:00.184Z,1761336120.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321752 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:02:00.361Z,1761336120.361 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:00.361Z,1761336120.361 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:00.361Z,1761336120.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:00.549Z,1761336120.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250934,-0.967252,0.038145],[0.949448,0.238254,-0.204411],[0.188629,0.087510,0.978142]] 2025-10-24T20:02:00.568Z,1761336120.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:02:00.571Z,1761336120.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 124.376289 m, bearing: 61.046785 deg, approach rate: -0.613795 m/s, LOS rate: -0.137542 deg/s, cmd heading: 75.730788 deg, new cmd heading: 75.570874 deg. 2025-10-24T20:02:00.572Z,1761336120.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318961 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:02:00.613Z,1761336120.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245208 2025-10-24T20:02:00.641Z,1761336120.641 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:02:00.865Z,1761336120.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497145 2025-10-24T20:02:00.979Z,1761336120.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.250402,-0.967381,0.038372],[0.949412,0.237606,-0.205330],[0.189515,0.087846,0.977940]] 2025-10-24T20:02:01.017Z,1761336121.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:02:01.020Z,1761336121.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 124.091225 m, bearing: 60.982550 deg, approach rate: -0.633867 m/s, LOS rate: -0.143161 deg/s, cmd heading: 75.570873 deg, new cmd heading: 75.377725 deg. 2025-10-24T20:02:01.021Z,1761336121.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315590 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:02:01.118Z,1761336121.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749587 2025-10-24T20:02:01.347Z,1761336121.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249214,-0.967672,0.038772],[0.949582,0.236299,-0.206050],[0.190227,0.088167,0.977773]] 2025-10-24T20:02:01.366Z,1761336121.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:02:01.369Z,1761336121.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001280 2025-10-24T20:02:01.371Z,1761336121.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 123.869957 m, bearing: 60.932306 deg, approach rate: -0.633861 m/s, LOS rate: -0.144191 deg/s, cmd heading: 75.377729 deg, new cmd heading: 75.226727 deg. 2025-10-24T20:02:01.373Z,1761336121.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312954 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:02:01.621Z,1761336121.621 [DAT](INFO): DAT read: Rx Time:20:02:00.3593 2025-10-24T20:02:01.621Z,1761336121.621 [DAT](INFO): Rx dataTimestamp_ set to:1761336121.621067 2025-10-24T20:02:01.622Z,1761336121.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254271 2025-10-24T20:02:01.751Z,1761336121.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.248529,-0.967827,0.039299],[0.949600,0.235445,-0.206941],[0.191031,0.088749,0.977564]] 2025-10-24T20:02:01.775Z,1761336121.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.21 m. 2025-10-24T20:02:01.781Z,1761336121.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 125.210381 m, nav range: 123.611801 m, bearing: 60.873327 deg, approach rate: -0.632907 m/s, LOS rate: -0.144898 deg/s, cmd heading: 75.226727 deg, new cmd heading: 75.049421 deg. 2025-10-24T20:02:01.782Z,1761336121.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.309860 target range: 125.210381 and range: 125.80 m. 2025-10-24T20:02:01.874Z,1761336121.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506458 2025-10-24T20:02:02.131Z,1761336122.131 [DAT](INFO): DAT read: 20:02:00.3593 LVL= 23680, 30193, 18866, 29011, AGC= 69, IDX= 399, 0.09, 0.237,-1.022, 0.582,-0.275, PHS= 0.600,-0.700, 0.854, RAW= 158.8, -10.5, CAL= 164.0, -17.3, ROT= 346.0, 17.3 2025-10-24T20:02:02.132Z,1761336122.132 [DAT](INFO): got valid direction response: 20:02:00.3593 LVL= 23680, 30193, 18866, 29011, AGC= 69, IDX= 399, 0.09, 0.237,-1.022, 0.582,-0.275, PHS= 0.600,-0.700, 0.854, RAW= 158.8, -10.5, CAL= 164.0, -17.3, ROT= 346.0, 17.3 2025-10-24T20:02:02.133Z,1761336122.133 [DAT](INFO): DAT read: Bearing 346.0, 17.3 (Local) 2025-10-24T20:02:02.133Z,1761336122.133 [DAT](INFO): Local bearing/azimuth received: Bearing 346.0, 17.3 (Local) 2025-10-24T20:02:02.135Z,1761336122.135 [DAT](INFO): DAT read: Range 10 to 50 : 123.2 m (Round-trip 164.3 ms) speed 0.4 m/s 2025-10-24T20:02:02.135Z,1761336122.135 [DAT](INFO): DAT read: user:212> 2025-10-24T20:02:02.143Z,1761336122.143 [DAT](INFO): DAT read: Tx time:20:02:01.4409 2025-10-24T20:02:02.143Z,1761336122.143 [DAT](INFO): Ping request sent. 2025-10-24T20:02:02.143Z,1761336122.143 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:02.143Z,1761336122.143 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:02.144Z,1761336122.144 [DAT](INFO): direction in FSK: [0.926400,-0.230977,-0.297375] 2025-10-24T20:02:02.145Z,1761336122.145 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:02.145Z,1761336122.145 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:02.157Z,1761336122.157 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:02.157Z,1761336122.157 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:02.163Z,1761336122.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.247249,-0.968177,0.038744],[0.949805,0.234260,-0.207348],[0.191673,0.088066,0.977500]] 2025-10-24T20:02:02.291Z,1761336122.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 123.199997 m, deltaT: 3.777209 s, deltaX: -2.600006 m, approachRate: -0.688341 m/s, rangeRepo size: 4 2025-10-24T20:02:02.306Z,1761336122.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 122.617767 m, bearing: 63.567735 deg, lat: 36.779773 deg, lon: -121.859599 deg, deltaT: 3.777209 s, deltaX: -2.592613 m, approachRate: -0.686383 m/s, posRepo size: 4 2025-10-24T20:02:02.307Z,1761336122.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.62 m. 2025-10-24T20:02:02.314Z,1761336122.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.617767 m, nav range: 122.246979 m, bearing: 61.825836 deg, approach rate: 0.000000 m/s, LOS rate: -0.144898 deg/s, cmd heading: 75.049422 deg, new cmd heading: 74.825037 deg. 2025-10-24T20:02:02.315Z,1761336122.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.305943 target range: 122.617767 and range: 123.20 m. 2025-10-24T20:02:02.378Z,1761336122.378 [DAT](INFO): DAT read: TxSync time:20:02:01.4401 2025-10-24T20:02:02.653Z,1761336122.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:02.655Z,1761336122.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.62 m. 2025-10-24T20:02:02.662Z,1761336122.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.617767 m, nav range: 122.026405 m, bearing: 61.777108 deg, approach rate: -0.605402 m/s, LOS rate: -0.133983 deg/s, cmd heading: 74.825037 deg, new cmd heading: 74.678590 deg. 2025-10-24T20:02:02.663Z,1761336122.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303387 target range: 122.617767 and range: 123.20 m. 2025-10-24T20:02:02.882Z,1761336122.882 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:02.882Z,1761336122.882 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:02.882Z,1761336122.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:03.011Z,1761336123.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245242,-0.968453,0.044216],[0.950076,0.231013,-0.209734],[0.192903,0.093444,0.976758]] 2025-10-24T20:02:03.066Z,1761336123.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.62 m. 2025-10-24T20:02:03.069Z,1761336123.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.617767 m, nav range: 121.762627 m, bearing: 61.722885 deg, approach rate: -0.641702 m/s, LOS rate: -0.132196 deg/s, cmd heading: 74.678590 deg, new cmd heading: 74.515569 deg. 2025-10-24T20:02:03.070Z,1761336123.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300542 target range: 122.617767 and range: 123.20 m. 2025-10-24T20:02:03.134Z,1761336123.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991382 2025-10-24T20:02:03.383Z,1761336123.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244047,-0.968866,0.041716],[0.950126,0.230271,-0.210324],[0.194169,0.090965,0.976741]] 2025-10-24T20:02:03.385Z,1761336123.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241892 2025-10-24T20:02:03.403Z,1761336123.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.62 m. 2025-10-24T20:02:03.407Z,1761336123.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.617767 m, nav range: 121.561104 m, bearing: 61.681163 deg, approach rate: -0.597322 m/s, LOS rate: -0.123872 deg/s, cmd heading: 74.515568 deg, new cmd heading: 74.390193 deg. 2025-10-24T20:02:03.408Z,1761336123.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298354 target range: 122.617767 and range: 123.20 m. 2025-10-24T20:02:03.637Z,1761336123.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494015 2025-10-24T20:02:03.796Z,1761336123.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.243729,-0.969025,0.039827],[0.950060,0.230304,-0.210583],[0.194888,0.089163,0.976764]] 2025-10-24T20:02:03.828Z,1761336123.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.62 m. 2025-10-24T20:02:03.837Z,1761336123.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.617767 m, nav range: 121.308731 m, bearing: 61.628669 deg, approach rate: -0.594614 m/s, LOS rate: -0.123937 deg/s, cmd heading: 74.390193 deg, new cmd heading: 74.232385 deg. 2025-10-24T20:02:03.838Z,1761336123.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295600 target range: 122.617767 and range: 123.20 m. 2025-10-24T20:02:03.891Z,1761336123.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747327 2025-10-24T20:02:04.141Z,1761336124.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997991 2025-10-24T20:02:04.270Z,1761336124.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246754,-0.968397,0.036326],[0.949342,0.234032,-0.209712],[0.194583,0.086233,0.977088]] 2025-10-24T20:02:04.319Z,1761336124.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.62 m. 2025-10-24T20:02:04.323Z,1761336124.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.617767 m, nav range: 121.033615 m, bearing: 61.579140 deg, approach rate: -0.559726 m/s, LOS rate: -0.100998 deg/s, cmd heading: 74.232388 deg, new cmd heading: 74.083461 deg. 2025-10-24T20:02:04.324Z,1761336124.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293000 target range: 122.617767 and range: 123.20 m. 2025-10-24T20:02:04.393Z,1761336124.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250192 2025-10-24T20:02:04.645Z,1761336124.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502465 2025-10-24T20:02:04.738Z,1761336124.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:04.740Z,1761336124.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.62 m. 2025-10-24T20:02:04.743Z,1761336124.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.617767 m, nav range: 120.800278 m, bearing: 61.536942 deg, approach rate: -0.553971 m/s, LOS rate: -0.100375 deg/s, cmd heading: 74.083462 deg, new cmd heading: 73.956626 deg. 2025-10-24T20:02:04.745Z,1761336124.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290787 target range: 122.617767 and range: 123.20 m. 2025-10-24T20:02:04.899Z,1761336124.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755296 2025-10-24T20:02:05.149Z,1761336125.149 [DAT](INFO): DAT read: Rx Time:20:02:04.0067 2025-10-24T20:02:05.149Z,1761336125.149 [DAT](INFO): Rx dataTimestamp_ set to:1761336125.149069 2025-10-24T20:02:05.150Z,1761336125.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006959 2025-10-24T20:02:05.174Z,1761336125.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.62 m. 2025-10-24T20:02:05.177Z,1761336125.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 122.617767 m, nav range: 120.582855 m, bearing: 61.500982 deg, approach rate: -0.501943 m/s, LOS rate: -0.083168 deg/s, cmd heading: 73.956626 deg, new cmd heading: 73.848551 deg. 2025-10-24T20:02:05.178Z,1761336125.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288900 target range: 122.617767 and range: 123.20 m. 2025-10-24T20:02:05.402Z,1761336125.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258579 2025-10-24T20:02:05.664Z,1761336125.664 [DAT](INFO): DAT read: 20:02:04.0067 LVL= 32752, 32753, 27458, 32755, AGC= 65, IDX= 420, 0.25, 2.757, 1.589, 3.050, 2.265, PHS= 0.580,-0.629, 0.782, RAW= 157.6, -11.1, CAL= 163.2, -17.9, ROT= 346.8, 17.9 2025-10-24T20:02:05.665Z,1761336125.665 [DAT](INFO): got valid direction response: 20:02:04.0067 LVL= 32752, 32753, 27458, 32755, AGC= 65, IDX= 420, 0.25, 2.757, 1.589, 3.050, 2.265, PHS= 0.580,-0.629, 0.782, RAW= 157.6, -11.1, CAL= 163.2, -17.9, ROT= 346.8, 17.9 2025-10-24T20:02:05.666Z,1761336125.666 [DAT](INFO): DAT read: Bearing 346.8, 17.9 (Local) 2025-10-24T20:02:05.667Z,1761336125.667 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, 17.9 (Local) 2025-10-24T20:02:05.673Z,1761336125.673 [DAT](INFO): DAT read: Range 10 to 50 : 121.2 m (Round-trip 161.7 ms) speed 0.3 m/s 2025-10-24T20:02:05.674Z,1761336125.674 [DAT](INFO): DAT read: user:213> 2025-10-24T20:02:05.675Z,1761336125.675 [DAT](INFO): DAT read: Tx time:20:02:05.0909 2025-10-24T20:02:05.675Z,1761336125.675 [DAT](INFO): Ping request sent. 2025-10-24T20:02:05.675Z,1761336125.675 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:05.675Z,1761336125.675 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:05.710Z,1761336125.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.257736,-0.965689,0.031887],[0.946413,0.245669,-0.209640],[0.194613,0.084210,0.977259]] 2025-10-24T20:02:05.716Z,1761336125.716 [DAT](INFO): direction in FSK: [0.926452,-0.217298,-0.307357] 2025-10-24T20:02:05.717Z,1761336125.717 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:05.717Z,1761336125.717 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:05.728Z,1761336125.728 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:05.729Z,1761336125.729 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:05.744Z,1761336125.744 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:02:05.813Z,1761336125.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.199997 m, deltaT: 3.529908 s, deltaX: -2.000000 m, approachRate: -0.566587 m/s, rangeRepo size: 4 2025-10-24T20:02:05.828Z,1761336125.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.619827 m, bearing: 63.699235 deg, lat: 36.779769 deg, lon: -121.859593 deg, deltaT: 3.529908 s, deltaX: -1.997940 m, approachRate: -0.566003 m/s, posRepo size: 4 2025-10-24T20:02:05.829Z,1761336125.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:05.831Z,1761336125.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 120.613213 m, bearing: 61.727702 deg, approach rate: 0.000000 m/s, LOS rate: -0.083168 deg/s, cmd heading: 73.848552 deg, new cmd heading: 73.691041 deg. 2025-10-24T20:02:05.837Z,1761336125.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286151 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:05.906Z,1761336125.906 [DAT](INFO): DAT read: TxSync time:20:02:05.0901 2025-10-24T20:02:06.139Z,1761336126.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262989,-0.964349,0.029449],[0.945094,0.251361,-0.208842],[0.193994,0.082755,0.977506]] 2025-10-24T20:02:06.238Z,1761336126.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:06.245Z,1761336126.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 120.409767 m, bearing: 61.697891 deg, approach rate: -0.470206 m/s, LOS rate: -0.069015 deg/s, cmd heading: 73.691041 deg, new cmd heading: 73.601458 deg. 2025-10-24T20:02:06.246Z,1761336126.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284588 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:06.557Z,1761336126.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:06.559Z,1761336126.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 120.265709 m, bearing: 61.676718 deg, approach rate: -0.453059 m/s, LOS rate: -0.066670 deg/s, cmd heading: 73.601456 deg, new cmd heading: 73.537860 deg. 2025-10-24T20:02:06.561Z,1761336126.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.283478 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:06.926Z,1761336126.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271173,-0.962141,0.027382],[0.942524,0.259659,-0.210297],[0.195226,0.082836,0.977254]] 2025-10-24T20:02:06.964Z,1761336126.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:06.966Z,1761336126.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:06.970Z,1761336126.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 120.084770 m, bearing: 61.650872 deg, approach rate: -0.440511 m/s, LOS rate: -0.063018 deg/s, cmd heading: 73.537860 deg, new cmd heading: 73.460207 deg. 2025-10-24T20:02:06.971Z,1761336126.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282122 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:07.165Z,1761336127.165 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:07.165Z,1761336127.165 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:07.166Z,1761336127.166 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:07.400Z,1761336127.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.282626,-0.958939,0.023635],[0.939554,0.271779,-0.208267],[0.193292,0.081068,0.977786]] 2025-10-24T20:02:07.417Z,1761336127.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741860 2025-10-24T20:02:07.459Z,1761336127.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:07.462Z,1761336127.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 119.882172 m, bearing: 61.626015 deg, approach rate: -0.410903 m/s, LOS rate: -0.050500 deg/s, cmd heading: 73.460208 deg, new cmd heading: 73.385509 deg. 2025-10-24T20:02:07.463Z,1761336127.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280819 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:07.671Z,1761336127.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995481 2025-10-24T20:02:07.806Z,1761336127.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288361,-0.957275,0.021719],[0.938005,0.277854,-0.207230],[0.192341,0.080130,0.978051]] 2025-10-24T20:02:07.823Z,1761336127.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:07.826Z,1761336127.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 119.732040 m, bearing: 61.608012 deg, approach rate: -0.412658 m/s, LOS rate: -0.049546 deg/s, cmd heading: 73.385513 deg, new cmd heading: 73.331436 deg. 2025-10-24T20:02:07.827Z,1761336127.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279875 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:07.921Z,1761336127.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246438 2025-10-24T20:02:08.177Z,1761336128.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501549 2025-10-24T20:02:08.210Z,1761336128.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293674,-0.955688,0.020413],[0.936531,0.283379,-0.206411],[0.191479,0.079735,0.978253]] 2025-10-24T20:02:08.249Z,1761336128.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:08.272Z,1761336128.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 119.562401 m, bearing: 61.587160 deg, approach rate: -0.398555 m/s, LOS rate: -0.049059 deg/s, cmd heading: 73.331438 deg, new cmd heading: 73.268794 deg. 2025-10-24T20:02:08.275Z,1761336128.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.278782 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:08.425Z,1761336128.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749842 2025-10-24T20:02:08.609Z,1761336128.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297778,-0.954425,0.020009],[0.935324,0.287496,-0.206190],[0.191041,0.080114,0.978307]] 2025-10-24T20:02:08.648Z,1761336128.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:08.651Z,1761336128.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 119.409637 m, bearing: 61.568669 deg, approach rate: -0.398725 m/s, LOS rate: -0.048326 deg/s, cmd heading: 73.268792 deg, new cmd heading: 73.213246 deg. 2025-10-24T20:02:08.657Z,1761336128.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277812 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:08.677Z,1761336128.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002119 2025-10-24T20:02:08.929Z,1761336128.929 [DAT](INFO): DAT read: Rx Time:20:02:07.6547 2025-10-24T20:02:08.929Z,1761336128.929 [DAT](INFO): Rx dataTimestamp_ set to:1761336128.929014 2025-10-24T20:02:08.930Z,1761336128.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254861 2025-10-24T20:02:09.013Z,1761336129.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301133,-0.953371,0.020044],[0.934239,0.290748,-0.206549],[0.191090,0.080925,0.978231]] 2025-10-24T20:02:09.043Z,1761336129.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:09.069Z,1761336129.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.62 m. 2025-10-24T20:02:09.087Z,1761336129.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.619827 m, nav range: 119.249222 m, bearing: 61.549488 deg, approach rate: -0.382703 m/s, LOS rate: -0.045821 deg/s, cmd heading: 73.213249 deg, new cmd heading: 73.155629 deg. 2025-10-24T20:02:09.095Z,1761336129.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276807 target range: 120.619827 and range: 121.20 m. 2025-10-24T20:02:09.182Z,1761336129.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507243 2025-10-24T20:02:09.422Z,1761336129.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303712,-0.952527,0.021261],[0.933346,0.292966,-0.207451],[0.191374,0.082849,0.978014]] 2025-10-24T20:02:09.439Z,1761336129.439 [DAT](INFO): DAT read: 20:02:07.6547 LVL= 22176, 30017, 19314, 32755, AGC= 68, IDX= 416, 0.26, 1.893, 0.582, 2.110, 1.298, PHS= 0.683,-0.669, 0.809, RAW= 154.4, -11.6, CAL= 160.8, -18.7, ROT= 349.2, 18.7 2025-10-24T20:02:09.444Z,1761336129.444 [DAT](INFO): got valid direction response: 20:02:07.6547 LVL= 22176, 30017, 19314, 32755, AGC= 68, IDX= 416, 0.26, 1.893, 0.582, 2.110, 1.298, PHS= 0.683,-0.669, 0.809, RAW= 154.4, -11.6, CAL= 160.8, -18.7, ROT= 349.2, 18.7 2025-10-24T20:02:09.445Z,1761336129.445 [DAT](INFO): DAT read: Bearing 349.2, 18.7 (Local) 2025-10-24T20:02:09.446Z,1761336129.446 [DAT](INFO): Local bearing/azimuth received: Bearing 349.2, 18.7 (Local) 2025-10-24T20:02:09.447Z,1761336129.447 [DAT](INFO): DAT read: Range 10 to 50 : 119.7 m (Round-trip 159.7 ms) speed 0.5 m/s 2025-10-24T20:02:09.448Z,1761336129.448 [DAT](INFO): DAT read: user:214> 2025-10-24T20:02:09.449Z,1761336129.449 [DAT](INFO): DAT read: Tx time:20:02:08.7409 2025-10-24T20:02:09.449Z,1761336129.449 [DAT](INFO): Ping request sent. 2025-10-24T20:02:09.449Z,1761336129.449 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:09.449Z,1761336129.449 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:09.450Z,1761336129.450 [DAT](INFO): direction in FSK: [0.930433,-0.177489,-0.320613] 2025-10-24T20:02:09.451Z,1761336129.451 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:09.451Z,1761336129.451 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:09.455Z,1761336129.455 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:09.455Z,1761336129.455 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:09.577Z,1761336129.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.699997 m, deltaT: 3.778060 s, deltaX: -1.500000 m, approachRate: -0.397029 m/s, rangeRepo size: 4 2025-10-24T20:02:09.579Z,1761336129.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.126526 m, bearing: 63.260445 deg, lat: 36.779740 deg, lon: -121.859587 deg, deltaT: 3.778060 s, deltaX: -1.493301 m, approachRate: -0.395256 m/s, posRepo size: 4 2025-10-24T20:02:09.585Z,1761336129.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:09.587Z,1761336129.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 117.943016 m, bearing: 63.032626 deg, approach rate: 0.000000 m/s, LOS rate: -0.045821 deg/s, cmd heading: 73.155629 deg, new cmd heading: 73.083370 deg. 2025-10-24T20:02:09.602Z,1761336129.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.275545 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:09.686Z,1761336129.686 [DAT](INFO): DAT read: TxSync time:20:02:08.7401 2025-10-24T20:02:09.895Z,1761336129.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303801,-0.952460,0.022907],[0.933015,0.292560,-0.209502],[0.192841,0.085019,0.977540]] 2025-10-24T20:02:09.927Z,1761336129.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:09.933Z,1761336129.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 117.777100 m, bearing: 63.012811 deg, approach rate: -0.474921 m/s, LOS rate: -0.056800 deg/s, cmd heading: 73.083372 deg, new cmd heading: 73.023843 deg. 2025-10-24T20:02:09.934Z,1761336129.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274506 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:10.280Z,1761336130.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305486,-0.951857,0.025438],[0.932123,0.293483,-0.212168],[0.194487,0.088526,0.976902]] 2025-10-24T20:02:10.330Z,1761336130.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:10.334Z,1761336130.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 117.595131 m, bearing: 62.986422 deg, approach rate: -0.450062 m/s, LOS rate: -0.065367 deg/s, cmd heading: 73.023841 deg, new cmd heading: 72.944553 deg. 2025-10-24T20:02:10.334Z,1761336130.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273123 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:10.690Z,1761336130.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305146,-0.951960,0.025667],[0.931880,0.292941,-0.213974],[0.196176,0.089212,0.976502]] 2025-10-24T20:02:10.732Z,1761336130.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:10.735Z,1761336130.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 117.419342 m, bearing: 62.960824 deg, approach rate: -0.437211 m/s, LOS rate: -0.063763 deg/s, cmd heading: 72.944556 deg, new cmd heading: 72.867644 deg. 2025-10-24T20:02:10.742Z,1761336130.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.271780 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:11.129Z,1761336131.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306099,-0.951636,0.026324],[0.931442,0.293659,-0.214894],[0.196770,0.090298,0.976283]] 2025-10-24T20:02:11.175Z,1761336131.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:11.178Z,1761336131.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:11.181Z,1761336131.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 117.195068 m, bearing: 62.925693 deg, approach rate: -0.503277 m/s, LOS rate: -0.078985 deg/s, cmd heading: 72.867641 deg, new cmd heading: 72.762047 deg. 2025-10-24T20:02:11.182Z,1761336131.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269937 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:11.197Z,1761336131.197 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:11.197Z,1761336131.197 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:11.197Z,1761336131.197 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:11.449Z,1761336131.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999715 2025-10-24T20:02:11.500Z,1761336131.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306528,-0.951466,0.027440],[0.931221,0.293786,-0.215677],[0.197148,0.091664,0.976079]] 2025-10-24T20:02:11.520Z,1761336131.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:11.524Z,1761336131.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 117.025612 m, bearing: 62.899106 deg, approach rate: -0.496196 m/s, LOS rate: -0.077962 deg/s, cmd heading: 72.762046 deg, new cmd heading: 72.682171 deg. 2025-10-24T20:02:11.525Z,1761336131.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268543 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:11.701Z,1761336131.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251503 2025-10-24T20:02:11.902Z,1761336131.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305957,-0.951602,0.029059],[0.931291,0.292810,-0.216701],[0.197704,0.093364,0.975805]] 2025-10-24T20:02:11.940Z,1761336131.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:11.943Z,1761336131.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 116.818764 m, bearing: 62.866488 deg, approach rate: -0.492186 m/s, LOS rate: -0.077751 deg/s, cmd heading: 72.682174 deg, new cmd heading: 72.584146 deg. 2025-10-24T20:02:11.944Z,1761336131.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.266832 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:11.953Z,1761336131.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503636 2025-10-24T20:02:12.205Z,1761336132.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755704 2025-10-24T20:02:12.302Z,1761336132.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305259,-0.951829,0.028948],[0.931297,0.292054,-0.217692],[0.198751,0.093412,0.975588]] 2025-10-24T20:02:12.343Z,1761336132.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:12.345Z,1761336132.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 116.602531 m, bearing: 62.826992 deg, approach rate: -0.536895 m/s, LOS rate: -0.098249 deg/s, cmd heading: 72.584147 deg, new cmd heading: 72.465439 deg. 2025-10-24T20:02:12.346Z,1761336132.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264760 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:12.458Z,1761336132.458 [DAT](INFO): DAT read: Rx Time:20:02:11.3020 2025-10-24T20:02:12.458Z,1761336132.458 [DAT](INFO): Rx dataTimestamp_ set to:1761336132.457795 2025-10-24T20:02:12.459Z,1761336132.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009754 2025-10-24T20:02:12.705Z,1761336132.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.303850,-0.952240,0.030246],[0.931506,0.290273,-0.219175],[0.199927,0.094770,0.975217]] 2025-10-24T20:02:12.709Z,1761336132.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259592 2025-10-24T20:02:12.742Z,1761336132.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.13 m. 2025-10-24T20:02:12.745Z,1761336132.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.126526 m, nav range: 116.388519 m, bearing: 62.787577 deg, approach rate: -0.536486 m/s, LOS rate: -0.098987 deg/s, cmd heading: 72.465438 deg, new cmd heading: 72.346977 deg. 2025-10-24T20:02:12.745Z,1761336132.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262693 target range: 119.126526 and range: 119.70 m. 2025-10-24T20:02:12.967Z,1761336132.967 [DAT](INFO): DAT read: 20:02:11.3020 LVL= 28752, 28129, 25714, 32755, AGC= 65, IDX= 419,-0.34,-2.860, 2.233,-2.613, 2.846, PHS= 0.665,-0.565, 0.821, RAW= 155.9, -13.9, CAL= 162.3, -20.6, ROT= 347.7, 20.6 2025-10-24T20:02:12.968Z,1761336132.968 [DAT](INFO): got valid direction response: 20:02:11.3020 LVL= 28752, 28129, 25714, 32755, AGC= 65, IDX= 419,-0.34,-2.860, 2.233,-2.613, 2.846, PHS= 0.665,-0.565, 0.821, RAW= 155.9, -13.9, CAL= 162.3, -20.6, ROT= 347.7, 20.6 2025-10-24T20:02:12.969Z,1761336132.969 [DAT](INFO): DAT read: Bearing 347.7, 20.6 (Local) 2025-10-24T20:02:12.970Z,1761336132.970 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, 20.6 (Local) 2025-10-24T20:02:12.971Z,1761336132.971 [DAT](INFO): DAT read: Range 10 to 50 : 117.6 m (Round-trip 156.9 ms) speed 0.5 m/s 2025-10-24T20:02:12.981Z,1761336132.981 [DAT](INFO): DAT read: user:215> 2025-10-24T20:02:12.981Z,1761336132.981 [DAT](INFO): DAT read: Tx time:20:02:12.3910 2025-10-24T20:02:12.982Z,1761336132.982 [DAT](INFO): Ping request sent. 2025-10-24T20:02:12.982Z,1761336132.982 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:12.982Z,1761336132.982 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:12.983Z,1761336132.983 [DAT](INFO): direction in FSK: [0.914573,-0.199409,-0.351842] 2025-10-24T20:02:12.983Z,1761336132.983 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:12.984Z,1761336132.984 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:12.987Z,1761336132.987 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:12.987Z,1761336132.987 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:13.213Z,1761336133.213 [DAT](INFO): DAT read: TxSync time:20:02:12.3902 2025-10-24T20:02:13.281Z,1761336133.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 117.599998 m, deltaT: 3.528043 s, deltaX: -2.099998 m, approachRate: -0.595230 m/s, rangeRepo size: 4 2025-10-24T20:02:13.283Z,1761336133.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.036301 m, bearing: 62.312076 deg, lat: 36.779740 deg, lon: -121.859587 deg, deltaT: 3.528043 s, deltaX: -2.090225 m, approachRate: -0.592460 m/s, posRepo size: 4 2025-10-24T20:02:13.284Z,1761336133.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:13.287Z,1761336133.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 116.093498 m, bearing: 62.733757 deg, approach rate: 0.000000 m/s, LOS rate: -0.098987 deg/s, cmd heading: 72.346976 deg, new cmd heading: 72.188338 deg. 2025-10-24T20:02:13.296Z,1761336133.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259924 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:13.550Z,1761336133.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300687,-0.953230,0.030644],[0.932065,0.286899,-0.221231],[0.202093,0.095084,0.974740]] 2025-10-24T20:02:13.567Z,1761336133.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:13.570Z,1761336133.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:13.593Z,1761336133.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 115.916664 m, bearing: 62.701025 deg, approach rate: -0.601309 m/s, LOS rate: -0.111474 deg/s, cmd heading: 72.188338 deg, new cmd heading: 72.089991 deg. 2025-10-24T20:02:13.594Z,1761336133.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258208 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:13.717Z,1761336133.717 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:13.717Z,1761336133.717 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:13.717Z,1761336133.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:13.963Z,1761336133.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300173,-0.953277,0.034052],[0.931892,0.285444,-0.223828],[0.203651,0.098920,0.974033]] 2025-10-24T20:02:13.969Z,1761336133.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987483 2025-10-24T20:02:13.983Z,1761336133.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:13.986Z,1761336133.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 115.681473 m, bearing: 62.657280 deg, approach rate: -0.569706 m/s, LOS rate: -0.106179 deg/s, cmd heading: 72.089990 deg, new cmd heading: 71.958488 deg. 2025-10-24T20:02:13.987Z,1761336133.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255913 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:14.223Z,1761336134.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240767 2025-10-24T20:02:14.355Z,1761336134.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297625,-0.954130,0.032491],[0.932322,0.283162,-0.224933],[0.205416,0.097238,0.973832]] 2025-10-24T20:02:14.410Z,1761336134.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:14.413Z,1761336134.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 115.429604 m, bearing: 62.608080 deg, approach rate: -0.589652 m/s, LOS rate: -0.115432 deg/s, cmd heading: 71.958488 deg, new cmd heading: 71.810568 deg. 2025-10-24T20:02:14.414Z,1761336134.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.253331 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:14.474Z,1761336134.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491959 2025-10-24T20:02:14.725Z,1761336134.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742846 2025-10-24T20:02:14.853Z,1761336134.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:14.877Z,1761336134.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 115.166023 m, bearing: 62.556345 deg, approach rate: -0.594797 m/s, LOS rate: -0.117013 deg/s, cmd heading: 71.810567 deg, new cmd heading: 71.655007 deg. 2025-10-24T20:02:14.878Z,1761336134.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.250616 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:14.978Z,1761336134.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996454 2025-10-24T20:02:15.216Z,1761336135.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297244,-0.954368,0.028771],[0.932239,0.283576,-0.224753],[0.206339,0.093628,0.973991]] 2025-10-24T20:02:15.229Z,1761336135.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247036 2025-10-24T20:02:15.268Z,1761336135.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:15.271Z,1761336135.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 114.918060 m, bearing: 62.508382 deg, approach rate: -0.597595 m/s, LOS rate: -0.115842 deg/s, cmd heading: 71.655009 deg, new cmd heading: 71.510809 deg. 2025-10-24T20:02:15.272Z,1761336135.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248099 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:15.482Z,1761336135.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499600 2025-10-24T20:02:15.671Z,1761336135.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296837,-0.954508,0.028336],[0.932343,0.283274,-0.224704],[0.206455,0.093120,0.974015]] 2025-10-24T20:02:15.693Z,1761336135.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:15.695Z,1761336135.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:15.698Z,1761336135.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 114.663483 m, bearing: 62.458843 deg, approach rate: -0.595463 m/s, LOS rate: -0.116129 deg/s, cmd heading: 71.510810 deg, new cmd heading: 71.361864 deg. 2025-10-24T20:02:15.699Z,1761336135.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.245499 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:15.733Z,1761336135.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751029 2025-10-24T20:02:15.985Z,1761336135.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003576 2025-10-24T20:02:16.104Z,1761336136.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.296535,-0.954656,0.026421],[0.932543,0.283478,-0.223617],[0.205988,0.090949,0.974319]] 2025-10-24T20:02:16.125Z,1761336136.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:16.127Z,1761336136.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 114.407181 m, bearing: 62.408679 deg, approach rate: -0.596994 m/s, LOS rate: -0.117106 deg/s, cmd heading: 71.361864 deg, new cmd heading: 71.211037 deg. 2025-10-24T20:02:16.129Z,1761336136.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.242867 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:16.237Z,1761336136.237 [DAT](INFO): DAT read: Rx Time:20:02:14.9490 2025-10-24T20:02:16.237Z,1761336136.237 [DAT](INFO): Rx dataTimestamp_ set to:1761336136.237166 2025-10-24T20:02:16.238Z,1761336136.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256128 2025-10-24T20:02:16.489Z,1761336136.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507305 2025-10-24T20:02:16.498Z,1761336136.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297327,-0.954434,0.025562],[0.932481,0.284528,-0.222537],[0.205124,0.090003,0.974589]] 2025-10-24T20:02:16.614Z,1761336136.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.04 m. 2025-10-24T20:02:16.621Z,1761336136.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.036301 m, nav range: 114.157997 m, bearing: 62.360554 deg, approach rate: -0.509479 m/s, LOS rate: -0.098611 deg/s, cmd heading: 71.211040 deg, new cmd heading: 71.066349 deg. 2025-10-24T20:02:16.622Z,1761336136.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.240342 target range: 117.036301 and range: 117.60 m. 2025-10-24T20:02:16.748Z,1761336136.748 [DAT](INFO): DAT read: 20:02:14.9490 LVL= 21488, 26785, 16114, 31379, AGC= 65, IDX= 404, 0.16,-0.137,-1.432, 0.076,-0.739, PHS= 0.690,-0.646, 0.812, RAW= 154.3, -12.2, CAL= 160.9, -19.2, ROT= 349.1, 19.2 2025-10-24T20:02:16.749Z,1761336136.749 [DAT](INFO): got valid direction response: 20:02:14.9490 LVL= 21488, 26785, 16114, 31379, AGC= 65, IDX= 404, 0.16,-0.137,-1.432, 0.076,-0.739, PHS= 0.690,-0.646, 0.812, RAW= 154.3, -12.2, CAL= 160.9, -19.2, ROT= 349.1, 19.2 2025-10-24T20:02:16.750Z,1761336136.750 [DAT](INFO): DAT read: Bearing 349.1, 19.2 (Local) 2025-10-24T20:02:16.751Z,1761336136.751 [DAT](INFO): Local bearing/azimuth received: Bearing 349.1, 19.2 (Local) 2025-10-24T20:02:16.753Z,1761336136.753 [DAT](INFO): DAT read: Range 10 to 50 : 115.4 m (Round-trip 153.9 ms) speed 0.4 m/s 2025-10-24T20:02:16.754Z,1761336136.754 [DAT](INFO): DAT read: user:216> 2025-10-24T20:02:16.755Z,1761336136.755 [DAT](INFO): DAT read: Tx time:20:02:16.0410 2025-10-24T20:02:16.757Z,1761336136.757 [DAT](INFO): Ping request sent. 2025-10-24T20:02:16.757Z,1761336136.757 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:16.758Z,1761336136.758 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:16.759Z,1761336136.759 [DAT](INFO): direction in FSK: [0.927339,-0.178577,-0.328867] 2025-10-24T20:02:16.759Z,1761336136.759 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:16.760Z,1761336136.760 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:16.763Z,1761336136.763 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:16.763Z,1761336136.763 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:16.938Z,1761336136.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.297787,-0.954320,0.024420],[0.932494,0.285309,-0.221480],[0.204396,0.088726,0.974859]] 2025-10-24T20:02:16.991Z,1761336136.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.400002 m, deltaT: 3.781081 s, deltaX: -2.199997 m, approachRate: -0.581843 m/s, rangeRepo size: 4 2025-10-24T20:02:16.995Z,1761336136.995 [DAT](INFO): DAT read: TxSync time:20:02:16.0402 2025-10-24T20:02:17.002Z,1761336137.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 114.845688 m, bearing: 63.682311 deg, lat: 36.779736 deg, lon: -121.859587 deg, deltaT: 3.781081 s, deltaX: -2.190613 m, approachRate: -0.579361 m/s, posRepo size: 4 2025-10-24T20:02:17.003Z,1761336137.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:17.016Z,1761336137.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 113.741180 m, bearing: 62.547914 deg, approach rate: 0.000000 m/s, LOS rate: -0.098611 deg/s, cmd heading: 71.066349 deg, new cmd heading: 70.955485 deg. 2025-10-24T20:02:17.017Z,1761336137.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238407 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:17.328Z,1761336137.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299288,-0.953922,0.021447],[0.932052,0.287467,-0.220548],[0.204220,0.085997,0.975140]] 2025-10-24T20:02:17.375Z,1761336137.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:17.398Z,1761336137.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 113.512627 m, bearing: 62.508255 deg, approach rate: -0.590743 m/s, LOS rate: -0.102713 deg/s, cmd heading: 70.955482 deg, new cmd heading: 70.836265 deg. 2025-10-24T20:02:17.399Z,1761336137.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236326 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:17.735Z,1761336137.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299259,-0.953924,0.021756],[0.932170,0.287415,-0.220118],[0.203723,0.086152,0.975231]] 2025-10-24T20:02:17.775Z,1761336137.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:17.794Z,1761336137.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:17.797Z,1761336137.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 113.301323 m, bearing: 62.471432 deg, approach rate: -0.505164 m/s, LOS rate: -0.088198 deg/s, cmd heading: 70.836268 deg, new cmd heading: 70.725592 deg. 2025-10-24T20:02:17.798Z,1761336137.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.234394 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:18.001Z,1761336138.001 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:18.001Z,1761336138.001 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:18.001Z,1761336138.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:18.138Z,1761336138.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301616,-0.953212,0.020377],[0.931595,0.290093,-0.219037],[0.202878,0.085048,0.975504]] 2025-10-24T20:02:18.169Z,1761336138.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:18.171Z,1761336138.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 113.074219 m, bearing: 62.432021 deg, approach rate: -0.605745 m/s, LOS rate: -0.105329 deg/s, cmd heading: 70.725591 deg, new cmd heading: 70.607122 deg. 2025-10-24T20:02:18.173Z,1761336138.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232327 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:18.253Z,1761336138.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495962 2025-10-24T20:02:18.505Z,1761336138.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747967 2025-10-24T20:02:18.546Z,1761336138.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306000,-0.951862,0.017950],[0.930657,0.295103,-0.216314],[0.200604,0.082897,0.976159]] 2025-10-24T20:02:18.627Z,1761336138.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:18.630Z,1761336138.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 112.850395 m, bearing: 62.397839 deg, approach rate: -0.492380 m/s, LOS rate: -0.075346 deg/s, cmd heading: 70.607122 deg, new cmd heading: 70.504371 deg. 2025-10-24T20:02:18.631Z,1761336138.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230533 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:18.758Z,1761336138.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000697 2025-10-24T20:02:18.940Z,1761336138.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310261,-0.950501,0.016905],[0.929682,0.299655,-0.214239],[0.198569,0.082186,0.976635]] 2025-10-24T20:02:18.971Z,1761336138.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:18.974Z,1761336138.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 112.649094 m, bearing: 62.367480 deg, approach rate: -0.578867 m/s, LOS rate: -0.087455 deg/s, cmd heading: 70.504368 deg, new cmd heading: 70.413131 deg. 2025-10-24T20:02:18.975Z,1761336138.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228941 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:19.009Z,1761336139.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252404 2025-10-24T20:02:19.261Z,1761336139.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504072 2025-10-24T20:02:19.343Z,1761336139.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314876,-0.949005,0.015562],[0.928519,0.304597,-0.212307],[0.196740,0.081300,0.977079]] 2025-10-24T20:02:19.413Z,1761336139.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:19.420Z,1761336139.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 112.435867 m, bearing: 62.340033 deg, approach rate: -0.482408 m/s, LOS rate: -0.062216 deg/s, cmd heading: 70.413130 deg, new cmd heading: 70.330632 deg. 2025-10-24T20:02:19.421Z,1761336139.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.227501 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:19.514Z,1761336139.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756926 2025-10-24T20:02:19.763Z,1761336139.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318985,-0.947656,0.014023],[0.927455,0.309070,-0.210482],[0.195130,0.080146,0.977497]] 2025-10-24T20:02:19.765Z,1761336139.765 [DAT](INFO): DAT read: Rx Time:20:02:18.5967 2025-10-24T20:02:19.766Z,1761336139.766 [DAT](INFO): Rx dataTimestamp_ set to:1761336139.765296 2025-10-24T20:02:19.766Z,1761336139.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009253 2025-10-24T20:02:19.782Z,1761336139.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:19.785Z,1761336139.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:19.787Z,1761336139.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 112.244743 m, bearing: 62.315799 deg, approach rate: -0.514048 m/s, LOS rate: -0.065291 deg/s, cmd heading: 70.330629 deg, new cmd heading: 70.257803 deg. 2025-10-24T20:02:19.805Z,1761336139.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226230 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:20.019Z,1761336140.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262152 2025-10-24T20:02:20.282Z,1761336140.282 [DAT](INFO): DAT read: 20:02:18.5967 LVL= 23856, 28913, 20274, 32755, AGC= 64, IDX= 413, 0.16,-3.032, 1.952,-2.894, 2.611, PHS= 0.727,-0.612, 0.775, RAW= 151.7, -13.0, CAL= 158.7, -20.3, ROT= 351.3, 20.3 2025-10-24T20:02:20.283Z,1761336140.283 [DAT](INFO): got valid direction response: 20:02:18.5967 LVL= 23856, 28913, 20274, 32755, AGC= 64, IDX= 413, 0.16,-3.032, 1.952,-2.894, 2.611, PHS= 0.727,-0.612, 0.775, RAW= 151.7, -13.0, CAL= 158.7, -20.3, ROT= 351.3, 20.3 2025-10-24T20:02:20.289Z,1761336140.289 [DAT](INFO): DAT read: Bearing 351.3, 20.3 (Local) 2025-10-24T20:02:20.289Z,1761336140.289 [DAT](INFO): Local bearing/azimuth received: Bearing 351.3, 20.3 (Local) 2025-10-24T20:02:20.291Z,1761336140.291 [DAT](INFO): DAT read: Range 10 to 50 : 113.7 m (Round-trip 151.6 ms) speed 0.4 m/s 2025-10-24T20:02:20.312Z,1761336140.312 [DAT](INFO): DAT read: user:217> 2025-10-24T20:02:20.313Z,1761336140.313 [DAT](INFO): DAT read: Tx time:20:02:19.6910 2025-10-24T20:02:20.313Z,1761336140.313 [DAT](INFO): Ping request sent. 2025-10-24T20:02:20.313Z,1761336140.313 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:20.314Z,1761336140.314 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:20.315Z,1761336140.315 [DAT](INFO): direction in FSK: [0.927097,-0.141866,-0.346936] 2025-10-24T20:02:20.315Z,1761336140.315 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:20.315Z,1761336140.315 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:20.335Z,1761336140.335 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:20.335Z,1761336140.335 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:20.336Z,1761336140.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.85 m. 2025-10-24T20:02:20.366Z,1761336140.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 114.845688 m, nav range: 112.003494 m, bearing: 62.285088 deg, approach rate: -0.450748 m/s, LOS rate: -0.057505 deg/s, cmd heading: 70.257805 deg, new cmd heading: 70.165473 deg. 2025-10-24T20:02:20.376Z,1761336140.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224619 target range: 114.845688 and range: 115.40 m. 2025-10-24T20:02:20.521Z,1761336140.521 [DAT](INFO): DAT read: TxSync time:20:02:19.6902 2025-10-24T20:02:20.827Z,1761336140.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331798,-0.943213,0.016138],[0.923692,0.321362,-0.208615],[0.191582,0.084125,0.977865]] 2025-10-24T20:02:20.885Z,1761336140.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 113.699997 m, deltaT: 3.528636 s, deltaX: -1.700005 m, approachRate: -0.481774 m/s, rangeRepo size: 4 2025-10-24T20:02:20.905Z,1761336140.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.150223 m, bearing: 63.734113 deg, lat: 36.779732 deg, lon: -121.859583 deg, deltaT: 3.528636 s, deltaX: -1.695465 m, approachRate: -0.480487 m/s, posRepo size: 4 2025-10-24T20:02:20.906Z,1761336140.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.15 m. 2025-10-24T20:02:20.915Z,1761336140.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.150223 m, nav range: 111.798553 m, bearing: 62.528313 deg, approach rate: 0.000000 m/s, LOS rate: -0.057505 deg/s, cmd heading: 70.165475 deg, new cmd heading: 70.068372 deg. 2025-10-24T20:02:20.920Z,1761336140.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222924 target range: 113.150223 and range: 113.70 m. 2025-10-24T20:02:21.329Z,1761336141.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336602,-0.941512,0.015942],[0.922079,0.326127,-0.208353],[0.190968,0.084832,0.977924]] 2025-10-24T20:02:21.392Z,1761336141.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.15 m. 2025-10-24T20:02:21.395Z,1761336141.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.150223 m, nav range: 111.572746 m, bearing: 62.509610 deg, approach rate: -0.443685 m/s, LOS rate: -0.036823 deg/s, cmd heading: 70.068370 deg, new cmd heading: 70.012148 deg. 2025-10-24T20:02:21.404Z,1761336141.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221943 target range: 113.150223 and range: 113.70 m. 2025-10-24T20:02:21.735Z,1761336141.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341361,-0.939833,0.013644],[0.920421,0.331297,-0.207526],[0.190520,0.083399,0.978134]] 2025-10-24T20:02:21.755Z,1761336141.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.15 m. 2025-10-24T20:02:21.759Z,1761336141.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.150223 m, nav range: 111.394028 m, bearing: 62.495245 deg, approach rate: -0.492278 m/s, LOS rate: -0.039632 deg/s, cmd heading: 70.012151 deg, new cmd heading: 69.968986 deg. 2025-10-24T20:02:21.760Z,1761336141.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221189 target range: 113.150223 and range: 113.70 m. 2025-10-24T20:02:22.141Z,1761336142.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346325,-0.938034,0.012315],[0.918814,0.336521,-0.206240],[0.189316,0.082741,0.978424]] 2025-10-24T20:02:22.162Z,1761336142.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:22.164Z,1761336142.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.15 m. 2025-10-24T20:02:22.166Z,1761336142.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.150223 m, nav range: 111.206024 m, bearing: 62.480614 deg, approach rate: -0.459924 m/s, LOS rate: -0.035854 deg/s, cmd heading: 69.968984 deg, new cmd heading: 69.925016 deg. 2025-10-24T20:02:22.167Z,1761336142.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220422 target range: 113.150223 and range: 113.70 m. 2025-10-24T20:02:22.288Z,1761336142.288 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:22.288Z,1761336142.288 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:22.290Z,1761336142.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:22.537Z,1761336142.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223552 2025-10-24T20:02:22.550Z,1761336142.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350977,-0.936314,0.011450],[0.917239,0.341315,-0.205371],[0.188384,0.082583,0.978617]] 2025-10-24T20:02:22.604Z,1761336142.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.15 m. 2025-10-24T20:02:22.608Z,1761336142.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.150223 m, nav range: 110.998581 m, bearing: 62.462998 deg, approach rate: -0.471447 m/s, LOS rate: -0.040109 deg/s, cmd heading: 69.925018 deg, new cmd heading: 69.872072 deg. 2025-10-24T20:02:22.609Z,1761336142.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219498 target range: 113.150223 and range: 113.70 m. 2025-10-24T20:02:22.790Z,1761336142.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476065 2025-10-24T20:02:22.957Z,1761336142.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355120,-0.934741,0.012177],[0.915815,0.345258,-0.205132],[0.187541,0.083998,0.978658]] 2025-10-24T20:02:22.986Z,1761336142.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.15 m. 2025-10-24T20:02:22.990Z,1761336142.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.150223 m, nav range: 110.819153 m, bearing: 62.448129 deg, approach rate: -0.469738 m/s, LOS rate: -0.038989 deg/s, cmd heading: 69.872070 deg, new cmd heading: 69.827391 deg. 2025-10-24T20:02:22.991Z,1761336142.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.218718 target range: 113.150223 and range: 113.70 m. 2025-10-24T20:02:23.041Z,1761336143.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727456 2025-10-24T20:02:23.296Z,1761336143.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981987 2025-10-24T20:02:23.354Z,1761336143.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358184,-0.933566,0.012563],[0.914714,0.348192,-0.205086],[0.187088,0.084950,0.978663]] 2025-10-24T20:02:23.414Z,1761336143.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.15 m. 2025-10-24T20:02:23.417Z,1761336143.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.150223 m, nav range: 110.609749 m, bearing: 62.428643 deg, approach rate: -0.488873 m/s, LOS rate: -0.045578 deg/s, cmd heading: 69.827394 deg, new cmd heading: 69.768825 deg. 2025-10-24T20:02:23.418Z,1761336143.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217696 target range: 113.150223 and range: 113.70 m. 2025-10-24T20:02:23.546Z,1761336143.546 [DAT](INFO): DAT read: Rx Time:20:02:22.2444 2025-10-24T20:02:23.547Z,1761336143.547 [DAT](INFO): Rx dataTimestamp_ set to:1761336143.546246 2025-10-24T20:02:23.547Z,1761336143.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233615 2025-10-24T20:02:23.756Z,1761336143.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361954,-0.932114,0.012333],[0.913367,0.351967,-0.204648],[0.186414,0.085338,0.978758]] 2025-10-24T20:02:23.778Z,1761336143.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.15 m. 2025-10-24T20:02:23.781Z,1761336143.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.150223 m, nav range: 110.431236 m, bearing: 62.412362 deg, approach rate: -0.490398 m/s, LOS rate: -0.044799 deg/s, cmd heading: 69.768825 deg, new cmd heading: 69.719902 deg. 2025-10-24T20:02:23.782Z,1761336143.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216842 target range: 113.150223 and range: 113.70 m. 2025-10-24T20:02:23.797Z,1761336143.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483211 2025-10-24T20:02:24.078Z,1761336144.078 [DAT](INFO): DAT read: 20:02:22.2444 LVL= 24784, 29537, 21410, 29171, AGC= 66, IDX= 420,-0.06,-2.531, 2.407,-2.463, 3.057, PHS= 0.783,-0.603, 0.760, RAW= 149.2, -13.6, CAL= 155.9, -21.3, ROT= 354.1, 21.3 2025-10-24T20:02:24.079Z,1761336144.079 [DAT](INFO): got valid direction response: 20:02:22.2444 LVL= 24784, 29537, 21410, 29171, AGC= 66, IDX= 420,-0.06,-2.531, 2.407,-2.463, 3.057, PHS= 0.783,-0.603, 0.760, RAW= 149.2, -13.6, CAL= 155.9, -21.3, ROT= 354.1, 21.3 2025-10-24T20:02:24.085Z,1761336144.085 [DAT](INFO): DAT read: Bearing 354.1, 21.3 (Local) 2025-10-24T20:02:24.085Z,1761336144.085 [DAT](INFO): Local bearing/azimuth received: Bearing 354.1, 21.3 (Local) 2025-10-24T20:02:24.087Z,1761336144.087 [DAT](INFO): DAT read: Range 10 to 50 : 111.9 m (Round-trip 149.2 ms) speed 0.8 m/s 2025-10-24T20:02:24.096Z,1761336144.096 [DAT](INFO): DAT read: user:218> 2025-10-24T20:02:24.097Z,1761336144.097 [DAT](INFO): DAT read: Tx time:20:02:23.3411 2025-10-24T20:02:24.098Z,1761336144.098 [DAT](INFO): Ping request sent. 2025-10-24T20:02:24.098Z,1761336144.098 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:24.098Z,1761336144.098 [DAT](INFO): DAT read: TxSync time:20:02:23.3403 2025-10-24T20:02:24.099Z,1761336144.099 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:24.112Z,1761336144.112 [DAT](INFO): direction in FSK: [0.926756,-0.095771,-0.363251] 2025-10-24T20:02:24.113Z,1761336144.113 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:24.114Z,1761336144.114 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:24.134Z,1761336144.134 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:24.135Z,1761336144.135 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:24.198Z,1761336144.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363708,-0.931416,0.013416],[0.912597,0.353398,-0.205615],[0.186772,0.087028,0.978541]] 2025-10-24T20:02:24.345Z,1761336144.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.900002 m, deltaT: 3.778477 s, deltaX: -1.799995 m, approachRate: -0.476381 m/s, rangeRepo size: 4 2025-10-24T20:02:24.347Z,1761336144.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 111.356361 m, bearing: 64.578400 deg, lat: 36.779717 deg, lon: -121.859577 deg, deltaT: 3.778477 s, deltaX: -1.793861 m, approachRate: -0.474758 m/s, posRepo size: 4 2025-10-24T20:02:24.347Z,1761336144.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.36 m. 2025-10-24T20:02:24.354Z,1761336144.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.356361 m, nav range: 109.965492 m, bearing: 63.287188 deg, approach rate: 0.000000 m/s, LOS rate: -0.044799 deg/s, cmd heading: 69.719900 deg, new cmd heading: 69.644444 deg. 2025-10-24T20:02:24.365Z,1761336144.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.215525 target range: 111.356361 and range: 111.90 m. 2025-10-24T20:02:24.740Z,1761336144.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364240,-0.931189,0.014691],[0.912118,0.353506,-0.207542],[0.188068,0.088995,0.978116]] 2025-10-24T20:02:24.793Z,1761336144.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:24.795Z,1761336144.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.36 m. 2025-10-24T20:02:24.798Z,1761336144.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.356361 m, nav range: 109.677208 m, bearing: 63.257050 deg, approach rate: -0.632910 m/s, LOS rate: -0.066341 deg/s, cmd heading: 69.644441 deg, new cmd heading: 69.553788 deg. 2025-10-24T20:02:24.799Z,1761336144.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213943 target range: 111.356361 and range: 111.90 m. 2025-10-24T20:02:24.805Z,1761336144.805 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:24.805Z,1761336144.805 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:24.805Z,1761336144.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:25.058Z,1761336145.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.959694 2025-10-24T20:02:25.155Z,1761336145.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363645,-0.931519,0.005938],[0.911853,0.354650,-0.206756],[0.190491,0.080600,0.978375]] 2025-10-24T20:02:25.173Z,1761336145.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.36 m. 2025-10-24T20:02:25.182Z,1761336145.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.356361 m, nav range: 109.478645 m, bearing: 63.236124 deg, approach rate: -0.524729 m/s, LOS rate: -0.055399 deg/s, cmd heading: 69.553790 deg, new cmd heading: 69.490900 deg. 2025-10-24T20:02:25.184Z,1761336145.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212845 target range: 111.356361 and range: 111.90 m. 2025-10-24T20:02:25.313Z,1761336145.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214320 2025-10-24T20:02:25.548Z,1761336145.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363126,-0.931704,0.008206],[0.911835,0.353544,-0.208718],[0.191563,0.083274,0.977941]] 2025-10-24T20:02:25.561Z,1761336145.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463043 2025-10-24T20:02:25.601Z,1761336145.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.36 m. 2025-10-24T20:02:25.605Z,1761336145.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.356361 m, nav range: 109.240669 m, bearing: 63.206811 deg, approach rate: -0.555936 m/s, LOS rate: -0.068627 deg/s, cmd heading: 69.490898 deg, new cmd heading: 69.402768 deg. 2025-10-24T20:02:25.606Z,1761336145.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211307 target range: 111.356361 and range: 111.90 m. 2025-10-24T20:02:25.813Z,1761336145.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714956 2025-10-24T20:02:25.954Z,1761336145.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361904,-0.932133,0.012371],[0.912078,0.351312,-0.211410],[0.192716,0.087793,0.977319]] 2025-10-24T20:02:25.975Z,1761336145.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.36 m. 2025-10-24T20:02:25.978Z,1761336145.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.356361 m, nav range: 109.034012 m, bearing: 63.181112 deg, approach rate: -0.553709 m/s, LOS rate: -0.068987 deg/s, cmd heading: 69.402768 deg, new cmd heading: 69.325525 deg. 2025-10-24T20:02:25.978Z,1761336145.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209959 target range: 111.356361 and range: 111.90 m. 2025-10-24T20:02:26.065Z,1761336146.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967114 2025-10-24T20:02:26.321Z,1761336146.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222453 2025-10-24T20:02:26.453Z,1761336146.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.36 m. 2025-10-24T20:02:26.457Z,1761336146.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.356361 m, nav range: 108.763908 m, bearing: 63.144885 deg, approach rate: -0.564338 m/s, LOS rate: -0.075879 deg/s, cmd heading: 69.325525 deg, new cmd heading: 69.216574 deg. 2025-10-24T20:02:26.458Z,1761336146.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.208057 target range: 111.356361 and range: 111.90 m. 2025-10-24T20:02:26.569Z,1761336146.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471106 2025-10-24T20:02:26.758Z,1761336146.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359129,-0.933109,0.018284],[0.912573,0.346985,-0.216360],[0.195544,0.094387,0.976142]] 2025-10-24T20:02:26.776Z,1761336146.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.36 m. 2025-10-24T20:02:26.779Z,1761336146.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.356361 m, nav range: 108.562820 m, bearing: 63.117466 deg, approach rate: -0.623451 m/s, LOS rate: -0.085166 deg/s, cmd heading: 69.216570 deg, new cmd heading: 69.134162 deg. 2025-10-24T20:02:26.780Z,1761336146.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206619 target range: 111.356361 and range: 111.90 m. 2025-10-24T20:02:26.821Z,1761336146.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723122 2025-10-24T20:02:27.074Z,1761336147.074 [DAT](INFO): DAT read: Rx Time:20:02:25.8915 2025-10-24T20:02:27.074Z,1761336147.074 [DAT](INFO): Rx dataTimestamp_ set to:1761336147.073758 2025-10-24T20:02:27.075Z,1761336147.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976790 2025-10-24T20:02:27.163Z,1761336147.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358586,-0.933307,0.018809],[0.912427,0.346165,-0.218283],[0.197213,0.095435,0.975704]] 2025-10-24T20:02:27.194Z,1761336147.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:27.196Z,1761336147.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.36 m. 2025-10-24T20:02:27.199Z,1761336147.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 111.356361 m, nav range: 108.316383 m, bearing: 63.083650 deg, approach rate: -0.585942 m/s, LOS rate: -0.080586 deg/s, cmd heading: 69.134164 deg, new cmd heading: 69.032484 deg. 2025-10-24T20:02:27.200Z,1761336147.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204844 target range: 111.356361 and range: 111.90 m. 2025-10-24T20:02:27.329Z,1761336147.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231065 2025-10-24T20:02:27.583Z,1761336147.583 [DAT](INFO): DAT read: 20:02:25.8915 LVL= 22768, 19905, 17394, 25971, AGC= 68, IDX= 405, 0.17,-2.517, 2.249,-2.496, 2.972, PHS= 0.883,-0.676, 0.813, RAW= 147.7, -13.3, CAL= 154.5, -21.3, ROT= 355.5, 21.3 2025-10-24T20:02:27.584Z,1761336147.584 [DAT](INFO): got valid direction response: 20:02:25.8915 LVL= 22768, 19905, 17394, 25971, AGC= 68, IDX= 405, 0.17,-2.517, 2.249,-2.496, 2.972, PHS= 0.883,-0.676, 0.813, RAW= 147.7, -13.3, CAL= 154.5, -21.3, ROT= 355.5, 21.3 2025-10-24T20:02:27.585Z,1761336147.585 [DAT](INFO): DAT read: Bearing 355.5, 21.3 (Local) 2025-10-24T20:02:27.585Z,1761336147.585 [DAT](INFO): Local bearing/azimuth received: Bearing 355.5, 21.3 (Local) 2025-10-24T20:02:27.586Z,1761336147.586 [DAT](INFO): DAT read: Range 10 to 50 : 109.6 m (Round-trip 146.2 ms) speed 0.8 m/s 2025-10-24T20:02:27.587Z,1761336147.587 [DAT](INFO): DAT read: user:219> 2025-10-24T20:02:27.588Z,1761336147.588 [DAT](INFO): DAT read: Tx time:20:02:26.9911 2025-10-24T20:02:27.588Z,1761336147.588 [DAT](INFO): Ping request sent. 2025-10-24T20:02:27.588Z,1761336147.588 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:27.589Z,1761336147.589 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:27.591Z,1761336147.591 [DAT](INFO): direction in FSK: [0.928819,-0.073100,-0.363251] 2025-10-24T20:02:27.591Z,1761336147.591 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:27.591Z,1761336147.591 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:27.595Z,1761336147.595 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:27.595Z,1761336147.595 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:27.800Z,1761336147.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.599998 m, deltaT: 3.527656 s, deltaX: -2.300003 m, approachRate: -0.651992 m/s, rangeRepo size: 4 2025-10-24T20:02:27.802Z,1761336147.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 109.066956 m, bearing: 66.367306 deg, lat: 36.779711 deg, lon: -121.859575 deg, deltaT: 3.527656 s, deltaX: -2.289406 m, approachRate: -0.648988 m/s, posRepo size: 4 2025-10-24T20:02:27.803Z,1761336147.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:27.810Z,1761336147.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 107.855553 m, bearing: 63.369606 deg, approach rate: 0.000000 m/s, LOS rate: -0.080586 deg/s, cmd heading: 69.032483 deg, new cmd heading: 68.887650 deg. 2025-10-24T20:02:27.811Z,1761336147.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202316 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:27.829Z,1761336147.829 [DAT](INFO): DAT read: TxSync time:20:02:26.9903 2025-10-24T20:02:28.082Z,1761336148.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357266,-0.933824,0.018255],[0.912091,0.344609,-0.222114],[0.201124,0.096004,0.974850]] 2025-10-24T20:02:28.102Z,1761336148.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:28.105Z,1761336148.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 107.646835 m, bearing: 63.339887 deg, approach rate: -0.681762 m/s, LOS rate: -0.097264 deg/s, cmd heading: 68.887649 deg, new cmd heading: 68.798318 deg. 2025-10-24T20:02:28.107Z,1761336148.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.200757 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:28.484Z,1761336148.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357856,-0.933411,0.026135],[0.911376,0.343041,-0.227415],[0.203307,0.105200,0.973447]] 2025-10-24T20:02:28.535Z,1761336148.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:28.538Z,1761336148.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 107.393570 m, bearing: 63.302096 deg, approach rate: -0.584771 m/s, LOS rate: -0.087462 deg/s, cmd heading: 68.798317 deg, new cmd heading: 68.684677 deg. 2025-10-24T20:02:28.540Z,1761336148.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198774 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:28.933Z,1761336148.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:28.936Z,1761336148.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 107.160515 m, bearing: 63.267158 deg, approach rate: -0.584678 m/s, LOS rate: -0.087843 deg/s, cmd heading: 68.684676 deg, new cmd heading: 68.579633 deg. 2025-10-24T20:02:28.937Z,1761336148.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.196940 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:29.291Z,1761336149.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360810,-0.932485,0.016996],[0.909391,0.347714,-0.228259],[0.206939,0.097814,0.973452]] 2025-10-24T20:02:29.362Z,1761336149.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:29.375Z,1761336149.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:29.401Z,1761336149.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 106.927002 m, bearing: 63.232493 deg, approach rate: -0.530139 m/s, LOS rate: -0.078871 deg/s, cmd heading: 68.579635 deg, new cmd heading: 68.475412 deg. 2025-10-24T20:02:29.402Z,1761336149.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.195121 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:29.593Z,1761336149.593 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:29.593Z,1761336149.593 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:29.593Z,1761336149.593 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:29.726Z,1761336149.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362793,-0.931756,0.014557],[0.908494,0.350172,-0.228074],[0.207412,0.095968,0.973535]] 2025-10-24T20:02:29.775Z,1761336149.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:29.778Z,1761336149.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 106.672173 m, bearing: 63.198292 deg, approach rate: -0.635853 m/s, LOS rate: -0.085542 deg/s, cmd heading: 68.475413 deg, new cmd heading: 68.372565 deg. 2025-10-24T20:02:29.779Z,1761336149.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.193326 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:29.846Z,1761336149.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257183 2025-10-24T20:02:30.097Z,1761336150.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508360 2025-10-24T20:02:30.101Z,1761336150.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364881,-0.930978,0.011932],[0.907499,0.352756,-0.228055],[0.208105,0.094042,0.973575]] 2025-10-24T20:02:30.122Z,1761336150.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:30.152Z,1761336150.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 106.471176 m, bearing: 63.171475 deg, approach rate: -0.579262 m/s, LOS rate: -0.077432 deg/s, cmd heading: 68.372564 deg, new cmd heading: 68.291960 deg. 2025-10-24T20:02:30.153Z,1761336150.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.191920 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:30.349Z,1761336150.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760369 2025-10-24T20:02:30.503Z,1761336150.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365907,-0.930596,0.010165],[0.906874,0.354084,-0.228484],[0.209027,0.092822,0.973495]] 2025-10-24T20:02:30.553Z,1761336150.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:30.557Z,1761336150.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 106.233810 m, bearing: 63.141456 deg, approach rate: -0.549725 m/s, LOS rate: -0.069677 deg/s, cmd heading: 68.291961 deg, new cmd heading: 68.201703 deg. 2025-10-24T20:02:30.558Z,1761336150.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190344 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:30.601Z,1761336150.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012533 2025-10-24T20:02:30.760Z,1761336150.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:02:30.853Z,1761336150.853 [DAT](INFO): DAT read: Rx Time:20:02:29.5387 2025-10-24T20:02:30.853Z,1761336150.853 [DAT](INFO): Rx dataTimestamp_ set to:1761336150.853158 2025-10-24T20:02:30.854Z,1761336150.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265529 2025-10-24T20:02:30.967Z,1761336150.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367501,-0.929980,0.008994],[0.906002,0.355808,-0.229261],[0.210008,0.092402,0.973323]] 2025-10-24T20:02:30.989Z,1761336150.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:30.993Z,1761336150.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 105.990494 m, bearing: 63.110797 deg, approach rate: -0.559034 m/s, LOS rate: -0.070603 deg/s, cmd heading: 68.201706 deg, new cmd heading: 68.109518 deg. 2025-10-24T20:02:30.994Z,1761336150.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.188735 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:31.105Z,1761336151.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516533 2025-10-24T20:02:31.166Z,1761336151.166 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:02:31.319Z,1761336151.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368822,-0.929471,0.007338],[0.905235,0.357391,-0.229830],[0.210998,0.091409,0.973203]] 2025-10-24T20:02:31.351Z,1761336151.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.07 m. 2025-10-24T20:02:31.386Z,1761336151.386 [DAT](INFO): DAT read: 20:02:29.5387 LVL= 20528, 24497, 19122, 32755, AGC= 67, IDX= 410, 0.07,-0.858,-2.321,-0.815,-1.626, PHS= 0.856,-0.648, 0.808, RAW= 148.4, -13.6, CAL= 155.1, -21.5, ROT= 354.9, 21.5 2025-10-24T20:02:31.403Z,1761336151.403 [DAT](INFO): got valid direction response: 20:02:29.5387 LVL= 20528, 24497, 19122, 32755, AGC= 67, IDX= 410, 0.07,-0.858,-2.321,-0.815,-1.626, PHS= 0.856,-0.648, 0.808, RAW= 148.4, -13.6, CAL= 155.1, -21.5, ROT= 354.9, 21.5 2025-10-24T20:02:31.414Z,1761336151.414 [DAT](INFO): DAT read: Bearing 354.9, 21.5 (Local) 2025-10-24T20:02:31.415Z,1761336151.415 [DAT](INFO): Local bearing/azimuth received: Bearing 354.9, 21.5 (Local) 2025-10-24T20:02:31.418Z,1761336151.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 109.066956 m, nav range: 105.796822 m, bearing: 63.086462 deg, approach rate: -0.535173 m/s, LOS rate: -0.067367 deg/s, cmd heading: 68.109519 deg, new cmd heading: 68.036382 deg. 2025-10-24T20:02:31.428Z,1761336151.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.187459 target range: 109.066956 and range: 109.60 m. 2025-10-24T20:02:31.436Z,1761336151.436 [DAT](INFO): DAT read: Range 10 to 50 : 107.6 m (Round-trip 143.5 ms) speed 0.4 m/s 2025-10-24T20:02:31.437Z,1761336151.437 [DAT](INFO): DAT read: user:220> 2025-10-24T20:02:31.438Z,1761336151.438 [DAT](INFO): DAT read: Tx time:20:02:30.6411 2025-10-24T20:02:31.438Z,1761336151.438 [DAT](INFO): Ping request sent. 2025-10-24T20:02:31.438Z,1761336151.438 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:31.439Z,1761336151.439 [DAT](INFO): DAT read: TxSync time:20:02:30.6403 2025-10-24T20:02:31.448Z,1761336151.448 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:31.449Z,1761336151.449 [DAT](INFO): direction in FSK: [0.926734,-0.082709,-0.366501] 2025-10-24T20:02:31.449Z,1761336151.449 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:31.449Z,1761336151.449 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:31.473Z,1761336151.473 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:31.474Z,1761336151.474 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:31.721Z,1761336151.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370948,-0.928635,0.005900],[0.904172,0.359712,-0.230389],[0.211825,0.090797,0.973081]] 2025-10-24T20:02:31.764Z,1761336151.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:02:31.823Z,1761336151.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.599998 m, deltaT: 3.780474 s, deltaX: -2.000000 m, approachRate: -0.529034 m/s, rangeRepo size: 4 2025-10-24T20:02:31.830Z,1761336151.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.075264 m, bearing: 64.885091 deg, lat: 36.779694 deg, lon: -121.859571 deg, deltaT: 3.780474 s, deltaX: -1.991692 m, approachRate: -0.526836 m/s, posRepo size: 4 2025-10-24T20:02:31.831Z,1761336151.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.08 m. 2025-10-24T20:02:31.837Z,1761336151.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.075264 m, nav range: 105.014709 m, bearing: 64.059335 deg, approach rate: 0.000000 m/s, LOS rate: -0.067367 deg/s, cmd heading: 68.036382 deg, new cmd heading: 67.941207 deg. 2025-10-24T20:02:31.839Z,1761336151.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185798 target range: 107.075264 and range: 107.60 m. 2025-10-24T20:02:31.842Z,1761336151.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 62.067047 m. 2025-10-24T20:02:32.143Z,1761336152.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371422,-0.928463,-0.001610],[0.903483,0.361827,-0.229780],[0.213925,0.083891,0.973241]] 2025-10-24T20:02:32.170Z,1761336152.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:32.174Z,1761336152.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.08 m. 2025-10-24T20:02:32.177Z,1761336152.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.075264 m, nav range: 104.815491 m, bearing: 64.038892 deg, approach rate: -0.566292 m/s, LOS rate: -0.058221 deg/s, cmd heading: 67.941210 deg, new cmd heading: 67.879765 deg. 2025-10-24T20:02:32.178Z,1761336152.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.184725 target range: 107.075264 and range: 107.60 m. 2025-10-24T20:02:32.366Z,1761336152.366 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:32.366Z,1761336152.366 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:32.367Z,1761336152.367 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:32.547Z,1761336152.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371799,-0.928313,0.000153],[0.903149,0.361682,-0.231316],[0.214679,0.086141,0.972879]] 2025-10-24T20:02:32.591Z,1761336152.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.08 m. 2025-10-24T20:02:32.594Z,1761336152.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.075264 m, nav range: 104.603416 m, bearing: 64.016908 deg, approach rate: -0.507870 m/s, LOS rate: -0.052753 deg/s, cmd heading: 67.879766 deg, new cmd heading: 67.813680 deg. 2025-10-24T20:02:32.595Z,1761336152.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183572 target range: 107.075264 and range: 107.60 m. 2025-10-24T20:02:32.617Z,1761336152.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.179146 2025-10-24T20:02:32.869Z,1761336152.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.430824 2025-10-24T20:02:33.001Z,1761336153.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.08 m. 2025-10-24T20:02:33.008Z,1761336153.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.075264 m, nav range: 104.394218 m, bearing: 63.995134 deg, approach rate: -0.509652 m/s, LOS rate: -0.053153 deg/s, cmd heading: 67.813683 deg, new cmd heading: 67.748230 deg. 2025-10-24T20:02:33.009Z,1761336153.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.182430 target range: 107.075264 and range: 107.60 m. 2025-10-24T20:02:33.122Z,1761336153.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683559 2025-10-24T20:02:33.363Z,1761336153.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376141,-0.926561,0.001767],[0.901278,0.365433,-0.232717],[0.214981,0.089127,0.972543]] 2025-10-24T20:02:33.376Z,1761336153.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937534 2025-10-24T20:02:33.469Z,1761336153.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.08 m. 2025-10-24T20:02:33.476Z,1761336153.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.075264 m, nav range: 104.162064 m, bearing: 63.971498 deg, approach rate: -0.496316 m/s, LOS rate: -0.050644 deg/s, cmd heading: 67.748230 deg, new cmd heading: 67.677163 deg. 2025-10-24T20:02:33.477Z,1761336153.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181189 target range: 107.075264 and range: 107.60 m. 2025-10-24T20:02:33.625Z,1761336153.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.186713 2025-10-24T20:02:33.818Z,1761336153.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.08 m. 2025-10-24T20:02:33.821Z,1761336153.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.075264 m, nav range: 103.972633 m, bearing: 63.952202 deg, approach rate: -0.543531 m/s, LOS rate: -0.055466 deg/s, cmd heading: 67.677162 deg, new cmd heading: 67.619169 deg. 2025-10-24T20:02:33.822Z,1761336153.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.180177 target range: 107.075264 and range: 107.60 m. 2025-10-24T20:02:33.877Z,1761336153.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439038 2025-10-24T20:02:34.129Z,1761336154.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.690802 2025-10-24T20:02:34.246Z,1761336154.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385155,-0.922852,0.000413],[0.897348,0.374406,-0.233637],[0.215458,0.090357,0.972324]] 2025-10-24T20:02:34.262Z,1761336154.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:34.264Z,1761336154.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.08 m. 2025-10-24T20:02:34.267Z,1761336154.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.075264 m, nav range: 103.744919 m, bearing: 63.930218 deg, approach rate: -0.509687 m/s, LOS rate: -0.049315 deg/s, cmd heading: 67.619166 deg, new cmd heading: 67.553068 deg. 2025-10-24T20:02:34.268Z,1761336154.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179024 target range: 107.075264 and range: 107.60 m. 2025-10-24T20:02:34.382Z,1761336154.382 [DAT](INFO): DAT read: Rx Time:20:02:33.1865 2025-10-24T20:02:34.383Z,1761336154.383 [DAT](INFO): Rx dataTimestamp_ set to:1761336154.382370 2025-10-24T20:02:34.385Z,1761336154.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946719 2025-10-24T20:02:34.633Z,1761336154.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194926 2025-10-24T20:02:34.732Z,1761336154.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.08 m. 2025-10-24T20:02:34.734Z,1761336154.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.075264 m, nav range: 103.500404 m, bearing: 63.905275 deg, approach rate: -0.523138 m/s, LOS rate: -0.053490 deg/s, cmd heading: 67.553071 deg, new cmd heading: 67.478067 deg. 2025-10-24T20:02:34.735Z,1761336154.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177714 target range: 107.075264 and range: 107.60 m. 2025-10-24T20:02:34.900Z,1761336154.900 [DAT](INFO): DAT read: 20:02:33.1865 LVL= 19440, 23729, 16354, 28723, AGC= 66, IDX= 417, 0.50,-1.687, 3.007,-1.702,-2.481, PHS= 0.882,-0.747, 0.777, RAW= 146.7, -11.5, CAL= 153.8, -20.0, ROT= 356.2, 20.0 2025-10-24T20:02:34.902Z,1761336154.902 [DAT](INFO): got valid direction response: 20:02:33.1865 LVL= 19440, 23729, 16354, 28723, AGC= 66, IDX= 417, 0.50,-1.687, 3.007,-1.702,-2.481, PHS= 0.882,-0.747, 0.777, RAW= 146.7, -11.5, CAL= 153.8, -20.0, ROT= 356.2, 20.0 2025-10-24T20:02:34.903Z,1761336154.903 [DAT](INFO): DAT read: Bearing 356.2, 20.0 (Local) 2025-10-24T20:02:34.909Z,1761336154.909 [DAT](INFO): Local bearing/azimuth received: Bearing 356.2, 20.0 (Local) 2025-10-24T20:02:34.911Z,1761336154.911 [DAT](INFO): DAT read: Range 10 to 50 : 105.9 m (Round-trip 141.2 ms) speed 0.6 m/s 2025-10-24T20:02:34.918Z,1761336154.918 [DAT](INFO): DAT read: user:221> 2025-10-24T20:02:34.919Z,1761336154.919 [DAT](INFO): DAT read: Tx time:20:02:34.2912 2025-10-24T20:02:34.928Z,1761336154.928 [DAT](INFO): Ping request sent. 2025-10-24T20:02:34.929Z,1761336154.929 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:34.929Z,1761336154.929 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:34.931Z,1761336154.931 [DAT](INFO): direction in FSK: [0.937627,-0.062277,-0.342020] 2025-10-24T20:02:34.931Z,1761336154.931 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:34.931Z,1761336154.931 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:34.957Z,1761336154.957 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:34.957Z,1761336154.957 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:35.042Z,1761336155.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390167,-0.920741,-0.002232],[0.895036,0.379841,-0.233734],[0.216056,0.089197,0.972298]] 2025-10-24T20:02:35.086Z,1761336155.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 105.900002 m, deltaT: 3.533459 s, deltaX: -1.699997 m, approachRate: -0.481114 m/s, rangeRepo size: 4 2025-10-24T20:02:35.092Z,1761336155.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.382256 m, bearing: 64.666712 deg, lat: 36.779687 deg, lon: -121.859558 deg, deltaT: 3.533459 s, deltaX: -1.693008 m, approachRate: -0.479136 m/s, posRepo size: 4 2025-10-24T20:02:35.093Z,1761336155.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:35.100Z,1761336155.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 104.004349 m, bearing: 64.560538 deg, approach rate: 0.000000 m/s, LOS rate: -0.053490 deg/s, cmd heading: 67.478068 deg, new cmd heading: 67.421308 deg. 2025-10-24T20:02:35.101Z,1761336155.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.176724 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:35.141Z,1761336155.141 [DAT](INFO): DAT read: TxSync time:20:02:34.2904 2025-10-24T20:02:35.504Z,1761336155.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391418,-0.920200,-0.004848],[0.894845,0.381851,-0.231175],[0.214579,0.086148,0.972900]] 2025-10-24T20:02:35.551Z,1761336155.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:35.554Z,1761336155.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 103.743050 m, bearing: 64.534697 deg, approach rate: -0.561261 m/s, LOS rate: -0.055647 deg/s, cmd heading: 67.421310 deg, new cmd heading: 67.343589 deg. 2025-10-24T20:02:35.555Z,1761336155.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.175367 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:35.915Z,1761336155.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392214,-0.919862,-0.004686],[0.895183,0.382854,-0.228188],[0.211696,0.085304,0.973606]] 2025-10-24T20:02:35.934Z,1761336155.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:35.937Z,1761336155.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 103.534439 m, bearing: 64.514053 deg, approach rate: -0.544306 m/s, LOS rate: -0.053972 deg/s, cmd heading: 67.343589 deg, new cmd heading: 67.281532 deg. 2025-10-24T20:02:35.939Z,1761336155.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174284 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:36.302Z,1761336156.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392043,-0.919947,-0.000824],[0.895955,0.382022,-0.226547],[0.208726,0.088078,0.974000]] 2025-10-24T20:02:36.343Z,1761336156.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:36.349Z,1761336156.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:36.362Z,1761336156.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 103.320381 m, bearing: 64.492744 deg, approach rate: -0.515514 m/s, LOS rate: -0.051425 deg/s, cmd heading: 67.281530 deg, new cmd heading: 67.217470 deg. 2025-10-24T20:02:36.368Z,1761336156.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.173166 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:36.401Z,1761336156.401 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:36.401Z,1761336156.401 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:36.401Z,1761336156.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:36.653Z,1761336156.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733238 2025-10-24T20:02:36.806Z,1761336156.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392986,-0.919537,0.003691],[0.896718,0.382339,-0.222967],[0.203615,0.090933,0.974819]] 2025-10-24T20:02:36.845Z,1761336156.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:36.848Z,1761336156.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 103.027603 m, bearing: 64.462660 deg, approach rate: -0.590732 m/s, LOS rate: -0.060872 deg/s, cmd heading: 67.217469 deg, new cmd heading: 67.126961 deg. 2025-10-24T20:02:36.849Z,1761336156.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171587 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:36.906Z,1761336156.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986394 2025-10-24T20:02:37.157Z,1761336157.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237493 2025-10-24T20:02:37.292Z,1761336157.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393939,-0.919109,0.007138],[0.897438,0.382950,-0.218986],[0.198538,0.092673,0.975702]] 2025-10-24T20:02:37.334Z,1761336157.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:37.343Z,1761336157.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 102.762527 m, bearing: 64.435399 deg, approach rate: -0.543110 m/s, LOS rate: -0.055999 deg/s, cmd heading: 67.126963 deg, new cmd heading: 67.044969 deg. 2025-10-24T20:02:37.349Z,1761336157.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.170155 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:37.410Z,1761336157.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490223 2025-10-24T20:02:37.661Z,1761336157.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741297 2025-10-24T20:02:37.699Z,1761336157.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393836,-0.919110,0.011433],[0.898610,0.382376,-0.215148],[0.193373,0.095007,0.976515]] 2025-10-24T20:02:37.762Z,1761336157.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:37.765Z,1761336157.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 102.503578 m, bearing: 64.407564 deg, approach rate: -0.603334 m/s, LOS rate: -0.065016 deg/s, cmd heading: 67.044966 deg, new cmd heading: 66.961252 deg. 2025-10-24T20:02:37.766Z,1761336157.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.168694 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:37.914Z,1761336157.914 [DAT](INFO): DAT read: Rx Time:20:02:36.8334 2025-10-24T20:02:37.914Z,1761336157.914 [DAT](INFO): Rx dataTimestamp_ set to:1761336157.913830 2025-10-24T20:02:37.915Z,1761336157.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995344 2025-10-24T20:02:38.165Z,1761336158.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245326 2025-10-24T20:02:38.188Z,1761336158.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392932,-0.919351,0.019967],[0.901441,0.380806,-0.205890],[0.181681,0.098900,0.978372]] 2025-10-24T20:02:38.225Z,1761336158.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:38.228Z,1761336158.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 102.237274 m, bearing: 64.378547 deg, approach rate: -0.575775 m/s, LOS rate: -0.062901 deg/s, cmd heading: 66.961255 deg, new cmd heading: 66.873978 deg. 2025-10-24T20:02:38.229Z,1761336158.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167171 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:38.422Z,1761336158.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502056 2025-10-24T20:02:38.587Z,1761336158.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392361,-0.919508,0.023613],[0.902984,0.380168,-0.200229],[0.175135,0.099884,0.979465]] 2025-10-24T20:02:38.642Z,1761336158.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:38.648Z,1761336158.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.38 m. 2025-10-24T20:02:38.651Z,1761336158.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.382256 m, nav range: 102.000771 m, bearing: 64.352545 deg, approach rate: -0.564454 m/s, LOS rate: -0.062202 deg/s, cmd heading: 66.873979 deg, new cmd heading: 66.795792 deg. 2025-10-24T20:02:38.656Z,1761336158.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.165807 target range: 105.382256 and range: 105.90 m. 2025-10-24T20:02:38.679Z,1761336158.679 [DAT](INFO): DAT read: 20:02:36.8334 LVL= 18704, 17825, 15778, 27123, AGC= 68, IDX= 403,-0.27, 1.957, 0.310, 1.905, 1.132, PHS= 0.913,-0.775, 0.770, RAW= 145.6, -11.2, CAL= 152.8, -19.9, ROT= 357.2, 19.9 2025-10-24T20:02:38.681Z,1761336158.681 [DAT](INFO): got valid direction response: 20:02:36.8334 LVL= 18704, 17825, 15778, 27123, AGC= 68, IDX= 403,-0.27, 1.957, 0.310, 1.905, 1.132, PHS= 0.913,-0.775, 0.770, RAW= 145.6, -11.2, CAL= 152.8, -19.9, ROT= 357.2, 19.9 2025-10-24T20:02:38.682Z,1761336158.682 [DAT](INFO): DAT read: Bearing 357.2, 19.9 (Local) 2025-10-24T20:02:38.682Z,1761336158.682 [DAT](INFO): Local bearing/azimuth received: Bearing 357.2, 19.9 (Local) 2025-10-24T20:02:38.687Z,1761336158.687 [DAT](INFO): DAT read: Range 10 to 50 : 103.5 m (Round-trip 138.1 ms) speed 0.5 m/s 2025-10-24T20:02:38.688Z,1761336158.688 [DAT](INFO): DAT read: user:222> 2025-10-24T20:02:38.689Z,1761336158.689 [DAT](INFO): DAT read: Tx time:20:02:37.9412 2025-10-24T20:02:38.689Z,1761336158.689 [DAT](INFO): Ping request sent. 2025-10-24T20:02:38.690Z,1761336158.690 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:38.690Z,1761336158.690 [DAT](INFO): DAT read: TxSync time:20:02:37.9404 2025-10-24T20:02:38.691Z,1761336158.691 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:38.693Z,1761336158.693 [DAT](INFO): direction in FSK: [0.939166,-0.045933,-0.340380] 2025-10-24T20:02:38.693Z,1761336158.693 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:38.693Z,1761336158.693 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:38.696Z,1761336158.696 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:38.697Z,1761336158.697 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:39.019Z,1761336159.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 103.500000 m, deltaT: 3.778198 s, deltaX: -2.400002 m, approachRate: -0.635224 m/s, rangeRepo size: 4 2025-10-24T20:02:39.021Z,1761336159.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 102.991730 m, bearing: 65.864823 deg, lat: 36.779684 deg, lon: -121.859553 deg, deltaT: 3.778198 s, deltaX: -2.390526 m, approachRate: -0.632716 m/s, posRepo size: 4 2025-10-24T20:02:39.023Z,1761336159.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m. 2025-10-24T20:02:39.026Z,1761336159.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.991730 m, nav range: 102.012238 m, bearing: 64.600514 deg, approach rate: 0.000000 m/s, LOS rate: -0.062202 deg/s, cmd heading: 66.795794 deg, new cmd heading: 66.725870 deg. 2025-10-24T20:02:39.027Z,1761336159.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.164586 target range: 102.991730 and range: 103.50 m. 2025-10-24T20:02:39.392Z,1761336159.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389835,-0.920461,0.027920],[0.906471,0.378214,-0.187787],[0.162291,0.098514,0.981813]] 2025-10-24T20:02:39.415Z,1761336159.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m. 2025-10-24T20:02:39.418Z,1761336159.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.991730 m, nav range: 101.778053 m, bearing: 64.574774 deg, approach rate: -0.591174 m/s, LOS rate: -0.065127 deg/s, cmd heading: 66.725867 deg, new cmd heading: 66.648470 deg. 2025-10-24T20:02:39.419Z,1761336159.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.163235 target range: 102.991730 and range: 103.50 m. 2025-10-24T20:02:39.797Z,1761336159.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386931,-0.921537,0.032472],[0.908753,0.375118,-0.182903],[0.156371,0.100280,0.982595]] 2025-10-24T20:02:39.854Z,1761336159.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m. 2025-10-24T20:02:39.881Z,1761336159.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.991730 m, nav range: 101.523178 m, bearing: 64.547540 deg, approach rate: -0.581860 m/s, LOS rate: -0.062329 deg/s, cmd heading: 66.648467 deg, new cmd heading: 66.566561 deg. 2025-10-24T20:02:39.882Z,1761336159.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.161806 target range: 102.991730 and range: 103.50 m. 2025-10-24T20:02:40.200Z,1761336160.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385692,-0.921905,0.036522],[0.910420,0.373872,-0.177074],[0.149591,0.101546,0.983520]] 2025-10-24T20:02:40.219Z,1761336160.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m. 2025-10-24T20:02:40.223Z,1761336160.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.991730 m, nav range: 101.302429 m, bearing: 64.523622 deg, approach rate: -0.602701 m/s, LOS rate: -0.065445 deg/s, cmd heading: 66.566559 deg, new cmd heading: 66.494649 deg. 2025-10-24T20:02:40.224Z,1761336160.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160551 target range: 102.991730 and range: 103.50 m. 2025-10-24T20:02:40.654Z,1761336160.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:40.675Z,1761336160.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m. 2025-10-24T20:02:40.681Z,1761336160.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.991730 m, nav range: 101.051041 m, bearing: 64.496316 deg, approach rate: -0.552411 m/s, LOS rate: -0.060153 deg/s, cmd heading: 66.494651 deg, new cmd heading: 66.412529 deg. 2025-10-24T20:02:40.682Z,1761336160.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159117 target range: 102.991730 and range: 103.50 m. 2025-10-24T20:02:40.685Z,1761336160.685 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:40.685Z,1761336160.685 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:40.685Z,1761336160.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:40.939Z,1761336160.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249405 2025-10-24T20:02:41.011Z,1761336161.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385876,-0.921621,0.041402],[0.912597,0.374753,-0.163486],[0.135157,0.100869,0.985676]] 2025-10-24T20:02:41.030Z,1761336161.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m. 2025-10-24T20:02:41.033Z,1761336161.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.991730 m, nav range: 100.835815 m, bearing: 64.472776 deg, approach rate: -0.604194 m/s, LOS rate: -0.066226 deg/s, cmd heading: 66.412532 deg, new cmd heading: 66.341759 deg. 2025-10-24T20:02:41.034Z,1761336161.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.157882 target range: 102.991730 and range: 103.50 m. 2025-10-24T20:02:41.189Z,1761336161.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499917 2025-10-24T20:02:41.419Z,1761336161.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387018,-0.921094,0.042465],[0.913124,0.376455,-0.156482],[0.128148,0.099337,0.986768]] 2025-10-24T20:02:41.439Z,1761336161.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m. 2025-10-24T20:02:41.442Z,1761336161.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752167 2025-10-24T20:02:41.448Z,1761336161.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.991730 m, nav range: 100.601082 m, bearing: 64.447124 deg, approach rate: -0.574046 m/s, LOS rate: -0.062879 deg/s, cmd heading: 66.341757 deg, new cmd heading: 66.264622 deg. 2025-10-24T20:02:41.449Z,1761336161.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156536 target range: 102.991730 and range: 103.50 m. 2025-10-24T20:02:41.693Z,1761336161.693 [DAT](INFO): DAT read: Rx Time:20:02:40.4808 2025-10-24T20:02:41.693Z,1761336161.693 [DAT](INFO): Rx dataTimestamp_ set to:1761336161.693176 2025-10-24T20:02:41.694Z,1761336161.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004591 2025-10-24T20:02:41.819Z,1761336161.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387280,-0.920874,0.044786],[0.913873,0.377008,-0.150672],[0.121865,0.099280,0.987569]] 2025-10-24T20:02:41.885Z,1761336161.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.99 m. 2025-10-24T20:02:41.894Z,1761336161.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 102.991730 m, nav range: 100.363670 m, bearing: 64.424734 deg, approach rate: -0.532633 m/s, LOS rate: -0.050350 deg/s, cmd heading: 66.264624 deg, new cmd heading: 66.197296 deg. 2025-10-24T20:02:41.895Z,1761336161.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155361 target range: 102.991730 and range: 103.50 m. 2025-10-24T20:02:41.945Z,1761336161.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255317 2025-10-24T20:02:42.203Z,1761336162.203 [DAT](INFO): DAT read: 20:02:40.4808 LVL= 21840, 27057, 20914, 31699, AGC= 67, IDX= 408,-0.50,-3.128, 1.805, 3.139, 2.473, PHS= 0.770,-0.620, 0.663, RAW= 146.0, -12.1, CAL= 153.1, -20.6, ROT= 356.9, 20.6 2025-10-24T20:02:42.204Z,1761336162.204 [DAT](INFO): got valid direction response: 20:02:40.4808 LVL= 21840, 27057, 20914, 31699, AGC= 67, IDX= 408,-0.50,-3.128, 1.805, 3.139, 2.473, PHS= 0.770,-0.620, 0.663, RAW= 146.0, -12.1, CAL= 153.1, -20.6, ROT= 356.9, 20.6 2025-10-24T20:02:42.205Z,1761336162.205 [DAT](INFO): DAT read: Bearing 356.9, 20.6 (Local) 2025-10-24T20:02:42.206Z,1761336162.206 [DAT](INFO): Local bearing/azimuth received: Bearing 356.9, 20.6 (Local) 2025-10-24T20:02:42.209Z,1761336162.209 [DAT](INFO): DAT read: Range 10 to 50 : 101.6 m (Round-trip 135.5 ms) speed 0.4 m/s 2025-10-24T20:02:42.212Z,1761336162.212 [DAT](INFO): DAT read: user:223> 2025-10-24T20:02:42.215Z,1761336162.215 [DAT](INFO): DAT read: Tx time:20:02:41.5912 2025-10-24T20:02:42.216Z,1761336162.216 [DAT](INFO): Ping request sent. 2025-10-24T20:02:42.216Z,1761336162.216 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:42.216Z,1761336162.216 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:42.217Z,1761336162.217 [DAT](INFO): direction in FSK: [0.934690,-0.050621,-0.351842] 2025-10-24T20:02:42.218Z,1761336162.218 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:42.218Z,1761336162.218 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:42.254Z,1761336162.254 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:42.255Z,1761336162.255 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:42.370Z,1761336162.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 101.599998 m, deltaT: 3.528214 s, deltaX: -1.900002 m, approachRate: -0.538517 m/s, rangeRepo size: 4 2025-10-24T20:02:42.381Z,1761336162.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.100464 m, bearing: 66.138530 deg, lat: 36.779664 deg, lon: -121.859553 deg, deltaT: 3.528214 s, deltaX: -1.891266 m, approachRate: -0.536041 m/s, posRepo size: 4 2025-10-24T20:02:42.381Z,1761336162.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:42.388Z,1761336162.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 99.131180 m, bearing: 65.588673 deg, approach rate: 0.000000 m/s, LOS rate: -0.050350 deg/s, cmd heading: 66.197299 deg, new cmd heading: 66.124114 deg. 2025-10-24T20:02:42.389Z,1761336162.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.154083 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:42.450Z,1761336162.450 [DAT](INFO): DAT read: TxSync time:20:02:41.5904 2025-10-24T20:02:42.683Z,1761336162.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389649,-0.919663,0.048919],[0.914443,0.380034,-0.139169],[0.109397,0.098961,0.989060]] 2025-10-24T20:02:42.798Z,1761336162.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:42.802Z,1761336162.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:42.810Z,1761336162.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 98.905777 m, bearing: 65.572987 deg, approach rate: -0.520556 m/s, LOS rate: -0.036310 deg/s, cmd heading: 66.124113 deg, new cmd heading: 66.076947 deg. 2025-10-24T20:02:42.811Z,1761336162.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.153260 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:42.953Z,1761336162.953 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:42.953Z,1761336162.953 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:42.953Z,1761336162.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:43.087Z,1761336163.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390751,-0.919216,0.048546],[0.914628,0.381773,-0.133061],[0.103778,0.096395,0.989918]] 2025-10-24T20:02:43.108Z,1761336163.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:43.111Z,1761336163.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 98.722832 m, bearing: 65.560318 deg, approach rate: -0.599496 m/s, LOS rate: -0.041592 deg/s, cmd heading: 66.076944 deg, new cmd heading: 66.038866 deg. 2025-10-24T20:02:43.128Z,1761336163.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.152596 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:43.206Z,1761336163.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989864 2025-10-24T20:02:43.457Z,1761336163.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240617 2025-10-24T20:02:43.506Z,1761336163.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391495,-0.918864,0.049205],[0.914908,0.382980,-0.127551],[0.098357,0.094954,0.990611]] 2025-10-24T20:02:43.581Z,1761336163.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:43.604Z,1761336163.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 98.493141 m, bearing: 65.544434 deg, approach rate: -0.490920 m/s, LOS rate: -0.034027 deg/s, cmd heading: 66.038866 deg, new cmd heading: 65.991104 deg. 2025-10-24T20:02:43.607Z,1761336163.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151762 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:43.709Z,1761336163.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492594 2025-10-24T20:02:43.913Z,1761336163.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393860,-0.917766,0.050797],[0.914523,0.385720,-0.121934],[0.092313,0.094480,0.991238]] 2025-10-24T20:02:43.961Z,1761336163.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744967 2025-10-24T20:02:43.963Z,1761336163.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:43.966Z,1761336163.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 98.268906 m, bearing: 65.532508 deg, approach rate: -0.577925 m/s, LOS rate: -0.030808 deg/s, cmd heading: 65.991102 deg, new cmd heading: 65.955242 deg. 2025-10-24T20:02:43.967Z,1761336163.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151136 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:44.213Z,1761336164.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996558 2025-10-24T20:02:44.308Z,1761336164.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397577,-0.916044,0.052882],[0.913542,0.389780,-0.116246],[0.085874,0.094527,0.991812]] 2025-10-24T20:02:44.339Z,1761336164.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:44.342Z,1761336164.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 98.069450 m, bearing: 65.522306 deg, approach rate: -0.532224 m/s, LOS rate: -0.027278 deg/s, cmd heading: 65.955244 deg, new cmd heading: 65.924575 deg. 2025-10-24T20:02:44.343Z,1761336164.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150601 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:44.465Z,1761336164.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248646 2025-10-24T20:02:44.712Z,1761336164.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400694,-0.914599,0.054340],[0.912739,0.393313,-0.110513],[0.079702,0.093880,0.992388]] 2025-10-24T20:02:44.717Z,1761336164.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500732 2025-10-24T20:02:44.795Z,1761336164.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:44.802Z,1761336164.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 97.834282 m, bearing: 65.513264 deg, approach rate: -0.515076 m/s, LOS rate: -0.019851 deg/s, cmd heading: 65.924576 deg, new cmd heading: 65.897387 deg. 2025-10-24T20:02:44.803Z,1761336164.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150126 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:44.969Z,1761336164.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753257 2025-10-24T20:02:45.120Z,1761336165.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403597,-0.913246,0.055600],[0.911930,0.396604,-0.105298],[0.074112,0.093202,0.992885]] 2025-10-24T20:02:45.138Z,1761336165.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:45.141Z,1761336165.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:45.145Z,1761336165.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 97.644569 m, bearing: 65.506276 deg, approach rate: -0.547257 m/s, LOS rate: -0.020198 deg/s, cmd heading: 65.897385 deg, new cmd heading: 65.876379 deg. 2025-10-24T20:02:45.146Z,1761336165.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149760 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:45.224Z,1761336165.224 [DAT](INFO): DAT read: Rx Time:20:02:44.1283 2025-10-24T20:02:45.225Z,1761336165.225 [DAT](INFO): Rx dataTimestamp_ set to:1761336165.224644 2025-10-24T20:02:45.225Z,1761336165.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009337 2025-10-24T20:02:45.479Z,1761336165.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262312 2025-10-24T20:02:45.529Z,1761336165.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405943,-0.912102,0.057276],[0.911291,0.399257,-0.100712],[0.068992,0.093079,0.993266]] 2025-10-24T20:02:45.557Z,1761336165.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.10 m. 2025-10-24T20:02:45.559Z,1761336165.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.100464 m, nav range: 97.425415 m, bearing: 65.498483 deg, approach rate: -0.527930 m/s, LOS rate: -0.018814 deg/s, cmd heading: 65.876382 deg, new cmd heading: 65.852952 deg. 2025-10-24T20:02:45.561Z,1761336165.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149351 target range: 101.100464 and range: 101.60 m. 2025-10-24T20:02:45.733Z,1761336165.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515804 2025-10-24T20:02:45.927Z,1761336165.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408214,-0.910964,0.059207],[0.910623,0.401780,-0.096640],[0.064248,0.093365,0.993557]] 2025-10-24T20:02:45.987Z,1761336165.987 [DAT](INFO): DAT read: 20:02:44.1283 LVL= 22960, 24209, 18626, 26979, AGC= 68, IDX= 414,-0.15, 2.664, 1.304, 2.624, 2.087, PHS= 0.665,-0.736, 0.534, RAW= 145.1, -7.0, CAL= 151.0, -15.9, ROT= 359.0, 15.9 2025-10-24T20:02:45.989Z,1761336165.989 [DAT](INFO): got valid direction response: 20:02:44.1283 LVL= 22960, 24209, 18626, 26979, AGC= 68, IDX= 414,-0.15, 2.664, 1.304, 2.624, 2.087, PHS= 0.665,-0.736, 0.534, RAW= 145.1, -7.0, CAL= 151.0, -15.9, ROT= 359.0, 15.9 2025-10-24T20:02:45.990Z,1761336165.990 [DAT](INFO): DAT read: Bearing 359.0, 15.9 (Local) 2025-10-24T20:02:45.990Z,1761336165.990 [DAT](INFO): Local bearing/azimuth received: Bearing 359.0, 15.9 (Local) 2025-10-24T20:02:45.992Z,1761336165.992 [DAT](INFO): DAT read: Range 10 to 50 : 99.7 m (Round-trip 133.0 ms) speed 0.5 m/s 2025-10-24T20:02:45.993Z,1761336165.993 [DAT](INFO): DAT read: user:224> 2025-10-24T20:02:45.994Z,1761336165.994 [DAT](INFO): DAT read: Tx time:20:02:45.2413 2025-10-24T20:02:45.994Z,1761336165.994 [DAT](INFO): Ping request sent. 2025-10-24T20:02:45.994Z,1761336165.994 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:45.995Z,1761336165.995 [DAT](INFO): DAT read: TxSync time:20:02:45.2405 2025-10-24T20:02:45.995Z,1761336165.995 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:45.996Z,1761336165.996 [DAT](INFO): direction in FSK: [0.961595,-0.016785,-0.273959] 2025-10-24T20:02:45.997Z,1761336165.997 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:45.997Z,1761336165.997 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:46.001Z,1761336166.001 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:46.001Z,1761336166.001 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:46.036Z,1761336166.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.699997 m, deltaT: 3.783823 s, deltaX: -1.900002 m, approachRate: -0.502138 m/s, rangeRepo size: 4 2025-10-24T20:02:46.039Z,1761336166.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.206100 m, bearing: 66.377216 deg, lat: 36.779664 deg, lon: -121.859553 deg, deltaT: 3.783823 s, deltaX: -1.894363 m, approachRate: -0.500648 m/s, posRepo size: 4 2025-10-24T20:02:46.044Z,1761336166.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:46.047Z,1761336166.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 97.200363 m, bearing: 65.493330 deg, approach rate: 0.000000 m/s, LOS rate: -0.018814 deg/s, cmd heading: 65.852955 deg, new cmd heading: 65.826159 deg. 2025-10-24T20:02:46.052Z,1761336166.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148883 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:46.377Z,1761336166.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:46.384Z,1761336166.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 97.007484 m, bearing: 65.484784 deg, approach rate: -0.558055 m/s, LOS rate: -0.024774 deg/s, cmd heading: 65.826160 deg, new cmd heading: 65.800472 deg. 2025-10-24T20:02:46.385Z,1761336166.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148435 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:46.730Z,1761336166.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410847,-0.908457,0.076877],[0.909981,0.403427,-0.095818],[0.056033,0.109323,0.992426]] 2025-10-24T20:02:46.773Z,1761336166.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:46.792Z,1761336166.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 96.785034 m, bearing: 65.475148 deg, approach rate: -0.561485 m/s, LOS rate: -0.024378 deg/s, cmd heading: 65.800472 deg, new cmd heading: 65.771497 deg. 2025-10-24T20:02:46.793Z,1761336166.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147929 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:47.133Z,1761336167.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412298,-0.907706,0.077970],[0.909577,0.405258,-0.091849],[0.051774,0.108789,0.992716]] 2025-10-24T20:02:47.166Z,1761336167.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:47.169Z,1761336167.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:47.171Z,1761336167.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 96.572472 m, bearing: 65.466090 deg, approach rate: -0.537472 m/s, LOS rate: -0.022956 deg/s, cmd heading: 65.771498 deg, new cmd heading: 65.744262 deg. 2025-10-24T20:02:47.176Z,1761336167.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147454 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:47.241Z,1761336167.241 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:47.241Z,1761336167.241 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:47.242Z,1761336167.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:47.494Z,1761336167.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500019 2025-10-24T20:02:47.535Z,1761336167.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413822,-0.907024,0.077844],[0.909064,0.407163,-0.088430],[0.048513,0.107359,0.993036]] 2025-10-24T20:02:47.576Z,1761336167.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:47.579Z,1761336167.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 96.344833 m, bearing: 65.456560 deg, approach rate: -0.559247 m/s, LOS rate: -0.023467 deg/s, cmd heading: 65.744259 deg, new cmd heading: 65.715602 deg. 2025-10-24T20:02:47.583Z,1761336167.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146954 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:47.745Z,1761336167.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750711 2025-10-24T20:02:47.997Z,1761336167.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002861 2025-10-24T20:02:47.998Z,1761336167.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:48.001Z,1761336168.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 96.091232 m, bearing: 65.441797 deg, approach rate: -0.599845 m/s, LOS rate: -0.035012 deg/s, cmd heading: 65.715600 deg, new cmd heading: 65.671193 deg. 2025-10-24T20:02:48.002Z,1761336168.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146179 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:48.250Z,1761336168.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255514 2025-10-24T20:02:48.344Z,1761336168.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418775,-0.904891,0.076161],[0.907130,0.413002,-0.080904],[0.041755,0.102969,0.993808]] 2025-10-24T20:02:48.378Z,1761336168.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:48.381Z,1761336168.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 95.875244 m, bearing: 65.429842 deg, approach rate: -0.569056 m/s, LOS rate: -0.031568 deg/s, cmd heading: 65.671197 deg, new cmd heading: 65.635251 deg. 2025-10-24T20:02:48.382Z,1761336168.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145551 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:48.501Z,1761336168.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506683 2025-10-24T20:02:48.749Z,1761336168.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419082,-0.904704,0.076690],[0.907124,0.413607,-0.077812],[0.038677,0.102177,0.994014]] 2025-10-24T20:02:48.753Z,1761336168.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758607 2025-10-24T20:02:48.816Z,1761336168.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:48.818Z,1761336168.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 95.619560 m, bearing: 65.413252 deg, approach rate: -0.589720 m/s, LOS rate: -0.038367 deg/s, cmd heading: 65.635249 deg, new cmd heading: 65.585346 deg. 2025-10-24T20:02:48.824Z,1761336168.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.144680 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:49.005Z,1761336169.005 [DAT](INFO): DAT read: Rx Time:20:02:47.7754 2025-10-24T20:02:49.006Z,1761336169.006 [DAT](INFO): Rx dataTimestamp_ set to:1761336169.005416 2025-10-24T20:02:49.007Z,1761336169.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012385 2025-10-24T20:02:49.186Z,1761336169.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:49.205Z,1761336169.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.21 m. 2025-10-24T20:02:49.213Z,1761336169.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.206100 m, nav range: 95.383080 m, bearing: 65.397828 deg, approach rate: -0.601545 m/s, LOS rate: -0.039332 deg/s, cmd heading: 65.585348 deg, new cmd heading: 65.538962 deg. 2025-10-24T20:02:49.214Z,1761336169.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143871 target range: 99.206100 and range: 99.70 m. 2025-10-24T20:02:49.257Z,1761336169.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263116 2025-10-24T20:02:49.515Z,1761336169.515 [DAT](INFO): DAT read: 20:02:47.7754 LVL= 19936, 25457, 15602, 28355, AGC= 69, IDX= 416, 0.07,-2.248, 2.663,-2.317,-2.763, PHS= 0.603,-0.810, 0.443, RAW= 144.1, -3.6, CAL= 149.0, -12.6, ROT= 1.0, 12.6 2025-10-24T20:02:49.516Z,1761336169.516 [DAT](INFO): got valid direction response: 20:02:47.7754 LVL= 19936, 25457, 15602, 28355, AGC= 69, IDX= 416, 0.07,-2.248, 2.663,-2.317,-2.763, PHS= 0.603,-0.810, 0.443, RAW= 144.1, -3.6, CAL= 149.0, -12.6, ROT= 1.0, 12.6 2025-10-24T20:02:49.517Z,1761336169.517 [DAT](INFO): DAT read: Bearing 1.0, 12.6 (Local) 2025-10-24T20:02:49.517Z,1761336169.517 [DAT](INFO): Local bearing/azimuth received: Bearing 1.0, 12.6 (Local) 2025-10-24T20:02:49.519Z,1761336169.519 [DAT](INFO): DAT read: Range 10 to 50 : 97.5 m (Round-trip 130.0 ms) speed 0.5 m/s 2025-10-24T20:02:49.519Z,1761336169.519 [DAT](INFO): DAT read: user:225> 2025-10-24T20:02:49.521Z,1761336169.521 [DAT](INFO): DAT read: Tx time:20:02:48.8913 2025-10-24T20:02:49.521Z,1761336169.521 [DAT](INFO): Ping request sent. 2025-10-24T20:02:49.521Z,1761336169.521 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:49.522Z,1761336169.522 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:49.523Z,1761336169.523 [DAT](INFO): direction in FSK: [0.975768,0.017032,-0.218143] 2025-10-24T20:02:49.523Z,1761336169.523 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:49.523Z,1761336169.523 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:49.526Z,1761336169.526 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:49.527Z,1761336169.527 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:49.617Z,1761336169.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417797,-0.905096,0.079044],[0.907938,0.412767,-0.072610],[0.033092,0.102103,0.994223]] 2025-10-24T20:02:49.758Z,1761336169.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.500000 m, deltaT: 3.527891 s, deltaX: -2.199997 m, approachRate: -0.623601 m/s, rangeRepo size: 4 2025-10-24T20:02:49.761Z,1761336169.761 [DAT](INFO): DAT read: TxSync time:20:02:48.8905 2025-10-24T20:02:49.776Z,1761336169.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 97.012505 m, bearing: 67.576760 deg, lat: 36.779652 deg, lon: -121.859549 deg, deltaT: 3.527891 s, deltaX: -2.193596 m, approachRate: -0.621787 m/s, posRepo size: 4 2025-10-24T20:02:49.777Z,1761336169.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:49.784Z,1761336169.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 94.905991 m, bearing: 66.160618 deg, approach rate: 0.000000 m/s, LOS rate: -0.039332 deg/s, cmd heading: 65.538964 deg, new cmd heading: 65.473767 deg. 2025-10-24T20:02:49.785Z,1761336169.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142733 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:50.077Z,1761336170.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414854,-0.906405,0.079542],[0.909432,0.410291,-0.067778],[0.028799,0.100456,0.994525]] 2025-10-24T20:02:50.136Z,1761336170.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:50.139Z,1761336170.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 94.665405 m, bearing: 66.140077 deg, approach rate: -0.671398 m/s, LOS rate: -0.057470 deg/s, cmd heading: 65.473770 deg, new cmd heading: 65.411989 deg. 2025-10-24T20:02:50.145Z,1761336170.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141655 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:50.475Z,1761336170.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411774,-0.907532,0.082629],[0.910889,0.407224,-0.066705],[0.026888,0.102734,0.994345]] 2025-10-24T20:02:50.497Z,1761336170.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:50.499Z,1761336170.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 94.440239 m, bearing: 66.120289 deg, approach rate: -0.591062 m/s, LOS rate: -0.052067 deg/s, cmd heading: 65.411991 deg, new cmd heading: 65.352486 deg. 2025-10-24T20:02:50.500Z,1761336170.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140616 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:50.876Z,1761336170.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409496,-0.908425,0.084128],[0.911967,0.405060,-0.065135],[0.025093,0.103395,0.994324]] 2025-10-24T20:02:50.947Z,1761336170.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:50.950Z,1761336170.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 94.176743 m, bearing: 66.097448 deg, approach rate: -0.585512 m/s, LOS rate: -0.050896 deg/s, cmd heading: 65.352486 deg, new cmd heading: 65.283773 deg. 2025-10-24T20:02:50.951Z,1761336170.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139417 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:51.282Z,1761336171.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409068,-0.908465,0.085756],[0.912229,0.404828,-0.062872],[0.022401,0.103949,0.994330]] 2025-10-24T20:02:51.299Z,1761336171.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:51.322Z,1761336171.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:51.334Z,1761336171.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 93.965744 m, bearing: 66.079002 deg, approach rate: -0.562540 m/s, LOS rate: -0.049289 deg/s, cmd heading: 65.283775 deg, new cmd heading: 65.228312 deg. 2025-10-24T20:02:51.335Z,1761336171.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138449 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:51.533Z,1761336171.533 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:51.533Z,1761336171.533 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:51.533Z,1761336171.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:51.730Z,1761336171.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409460,-0.908156,0.087144],[0.912110,0.405404,-0.060850],[0.019933,0.104400,0.994336]] 2025-10-24T20:02:51.771Z,1761336171.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:51.785Z,1761336171.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263241 2025-10-24T20:02:51.794Z,1761336171.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 93.698914 m, bearing: 66.053702 deg, approach rate: -0.593861 m/s, LOS rate: -0.056469 deg/s, cmd heading: 65.228313 deg, new cmd heading: 65.152196 deg. 2025-10-24T20:02:51.795Z,1761336171.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137120 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:52.037Z,1761336172.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515463 2025-10-24T20:02:52.087Z,1761336172.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409376,-0.908072,0.088416],[0.912193,0.405485,-0.059042],[0.017763,0.104822,0.994332]] 2025-10-24T20:02:52.115Z,1761336172.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:52.118Z,1761336172.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 93.503517 m, bearing: 66.035069 deg, approach rate: -0.568124 m/s, LOS rate: -0.054290 deg/s, cmd heading: 65.152198 deg, new cmd heading: 65.096181 deg. 2025-10-24T20:02:52.119Z,1761336172.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136143 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:52.289Z,1761336172.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767964 2025-10-24T20:02:52.541Z,1761336172.541 [DAT](INFO): DAT read: Rx Time:20:02:51.4227 2025-10-24T20:02:52.541Z,1761336172.541 [DAT](INFO): Rx dataTimestamp_ set to:1761336172.541114 2025-10-24T20:02:52.542Z,1761336172.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020519 2025-10-24T20:02:52.544Z,1761336172.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:52.547Z,1761336172.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 93.271065 m, bearing: 66.012800 deg, approach rate: -0.547283 m/s, LOS rate: -0.052561 deg/s, cmd heading: 65.096183 deg, new cmd heading: 65.029209 deg. 2025-10-24T20:02:52.561Z,1761336172.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134974 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:52.794Z,1761336172.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272238 2025-10-24T20:02:52.902Z,1761336172.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409863,-0.907827,0.088669],[0.912036,0.406354,-0.055386],[0.014249,0.103570,0.994520]] 2025-10-24T20:02:52.982Z,1761336172.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.01 m. 2025-10-24T20:02:52.989Z,1761336172.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 97.012505 m, nav range: 93.036606 m, bearing: 65.993130 deg, approach rate: -0.530131 m/s, LOS rate: -0.044587 deg/s, cmd heading: 65.029207 deg, new cmd heading: 64.970049 deg. 2025-10-24T20:02:52.990Z,1761336172.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133941 target range: 97.012505 and range: 97.50 m. 2025-10-24T20:02:53.096Z,1761336173.096 [DAT](INFO): DAT read: 20:02:51.4227 LVL= 23824, 32593, 19522, 32019, AGC= 68, IDX= 420,-0.13,-0.728,-2.056,-0.783,-1.119, PHS= 0.479,-0.889, 0.333, RAW= 144.4, 1.2, CAL= 148.1, -7.7, ROT= 1.9, 7.7 2025-10-24T20:02:53.097Z,1761336173.097 [DAT](INFO): got valid direction response: 20:02:51.4227 LVL= 23824, 32593, 19522, 32019, AGC= 68, IDX= 420,-0.13,-0.728,-2.056,-0.783,-1.119, PHS= 0.479,-0.889, 0.333, RAW= 144.4, 1.2, CAL= 148.1, -7.7, ROT= 1.9, 7.7 2025-10-24T20:02:53.098Z,1761336173.098 [DAT](INFO): DAT read: Bearing 1.9, 7.7 (Local) 2025-10-24T20:02:53.098Z,1761336173.098 [DAT](INFO): Local bearing/azimuth received: Bearing 1.9, 7.7 (Local) 2025-10-24T20:02:53.108Z,1761336173.108 [DAT](INFO): DAT read: Range 10 to 50 : 95.4 m (Round-trip 127.3 ms) speed 0.6 m/s 2025-10-24T20:02:53.109Z,1761336173.109 [DAT](INFO): DAT read: user:226> 2025-10-24T20:02:53.110Z,1761336173.110 [DAT](INFO): DAT read: Tx time:20:02:52.5413 2025-10-24T20:02:53.110Z,1761336173.110 [DAT](INFO): Ping request sent. 2025-10-24T20:02:53.110Z,1761336173.110 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:53.110Z,1761336173.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:53.111Z,1761336173.111 [DAT](INFO): direction in FSK: [0.990438,0.032856,-0.133986] 2025-10-24T20:02:53.116Z,1761336173.116 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:53.116Z,1761336173.116 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:53.125Z,1761336173.125 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:53.126Z,1761336173.126 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:53.297Z,1761336173.297 [DAT](INFO): DAT read: TxSync time:20:02:52.5405 2025-10-24T20:02:53.345Z,1761336173.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410469,-0.907594,0.088256],[0.911788,0.407168,-0.053451],[0.012576,0.102411,0.994663]] 2025-10-24T20:02:53.434Z,1761336173.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.538177 s, deltaX: -2.099998 m, approachRate: -0.593526 m/s, rangeRepo size: 4 2025-10-24T20:02:53.444Z,1761336173.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.920570 m, bearing: 68.442052 deg, lat: 36.779650 deg, lon: -121.859549 deg, deltaT: 3.538177 s, deltaX: -2.091934 m, approachRate: -0.591246 m/s, posRepo size: 4 2025-10-24T20:02:53.444Z,1761336173.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:53.447Z,1761336173.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 92.733284 m, bearing: 66.097884 deg, approach rate: 0.000000 m/s, LOS rate: -0.044587 deg/s, cmd heading: 64.970050 deg, new cmd heading: 64.909718 deg. 2025-10-24T20:02:53.457Z,1761336173.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132888 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:53.771Z,1761336173.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410549,-0.907595,0.087864],[0.911762,0.407356,-0.052452],[0.011813,0.101645,0.994751]] 2025-10-24T20:02:53.840Z,1761336173.840 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:53.842Z,1761336173.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:53.849Z,1761336173.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 92.483910 m, bearing: 66.083287 deg, approach rate: -0.609360 m/s, LOS rate: -0.035765 deg/s, cmd heading: 64.909719 deg, new cmd heading: 64.865809 deg. 2025-10-24T20:02:53.850Z,1761336173.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132122 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:54.053Z,1761336174.053 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:54.053Z,1761336174.053 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:54.053Z,1761336174.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:54.159Z,1761336174.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410422,-0.908392,0.079856],[0.911839,0.407846,-0.047017],[0.010141,0.092112,0.995697]] 2025-10-24T20:02:54.206Z,1761336174.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:54.209Z,1761336174.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 92.287483 m, bearing: 66.071735 deg, approach rate: -0.541418 m/s, LOS rate: -0.031910 deg/s, cmd heading: 64.865808 deg, new cmd heading: 64.831078 deg. 2025-10-24T20:02:54.210Z,1761336174.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131516 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:54.305Z,1761336174.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.194636 2025-10-24T20:02:54.557Z,1761336174.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.447104 2025-10-24T20:02:54.589Z,1761336174.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408908,-0.908767,0.083282],[0.912531,0.406280,-0.047161],[0.009023,0.095282,0.995409]] 2025-10-24T20:02:54.630Z,1761336174.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:54.638Z,1761336174.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 92.074738 m, bearing: 66.058937 deg, approach rate: -0.501423 m/s, LOS rate: -0.030233 deg/s, cmd heading: 64.831076 deg, new cmd heading: 64.792594 deg. 2025-10-24T20:02:54.639Z,1761336174.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130844 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:54.813Z,1761336174.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702760 2025-10-24T20:02:55.065Z,1761336175.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954674 2025-10-24T20:02:55.096Z,1761336175.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:55.099Z,1761336175.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 91.841217 m, bearing: 66.050716 deg, approach rate: -0.504614 m/s, LOS rate: -0.017811 deg/s, cmd heading: 64.792595 deg, new cmd heading: 64.767868 deg. 2025-10-24T20:02:55.108Z,1761336175.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130413 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:55.317Z,1761336175.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206564 2025-10-24T20:02:55.415Z,1761336175.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411593,-0.907095,0.088147],[0.911356,0.409172,-0.044809],[0.004579,0.098776,0.995099]] 2025-10-24T20:02:55.434Z,1761336175.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:55.437Z,1761336175.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 91.650322 m, bearing: 66.044309 deg, approach rate: -0.558107 m/s, LOS rate: -0.018769 deg/s, cmd heading: 64.767870 deg, new cmd heading: 64.748611 deg. 2025-10-24T20:02:55.438Z,1761336175.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130076 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:55.569Z,1761336175.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458994 2025-10-24T20:02:55.815Z,1761336175.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414449,-0.905776,0.088329],[0.910069,0.412213,-0.043072],[0.002603,0.098236,0.995160]] 2025-10-24T20:02:55.821Z,1761336175.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710627 2025-10-24T20:02:55.870Z,1761336175.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:55.889Z,1761336175.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:55.895Z,1761336175.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 91.426445 m, bearing: 66.039981 deg, approach rate: -0.492015 m/s, LOS rate: -0.009535 deg/s, cmd heading: 64.748609 deg, new cmd heading: 64.735593 deg. 2025-10-24T20:02:55.901Z,1761336175.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129849 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:56.073Z,1761336176.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963285 2025-10-24T20:02:56.221Z,1761336176.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417013,-0.904588,0.088434],[0.908900,0.414920,-0.041743],[0.001067,0.097785,0.995207]] 2025-10-24T20:02:56.240Z,1761336176.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:56.243Z,1761336176.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 91.238670 m, bearing: 66.036668 deg, approach rate: -0.535083 m/s, LOS rate: -0.009462 deg/s, cmd heading: 64.735590 deg, new cmd heading: 64.725629 deg. 2025-10-24T20:02:56.244Z,1761336176.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129675 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:56.325Z,1761336176.325 [DAT](INFO): DAT read: Rx Time:20:02:55.0703 2025-10-24T20:02:56.325Z,1761336176.325 [DAT](INFO): Rx dataTimestamp_ set to:1761336176.325170 2025-10-24T20:02:56.326Z,1761336176.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215800 2025-10-24T20:02:56.577Z,1761336176.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466633 2025-10-24T20:02:56.623Z,1761336176.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420880,-0.902874,0.087622],[0.907116,0.418980,-0.039958],[-0.000635,0.096301,0.995352]] 2025-10-24T20:02:56.718Z,1761336176.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.92 m. 2025-10-24T20:02:56.734Z,1761336176.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.920570 m, nav range: 91.017487 m, bearing: 66.033342 deg, approach rate: -0.462948 m/s, LOS rate: -0.006978 deg/s, cmd heading: 64.725632 deg, new cmd heading: 64.715631 deg. 2025-10-24T20:02:56.741Z,1761336176.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129501 target range: 94.920570 and range: 95.40 m. 2025-10-24T20:02:56.835Z,1761336176.835 [DAT](INFO): DAT read: 20:02:55.0703 LVL= 20320, 32753, 20034, 32755, AGC= 69, IDX= 410,-0.10,-1.200,-2.573,-1.333,-1.605, PHS= 0.494,-0.920, 0.269, RAW= 141.5, 2.4, CAL= 145.4, -6.1, ROT= 4.6, 6.1 2025-10-24T20:02:56.836Z,1761336176.836 [DAT](INFO): got valid direction response: 20:02:55.0703 LVL= 20320, 32753, 20034, 32755, AGC= 69, IDX= 410,-0.10,-1.200,-2.573,-1.333,-1.605, PHS= 0.494,-0.920, 0.269, RAW= 141.5, 2.4, CAL= 145.4, -6.1, ROT= 4.6, 6.1 2025-10-24T20:02:56.837Z,1761336176.837 [DAT](INFO): DAT read: Bearing 4.6, 6.1 (Local) 2025-10-24T20:02:56.838Z,1761336176.838 [DAT](INFO): Local bearing/azimuth received: Bearing 4.6, 6.1 (Local) 2025-10-24T20:02:56.840Z,1761336176.840 [DAT](INFO): DAT read: Range 10 to 50 : 93.6 m (Round-trip 124.8 ms) speed 0.8 m/s 2025-10-24T20:02:56.841Z,1761336176.841 [DAT](INFO): DAT read: user:227> 2025-10-24T20:02:56.841Z,1761336176.841 [DAT](INFO): DAT read: Tx time:20:02:56.1914 2025-10-24T20:02:56.842Z,1761336176.842 [DAT](INFO): Ping request sent. 2025-10-24T20:02:56.842Z,1761336176.842 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:02:56.842Z,1761336176.842 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:02:56.843Z,1761336176.843 [DAT](INFO): direction in FSK: [0.991135,0.079745,-0.106264] 2025-10-24T20:02:56.843Z,1761336176.843 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:56.844Z,1761336176.844 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:56.847Z,1761336176.847 [DAT](INFO): publishing transmit ping time 2025-10-24T20:02:56.847Z,1761336176.847 [DAT](INFO): publishing direction and range info 2025-10-24T20:02:57.082Z,1761336177.082 [DAT](INFO): DAT read: TxSync time:20:02:56.1906 2025-10-24T20:02:57.125Z,1761336177.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423466,-0.901656,0.087707],[0.905910,0.421683,-0.038876],[-0.001932,0.095917,0.995387]] 2025-10-24T20:02:57.179Z,1761336177.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.599998 m, deltaT: 3.781888 s, deltaX: -1.800003 m, approachRate: -0.475954 m/s, rangeRepo size: 4 2025-10-24T20:02:57.181Z,1761336177.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.128571 m, bearing: 70.111157 deg, lat: 36.779635 deg, lon: -121.859534 deg, deltaT: 3.781888 s, deltaX: -1.792000 m, approachRate: -0.473837 m/s, posRepo size: 4 2025-10-24T20:02:57.182Z,1761336177.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.13 m. 2025-10-24T20:02:57.185Z,1761336177.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.128571 m, nav range: 91.304123 m, bearing: 67.388386 deg, approach rate: 0.000000 m/s, LOS rate: -0.006978 deg/s, cmd heading: 64.715633 deg, new cmd heading: 64.705987 deg. 2025-10-24T20:02:57.186Z,1761336177.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129333 target range: 93.128571 and range: 93.60 m. 2025-10-24T20:02:57.528Z,1761336177.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427246,-0.899862,0.087802],[0.904128,0.425611,-0.037513],[-0.003613,0.095411,0.995431]] 2025-10-24T20:02:57.547Z,1761336177.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.13 m. 2025-10-24T20:02:57.550Z,1761336177.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.128571 m, nav range: 91.112114 m, bearing: 67.392243 deg, approach rate: -0.521748 m/s, LOS rate: 0.010503 deg/s, cmd heading: 64.705988 deg, new cmd heading: 64.717584 deg. 2025-10-24T20:02:57.551Z,1761336177.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129535 target range: 93.128571 and range: 93.60 m. 2025-10-24T20:02:57.931Z,1761336177.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428420,-0.899234,0.088516],[0.903571,0.426781,-0.037648],[-0.003922,0.096110,0.995363]] 2025-10-24T20:02:57.949Z,1761336177.949 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +8, +7,A 2025-10-24T20:02:57.963Z,1761336177.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:57.966Z,1761336177.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.13 m. 2025-10-24T20:02:57.969Z,1761336177.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.128571 m, nav range: 90.895851 m, bearing: 67.396785 deg, approach rate: -0.516101 m/s, LOS rate: 0.010865 deg/s, cmd heading: 64.717586 deg, new cmd heading: 64.731244 deg. 2025-10-24T20:02:57.970Z,1761336177.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129773 target range: 93.128571 and range: 93.60 m. 2025-10-24T20:02:58.089Z,1761336178.089 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:02:58.089Z,1761336178.089 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:02:58.090Z,1761336178.090 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:02:58.328Z,1761336178.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430355,-0.898239,0.089227],[0.902644,0.428822,-0.036682],[-0.005313,0.096326,0.995336]] 2025-10-24T20:02:58.341Z,1761336178.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499137 2025-10-24T20:02:58.375Z,1761336178.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.13 m. 2025-10-24T20:02:58.378Z,1761336178.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.128571 m, nav range: 90.699188 m, bearing: 67.401201 deg, approach rate: -0.480480 m/s, LOS rate: 0.010813 deg/s, cmd heading: 64.731246 deg, new cmd heading: 64.744523 deg. 2025-10-24T20:02:58.379Z,1761336178.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130005 target range: 93.128571 and range: 93.60 m. 2025-10-24T20:02:58.593Z,1761336178.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750932 2025-10-24T20:02:58.829Z,1761336178.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.13 m. 2025-10-24T20:02:58.847Z,1761336178.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005387 2025-10-24T20:02:58.850Z,1761336178.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.128571 m, nav range: 90.484116 m, bearing: 67.406053 deg, approach rate: -0.479692 m/s, LOS rate: 0.010847 deg/s, cmd heading: 64.744524 deg, new cmd heading: 64.759114 deg. 2025-10-24T20:02:58.851Z,1761336178.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130260 target range: 93.128571 and range: 93.60 m. 2025-10-24T20:02:59.097Z,1761336179.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255048 2025-10-24T20:02:59.134Z,1761336179.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434205,-0.896114,0.091897],[0.900776,0.432861,-0.035129],[-0.008299,0.098032,0.995149]] 2025-10-24T20:02:59.184Z,1761336179.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.13 m. 2025-10-24T20:02:59.187Z,1761336179.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.128571 m, nav range: 90.253395 m, bearing: 67.410367 deg, approach rate: -0.639969 m/s, LOS rate: 0.011998 deg/s, cmd heading: 64.759114 deg, new cmd heading: 64.772090 deg. 2025-10-24T20:02:59.188Z,1761336179.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130486 target range: 93.128571 and range: 93.60 m. 2025-10-24T20:02:59.349Z,1761336179.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506858 2025-10-24T20:02:59.562Z,1761336179.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.13 m. 2025-10-24T20:02:59.566Z,1761336179.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.128571 m, nav range: 90.046127 m, bearing: 67.414262 deg, approach rate: -0.547910 m/s, LOS rate: 0.010319 deg/s, cmd heading: 64.772091 deg, new cmd heading: 64.783801 deg. 2025-10-24T20:02:59.567Z,1761336179.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130691 target range: 93.128571 and range: 93.60 m. 2025-10-24T20:02:59.602Z,1761336179.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759760 2025-10-24T20:02:59.853Z,1761336179.853 [DAT](INFO): DAT read: Rx Time:20:02:58.7174 2025-10-24T20:02:59.853Z,1761336179.853 [DAT](INFO): Rx dataTimestamp_ set to:1761336179.853125 2025-10-24T20:02:59.854Z,1761336179.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012102 2025-10-24T20:02:59.941Z,1761336179.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436814,-0.894574,0.094501],[0.899494,0.435557,-0.034646],[-0.010167,0.100137,0.994922]] 2025-10-24T20:02:59.983Z,1761336179.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:02:59.985Z,1761336179.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.13 m. 2025-10-24T20:03:00.004Z,1761336180.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.128571 m, nav range: 89.806953 m, bearing: 67.414886 deg, approach rate: -0.565365 m/s, LOS rate: 0.001479 deg/s, cmd heading: 64.783805 deg, new cmd heading: 64.785681 deg. 2025-10-24T20:03:00.006Z,1761336180.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130723 target range: 93.128571 and range: 93.60 m. 2025-10-24T20:03:00.106Z,1761336180.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264187 2025-10-24T20:03:00.362Z,1761336180.362 [DAT](INFO): DAT read: 20:02:58.7174 LVL= 23856, 22417, 19554, 27123, AGC= 70, IDX= 412, 0.42,-0.319,-1.808,-0.451,-0.764, PHS= 0.533,-0.997, 0.310, RAW= 142.2, 2.2, CAL= 146.1, -6.4, ROT= 3.9, 6.4 2025-10-24T20:03:00.363Z,1761336180.363 [DAT](INFO): got valid direction response: 20:02:58.7174 LVL= 23856, 22417, 19554, 27123, AGC= 70, IDX= 412, 0.42,-0.319,-1.808,-0.451,-0.764, PHS= 0.533,-0.997, 0.310, RAW= 142.2, 2.2, CAL= 146.1, -6.4, ROT= 3.9, 6.4 2025-10-24T20:03:00.364Z,1761336180.364 [DAT](INFO): DAT read: Bearing 3.9, 6.4 (Local) 2025-10-24T20:03:00.365Z,1761336180.365 [DAT](INFO): Local bearing/azimuth received: Bearing 3.9, 6.4 (Local) 2025-10-24T20:03:00.366Z,1761336180.366 [DAT](INFO): DAT read: Range 10 to 50 : 91.4 m (Round-trip 121.9 ms) speed 0.5 m/s 2025-10-24T20:03:00.367Z,1761336180.367 [DAT](INFO): DAT read: user:228> 2025-10-24T20:03:00.367Z,1761336180.367 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:00.368Z,1761336180.368 [DAT](INFO): direction in FSK: [0.991467,0.067591,-0.111469] 2025-10-24T20:03:00.368Z,1761336180.368 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:00.380Z,1761336180.380 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:00.380Z,1761336180.380 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:00.380Z,1761336180.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:00.425Z,1761336180.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436727,-0.894425,0.096302],[0.899530,0.435462,-0.034897],[-0.010723,0.101867,0.994740]] 2025-10-24T20:03:00.494Z,1761336180.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 91.400002 m, deltaT: 3.527879 s, deltaX: -2.199997 m, approachRate: -0.623603 m/s, rangeRepo size: 4 2025-10-24T20:03:00.508Z,1761336180.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.941978 m, bearing: 68.640999 deg, lat: 36.779624 deg, lon: -121.859517 deg, deltaT: 3.527879 s, deltaX: -2.186592 m, approachRate: -0.619804 m/s, posRepo size: 4 2025-10-24T20:03:00.509Z,1761336180.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:00.516Z,1761336180.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 90.453156 m, bearing: 68.461930 deg, approach rate: 0.000000 m/s, LOS rate: 0.001479 deg/s, cmd heading: 64.785683 deg, new cmd heading: 64.787938 deg. 2025-10-24T20:03:00.517Z,1761336180.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130763 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:00.610Z,1761336180.610 [DAT](INFO): DAT read: Tx time:20:02:59.8414 2025-10-24T20:03:00.610Z,1761336180.610 [DAT](INFO): Ping request sent. 2025-10-24T20:03:00.611Z,1761336180.611 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:00.612Z,1761336180.612 [DAT](INFO): DAT read: TxSync time:20:02:59.8406 2025-10-24T20:03:00.612Z,1761336180.612 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:00.613Z,1761336180.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002788 2025-10-24T20:03:00.795Z,1761336180.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436744,-0.894272,0.097631],[0.899515,0.435489,-0.034941],[-0.011270,0.103081,0.994609]] 2025-10-24T20:03:00.865Z,1761336180.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254208 2025-10-24T20:03:00.898Z,1761336180.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:00.907Z,1761336180.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 90.243721 m, bearing: 68.464908 deg, approach rate: -0.518123 m/s, LOS rate: 0.007384 deg/s, cmd heading: 64.787937 deg, new cmd heading: 64.796892 deg. 2025-10-24T20:03:00.913Z,1761336180.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130919 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:01.113Z,1761336181.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502467 2025-10-24T20:03:01.182Z,1761336181.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435800,-0.893953,0.104534],[0.899972,0.434281,-0.038081],[-0.011354,0.110673,0.993792]] 2025-10-24T20:03:01.231Z,1761336181.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:01.234Z,1761336181.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 90.016281 m, bearing: 68.465182 deg, approach rate: -0.681345 m/s, LOS rate: 0.000823 deg/s, cmd heading: 64.796891 deg, new cmd heading: 64.797715 deg. 2025-10-24T20:03:01.235Z,1761336181.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130934 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:01.365Z,1761336181.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754481 2025-10-24T20:03:01.586Z,1761336181.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436078,-0.894042,0.102592],[0.899840,0.434609,-0.037449],[-0.011107,0.108647,0.994018]] 2025-10-24T20:03:01.610Z,1761336181.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:01.613Z,1761336181.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 89.790543 m, bearing: 68.465492 deg, approach rate: -0.596758 m/s, LOS rate: 0.000821 deg/s, cmd heading: 64.797718 deg, new cmd heading: 64.798649 deg. 2025-10-24T20:03:01.614Z,1761336181.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130950 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:01.617Z,1761336181.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006511 2025-10-24T20:03:01.873Z,1761336181.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261806 2025-10-24T20:03:01.885Z,1761336181.885 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:03:01.987Z,1761336181.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435917,-0.894312,0.100903],[0.899917,0.434530,-0.036510],[-0.011194,0.106720,0.994226]] 2025-10-24T20:03:02.045Z,1761336182.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:02.047Z,1761336182.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:02.053Z,1761336182.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 89.529205 m, bearing: 68.461160 deg, approach rate: -0.598107 m/s, LOS rate: -0.009943 deg/s, cmd heading: 64.798647 deg, new cmd heading: 64.785614 deg. 2025-10-24T20:03:02.054Z,1761336182.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130722 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:02.123Z,1761336182.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512311 2025-10-24T20:03:02.373Z,1761336182.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762803 2025-10-24T20:03:02.453Z,1761336182.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:02.457Z,1761336182.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 89.289413 m, bearing: 68.457163 deg, approach rate: -0.609796 m/s, LOS rate: -0.010191 deg/s, cmd heading: 64.785615 deg, new cmd heading: 64.773592 deg. 2025-10-24T20:03:02.458Z,1761336182.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130512 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:02.625Z,1761336182.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014476 2025-10-24T20:03:02.843Z,1761336182.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436026,-0.894196,0.101464],[0.899839,0.434840,-0.034697],[-0.013095,0.106430,0.994234]] 2025-10-24T20:03:02.879Z,1761336182.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268143 2025-10-24T20:03:02.890Z,1761336182.890 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:03:02.935Z,1761336182.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:02.939Z,1761336182.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 88.994034 m, bearing: 68.452234 deg, approach rate: -0.595986 m/s, LOS rate: -0.009978 deg/s, cmd heading: 64.773594 deg, new cmd heading: 64.758758 deg. 2025-10-24T20:03:02.949Z,1761336182.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130254 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:03.129Z,1761336183.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518337 2025-10-24T20:03:03.265Z,1761336183.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:03.268Z,1761336183.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 88.791817 m, bearing: 68.443856 deg, approach rate: -0.613998 m/s, LOS rate: -0.025497 deg/s, cmd heading: 64.758758 deg, new cmd heading: 64.733567 deg. 2025-10-24T20:03:03.269Z,1761336183.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129814 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:03.381Z,1761336183.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770869 2025-10-24T20:03:03.611Z,1761336183.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434650,-0.894826,0.101813],[0.900487,0.433598,-0.033413],[-0.014247,0.106205,0.994242]] 2025-10-24T20:03:03.633Z,1761336183.633 [DAT](INFO): DAT read: Rx Time:20:03:02.3647 2025-10-24T20:03:03.633Z,1761336183.633 [DAT](INFO): Rx dataTimestamp_ set to:1761336183.633179 2025-10-24T20:03:03.634Z,1761336183.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023659 2025-10-24T20:03:03.636Z,1761336183.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:03.640Z,1761336183.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 88.570808 m, bearing: 68.434437 deg, approach rate: -0.595857 m/s, LOS rate: -0.025459 deg/s, cmd heading: 64.733569 deg, new cmd heading: 64.705240 deg. 2025-10-24T20:03:03.641Z,1761336183.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129319 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:03.888Z,1761336183.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276987 2025-10-24T20:03:04.011Z,1761336184.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433728,-0.895278,0.101770],[0.900922,0.432747,-0.032685],[-0.014779,0.105864,0.994271]] 2025-10-24T20:03:04.060Z,1761336184.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:04.062Z,1761336184.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:04.065Z,1761336184.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 88.322426 m, bearing: 68.424611 deg, approach rate: -0.582802 m/s, LOS rate: -0.023119 deg/s, cmd heading: 64.705237 deg, new cmd heading: 64.675678 deg. 2025-10-24T20:03:04.066Z,1761336184.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128803 target range: 90.941978 and range: 91.40 m. 2025-10-24T20:03:04.139Z,1761336184.139 [DAT](INFO): DAT read: Range 10 to 50 : 89.4 m (Round-trip 119.2 ms) speed 0.4 m/s 2025-10-24T20:03:04.140Z,1761336184.140 [DAT](INFO): DAT read: user:229> 2025-10-24T20:03:04.141Z,1761336184.141 [DAT](INFO): DAT read: Tx time:20:03:03.4414 2025-10-24T20:03:04.141Z,1761336184.141 [DAT](INFO): Ping request sent. 2025-10-24T20:03:04.141Z,1761336184.141 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:04.142Z,1761336184.142 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:03:04.142Z,1761336184.142 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:04.142Z,1761336184.142 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:04.390Z,1761336184.390 [DAT](INFO): DAT read: TxSync time:20:03:03.4406 2025-10-24T20:03:04.415Z,1761336184.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432238,-0.896020,0.101584],[0.901631,0.431327,-0.031908],[-0.015226,0.105383,0.994315]] 2025-10-24T20:03:04.449Z,1761336184.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 3.780653 s, deltaX: -2.000000 m, approachRate: -0.529009 m/s, rangeRepo size: 4 2025-10-24T20:03:04.450Z,1761336184.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:04.453Z,1761336184.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 88.097427 m, bearing: 68.415420 deg, approach rate: -0.582341 m/s, LOS rate: -0.023849 deg/s, cmd heading: 64.675676 deg, new cmd heading: 64.648033 deg. 2025-10-24T20:03:04.454Z,1761336184.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128321 target range: 90.941978 and range: 89.40 m. 2025-10-24T20:03:04.835Z,1761336184.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430130,-0.896785,0.103753],[0.902641,0.429144,-0.032797],[-0.015113,0.107759,0.994062]] 2025-10-24T20:03:04.890Z,1761336184.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:04.923Z,1761336184.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 87.862297 m, bearing: 68.405406 deg, approach rate: -0.537302 m/s, LOS rate: -0.022945 deg/s, cmd heading: 64.648034 deg, new cmd heading: 64.617911 deg. 2025-10-24T20:03:04.937Z,1761336184.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127795 target range: 90.941978 and range: 89.40 m. 2025-10-24T20:03:05.270Z,1761336185.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:05.273Z,1761336185.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 87.627998 m, bearing: 68.393788 deg, approach rate: -0.610550 m/s, LOS rate: -0.030356 deg/s, cmd heading: 64.617913 deg, new cmd heading: 64.582966 deg. 2025-10-24T20:03:05.274Z,1761336185.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.127185 target range: 90.941978 and range: 89.40 m. 2025-10-24T20:03:05.676Z,1761336185.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428113,-0.897822,0.103124],[0.903587,0.427250,-0.031448],[-0.015825,0.106645,0.994171]] 2025-10-24T20:03:05.695Z,1761336185.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:05.698Z,1761336185.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 87.389206 m, bearing: 68.381533 deg, approach rate: -0.560771 m/s, LOS rate: -0.028859 deg/s, cmd heading: 64.582963 deg, new cmd heading: 64.546096 deg. 2025-10-24T20:03:05.699Z,1761336185.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126542 target range: 90.941978 and range: 89.40 m. 2025-10-24T20:03:06.075Z,1761336186.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428962,-0.897341,0.103783],[0.903138,0.428360,-0.029164],[-0.018287,0.106241,0.994172]] 2025-10-24T20:03:06.119Z,1761336186.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:06.121Z,1761336186.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:06.125Z,1761336186.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 87.160851 m, bearing: 68.375653 deg, approach rate: -0.536687 m/s, LOS rate: -0.013854 deg/s, cmd heading: 64.546094 deg, new cmd heading: 64.528409 deg. 2025-10-24T20:03:06.126Z,1761336186.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126233 target range: 90.941978 and range: 89.40 m. 2025-10-24T20:03:06.153Z,1761336186.153 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:06.153Z,1761336186.153 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:06.153Z,1761336186.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:06.406Z,1761336186.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263872 2025-10-24T20:03:06.481Z,1761336186.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429394,-0.897094,0.104127],[0.902884,0.429042,-0.026913],[-0.020532,0.105571,0.994200]] 2025-10-24T20:03:06.510Z,1761336186.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:06.513Z,1761336186.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 86.953270 m, bearing: 68.370351 deg, approach rate: -0.533965 m/s, LOS rate: -0.013672 deg/s, cmd heading: 64.528410 deg, new cmd heading: 64.512466 deg. 2025-10-24T20:03:06.513Z,1761336186.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125955 target range: 90.941978 and range: 89.40 m. 2025-10-24T20:03:06.658Z,1761336186.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516504 2025-10-24T20:03:06.891Z,1761336186.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429539,-0.896876,0.105399],[0.902762,0.429405,-0.025128],[-0.022722,0.105944,0.994112]] 2025-10-24T20:03:06.913Z,1761336186.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770787 2025-10-24T20:03:06.994Z,1761336186.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:06.998Z,1761336186.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 86.693588 m, bearing: 68.363711 deg, approach rate: -0.535684 m/s, LOS rate: -0.013739 deg/s, cmd heading: 64.512469 deg, new cmd heading: 64.492488 deg. 2025-10-24T20:03:06.998Z,1761336186.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125606 target range: 90.941978 and range: 89.40 m. 2025-10-24T20:03:07.161Z,1761336187.161 [DAT](INFO): DAT read: Rx Time:20:03:05.9622 2025-10-24T20:03:07.161Z,1761336187.161 [DAT](INFO): Rx dataTimestamp_ set to:1761336187.161042 2025-10-24T20:03:07.162Z,1761336187.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020459 2025-10-24T20:03:07.290Z,1761336187.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429777,-0.896679,0.106107],[0.902585,0.429905,-0.022836],[-0.025139,0.105585,0.994093]] 2025-10-24T20:03:07.329Z,1761336187.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.94 m. 2025-10-24T20:03:07.331Z,1761336187.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.941978 m, nav range: 86.524223 m, bearing: 68.358837 deg, approach rate: -0.506879 m/s, LOS rate: -0.014614 deg/s, cmd heading: 64.492490 deg, new cmd heading: 64.477841 deg. 2025-10-24T20:03:07.333Z,1761336187.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125351 target range: 90.941978 and range: 89.40 m. 2025-10-24T20:03:07.414Z,1761336187.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272204 2025-10-24T20:03:07.671Z,1761336187.671 [DAT](INFO): DAT read: 20:03:05.9622 LVL= 18224, 25681, 18994, 29219, AGC= 69, IDX= 423,-0.02,-2.433, 2.394,-2.617,-2.835, PHS= 0.490,-1.007, 0.215, RAW= 140.0, 4.4, CAL= 144.0, -3.6, ROT= 6.0, 3.6 2025-10-24T20:03:07.672Z,1761336187.672 [DAT](INFO): got valid direction response: 20:03:05.9622 LVL= 18224, 25681, 18994, 29219, AGC= 69, IDX= 423,-0.02,-2.433, 2.394,-2.617,-2.835, PHS= 0.490,-1.007, 0.215, RAW= 140.0, 4.4, CAL= 144.0, -3.6, ROT= 6.0, 3.6 2025-10-24T20:03:07.673Z,1761336187.673 [DAT](INFO): DAT read: Bearing 6.0, 3.6 (Local) 2025-10-24T20:03:07.674Z,1761336187.674 [DAT](INFO): Local bearing/azimuth received: Bearing 6.0, 3.6 (Local) 2025-10-24T20:03:07.675Z,1761336187.675 [DAT](INFO): DAT read: Range 10 to 50 : 87.4 m (Round-trip 116.6 ms) speed 0.4 m/s 2025-10-24T20:03:07.681Z,1761336187.681 [DAT](INFO): DAT read: user:230> 2025-10-24T20:03:07.682Z,1761336187.682 [DAT](INFO): DAT read: Tx time:20:03:07.0914 2025-10-24T20:03:07.682Z,1761336187.682 [DAT](INFO): Ping request sent. 2025-10-24T20:03:07.682Z,1761336187.682 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:07.682Z,1761336187.682 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:07.683Z,1761336187.683 [DAT](INFO): direction in FSK: [0.992559,0.104322,-0.062791] 2025-10-24T20:03:07.684Z,1761336187.684 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:07.684Z,1761336187.684 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:07.687Z,1761336187.687 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:07.687Z,1761336187.687 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:07.741Z,1761336187.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429704,-0.896643,0.106705],[0.902553,0.430085,-0.020602],[-0.027420,0.105160,0.994077]] 2025-10-24T20:03:07.800Z,1761336187.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.400002 m, deltaT: 3.527378 s, deltaX: -2.000000 m, approachRate: -0.566993 m/s, rangeRepo size: 4 2025-10-24T20:03:07.833Z,1761336187.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.961922 m, bearing: 70.896171 deg, lat: 36.779621 deg, lon: -121.859516 deg, deltaT: 7.308031 s, deltaX: -3.980057 m, approachRate: -0.544614 m/s, posRepo size: 4 2025-10-24T20:03:07.834Z,1761336187.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:07.849Z,1761336187.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 86.252686 m, bearing: 68.554902 deg, approach rate: 0.000000 m/s, LOS rate: -0.014614 deg/s, cmd heading: 64.477840 deg, new cmd heading: 64.457735 deg. 2025-10-24T20:03:07.849Z,1761336187.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125000 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:07.933Z,1761336187.933 [DAT](INFO): DAT read: TxSync time:20:03:07.0906 2025-10-24T20:03:08.125Z,1761336188.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430671,-0.896044,0.107828],[0.902019,0.431290,-0.018719],[-0.029732,0.105325,0.993993]] 2025-10-24T20:03:08.229Z,1761336188.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:08.231Z,1761336188.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:08.238Z,1761336188.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 86.031487 m, bearing: 68.551060 deg, approach rate: -0.498492 m/s, LOS rate: -0.008679 deg/s, cmd heading: 64.457738 deg, new cmd heading: 64.446184 deg. 2025-10-24T20:03:08.244Z,1761336188.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124798 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:08.425Z,1761336188.425 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:08.425Z,1761336188.425 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:08.425Z,1761336188.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:08.529Z,1761336188.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428799,-0.896875,0.108379],[0.902876,0.429539,-0.017620],[-0.030750,0.105408,0.993953]] 2025-10-24T20:03:08.548Z,1761336188.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:08.551Z,1761336188.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 85.875381 m, bearing: 68.548122 deg, approach rate: -0.492263 m/s, LOS rate: -0.009281 deg/s, cmd heading: 64.446182 deg, new cmd heading: 64.437352 deg. 2025-10-24T20:03:08.553Z,1761336188.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124644 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:08.681Z,1761336188.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998548 2025-10-24T20:03:08.936Z,1761336188.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253390 2025-10-24T20:03:09.001Z,1761336189.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429994,-0.896164,0.109527],[0.902154,0.431198,-0.013661],[-0.034986,0.104685,0.993890]] 2025-10-24T20:03:09.046Z,1761336189.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:09.050Z,1761336189.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 85.640564 m, bearing: 68.547622 deg, approach rate: -0.471574 m/s, LOS rate: -0.001007 deg/s, cmd heading: 64.437350 deg, new cmd heading: 64.435845 deg. 2025-10-24T20:03:09.051Z,1761336189.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124618 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:09.186Z,1761336189.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503462 2025-10-24T20:03:09.375Z,1761336189.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:09.378Z,1761336189.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 85.484978 m, bearing: 68.547289 deg, approach rate: -0.472210 m/s, LOS rate: -0.001012 deg/s, cmd heading: 64.435848 deg, new cmd heading: 64.434847 deg. 2025-10-24T20:03:09.379Z,1761336189.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124600 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:09.439Z,1761336189.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756406 2025-10-24T20:03:09.690Z,1761336189.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007703 2025-10-24T20:03:09.745Z,1761336189.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431640,-0.895197,0.110945],[0.901244,0.433166,-0.011213],[-0.038020,0.104828,0.993763]] 2025-10-24T20:03:09.770Z,1761336189.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:09.774Z,1761336189.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 85.298531 m, bearing: 68.547123 deg, approach rate: -0.472297 m/s, LOS rate: -0.000421 deg/s, cmd heading: 64.434843 deg, new cmd heading: 64.434345 deg. 2025-10-24T20:03:09.775Z,1761336189.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124591 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:09.945Z,1761336189.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262138 2025-10-24T20:03:10.193Z,1761336190.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510496 2025-10-24T20:03:10.201Z,1761336190.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434206,-0.893649,0.113387],[0.899799,0.436240,-0.007518],[-0.042746,0.105290,0.993522]] 2025-10-24T20:03:10.256Z,1761336190.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:10.258Z,1761336190.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:10.261Z,1761336190.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 85.063385 m, bearing: 68.549553 deg, approach rate: -0.481930 m/s, LOS rate: 0.004993 deg/s, cmd heading: 64.434345 deg, new cmd heading: 64.441654 deg. 2025-10-24T20:03:10.262Z,1761336190.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124719 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:10.446Z,1761336190.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763302 2025-10-24T20:03:10.659Z,1761336190.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435413,-0.893035,0.113598],[0.899136,0.437629,-0.005963],[-0.044389,0.104737,0.993509]] 2025-10-24T20:03:10.684Z,1761336190.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:10.687Z,1761336190.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 84.856781 m, bearing: 68.551888 deg, approach rate: -0.485063 m/s, LOS rate: 0.005497 deg/s, cmd heading: 64.441653 deg, new cmd heading: 64.448677 deg. 2025-10-24T20:03:10.697Z,1761336190.697 [DAT](INFO): DAT read: Rx Time:20:03:09.6096 2025-10-24T20:03:10.697Z,1761336190.697 [DAT](INFO): Rx dataTimestamp_ set to:1761336190.696930 2025-10-24T20:03:10.698Z,1761336190.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015554 2025-10-24T20:03:10.704Z,1761336190.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124842 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:10.949Z,1761336190.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266607 2025-10-24T20:03:11.060Z,1761336191.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436496,-0.892539,0.113335],[0.898549,0.438850,-0.004608],[-0.045624,0.103849,0.993546]] 2025-10-24T20:03:11.124Z,1761336191.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:11.127Z,1761336191.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 84.650185 m, bearing: 68.554480 deg, approach rate: -0.469174 m/s, LOS rate: 0.005901 deg/s, cmd heading: 64.448675 deg, new cmd heading: 64.456470 deg. 2025-10-24T20:03:11.132Z,1761336191.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124978 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:11.204Z,1761336191.204 [DAT](INFO): DAT read: $Error in header 2025-10-24T20:03:11.206Z,1761336191.206 [DAT](INFO): Received a bad header 2025-10-24T20:03:11.220Z,1761336191.220 [DAT](INFO): DAT read: 6.2 CCERR:004 Mod:MFSK 2025-10-24T20:03:11.221Z,1761336191.221 [DAT](INFO): unknown deviceResponse_: 6.2 CCERR:004 Mod:MFSK 2025-10-24T20:03:11.221Z,1761336191.221 [DAT](INFO): DAT read: 2025-10-24T20:03:11.222Z,1761336191.222 [DAT](INFO): DAT read: user:231> 2025-10-24T20:03:11.223Z,1761336191.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541096 2025-10-24T20:03:11.454Z,1761336191.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771973 2025-10-24T20:03:11.469Z,1761336191.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436971,-0.892340,0.113071],[0.898258,0.439456,-0.003265],[-0.046777,0.102994,0.993582]] 2025-10-24T20:03:11.504Z,1761336191.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:11.509Z,1761336191.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 84.457436 m, bearing: 68.556979 deg, approach rate: -0.530106 m/s, LOS rate: 0.006888 deg/s, cmd heading: 64.456468 deg, new cmd heading: 64.463981 deg. 2025-10-24T20:03:11.510Z,1761336191.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125109 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:11.708Z,1761336191.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025765 2025-10-24T20:03:11.959Z,1761336191.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276176 2025-10-24T20:03:12.015Z,1761336192.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:12.038Z,1761336192.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 84.242714 m, bearing: 68.559776 deg, approach rate: -0.408270 m/s, LOS rate: 0.005332 deg/s, cmd heading: 64.463981 deg, new cmd heading: 64.472393 deg. 2025-10-24T20:03:12.042Z,1761336192.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125256 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:12.209Z,1761336192.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526507 2025-10-24T20:03:12.337Z,1761336192.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437771,-0.891971,0.112891],[0.897793,0.440415,-0.001691],[-0.048210,0.102093,0.993606]] 2025-10-24T20:03:12.387Z,1761336192.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:12.391Z,1761336192.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:12.394Z,1761336192.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 83.992867 m, bearing: 68.560429 deg, approach rate: -0.663079 m/s, LOS rate: 0.001737 deg/s, cmd heading: 64.472396 deg, new cmd heading: 64.474360 deg. 2025-10-24T20:03:12.395Z,1761336192.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125290 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:12.461Z,1761336192.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778636 2025-10-24T20:03:12.713Z,1761336192.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030631 2025-10-24T20:03:12.740Z,1761336192.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437243,-0.892234,0.112855],[0.898038,0.439916,-0.001357],[-0.048436,0.101942,0.993611]] 2025-10-24T20:03:12.829Z,1761336192.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:12.840Z,1761336192.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 83.795456 m, bearing: 68.560868 deg, approach rate: -0.450158 m/s, LOS rate: 0.001004 deg/s, cmd heading: 64.474363 deg, new cmd heading: 64.475683 deg. 2025-10-24T20:03:12.841Z,1761336192.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125313 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:12.965Z,1761336192.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282565 2025-10-24T20:03:13.157Z,1761336193.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437699,-0.892084,0.112275],[0.897797,0.440410,-0.000726],[-0.048799,0.101118,0.993677]] 2025-10-24T20:03:13.217Z,1761336193.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534684 2025-10-24T20:03:13.236Z,1761336193.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:13.248Z,1761336193.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 83.540939 m, bearing: 68.560839 deg, approach rate: -0.625305 m/s, LOS rate: -0.000071 deg/s, cmd heading: 64.475681 deg, new cmd heading: 64.475595 deg. 2025-10-24T20:03:13.249Z,1761336193.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125311 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:13.469Z,1761336193.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.786703 2025-10-24T20:03:13.598Z,1761336193.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:13.601Z,1761336193.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 83.329041 m, bearing: 68.560815 deg, approach rate: -0.585500 m/s, LOS rate: -0.000066 deg/s, cmd heading: 64.475592 deg, new cmd heading: 64.475520 deg. 2025-10-24T20:03:13.602Z,1761336193.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125310 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:13.722Z,1761336193.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038951 2025-10-24T20:03:13.975Z,1761336193.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.292581 2025-10-24T20:03:14.032Z,1761336194.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436290,-0.892671,0.113092],[0.898471,0.439032,-0.000729],[-0.049000,0.101928,0.993584]] 2025-10-24T20:03:14.076Z,1761336194.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:14.096Z,1761336194.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 83.067558 m, bearing: 68.560509 deg, approach rate: -0.548397 m/s, LOS rate: -0.000644 deg/s, cmd heading: 64.475517 deg, new cmd heading: 64.474595 deg. 2025-10-24T20:03:14.097Z,1761336194.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125294 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:14.225Z,1761336194.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.543020 2025-10-24T20:03:14.387Z,1761336194.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435597,-0.892948,0.113572],[0.898801,0.438356,-0.000760],[-0.049106,0.102410,0.993529]] 2025-10-24T20:03:14.437Z,1761336194.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:14.440Z,1761336194.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:14.443Z,1761336194.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 82.852654 m, bearing: 68.557190 deg, approach rate: -0.589286 m/s, LOS rate: -0.009124 deg/s, cmd heading: 64.474595 deg, new cmd heading: 64.464613 deg. 2025-10-24T20:03:14.444Z,1761336194.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125120 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:14.477Z,1761336194.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794726 2025-10-24T20:03:14.729Z,1761336194.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046520 2025-10-24T20:03:14.838Z,1761336194.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:14.841Z,1761336194.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 82.625435 m, bearing: 68.553662 deg, approach rate: -0.571290 m/s, LOS rate: -0.008894 deg/s, cmd heading: 64.464616 deg, new cmd heading: 64.454004 deg. 2025-10-24T20:03:14.842Z,1761336194.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124935 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:14.986Z,1761336194.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303471 2025-10-24T20:03:15.237Z,1761336195.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.554639 2025-10-24T20:03:15.281Z,1761336195.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:15.288Z,1761336195.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 82.362900 m, bearing: 68.548275 deg, approach rate: -0.591740 m/s, LOS rate: -0.012183 deg/s, cmd heading: 64.454002 deg, new cmd heading: 64.437787 deg. 2025-10-24T20:03:15.290Z,1761336195.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124652 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:15.490Z,1761336195.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807522 2025-10-24T20:03:15.602Z,1761336195.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432572,-0.894391,0.113778],[0.900260,0.435353,-0.000449],[-0.049132,0.102624,0.993506]] 2025-10-24T20:03:15.633Z,1761336195.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:15.635Z,1761336195.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 82.146652 m, bearing: 68.543304 deg, approach rate: -0.615385 m/s, LOS rate: -0.014183 deg/s, cmd heading: 64.437787 deg, new cmd heading: 64.422836 deg. 2025-10-24T20:03:15.636Z,1761336195.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124391 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:15.741Z,1761336195.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.058763 2025-10-24T20:03:15.994Z,1761336195.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311669 2025-10-24T20:03:16.092Z,1761336196.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:16.095Z,1761336196.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 81.877922 m, bearing: 68.537090 deg, approach rate: -0.584811 m/s, LOS rate: -0.013567 deg/s, cmd heading: 64.422836 deg, new cmd heading: 64.404133 deg. 2025-10-24T20:03:16.096Z,1761336196.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124064 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:16.245Z,1761336196.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562551 2025-10-24T20:03:16.465Z,1761336196.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:16.467Z,1761336196.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:16.470Z,1761336196.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 81.654579 m, bearing: 68.531378 deg, approach rate: -0.595776 m/s, LOS rate: -0.015278 deg/s, cmd heading: 64.404135 deg, new cmd heading: 64.386952 deg. 2025-10-24T20:03:16.471Z,1761336196.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123764 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:16.497Z,1761336196.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.814695 2025-10-24T20:03:16.749Z,1761336196.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066735 2025-10-24T20:03:16.807Z,1761336196.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430268,-0.895593,0.113057],[0.901338,0.433116,0.000696],[-0.049590,0.101603,0.993588]] 2025-10-24T20:03:16.848Z,1761336196.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:16.852Z,1761336196.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 81.437096 m, bearing: 68.525394 deg, approach rate: -0.570669 m/s, LOS rate: -0.015743 deg/s, cmd heading: 64.386950 deg, new cmd heading: 64.368951 deg. 2025-10-24T20:03:16.857Z,1761336196.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123450 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:17.001Z,1761336197.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318907 2025-10-24T20:03:17.211Z,1761336197.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429401,-0.895970,0.113368],[0.901741,0.432276,0.000861],[-0.049777,0.101859,0.993553]] 2025-10-24T20:03:17.253Z,1761336197.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.570738 2025-10-24T20:03:17.297Z,1761336197.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:17.304Z,1761336197.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 81.169617 m, bearing: 68.517922 deg, approach rate: -0.595361 m/s, LOS rate: -0.016687 deg/s, cmd heading: 64.368953 deg, new cmd heading: 64.346462 deg. 2025-10-24T20:03:17.306Z,1761336197.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123058 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:17.505Z,1761336197.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822480 2025-10-24T20:03:17.624Z,1761336197.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428818,-0.896231,0.113515],[0.902018,0.431697,0.000875],[-0.049789,0.102017,0.993536]] 2025-10-24T20:03:17.648Z,1761336197.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:17.651Z,1761336197.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 80.964546 m, bearing: 68.512066 deg, approach rate: -0.585110 m/s, LOS rate: -0.016752 deg/s, cmd heading: 64.346461 deg, new cmd heading: 64.328847 deg. 2025-10-24T20:03:17.652Z,1761336197.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122750 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:17.757Z,1761336197.757 [DAT](INFO): Reached modem response timeout 2025-10-24T20:03:17.757Z,1761336197.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:03:17.757Z,1761336197.757 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:18.009Z,1761336198.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:03:18.135Z,1761336198.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:18.142Z,1761336198.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 80.695129 m, bearing: 68.504326 deg, approach rate: -0.553457 m/s, LOS rate: -0.015952 deg/s, cmd heading: 64.328846 deg, new cmd heading: 64.305550 deg. 2025-10-24T20:03:18.144Z,1761336198.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122344 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:18.261Z,1761336198.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:03:18.437Z,1761336198.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427178,-0.896727,0.115754],[0.902774,0.430114,0.000424],[-0.050168,0.104318,0.993278]] 2025-10-24T20:03:18.443Z,1761336198.443 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS 2025-10-24T20:03:18.460Z,1761336198.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:18.462Z,1761336198.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 80.490685 m, bearing: 68.498155 deg, approach rate: -0.628937 m/s, LOS rate: -0.019031 deg/s, cmd heading: 64.305548 deg, new cmd heading: 64.286989 deg. 2025-10-24T20:03:18.463Z,1761336198.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122020 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:18.514Z,1761336198.514 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:03:18.765Z,1761336198.765 [DAT](INFO): DAT read: Response Not Received 2025-10-24T20:03:18.765Z,1761336198.765 [DAT](INFO): response not received 2025-10-24T20:03:18.766Z,1761336198.766 [DAT](INFO): DAT read: user:232> 2025-10-24T20:03:18.766Z,1761336198.766 [DAT](INFO): DAT read: Tx time:20:03:18.0415 2025-10-24T20:03:18.767Z,1761336198.767 [DAT](INFO): Ping request sent. 2025-10-24T20:03:18.767Z,1761336198.767 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:18.767Z,1761336198.767 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:18.768Z,1761336198.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000774 2025-10-24T20:03:18.842Z,1761336198.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426607,-0.897016,0.115623],[0.903044,0.429548,0.000581],[-0.050187,0.104165,0.993293]] 2025-10-24T20:03:18.889Z,1761336198.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:18.901Z,1761336198.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:18.909Z,1761336198.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 80.254677 m, bearing: 68.490886 deg, approach rate: -0.535224 m/s, LOS rate: -0.016534 deg/s, cmd heading: 64.286990 deg, new cmd heading: 64.265118 deg. 2025-10-24T20:03:18.911Z,1761336198.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121638 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:19.018Z,1761336199.018 [DAT](INFO): DAT read: TxSync time:20:03:18.0407 2025-10-24T20:03:19.019Z,1761336199.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252242 2025-10-24T20:03:19.240Z,1761336199.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424683,-0.899521,0.102502],[0.904026,0.427441,0.005539],[-0.048796,0.090312,0.994717]] 2025-10-24T20:03:19.269Z,1761336199.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502082 2025-10-24T20:03:19.301Z,1761336199.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:19.308Z,1761336199.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 80.032280 m, bearing: 68.485198 deg, approach rate: -0.555390 m/s, LOS rate: -0.014243 deg/s, cmd heading: 64.265120 deg, new cmd heading: 64.248010 deg. 2025-10-24T20:03:19.309Z,1761336199.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121339 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:19.521Z,1761336199.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754132 2025-10-24T20:03:19.638Z,1761336199.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423706,-0.899646,0.105407],[0.904486,0.426483,0.004248],[-0.048776,0.093540,0.994420]] 2025-10-24T20:03:19.658Z,1761336199.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:19.661Z,1761336199.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 79.830482 m, bearing: 68.479854 deg, approach rate: -0.565514 m/s, LOS rate: -0.015016 deg/s, cmd heading: 64.248011 deg, new cmd heading: 64.231936 deg. 2025-10-24T20:03:19.662Z,1761336199.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121059 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:19.773Z,1761336199.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006649 2025-10-24T20:03:20.025Z,1761336200.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257939 2025-10-24T20:03:20.042Z,1761336200.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421787,-0.900108,0.109092],[0.905375,0.424603,0.002875],[-0.048909,0.097556,0.994027]] 2025-10-24T20:03:20.148Z,1761336200.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:20.151Z,1761336200.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 79.599205 m, bearing: 68.473342 deg, approach rate: -0.476746 m/s, LOS rate: -0.013462 deg/s, cmd heading: 64.231939 deg, new cmd heading: 64.212347 deg. 2025-10-24T20:03:20.151Z,1761336200.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120717 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:20.277Z,1761336200.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510068 2025-10-24T20:03:20.467Z,1761336200.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421660,-0.899759,0.112411],[0.905367,0.424623,0.002676],[-0.050140,0.100645,0.993658]] 2025-10-24T20:03:20.518Z,1761336200.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:20.521Z,1761336200.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 79.370941 m, bearing: 68.466721 deg, approach rate: -0.608721 m/s, LOS rate: -0.017706 deg/s, cmd heading: 64.212350 deg, new cmd heading: 64.192431 deg. 2025-10-24T20:03:20.522Z,1761336200.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120369 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:20.529Z,1761336200.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762072 2025-10-24T20:03:20.781Z,1761336200.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013947 2025-10-24T20:03:20.854Z,1761336200.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423107,-0.898906,0.113789],[0.904630,0.426186,0.003045],[-0.051232,0.101649,0.993500]] 2025-10-24T20:03:20.874Z,1761336200.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:20.894Z,1761336200.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 79.181343 m, bearing: 68.461418 deg, approach rate: -0.532377 m/s, LOS rate: -0.014927 deg/s, cmd heading: 64.192433 deg, new cmd heading: 64.176486 deg. 2025-10-24T20:03:20.895Z,1761336200.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120091 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:21.033Z,1761336201.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266047 2025-10-24T20:03:21.260Z,1761336201.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425225,-0.897850,0.114235],[0.903589,0.428386,0.003482],[-0.052063,0.101741,0.993448]] 2025-10-24T20:03:21.285Z,1761336201.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518018 2025-10-24T20:03:21.304Z,1761336201.304 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:21.307Z,1761336201.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:21.330Z,1761336201.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 78.950966 m, bearing: 68.452775 deg, approach rate: -0.531640 m/s, LOS rate: -0.020005 deg/s, cmd heading: 64.176485 deg, new cmd heading: 64.150478 deg. 2025-10-24T20:03:21.331Z,1761336201.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119637 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:21.538Z,1761336201.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770975 2025-10-24T20:03:21.743Z,1761336201.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428247,-0.896382,0.114477],[0.902135,0.431439,0.003475],[-0.052505,0.101785,0.993420]] 2025-10-24T20:03:21.766Z,1761336201.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:21.769Z,1761336201.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 78.708496 m, bearing: 68.444217 deg, approach rate: -0.528250 m/s, LOS rate: -0.018702 deg/s, cmd heading: 64.150475 deg, new cmd heading: 64.124723 deg. 2025-10-24T20:03:21.770Z,1761336201.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119188 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:21.790Z,1761336201.790 [DAT](INFO): DAT read: Rx Time:20:03:20.5519 2025-10-24T20:03:21.790Z,1761336201.790 [DAT](INFO): Rx dataTimestamp_ set to:1761336201.790210 2025-10-24T20:03:21.791Z,1761336201.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024249 2025-10-24T20:03:22.042Z,1761336202.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274566 2025-10-24T20:03:22.254Z,1761336202.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.96 m. 2025-10-24T20:03:22.258Z,1761336202.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.961922 m, nav range: 78.448631 m, bearing: 68.433155 deg, approach rate: -0.532837 m/s, LOS rate: -0.022756 deg/s, cmd heading: 64.124726 deg, new cmd heading: 64.091431 deg. 2025-10-24T20:03:22.259Z,1761336202.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118606 target range: 86.961922 and range: 87.40 m. 2025-10-24T20:03:22.300Z,1761336202.300 [DAT](INFO): DAT read: 20:03:20.5519 LVL= 23856, 32753, 20018, 32755, AGC= 71, IDX= 380,-0.47,-0.115,-1.465,-0.328,-0.449, PHS= 0.422,-0.969, 0.118, RAW= 138.0, 6.8, CAL= 142.1, -0.4, ROT= 7.9, 0.4 2025-10-24T20:03:22.301Z,1761336202.301 [DAT](INFO): got valid direction response: 20:03:20.5519 LVL= 23856, 32753, 20018, 32755, AGC= 71, IDX= 380,-0.47,-0.115,-1.465,-0.328,-0.449, PHS= 0.422,-0.969, 0.118, RAW= 138.0, 6.8, CAL= 142.1, -0.4, ROT= 7.9, 0.4 2025-10-24T20:03:22.302Z,1761336202.302 [DAT](INFO): DAT read: Range 10 to 50 : 79.6 m (Round-trip 106.2 ms) speed 0.7 m/s 2025-10-24T20:03:22.303Z,1761336202.303 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:22.304Z,1761336202.304 [DAT](INFO): direction in FSK: [0.990485,0.137441,-0.006981] 2025-10-24T20:03:22.304Z,1761336202.304 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:22.308Z,1761336202.308 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:22.308Z,1761336202.308 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:22.309Z,1761336202.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:22.545Z,1761336202.545 [DAT](INFO): DAT read: user:233> 2025-10-24T20:03:22.546Z,1761336202.546 [DAT](INFO): DAT read: Tx time:20:03:21.8416 2025-10-24T20:03:22.546Z,1761336202.546 [DAT](INFO): Ping request sent. 2025-10-24T20:03:22.546Z,1761336202.546 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:22.546Z,1761336202.546 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:22.547Z,1761336202.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-24T20:03:22.662Z,1761336202.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433422,-0.893920,0.114247],[0.899624,0.436651,0.003628],[-0.053129,0.101207,0.993446]] 2025-10-24T20:03:22.707Z,1761336202.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.599998 m, deltaT: 14.628673 s, deltaX: -7.800003 m, approachRate: -0.533200 m/s, rangeRepo size: 4 2025-10-24T20:03:22.710Z,1761336202.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.198563 m, bearing: 72.184176 deg, lat: 36.779602 deg, lon: -121.859502 deg, deltaT: 14.628673 s, deltaX: -7.763359 m, approachRate: -0.530695 m/s, posRepo size: 4 2025-10-24T20:03:22.712Z,1761336202.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-10-24T20:03:22.718Z,1761336202.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.198563 m, nav range: 78.700294 m, bearing: 70.199123 deg, approach rate: 0.000000 m/s, LOS rate: -0.022756 deg/s, cmd heading: 64.091428 deg, new cmd heading: 64.060748 deg. 2025-10-24T20:03:22.719Z,1761336202.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118071 target range: 79.198563 and range: 79.60 m. 2025-10-24T20:03:22.797Z,1761336202.797 [DAT](INFO): DAT read: TxSync time:20:03:21.8408 2025-10-24T20:03:22.798Z,1761336202.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251899 2025-10-24T20:03:23.049Z,1761336203.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503115 2025-10-24T20:03:23.257Z,1761336203.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-10-24T20:03:23.259Z,1761336203.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.198563 m, nav range: 78.393906 m, bearing: 70.196452 deg, approach rate: -0.554126 m/s, LOS rate: -0.004850 deg/s, cmd heading: 64.060747 deg, new cmd heading: 64.052702 deg. 2025-10-24T20:03:23.260Z,1761336203.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117931 target range: 79.198563 and range: 79.60 m. 2025-10-24T20:03:23.301Z,1761336203.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754996 2025-10-24T20:03:23.553Z,1761336203.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006741 2025-10-24T20:03:23.646Z,1761336203.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436840,-0.892421,0.112941],[0.898160,0.439669,0.000152],[-0.049792,0.101373,0.993602]] 2025-10-24T20:03:23.663Z,1761336203.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:23.666Z,1761336203.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-10-24T20:03:23.669Z,1761336203.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.198563 m, nav range: 78.170067 m, bearing: 70.195099 deg, approach rate: -0.546901 m/s, LOS rate: -0.003316 deg/s, cmd heading: 64.052701 deg, new cmd heading: 64.048630 deg. 2025-10-24T20:03:23.670Z,1761336203.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117859 target range: 79.198563 and range: 79.60 m. 2025-10-24T20:03:23.805Z,1761336203.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258830 2025-10-24T20:03:24.043Z,1761336204.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437600,-0.892131,0.112290],[0.897816,0.440371,-0.000133],[-0.049331,0.100874,0.993675]] 2025-10-24T20:03:24.058Z,1761336204.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511663 2025-10-24T20:03:24.130Z,1761336204.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-10-24T20:03:24.169Z,1761336204.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.198563 m, nav range: 77.948250 m, bearing: 70.193883 deg, approach rate: -0.478202 m/s, LOS rate: -0.002629 deg/s, cmd heading: 64.048630 deg, new cmd heading: 64.044971 deg. 2025-10-24T20:03:24.175Z,1761336204.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117796 target range: 79.198563 and range: 79.60 m. 2025-10-24T20:03:24.309Z,1761336204.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763001 2025-10-24T20:03:24.509Z,1761336204.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439450,-0.891288,0.111756],[0.896918,0.442198,-0.000224],[-0.049219,0.100335,0.993736]] 2025-10-24T20:03:24.561Z,1761336204.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014985 2025-10-24T20:03:24.595Z,1761336204.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-10-24T20:03:24.598Z,1761336204.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.198563 m, nav range: 77.679039 m, bearing: 70.191367 deg, approach rate: -0.578278 m/s, LOS rate: -0.005422 deg/s, cmd heading: 64.044969 deg, new cmd heading: 64.037396 deg. 2025-10-24T20:03:24.599Z,1761336204.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117663 target range: 79.198563 and range: 79.60 m. 2025-10-24T20:03:24.813Z,1761336204.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267078 2025-10-24T20:03:24.911Z,1761336204.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439811,-0.891274,0.110441],[0.896812,0.442410,-0.001079],[-0.047899,0.099519,0.993882]] 2025-10-24T20:03:24.932Z,1761336204.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-10-24T20:03:24.935Z,1761336204.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.198563 m, nav range: 77.479927 m, bearing: 70.189546 deg, approach rate: -0.591201 m/s, LOS rate: -0.005420 deg/s, cmd heading: 64.037395 deg, new cmd heading: 64.031918 deg. 2025-10-24T20:03:24.936Z,1761336204.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117568 target range: 79.198563 and range: 79.60 m. 2025-10-24T20:03:25.066Z,1761336205.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519604 2025-10-24T20:03:25.310Z,1761336205.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439854,-0.891315,0.109934],[0.896849,0.442332,-0.002048],[-0.046802,0.099495,0.993937]] 2025-10-24T20:03:25.325Z,1761336205.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778920 2025-10-24T20:03:25.380Z,1761336205.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-10-24T20:03:25.383Z,1761336205.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.198563 m, nav range: 77.240768 m, bearing: 70.191367 deg, approach rate: -0.548596 m/s, LOS rate: 0.004190 deg/s, cmd heading: 64.031917 deg, new cmd heading: 64.037397 deg. 2025-10-24T20:03:25.384Z,1761336205.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117663 target range: 79.198563 and range: 79.60 m. 2025-10-24T20:03:25.577Z,1761336205.577 [DAT](INFO): DAT read: Rx Time:20:03:24.3489 2025-10-24T20:03:25.577Z,1761336205.577 [DAT](INFO): Rx dataTimestamp_ set to:1761336205.577098 2025-10-24T20:03:25.578Z,1761336205.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031985 2025-10-24T20:03:25.711Z,1761336205.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439529,-0.891533,0.109463],[0.897114,0.441780,-0.004079],[-0.044722,0.099994,0.993982]] 2025-10-24T20:03:25.758Z,1761336205.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:25.765Z,1761336205.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.20 m. 2025-10-24T20:03:25.767Z,1761336205.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.198563 m, nav range: 77.030174 m, bearing: 70.192918 deg, approach rate: -0.530592 m/s, LOS rate: 0.003918 deg/s, cmd heading: 64.037395 deg, new cmd heading: 64.042060 deg. 2025-10-24T20:03:25.773Z,1761336205.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117745 target range: 79.198563 and range: 79.60 m. 2025-10-24T20:03:25.830Z,1761336205.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283714 2025-10-24T20:03:26.090Z,1761336206.090 [DAT](INFO): DAT read: 20:03:24.3489 LVL= 23920, 32577, 22962, 31907, AGC= 68, IDX= 413,-0.40,-1.100,-2.425,-1.267,-1.377, PHS= 0.366,-1.000, 0.108, RAW= 139.8, 8.4, CAL= 143.3, 1.2, ROT= 6.7, -1.2 2025-10-24T20:03:26.093Z,1761336206.093 [DAT](INFO): got valid direction response: 20:03:24.3489 LVL= 23920, 32577, 22962, 31907, AGC= 68, IDX= 413,-0.40,-1.100,-2.425,-1.267,-1.377, PHS= 0.366,-1.000, 0.108, RAW= 139.8, 8.4, CAL= 143.3, 1.2, ROT= 6.7, -1.2 2025-10-24T20:03:26.094Z,1761336206.094 [DAT](INFO): DAT read: Bearing 6.7, -1.2 (Local) 2025-10-24T20:03:26.095Z,1761336206.095 [DAT](INFO): Local bearing/azimuth received: Bearing 6.7, -1.2 (Local) 2025-10-24T20:03:26.126Z,1761336206.126 [DAT](INFO): DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.2 ms) speed 0.5 m/s 2025-10-24T20:03:26.127Z,1761336206.127 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:26.141Z,1761336206.141 [DAT](INFO): direction in FSK: [0.992953,0.116645,0.020942] 2025-10-24T20:03:26.141Z,1761336206.141 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:26.154Z,1761336206.154 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:26.154Z,1761336206.154 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:26.155Z,1761336206.155 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:26.229Z,1761336206.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438617,-0.891927,0.109918],[0.897664,0.440631,-0.006555],[-0.042587,0.101544,0.993919]] 2025-10-24T20:03:26.333Z,1761336206.333 [DAT](INFO): DAT read: user:234> 2025-10-24T20:03:26.334Z,1761336206.334 [DAT](INFO): DAT read: Tx time:20:03:25.6916 2025-10-24T20:03:26.334Z,1761336206.334 [DAT](INFO): Ping request sent. 2025-10-24T20:03:26.334Z,1761336206.334 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:26.334Z,1761336206.334 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:26.336Z,1761336206.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002273 2025-10-24T20:03:26.361Z,1761336206.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.787368 s, deltaX: -2.199997 m, approachRate: -0.580878 m/s, rangeRepo size: 4 2025-10-24T20:03:26.362Z,1761336206.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 77.011543 m, bearing: 70.500118 deg, lat: 36.779600 deg, lon: -121.859498 deg, deltaT: 3.787368 s, deltaX: -2.187019 m, approachRate: -0.577451 m/s, posRepo size: 4 2025-10-24T20:03:26.363Z,1761336206.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:26.370Z,1761336206.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 76.931656 m, bearing: 70.479747 deg, approach rate: 0.000000 m/s, LOS rate: 0.003918 deg/s, cmd heading: 64.042060 deg, new cmd heading: 64.048996 deg. 2025-10-24T20:03:26.371Z,1761336206.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117866 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:26.587Z,1761336206.587 [DAT](INFO): DAT read: TxSync time:20:03:25.6908 2025-10-24T20:03:26.587Z,1761336206.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253305 2025-10-24T20:03:26.647Z,1761336206.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438902,-0.891850,0.109399],[0.897603,0.440729,-0.008187],[-0.040914,0.101790,0.993964]] 2025-10-24T20:03:26.667Z,1761336206.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:26.690Z,1761336206.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 76.750526 m, bearing: 70.486004 deg, approach rate: -0.581147 m/s, LOS rate: 0.020122 deg/s, cmd heading: 64.048992 deg, new cmd heading: 64.067807 deg. 2025-10-24T20:03:26.691Z,1761336206.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118194 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:26.837Z,1761336206.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502925 2025-10-24T20:03:27.031Z,1761336207.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437018,-0.892759,0.109528],[0.898635,0.438562,-0.010862],[-0.038338,0.103172,0.993924]] 2025-10-24T20:03:27.051Z,1761336207.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:27.053Z,1761336207.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 76.543900 m, bearing: 70.492845 deg, approach rate: -0.538081 m/s, LOS rate: 0.017863 deg/s, cmd heading: 64.067810 deg, new cmd heading: 64.088389 deg. 2025-10-24T20:03:27.054Z,1761336207.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.118553 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:27.090Z,1761336207.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755603 2025-10-24T20:03:27.345Z,1761336207.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010751 2025-10-24T20:03:27.489Z,1761336207.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:27.491Z,1761336207.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 76.319305 m, bearing: 70.507833 deg, approach rate: -0.513680 m/s, LOS rate: 0.034380 deg/s, cmd heading: 64.088389 deg, new cmd heading: 64.133484 deg. 2025-10-24T20:03:27.493Z,1761336207.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119340 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:27.597Z,1761336207.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262841 2025-10-24T20:03:27.849Z,1761336207.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514812 2025-10-24T20:03:27.850Z,1761336207.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436089,-0.893175,0.109843],[0.899289,0.437044,-0.016506],[-0.033263,0.105979,0.993812]] 2025-10-24T20:03:27.891Z,1761336207.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:27.895Z,1761336207.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:27.900Z,1761336207.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 76.113190 m, bearing: 70.521475 deg, approach rate: -0.506265 m/s, LOS rate: 0.033599 deg/s, cmd heading: 64.133482 deg, new cmd heading: 64.174520 deg. 2025-10-24T20:03:27.902Z,1761336207.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120057 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:28.101Z,1761336208.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766679 2025-10-24T20:03:28.280Z,1761336208.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437824,-0.892381,0.109388],[0.898492,0.438623,-0.017941],[-0.031970,0.106140,0.993837]] 2025-10-24T20:03:28.334Z,1761336208.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:28.336Z,1761336208.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 75.897316 m, bearing: 70.544819 deg, approach rate: -0.492163 m/s, LOS rate: 0.053372 deg/s, cmd heading: 64.174518 deg, new cmd heading: 64.244748 deg. 2025-10-24T20:03:28.337Z,1761336208.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121282 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:28.354Z,1761336208.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019457 2025-10-24T20:03:28.606Z,1761336208.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271155 2025-10-24T20:03:28.648Z,1761336208.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438873,-0.891841,0.109594],[0.898018,0.439531,-0.019384],[-0.030883,0.106925,0.993787]] 2025-10-24T20:03:28.689Z,1761336208.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:28.693Z,1761336208.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 75.735184 m, bearing: 70.562578 deg, approach rate: -0.457032 m/s, LOS rate: 0.050168 deg/s, cmd heading: 64.244746 deg, new cmd heading: 64.298137 deg. 2025-10-24T20:03:28.698Z,1761336208.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.122214 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:28.857Z,1761336208.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522919 2025-10-24T20:03:29.052Z,1761336209.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440453,-0.891097,0.109302],[0.897278,0.440987,-0.020556],[-0.029884,0.107128,0.993796]] 2025-10-24T20:03:29.098Z,1761336209.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:29.105Z,1761336209.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 75.536530 m, bearing: 70.584710 deg, approach rate: -0.485281 m/s, LOS rate: 0.054206 deg/s, cmd heading: 64.298137 deg, new cmd heading: 64.364706 deg. 2025-10-24T20:03:29.106Z,1761336209.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123376 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:29.109Z,1761336209.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775049 2025-10-24T20:03:29.361Z,1761336209.361 [DAT](INFO): DAT read: Rx Time:20:03:28.1962 2025-10-24T20:03:29.361Z,1761336209.361 [DAT](INFO): Rx dataTimestamp_ set to:1761336209.361069 2025-10-24T20:03:29.362Z,1761336209.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027831 2025-10-24T20:03:29.454Z,1761336209.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441701,-0.890471,0.109365],[0.896698,0.442102,-0.021887],[-0.028861,0.107734,0.993761]] 2025-10-24T20:03:29.532Z,1761336209.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.01 m. 2025-10-24T20:03:29.535Z,1761336209.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 77.011543 m, nav range: 75.334023 m, bearing: 70.616468 deg, approach rate: -0.466187 m/s, LOS rate: 0.073306 deg/s, cmd heading: 64.364704 deg, new cmd heading: 64.460234 deg. 2025-10-24T20:03:29.536Z,1761336209.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125043 target range: 77.011543 and range: 77.40 m. 2025-10-24T20:03:29.613Z,1761336209.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279319 2025-10-24T20:03:29.859Z,1761336209.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443291,-0.889738,0.108902],[0.895951,0.443545,-0.023215],[-0.027648,0.107862,0.993781]] 2025-10-24T20:03:29.870Z,1761336209.870 [DAT](INFO): DAT read: 20:03:28.1963 LVL= 18064, 30961, 19154, 32755, AGC= 70, IDX= 418,-0.10,-1.146,-2.499,-1.325,-1.462, PHS= 0.404,-0.990, 0.134, RAW= 139.5, 7.1, CAL= 143.2, -0.3, ROT= 6.8, 0.3 2025-10-24T20:03:29.872Z,1761336209.872 [DAT](INFO): got valid direction response: 20:03:28.1963 LVL= 18064, 30961, 19154, 32755, AGC= 70, IDX= 418,-0.10,-1.146,-2.499,-1.325,-1.462, PHS= 0.404,-0.990, 0.134, RAW= 139.5, 7.1, CAL= 143.2, -0.3, ROT= 6.8, 0.3 2025-10-24T20:03:29.873Z,1761336209.873 [DAT](INFO): DAT read: Bearing 6.8, 0.3 (Local) 2025-10-24T20:03:29.873Z,1761336209.873 [DAT](INFO): Local bearing/azimuth received: Bearing 6.8, 0.3 (Local) 2025-10-24T20:03:29.874Z,1761336209.874 [DAT](INFO): DAT read: Range 10 to 50 : 75.3 m (Round-trip 100.5 ms) speed 0.4 m/s 2025-10-24T20:03:29.875Z,1761336209.875 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:29.876Z,1761336209.876 [DAT](INFO): direction in FSK: [0.992952,0.118402,-0.005236] 2025-10-24T20:03:29.876Z,1761336209.876 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:29.890Z,1761336209.890 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:29.890Z,1761336209.890 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:29.890Z,1761336209.890 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:29.990Z,1761336209.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.300003 m, deltaT: 3.783886 s, deltaX: -2.099998 m, approachRate: -0.554985 m/s, rangeRepo size: 4 2025-10-24T20:03:29.996Z,1761336209.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.922035 m, bearing: 70.469109 deg, lat: 36.779600 deg, lon: -121.859498 deg, deltaT: 3.783886 s, deltaX: -2.089508 m, approachRate: -0.552212 m/s, posRepo size: 4 2025-10-24T20:03:29.997Z,1761336209.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:30.003Z,1761336210.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 75.137367 m, bearing: 70.647747 deg, approach rate: 0.000000 m/s, LOS rate: 0.073306 deg/s, cmd heading: 64.460231 deg, new cmd heading: 64.558739 deg. 2025-10-24T20:03:30.017Z,1761336210.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126763 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:30.117Z,1761336210.117 [DAT](INFO): DAT read: user:235> 2025-10-24T20:03:30.118Z,1761336210.118 [DAT](INFO): DAT read: Tx time:20:03:29.4416 2025-10-24T20:03:30.118Z,1761336210.118 [DAT](INFO): Ping request sent. 2025-10-24T20:03:30.118Z,1761336210.118 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:30.118Z,1761336210.118 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:30.119Z,1761336210.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-24T20:03:30.369Z,1761336210.369 [DAT](INFO): DAT read: TxSync time:20:03:29.4409 2025-10-24T20:03:30.370Z,1761336210.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251581 2025-10-24T20:03:30.498Z,1761336210.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:30.500Z,1761336210.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:30.502Z,1761336210.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 74.885117 m, bearing: 70.691684 deg, approach rate: -0.485514 m/s, LOS rate: 0.084851 deg/s, cmd heading: 64.558736 deg, new cmd heading: 64.690990 deg. 2025-10-24T20:03:30.503Z,1761336210.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129071 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:30.622Z,1761336210.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503795 2025-10-24T20:03:30.876Z,1761336210.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757597 2025-10-24T20:03:30.943Z,1761336210.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445195,-0.890060,0.097955],[0.895114,0.445288,-0.022124],[-0.023927,0.097530,0.994945]] 2025-10-24T20:03:31.000Z,1761336211.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:31.003Z,1761336211.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 74.655403 m, bearing: 70.732428 deg, approach rate: -0.459006 m/s, LOS rate: 0.081664 deg/s, cmd heading: 64.690989 deg, new cmd heading: 64.813597 deg. 2025-10-24T20:03:31.004Z,1761336211.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131211 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:31.125Z,1761336211.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006754 2025-10-24T20:03:31.378Z,1761336211.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259783 2025-10-24T20:03:31.411Z,1761336211.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444327,-0.890197,0.100616],[0.895609,0.444072,-0.026157],[-0.021396,0.101735,0.994581]] 2025-10-24T20:03:31.461Z,1761336211.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:31.464Z,1761336211.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 74.442879 m, bearing: 70.769389 deg, approach rate: -0.463207 m/s, LOS rate: 0.080788 deg/s, cmd heading: 64.813598 deg, new cmd heading: 64.924797 deg. 2025-10-24T20:03:31.465Z,1761336211.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133152 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:31.629Z,1761336211.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947 2025-10-24T20:03:31.807Z,1761336211.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443801,-0.890272,0.102254],[0.895923,0.443228,-0.029508],[-0.019052,0.104708,0.994321]] 2025-10-24T20:03:31.845Z,1761336211.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:31.847Z,1761336211.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 74.269325 m, bearing: 70.799642 deg, approach rate: -0.449749 m/s, LOS rate: 0.078582 deg/s, cmd heading: 64.924800 deg, new cmd heading: 65.015772 deg. 2025-10-24T20:03:31.849Z,1761336211.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134739 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:31.881Z,1761336211.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763032 2025-10-24T20:03:32.133Z,1761336212.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014996 2025-10-24T20:03:32.214Z,1761336212.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446778,-0.888622,0.103638],[0.894465,0.446006,-0.031811],[-0.017956,0.106913,0.994106]] 2025-10-24T20:03:32.233Z,1761336212.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:32.235Z,1761336212.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 74.080666 m, bearing: 70.833200 deg, approach rate: -0.486249 m/s, LOS rate: 0.086713 deg/s, cmd heading: 65.015772 deg, new cmd heading: 65.116702 deg. 2025-10-24T20:03:32.236Z,1761336212.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136501 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:32.385Z,1761336212.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266946 2025-10-24T20:03:32.615Z,1761336212.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448579,-0.887612,0.104511],[0.893601,0.447518,-0.034718],[-0.015954,0.108965,0.993918]] 2025-10-24T20:03:32.637Z,1761336212.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518757 2025-10-24T20:03:32.675Z,1761336212.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:32.677Z,1761336212.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:32.680Z,1761336212.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 73.863129 m, bearing: 70.862843 deg, approach rate: -0.489189 m/s, LOS rate: 0.066856 deg/s, cmd heading: 65.116701 deg, new cmd heading: 65.205892 deg. 2025-10-24T20:03:32.681Z,1761336212.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138057 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:32.890Z,1761336212.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771865 2025-10-24T20:03:33.016Z,1761336213.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:03:33.030Z,1761336213.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450423,-0.886772,0.103704],[0.892711,0.449095,-0.037153],[-0.013627,0.109313,0.993914]] 2025-10-24T20:03:33.074Z,1761336213.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:33.081Z,1761336213.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 73.669777 m, bearing: 70.889659 deg, approach rate: -0.487264 m/s, LOS rate: 0.067756 deg/s, cmd heading: 65.205890 deg, new cmd heading: 65.286549 deg. 2025-10-24T20:03:33.082Z,1761336213.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139465 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:33.142Z,1761336213.142 [DAT](INFO): DAT read: Rx Time:20:03:31.9440 2025-10-24T20:03:33.142Z,1761336213.142 [DAT](INFO): Rx dataTimestamp_ set to:1761336213.142176 2025-10-24T20:03:33.143Z,1761336213.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025303 2025-10-24T20:03:33.394Z,1761336213.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276077 2025-10-24T20:03:33.423Z,1761336213.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450978,-0.886531,0.103349],[0.892470,0.449313,-0.040191],[-0.010805,0.110361,0.993833]] 2025-10-24T20:03:33.482Z,1761336213.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.92 m. 2025-10-24T20:03:33.485Z,1761336213.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.922035 m, nav range: 73.451492 m, bearing: 70.909159 deg, approach rate: -0.534712 m/s, LOS rate: 0.047910 deg/s, cmd heading: 65.286548 deg, new cmd heading: 65.345222 deg. 2025-10-24T20:03:33.486Z,1761336213.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140489 target range: 74.922035 and range: 75.30 m. 2025-10-24T20:03:33.650Z,1761336213.650 [DAT](INFO): DAT read: 20:03:31.9440 LVL= 25104, 32753, 26610, 32755, AGC= 69, IDX= 410,-0.34,-0.934,-2.255,-1.121,-1.230, PHS= 0.384,-0.978, 0.106, RAW= 138.9, 7.9, CAL= 142.7, 0.7, ROT= 7.3, -0.7 2025-10-24T20:03:33.651Z,1761336213.651 [DAT](INFO): got valid direction response: 20:03:31.9440 LVL= 25104, 32753, 26610, 32755, AGC= 69, IDX= 410,-0.34,-0.934,-2.255,-1.121,-1.230, PHS= 0.384,-0.978, 0.106, RAW= 138.9, 7.9, CAL= 142.7, 0.7, ROT= 7.3, -0.7 2025-10-24T20:03:33.656Z,1761336213.656 [DAT](INFO): DAT read: Bearing 7.3, -0.7 (Local) 2025-10-24T20:03:33.657Z,1761336213.657 [DAT](INFO): Local bearing/azimuth received: Bearing 7.3, -0.7 (Local) 2025-10-24T20:03:33.658Z,1761336213.658 [DAT](INFO): DAT read: Range 10 to 50 : 73.6 m (Round-trip 98.2 ms) speed 0.5 m/s 2025-10-24T20:03:33.659Z,1761336213.659 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:33.660Z,1761336213.660 [DAT](INFO): direction in FSK: [0.991820,0.127055,0.012217] 2025-10-24T20:03:33.661Z,1761336213.661 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:33.664Z,1761336213.664 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:33.664Z,1761336213.664 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:33.664Z,1761336213.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:33.834Z,1761336213.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451092,-0.886642,0.101892],[0.892466,0.448718,-0.046439],[-0.004546,0.111883,0.993711]] 2025-10-24T20:03:33.863Z,1761336213.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 73.599998 m, deltaT: 3.780095 s, deltaX: -1.700005 m, approachRate: -0.449725 m/s, rangeRepo size: 4 2025-10-24T20:03:33.887Z,1761336213.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.230774 m, bearing: 70.362076 deg, lat: 36.779600 deg, lon: -121.859498 deg, deltaT: 3.780095 s, deltaX: -1.691261 m, approachRate: -0.447412 m/s, posRepo size: 4 2025-10-24T20:03:33.892Z,1761336213.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:33.898Z,1761336213.898 [DAT](INFO): DAT read: user:236> 2025-10-24T20:03:33.899Z,1761336213.899 [DAT](INFO): DAT read: Tx time:20:03:33.1916 2025-10-24T20:03:33.900Z,1761336213.900 [DAT](INFO): Ping request sent. 2025-10-24T20:03:33.900Z,1761336213.900 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:33.900Z,1761336213.900 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:33.901Z,1761336213.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001194 2025-10-24T20:03:33.905Z,1761336213.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 73.253487 m, bearing: 70.926978 deg, approach rate: 0.000000 m/s, LOS rate: 0.047910 deg/s, cmd heading: 65.345219 deg, new cmd heading: 65.399870 deg. 2025-10-24T20:03:33.906Z,1761336213.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141443 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:34.020Z,1761336214.020 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:03:34.149Z,1761336214.149 [DAT](INFO): DAT read: TxSync time:20:03:33.1909 2025-10-24T20:03:34.151Z,1761336214.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250981 2025-10-24T20:03:34.238Z,1761336214.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449590,-0.887465,0.101365],[0.893234,0.446825,-0.049796],[-0.001101,0.112930,0.993602]] 2025-10-24T20:03:34.256Z,1761336214.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:34.259Z,1761336214.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 73.042252 m, bearing: 70.945821 deg, approach rate: -0.537005 m/s, LOS rate: 0.048041 deg/s, cmd heading: 65.399867 deg, new cmd heading: 65.456559 deg. 2025-10-24T20:03:34.261Z,1761336214.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142432 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:34.403Z,1761336214.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502849 2025-10-24T20:03:34.641Z,1761336214.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447629,-0.888553,0.100510],[0.894215,0.444428,-0.053518],[0.002884,0.113834,0.993496]] 2025-10-24T20:03:34.653Z,1761336214.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753238 2025-10-24T20:03:34.699Z,1761336214.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:34.710Z,1761336214.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:34.713Z,1761336214.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 72.795914 m, bearing: 70.952651 deg, approach rate: -0.542683 m/s, LOS rate: 0.015097 deg/s, cmd heading: 65.456558 deg, new cmd heading: 65.477116 deg. 2025-10-24T20:03:34.714Z,1761336214.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142791 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:34.906Z,1761336214.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006502 2025-10-24T20:03:35.041Z,1761336215.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444247,-0.890160,0.101290],[0.895882,0.440576,-0.057349],[0.006424,0.116221,0.993203]] 2025-10-24T20:03:35.071Z,1761336215.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:35.074Z,1761336215.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 72.569763 m, bearing: 70.958313 deg, approach rate: -0.626490 m/s, LOS rate: 0.015734 deg/s, cmd heading: 65.477117 deg, new cmd heading: 65.494155 deg. 2025-10-24T20:03:35.075Z,1761336215.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143089 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:35.158Z,1761336215.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257823 2025-10-24T20:03:35.410Z,1761336215.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509927 2025-10-24T20:03:35.451Z,1761336215.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442059,-0.891185,0.101853],[0.896943,0.438064,-0.059944],[0.008803,0.117855,0.992992]] 2025-10-24T20:03:35.506Z,1761336215.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:35.513Z,1761336215.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 72.311722 m, bearing: 70.957724 deg, approach rate: -0.593092 m/s, LOS rate: -0.001357 deg/s, cmd heading: 65.494158 deg, new cmd heading: 65.492387 deg. 2025-10-24T20:03:35.514Z,1761336215.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143058 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:35.661Z,1761336215.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761022 2025-10-24T20:03:35.850Z,1761336215.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439545,-0.892278,0.103148],[0.898154,0.435204,-0.062589],[0.010957,0.120154,0.992695]] 2025-10-24T20:03:35.869Z,1761336215.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:35.873Z,1761336215.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 72.077606 m, bearing: 70.956691 deg, approach rate: -0.645391 m/s, LOS rate: -0.002858 deg/s, cmd heading: 65.492389 deg, new cmd heading: 65.489278 deg. 2025-10-24T20:03:35.874Z,1761336215.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143004 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:35.914Z,1761336215.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013734 2025-10-24T20:03:36.165Z,1761336216.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265096 2025-10-24T20:03:36.270Z,1761336216.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436401,-0.893731,0.103920],[0.899653,0.431716,-0.065158],[0.013370,0.121926,0.992449]] 2025-10-24T20:03:36.311Z,1761336216.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:36.341Z,1761336216.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 71.819260 m, bearing: 70.954843 deg, approach rate: -0.584551 m/s, LOS rate: -0.004197 deg/s, cmd heading: 65.489281 deg, new cmd heading: 65.483717 deg. 2025-10-24T20:03:36.346Z,1761336216.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142906 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:36.417Z,1761336216.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517177 2025-10-24T20:03:36.658Z,1761336216.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432635,-0.895472,0.104672],[0.901427,0.427582,-0.067841],[0.015994,0.123705,0.992190]] 2025-10-24T20:03:36.674Z,1761336216.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773856 2025-10-24T20:03:36.737Z,1761336216.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:36.745Z,1761336216.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:36.747Z,1761336216.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 71.552666 m, bearing: 70.940929 deg, approach rate: -0.614460 m/s, LOS rate: -0.032190 deg/s, cmd heading: 65.483715 deg, new cmd heading: 65.441817 deg. 2025-10-24T20:03:36.752Z,1761336216.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.142175 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:36.925Z,1761336216.925 [DAT](INFO): DAT read: Rx Time:20:03:35.6911 2025-10-24T20:03:36.925Z,1761336216.925 [DAT](INFO): Rx dataTimestamp_ set to:1761336216.925100 2025-10-24T20:03:36.926Z,1761336216.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026280 2025-10-24T20:03:37.060Z,1761336217.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429659,-0.896929,0.104459],[0.902804,0.424334,-0.069890],[0.018361,0.124335,0.992070]] 2025-10-24T20:03:37.080Z,1761336217.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.23 m. 2025-10-24T20:03:37.082Z,1761336217.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.230774 m, nav range: 71.322029 m, bearing: 70.928198 deg, approach rate: -0.688303 m/s, LOS rate: -0.038117 deg/s, cmd heading: 65.441818 deg, new cmd heading: 65.403502 deg. 2025-10-24T20:03:37.083Z,1761336217.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141506 target range: 73.230774 and range: 73.60 m. 2025-10-24T20:03:37.177Z,1761336217.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277222 2025-10-24T20:03:37.434Z,1761336217.434 [DAT](INFO): DAT read: 20:03:35.6911 LVL= 22080, 31633, 19378, 32755, AGC= 69, IDX= 412, 0.17, 2.860, 1.513, 2.747, 2.466, PHS= 0.482,-0.907, 0.277, RAW= 142.2, 2.3, CAL= 146.0, -6.3, ROT= 4.0, 6.3 2025-10-24T20:03:37.435Z,1761336217.435 [DAT](INFO): got valid direction response: 20:03:35.6911 LVL= 22080, 31633, 19378, 32755, AGC= 69, IDX= 412, 0.17, 2.860, 1.513, 2.747, 2.466, PHS= 0.482,-0.907, 0.277, RAW= 142.2, 2.3, CAL= 146.0, -6.3, ROT= 4.0, 6.3 2025-10-24T20:03:37.436Z,1761336217.436 [DAT](INFO): DAT read: Bearing 4.0, 6.3 (Local) 2025-10-24T20:03:37.436Z,1761336217.436 [DAT](INFO): Local bearing/azimuth received: Bearing 4.0, 6.3 (Local) 2025-10-24T20:03:37.438Z,1761336217.438 [DAT](INFO): DAT read: Range 10 to 50 : 71.4 m (Round-trip 95.3 ms) speed 0.6 m/s 2025-10-24T20:03:37.438Z,1761336217.438 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:37.439Z,1761336217.439 [DAT](INFO): direction in FSK: [0.991540,0.069335,-0.109734] 2025-10-24T20:03:37.440Z,1761336217.440 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:37.443Z,1761336217.443 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:37.443Z,1761336217.443 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:37.443Z,1761336217.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:37.532Z,1761336217.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425964,-0.898751,0.103934],[0.904499,0.420376,-0.071881],[0.020912,0.124626,0.991983]] 2025-10-24T20:03:37.573Z,1761336217.573 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD +0.00, +0.00, +0.00, 20.00,814.08 2025-10-24T20:03:37.610Z,1761336217.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.400002 m, deltaT: 3.783935 s, deltaX: -2.199997 m, approachRate: -0.581405 m/s, rangeRepo size: 4 2025-10-24T20:03:37.617Z,1761336217.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.041924 m, bearing: 69.528205 deg, lat: 36.779601 deg, lon: -121.859501 deg, deltaT: 3.783935 s, deltaX: -2.188850 m, approachRate: -0.578459 m/s, posRepo size: 4 2025-10-24T20:03:37.618Z,1761336217.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:37.625Z,1761336217.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 70.781624 m, bearing: 70.725194 deg, approach rate: 0.000000 m/s, LOS rate: -0.038117 deg/s, cmd heading: 65.403501 deg, new cmd heading: 65.342881 deg. 2025-10-24T20:03:37.626Z,1761336217.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140448 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:37.681Z,1761336217.681 [DAT](INFO): DAT read: user:237> 2025-10-24T20:03:37.683Z,1761336217.683 [DAT](INFO): DAT read: Tx time:20:03:36.9916 2025-10-24T20:03:37.683Z,1761336217.683 [DAT](INFO): Ping request sent. 2025-10-24T20:03:37.683Z,1761336217.683 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:37.685Z,1761336217.685 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:37.685Z,1761336217.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002152 2025-10-24T20:03:37.910Z,1761336217.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422808,-0.900328,0.103168],[0.905918,0.416986,-0.073721],[0.023354,0.124632,0.991928]] 2025-10-24T20:03:37.933Z,1761336217.933 [DAT](INFO): DAT read: TxSync time:20:03:36.9909 2025-10-24T20:03:37.934Z,1761336217.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250589 2025-10-24T20:03:37.954Z,1761336217.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:37.966Z,1761336217.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 70.562439 m, bearing: 70.710935 deg, approach rate: -0.636228 m/s, LOS rate: -0.041518 deg/s, cmd heading: 65.342883 deg, new cmd heading: 65.299974 deg. 2025-10-24T20:03:37.967Z,1761336217.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139700 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:38.185Z,1761336218.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501587 2025-10-24T20:03:38.287Z,1761336218.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418065,-0.902326,0.105016],[0.908033,0.411724,-0.077202],[0.026424,0.127633,0.991469]] 2025-10-24T20:03:38.326Z,1761336218.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:38.334Z,1761336218.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 70.335289 m, bearing: 70.695117 deg, approach rate: -0.611804 m/s, LOS rate: -0.042744 deg/s, cmd heading: 65.299976 deg, new cmd heading: 65.252366 deg. 2025-10-24T20:03:38.335Z,1761336218.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138869 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:38.437Z,1761336218.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754236 2025-10-24T20:03:38.689Z,1761336218.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006153 2025-10-24T20:03:38.693Z,1761336218.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416422,-0.903414,0.102154],[0.908706,0.409978,-0.078561],[0.029092,0.125543,0.991662]] 2025-10-24T20:03:38.746Z,1761336218.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:38.748Z,1761336218.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:38.751Z,1761336218.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 70.068901 m, bearing: 70.679639 deg, approach rate: -0.631000 m/s, LOS rate: -0.036801 deg/s, cmd heading: 65.252369 deg, new cmd heading: 65.205761 deg. 2025-10-24T20:03:38.751Z,1761336218.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138055 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:38.945Z,1761336218.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261840 2025-10-24T20:03:39.100Z,1761336219.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413404,-0.905046,0.099948],[0.909970,0.406737,-0.080739],[0.032420,0.124328,0.991711]] 2025-10-24T20:03:39.119Z,1761336219.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:39.123Z,1761336219.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 69.842812 m, bearing: 70.665803 deg, approach rate: -0.608736 m/s, LOS rate: -0.037374 deg/s, cmd heading: 65.205760 deg, new cmd heading: 65.164118 deg. 2025-10-24T20:03:39.124Z,1761336219.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137328 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:39.197Z,1761336219.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513833 2025-10-24T20:03:39.450Z,1761336219.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766625 2025-10-24T20:03:39.506Z,1761336219.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413423,-0.905222,0.098252],[0.909911,0.406718,-0.081508],[0.033822,0.123098,0.991818]] 2025-10-24T20:03:39.556Z,1761336219.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:39.559Z,1761336219.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 69.597633 m, bearing: 70.660318 deg, approach rate: -0.561891 m/s, LOS rate: -0.012615 deg/s, cmd heading: 65.164116 deg, new cmd heading: 65.147603 deg. 2025-10-24T20:03:39.559Z,1761336219.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137040 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:39.701Z,1761336219.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017557 2025-10-24T20:03:39.922Z,1761336219.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413677,-0.905254,0.096887],[0.909751,0.406931,-0.082225],[0.035008,0.122157,0.991893]] 2025-10-24T20:03:39.953Z,1761336219.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269713 2025-10-24T20:03:39.960Z,1761336219.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:39.962Z,1761336219.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 69.378624 m, bearing: 70.655449 deg, approach rate: -0.548323 m/s, LOS rate: -0.012229 deg/s, cmd heading: 65.147601 deg, new cmd heading: 65.132948 deg. 2025-10-24T20:03:39.963Z,1761336219.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136784 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:40.206Z,1761336220.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522310 2025-10-24T20:03:40.309Z,1761336220.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414456,-0.905022,0.095715],[0.909356,0.407673,-0.082908],[0.036013,0.121401,0.991950]] 2025-10-24T20:03:40.331Z,1761336220.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:40.334Z,1761336220.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 69.163292 m, bearing: 70.650795 deg, approach rate: -0.572877 m/s, LOS rate: -0.012419 deg/s, cmd heading: 65.132950 deg, new cmd heading: 65.118946 deg. 2025-10-24T20:03:40.335Z,1761336220.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136540 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:40.457Z,1761336220.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773987 2025-10-24T20:03:40.709Z,1761336220.709 [DAT](INFO): DAT read: Rx Time:20:03:39.4884 2025-10-24T20:03:40.709Z,1761336220.709 [DAT](INFO): Rx dataTimestamp_ set to:1761336220.709174 2025-10-24T20:03:40.710Z,1761336220.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026802 2025-10-24T20:03:40.714Z,1761336220.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416336,-0.904521,0.092227],[0.908454,0.409706,-0.082777],[0.037087,0.118247,0.992291]] 2025-10-24T20:03:40.803Z,1761336220.803 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:40.810Z,1761336220.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:40.817Z,1761336220.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 68.919640 m, bearing: 70.655163 deg, approach rate: -0.508446 m/s, LOS rate: 0.009146 deg/s, cmd heading: 65.118948 deg, new cmd heading: 65.132097 deg. 2025-10-24T20:03:40.818Z,1761336220.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136770 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:40.961Z,1761336220.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277504 2025-10-24T20:03:41.157Z,1761336221.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417805,-0.904042,0.090263],[0.907742,0.411222,-0.083071],[0.037981,0.116643,0.992447]] 2025-10-24T20:03:41.218Z,1761336221.218 [DAT](INFO): DAT read: 20:03:39.4884 LVL= 22640, 32753, 19426, 32755, AGC= 64, IDX= 416, 0.37, 2.370, 1.045, 2.324, 1.972, PHS= 0.486,-0.880, 0.349, RAW= 144.8, 0.7, CAL= 148.5, -8.2, ROT= 1.5, 8.2 2025-10-24T20:03:41.219Z,1761336221.219 [DAT](INFO): got valid direction response: 20:03:39.4884 LVL= 22640, 32753, 19426, 32755, AGC= 64, IDX= 416, 0.37, 2.370, 1.045, 2.324, 1.972, PHS= 0.486,-0.880, 0.349, RAW= 144.8, 0.7, CAL= 148.5, -8.2, ROT= 1.5, 8.2 2025-10-24T20:03:41.220Z,1761336221.220 [DAT](INFO): DAT read: Bearing 1.5, 8.2 (Local) 2025-10-24T20:03:41.221Z,1761336221.221 [DAT](INFO): Local bearing/azimuth received: Bearing 1.5, 8.2 (Local) 2025-10-24T20:03:41.223Z,1761336221.223 [DAT](INFO): DAT read: Range 10 to 50 : 69.4 m (Round-trip 92.6 ms) speed 0.5 m/s 2025-10-24T20:03:41.223Z,1761336221.223 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:41.224Z,1761336221.224 [DAT](INFO): direction in FSK: [0.989437,0.025909,-0.142629] 2025-10-24T20:03:41.225Z,1761336221.225 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:41.228Z,1761336221.228 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:41.228Z,1761336221.228 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:41.228Z,1761336221.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:41.231Z,1761336221.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.04 m. 2025-10-24T20:03:41.242Z,1761336221.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.041924 m, nav range: 68.723083 m, bearing: 70.658998 deg, approach rate: -0.514569 m/s, LOS rate: 0.010070 deg/s, cmd heading: 65.132097 deg, new cmd heading: 65.143636 deg. 2025-10-24T20:03:41.243Z,1761336221.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136971 target range: 71.041924 and range: 71.40 m. 2025-10-24T20:03:41.467Z,1761336221.467 [DAT](INFO): DAT read: user:238> 2025-10-24T20:03:41.470Z,1761336221.470 [DAT](INFO): DAT read: Tx time:20:03:40.7416 2025-10-24T20:03:41.471Z,1761336221.471 [DAT](INFO): Ping request sent. 2025-10-24T20:03:41.472Z,1761336221.472 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:41.473Z,1761336221.473 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:41.476Z,1761336221.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004076 2025-10-24T20:03:41.577Z,1761336221.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420064,-0.903228,0.087890],[0.906668,0.413576,-0.083117],[0.038724,0.114602,0.992656]] 2025-10-24T20:03:41.717Z,1761336221.717 [DAT](INFO): DAT read: TxSync time:20:03:40.7409 2025-10-24T20:03:41.719Z,1761336221.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247651 2025-10-24T20:03:41.728Z,1761336221.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.400002 m, deltaT: 3.783971 s, deltaX: -2.000000 m, approachRate: -0.528545 m/s, rangeRepo size: 4 2025-10-24T20:03:41.730Z,1761336221.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 69.052055 m, bearing: 67.566328 deg, lat: 36.779606 deg, lon: -121.859501 deg, deltaT: 3.783971 s, deltaX: -1.989868 m, approachRate: -0.525868 m/s, posRepo size: 4 2025-10-24T20:03:41.731Z,1761336221.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-24T20:03:41.737Z,1761336221.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.052055 m, nav range: 68.651253 m, bearing: 70.259704 deg, approach rate: 0.000000 m/s, LOS rate: 0.010070 deg/s, cmd heading: 65.143640 deg, new cmd heading: 65.159106 deg. 2025-10-24T20:03:41.739Z,1761336221.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137241 target range: 69.052055 and range: 69.40 m. 2025-10-24T20:03:41.971Z,1761336221.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499812 2025-10-24T20:03:42.032Z,1761336222.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420880,-0.903075,0.085532],[0.906232,0.414434,-0.083593],[0.040044,0.112694,0.992823]] 2025-10-24T20:03:42.051Z,1761336222.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-24T20:03:42.055Z,1761336222.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.052055 m, nav range: 68.471703 m, bearing: 70.273023 deg, approach rate: -0.517010 m/s, LOS rate: 0.038453 deg/s, cmd heading: 65.159103 deg, new cmd heading: 65.199166 deg. 2025-10-24T20:03:42.073Z,1761336222.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137940 target range: 69.052055 and range: 69.40 m. 2025-10-24T20:03:42.226Z,1761336222.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755055 2025-10-24T20:03:42.478Z,1761336222.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007390 2025-10-24T20:03:42.531Z,1761336222.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-24T20:03:42.553Z,1761336222.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.052055 m, nav range: 68.258652 m, bearing: 70.300114 deg, approach rate: -0.444059 m/s, LOS rate: 0.056641 deg/s, cmd heading: 65.199169 deg, new cmd heading: 65.280695 deg. 2025-10-24T20:03:42.554Z,1761336222.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139363 target range: 69.052055 and range: 69.40 m. 2025-10-24T20:03:42.729Z,1761336222.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257790 2025-10-24T20:03:42.863Z,1761336222.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421234,-0.903827,0.075223],[0.905956,0.415435,-0.081587],[0.042491,0.102516,0.993823]] 2025-10-24T20:03:42.911Z,1761336222.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:42.915Z,1761336222.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-24T20:03:42.918Z,1761336222.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.052055 m, nav range: 68.093246 m, bearing: 70.321451 deg, approach rate: -0.431016 m/s, LOS rate: 0.055735 deg/s, cmd heading: 65.280694 deg, new cmd heading: 65.344861 deg. 2025-10-24T20:03:42.919Z,1761336222.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140483 target range: 69.052055 and range: 69.40 m. 2025-10-24T20:03:42.982Z,1761336222.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510415 2025-10-24T20:03:43.233Z,1761336223.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761760 2025-10-24T20:03:43.238Z,1761336223.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423479,-0.902597,0.077355],[0.904890,0.417417,-0.083289],[0.042887,0.105269,0.993519]] 2025-10-24T20:03:43.287Z,1761336223.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-24T20:03:43.294Z,1761336223.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.052055 m, nav range: 67.936073 m, bearing: 70.342129 deg, approach rate: -0.422317 m/s, LOS rate: 0.055688 deg/s, cmd heading: 65.344864 deg, new cmd heading: 65.407040 deg. 2025-10-24T20:03:43.295Z,1761336223.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141568 target range: 69.052055 and range: 69.40 m. 2025-10-24T20:03:43.488Z,1761336223.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016376 2025-10-24T20:03:43.720Z,1761336223.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430623,-0.899080,0.078861],[0.901531,0.424387,-0.084486],[0.042492,0.107477,0.993299]] 2025-10-24T20:03:43.737Z,1761336223.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265947 2025-10-24T20:03:43.777Z,1761336223.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-24T20:03:43.779Z,1761336223.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.052055 m, nav range: 67.710976 m, bearing: 70.376947 deg, approach rate: -0.459648 m/s, LOS rate: 0.071335 deg/s, cmd heading: 65.407039 deg, new cmd heading: 65.511841 deg. 2025-10-24T20:03:43.780Z,1761336223.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143397 target range: 69.052055 and range: 69.40 m. 2025-10-24T20:03:43.990Z,1761336223.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519076 2025-10-24T20:03:44.198Z,1761336224.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433770,-0.897619,0.078252],[0.900005,0.427513,-0.084999],[0.042843,0.107297,0.993303]] 2025-10-24T20:03:44.218Z,1761336224.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-24T20:03:44.237Z,1761336224.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.052055 m, nav range: 67.518028 m, bearing: 70.407574 deg, approach rate: -0.437339 m/s, LOS rate: 0.069618 deg/s, cmd heading: 65.511841 deg, new cmd heading: 65.603985 deg. 2025-10-24T20:03:44.238Z,1761336224.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145006 target range: 69.052055 and range: 69.40 m. 2025-10-24T20:03:44.241Z,1761336224.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769975 2025-10-24T20:03:44.497Z,1761336224.497 [DAT](INFO): DAT read: Rx Time:20:03:43.2358 2025-10-24T20:03:44.498Z,1761336224.498 [DAT](INFO): Rx dataTimestamp_ set to:1761336224.497551 2025-10-24T20:03:44.501Z,1761336224.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029455 2025-10-24T20:03:44.658Z,1761336224.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.05 m. 2025-10-24T20:03:44.661Z,1761336224.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 69.052055 m, nav range: 67.316254 m, bearing: 70.434540 deg, approach rate: -0.458014 m/s, LOS rate: 0.061394 deg/s, cmd heading: 65.603987 deg, new cmd heading: 65.685128 deg. 2025-10-24T20:03:44.662Z,1761336224.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146422 target range: 69.052055 and range: 69.40 m. 2025-10-24T20:03:44.745Z,1761336224.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273985 2025-10-24T20:03:45.002Z,1761336225.002 [DAT](INFO): DAT read: 20:03:43.2358 LVL= 22352, 32753, 23506, 32755, AGC= 68, IDX= 420, 0.35, 0.941,-0.517, 0.837, 0.450, PHS= 0.579,-0.920, 0.385, RAW= 143.1, -0.6, CAL= 147.4, -9.7, ROT= 2.6, 9.7 2025-10-24T20:03:45.003Z,1761336225.003 [DAT](INFO): got valid direction response: 20:03:43.2358 LVL= 22352, 32753, 23506, 32755, AGC= 68, IDX= 420, 0.35, 0.941,-0.517, 0.837, 0.450, PHS= 0.579,-0.920, 0.385, RAW= 143.1, -0.6, CAL= 147.4, -9.7, ROT= 2.6, 9.7 2025-10-24T20:03:45.005Z,1761336225.005 [DAT](INFO): DAT read: Bearing 2.6, 9.7 (Local) 2025-10-24T20:03:45.005Z,1761336225.005 [DAT](INFO): Local bearing/azimuth received: Bearing 2.6, 9.7 (Local) 2025-10-24T20:03:45.007Z,1761336225.007 [DAT](INFO): DAT read: Range 10 to 50 : 67.4 m (Round-trip 89.9 ms) speed 0.5 m/s 2025-10-24T20:03:45.007Z,1761336225.007 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:45.008Z,1761336225.008 [DAT](INFO): direction in FSK: [0.984689,0.044714,-0.168489] 2025-10-24T20:03:45.009Z,1761336225.009 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:45.026Z,1761336225.026 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:45.026Z,1761336225.026 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:45.026Z,1761336225.026 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:45.031Z,1761336225.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438557,-0.895349,0.077577],[0.897603,0.432114,-0.087102],[0.044465,0.107832,0.993174]] 2025-10-24T20:03:45.095Z,1761336225.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 67.400002 m, deltaT: 3.784171 s, deltaX: -2.000000 m, approachRate: -0.528517 m/s, rangeRepo size: 4 2025-10-24T20:03:45.106Z,1761336225.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.062790 m, bearing: 67.577451 deg, lat: 36.779614 deg, lon: -121.859506 deg, deltaT: 3.784171 s, deltaX: -1.989265 m, approachRate: -0.525681 m/s, posRepo size: 4 2025-10-24T20:03:45.107Z,1761336225.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:45.118Z,1761336225.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 67.011803 m, bearing: 69.621712 deg, approach rate: 0.000000 m/s, LOS rate: 0.061394 deg/s, cmd heading: 65.685130 deg, new cmd heading: 65.765493 deg. 2025-10-24T20:03:45.119Z,1761336225.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.147824 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:45.249Z,1761336225.249 [DAT](INFO): DAT read: user:239> 2025-10-24T20:03:45.250Z,1761336225.250 [DAT](INFO): DAT read: Tx time:20:03:44.5417 2025-10-24T20:03:45.250Z,1761336225.250 [DAT](INFO): Ping request sent. 2025-10-24T20:03:45.250Z,1761336225.250 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:45.251Z,1761336225.251 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:45.251Z,1761336225.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-24T20:03:45.411Z,1761336225.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439715,-0.894806,0.077288],[0.896973,0.433136,-0.088498],[0.045712,0.108239,0.993073]] 2025-10-24T20:03:45.459Z,1761336225.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:45.498Z,1761336225.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:45.504Z,1761336225.504 [DAT](INFO): DAT read: TxSync time:20:03:44.5410 2025-10-24T20:03:45.507Z,1761336225.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256134 2025-10-24T20:03:45.540Z,1761336225.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 66.830406 m, bearing: 69.645010 deg, approach rate: -0.456450 m/s, LOS rate: 0.058782 deg/s, cmd heading: 65.765494 deg, new cmd heading: 65.835575 deg. 2025-10-24T20:03:45.541Z,1761336225.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149048 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:45.753Z,1761336225.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502925 2025-10-24T20:03:45.881Z,1761336225.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:45.885Z,1761336225.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 66.618576 m, bearing: 69.660607 deg, approach rate: -0.544924 m/s, LOS rate: 0.040251 deg/s, cmd heading: 65.835579 deg, new cmd heading: 65.882519 deg. 2025-10-24T20:03:45.887Z,1761336225.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149867 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:46.010Z,1761336226.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759920 2025-10-24T20:03:46.215Z,1761336226.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438475,-0.896195,0.067632],[0.897388,0.432440,-0.087698],[0.049348,0.099145,0.993849]] 2025-10-24T20:03:46.234Z,1761336226.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:46.237Z,1761336226.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 66.444626 m, bearing: 69.673251 deg, approach rate: -0.492272 m/s, LOS rate: 0.035876 deg/s, cmd heading: 65.882516 deg, new cmd heading: 65.920548 deg. 2025-10-24T20:03:46.239Z,1761336226.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150531 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:46.261Z,1761336226.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010373 2025-10-24T20:03:46.515Z,1761336226.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264390 2025-10-24T20:03:46.626Z,1761336226.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436692,-0.896855,0.070368],[0.898132,0.430155,-0.091249],[0.051567,0.103047,0.993339]] 2025-10-24T20:03:46.675Z,1761336226.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:46.678Z,1761336226.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 66.208931 m, bearing: 69.677033 deg, approach rate: -0.534895 m/s, LOS rate: 0.008613 deg/s, cmd heading: 65.920546 deg, new cmd heading: 65.931931 deg. 2025-10-24T20:03:46.679Z,1761336226.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150729 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:46.766Z,1761336226.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515271 2025-10-24T20:03:47.017Z,1761336227.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766380 2025-10-24T20:03:47.026Z,1761336227.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434784,-0.897531,0.073490],[0.898945,0.427721,-0.094621],[0.053492,0.107203,0.992797]] 2025-10-24T20:03:47.075Z,1761336227.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:47.082Z,1761336227.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 65.998619 m, bearing: 69.680086 deg, approach rate: -0.525058 m/s, LOS rate: 0.007646 deg/s, cmd heading: 65.931932 deg, new cmd heading: 65.941120 deg. 2025-10-24T20:03:47.083Z,1761336227.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150890 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:47.269Z,1761336227.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018426 2025-10-24T20:03:47.428Z,1761336227.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433499,-0.897997,0.075364],[0.899437,0.425998,-0.097669],[0.055601,0.110125,0.992361]] 2025-10-24T20:03:47.469Z,1761336227.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:47.471Z,1761336227.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:47.474Z,1761336227.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 65.781448 m, bearing: 69.683023 deg, approach rate: -0.548392 m/s, LOS rate: 0.007442 deg/s, cmd heading: 65.941119 deg, new cmd heading: 65.949961 deg. 2025-10-24T20:03:47.475Z,1761336227.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151044 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:47.525Z,1761336227.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273232 2025-10-24T20:03:47.773Z,1761336227.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522956 2025-10-24T20:03:47.863Z,1761336227.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432768,-0.898235,0.076719],[0.899678,0.424909,-0.100161],[0.057369,0.112369,0.992009]] 2025-10-24T20:03:47.933Z,1761336227.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:47.935Z,1761336227.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 65.515945 m, bearing: 69.681777 deg, approach rate: -0.575785 m/s, LOS rate: -0.002713 deg/s, cmd heading: 65.949964 deg, new cmd heading: 65.946211 deg. 2025-10-24T20:03:47.936Z,1761336227.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150979 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:48.025Z,1761336228.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774440 2025-10-24T20:03:48.239Z,1761336228.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431412,-0.898813,0.077583],[0.900204,0.423232,-0.102507],[0.059299,0.114064,0.991702]] 2025-10-24T20:03:48.258Z,1761336228.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:48.261Z,1761336228.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 65.329048 m, bearing: 69.680667 deg, approach rate: -0.574476 m/s, LOS rate: -0.003421 deg/s, cmd heading: 65.946214 deg, new cmd heading: 65.942875 deg. 2025-10-24T20:03:48.262Z,1761336228.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150920 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:48.277Z,1761336228.277 [DAT](INFO): DAT read: Rx Time:20:03:47.0329 2025-10-24T20:03:48.277Z,1761336228.277 [DAT](INFO): Rx dataTimestamp_ set to:1761336228.277153 2025-10-24T20:03:48.278Z,1761336228.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027518 2025-10-24T20:03:48.533Z,1761336228.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281195 2025-10-24T20:03:48.678Z,1761336228.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430066,-0.899474,0.077389],[0.900724,0.421693,-0.104264],[0.061149,0.114547,0.991534]] 2025-10-24T20:03:48.725Z,1761336228.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.06 m. 2025-10-24T20:03:48.727Z,1761336228.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.062790 m, nav range: 65.046707 m, bearing: 69.664557 deg, approach rate: -0.605865 m/s, LOS rate: -0.034720 deg/s, cmd heading: 65.942874 deg, new cmd heading: 65.894334 deg. 2025-10-24T20:03:48.728Z,1761336228.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150073 target range: 67.062790 and range: 67.40 m. 2025-10-24T20:03:48.794Z,1761336228.794 [DAT](INFO): DAT read: 20:03:47.0329 LVL= 17712, 27617, 16306, 28019, AGC= 67, IDX= 407,-0.15,-1.108,-2.380,-1.161,-1.547, PHS= 0.526,-0.787, 0.383, RAW= 144.3, -2.0, CAL= 148.8, -11.1, ROT= 1.2, 11.1 2025-10-24T20:03:48.806Z,1761336228.806 [DAT](INFO): got valid direction response: 20:03:47.0329 LVL= 17712, 27617, 16306, 28019, AGC= 67, IDX= 407,-0.15,-1.108,-2.380,-1.161,-1.547, PHS= 0.526,-0.787, 0.383, RAW= 144.3, -2.0, CAL= 148.8, -11.1, ROT= 1.2, 11.1 2025-10-24T20:03:48.812Z,1761336228.812 [DAT](INFO): DAT read: Bearing 1.2, 11.1 (Local) 2025-10-24T20:03:48.813Z,1761336228.813 [DAT](INFO): Local bearing/azimuth received: Bearing 1.2, 11.1 (Local) 2025-10-24T20:03:48.814Z,1761336228.814 [DAT](INFO): DAT read: Range 10 to 50 : 65.2 m (Round-trip 87.0 ms) speed 0.5 m/s 2025-10-24T20:03:48.815Z,1761336228.815 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:48.821Z,1761336228.821 [DAT](INFO): direction in FSK: [0.981077,0.020551,-0.192522] 2025-10-24T20:03:48.822Z,1761336228.822 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:48.831Z,1761336228.831 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:48.831Z,1761336228.831 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:48.831Z,1761336228.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:49.033Z,1761336229.033 [DAT](INFO): DAT read: user:240> 2025-10-24T20:03:49.033Z,1761336229.033 [DAT](INFO): DAT read: Tx time:20:03:48.3917 2025-10-24T20:03:49.034Z,1761336229.034 [DAT](INFO): Ping request sent. 2025-10-24T20:03:49.034Z,1761336229.034 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:49.034Z,1761336229.034 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:49.035Z,1761336229.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-10-24T20:03:49.051Z,1761336229.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428550,-0.900174,0.077659],[0.901305,0.419906,-0.106439],[0.063204,0.115609,0.991282]] 2025-10-24T20:03:49.132Z,1761336229.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.199997 m, deltaT: 3.784924 s, deltaX: -2.200005 m, approachRate: -0.581255 m/s, rangeRepo size: 4 2025-10-24T20:03:49.134Z,1761336229.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.874962 m, bearing: 67.037860 deg, lat: 36.779632 deg, lon: -121.859514 deg, deltaT: 3.784924 s, deltaX: -2.187828 m, approachRate: -0.578038 m/s, posRepo size: 4 2025-10-24T20:03:49.135Z,1761336229.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:49.141Z,1761336229.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 64.967552 m, bearing: 67.741758 deg, approach rate: 0.000000 m/s, LOS rate: -0.034720 deg/s, cmd heading: 65.894332 deg, new cmd heading: 65.852361 deg. 2025-10-24T20:03:49.142Z,1761336229.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.149341 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:49.285Z,1761336229.285 [DAT](INFO): DAT read: TxSync time:20:03:48.3910 2025-10-24T20:03:49.286Z,1761336229.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251935 2025-10-24T20:03:49.452Z,1761336229.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427071,-0.900924,0.077119],[0.901873,0.418272,-0.108045],[0.065084,0.115694,0.991150]] 2025-10-24T20:03:49.471Z,1761336229.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:49.475Z,1761336229.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 64.728951 m, bearing: 67.720195 deg, approach rate: -0.692995 m/s, LOS rate: -0.062858 deg/s, cmd heading: 65.852360 deg, new cmd heading: 65.787433 deg. 2025-10-24T20:03:49.479Z,1761336229.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148207 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:49.542Z,1761336229.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507017 2025-10-24T20:03:49.790Z,1761336229.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755991 2025-10-24T20:03:49.851Z,1761336229.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424439,-0.903498,0.059524],[0.902992,0.417521,-0.101395],[0.066758,0.096786,0.993064]] 2025-10-24T20:03:49.918Z,1761336229.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:49.921Z,1761336229.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:49.925Z,1761336229.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 64.448036 m, bearing: 67.693750 deg, approach rate: -0.624702 m/s, LOS rate: -0.059067 deg/s, cmd heading: 65.787433 deg, new cmd heading: 65.707750 deg. 2025-10-24T20:03:49.926Z,1761336229.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.146817 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:50.041Z,1761336230.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006969 2025-10-24T20:03:50.256Z,1761336230.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424218,-0.903477,0.061395],[0.903072,0.417056,-0.102593],[0.067085,0.098966,0.992827]] 2025-10-24T20:03:50.275Z,1761336230.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:50.278Z,1761336230.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 64.224487 m, bearing: 67.672506 deg, approach rate: -0.630342 m/s, LOS rate: -0.060110 deg/s, cmd heading: 65.707752 deg, new cmd heading: 65.643798 deg. 2025-10-24T20:03:50.279Z,1761336230.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145700 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:50.293Z,1761336230.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258991 2025-10-24T20:03:50.548Z,1761336230.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513231 2025-10-24T20:03:50.658Z,1761336230.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422583,-0.904125,0.063097],[0.903747,0.415113,-0.104510],[0.068297,0.101188,0.992520]] 2025-10-24T20:03:50.733Z,1761336230.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:50.740Z,1761336230.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 63.946423 m, bearing: 67.646735 deg, approach rate: -0.607707 m/s, LOS rate: -0.056567 deg/s, cmd heading: 65.643801 deg, new cmd heading: 65.566152 deg. 2025-10-24T20:03:50.741Z,1761336230.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.144345 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:50.801Z,1761336230.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766383 2025-10-24T20:03:51.049Z,1761336231.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015125 2025-10-24T20:03:51.076Z,1761336231.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420337,-0.905052,0.064790],[0.904700,0.412559,-0.106366],[0.069537,0.103325,0.992214]] 2025-10-24T20:03:51.096Z,1761336231.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:51.099Z,1761336231.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 63.709438 m, bearing: 67.624067 deg, approach rate: -0.652894 m/s, LOS rate: -0.062683 deg/s, cmd heading: 65.566155 deg, new cmd heading: 65.497898 deg. 2025-10-24T20:03:51.100Z,1761336231.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.143154 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:51.302Z,1761336231.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267466 2025-10-24T20:03:51.468Z,1761336231.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417011,-0.906434,0.066928],[0.906090,0.408806,-0.108990],[0.071431,0.106092,0.991787]] 2025-10-24T20:03:51.502Z,1761336231.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:51.506Z,1761336231.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 63.463406 m, bearing: 67.599542 deg, approach rate: -0.605250 m/s, LOS rate: -0.060565 deg/s, cmd heading: 65.497901 deg, new cmd heading: 65.424042 deg. 2025-10-24T20:03:51.507Z,1761336231.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141865 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:51.554Z,1761336231.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519617 2025-10-24T20:03:51.805Z,1761336231.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771516 2025-10-24T20:03:51.939Z,1761336231.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:51.962Z,1761336231.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:51.973Z,1761336231.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 63.186134 m, bearing: 67.578120 deg, approach rate: -0.603861 m/s, LOS rate: -0.046860 deg/s, cmd heading: 65.424039 deg, new cmd heading: 65.359490 deg. 2025-10-24T20:03:51.974Z,1761336231.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140738 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:52.058Z,1761336232.058 [DAT](INFO): DAT read: Rx Time:20:03:50.8801 2025-10-24T20:03:52.059Z,1761336232.059 [DAT](INFO): Rx dataTimestamp_ set to:1761336232.058622 2025-10-24T20:03:52.061Z,1761336232.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026810 2025-10-24T20:03:52.275Z,1761336232.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413699,-0.907767,0.069371],[0.907273,0.404749,-0.114166],[0.075559,0.110169,0.991037]] 2025-10-24T20:03:52.301Z,1761336232.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.87 m. 2025-10-24T20:03:52.303Z,1761336232.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.874962 m, nav range: 62.965561 m, bearing: 67.560219 deg, approach rate: -0.650790 m/s, LOS rate: -0.053000 deg/s, cmd heading: 65.359487 deg, new cmd heading: 65.305597 deg. 2025-10-24T20:03:52.305Z,1761336232.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139798 target range: 64.874962 and range: 65.20 m. 2025-10-24T20:03:52.309Z,1761336232.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274980 2025-10-24T20:03:52.591Z,1761336232.591 [DAT](INFO): DAT read: 20:03:50.8801 LVL= 19360, 32049, 17218, 31875, AGC= 66, IDX= 410, 0.24, 1.699, 0.320, 1.674, 1.190, PHS= 0.597,-0.823, 0.481, RAW= 145.8, -3.8, CAL= 150.6, -12.7, ROT= 359.4, 12.7 2025-10-24T20:03:52.602Z,1761336232.602 [DAT](INFO): got valid direction response: 20:03:50.8801 LVL= 19360, 32049, 17218, 31875, AGC= 66, IDX= 410, 0.24, 1.699, 0.320, 1.674, 1.190, PHS= 0.597,-0.823, 0.481, RAW= 145.8, -3.8, CAL= 150.6, -12.7, ROT= 359.4, 12.7 2025-10-24T20:03:52.617Z,1761336232.617 [DAT](INFO): DAT read: Bearing 359.4, 12.7 (Local) 2025-10-24T20:03:52.618Z,1761336232.618 [DAT](INFO): Local bearing/azimuth received: Bearing 359.4, 12.7 (Local) 2025-10-24T20:03:52.627Z,1761336232.627 [DAT](INFO): DAT read: Range 10 to 50 : 63.1 m (Round-trip 84.2 ms) speed 0.4 m/s 2025-10-24T20:03:52.627Z,1761336232.627 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:52.633Z,1761336232.633 [DAT](INFO): direction in FSK: [0.975481,-0.010216,-0.219846] 2025-10-24T20:03:52.633Z,1761336232.633 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:52.641Z,1761336232.641 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:52.641Z,1761336232.641 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:52.641Z,1761336232.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:52.683Z,1761336232.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413649,-0.907798,0.069255],[0.907162,0.404522,-0.115838],[0.077142,0.110742,0.990851]] 2025-10-24T20:03:52.793Z,1761336232.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.099998 m, deltaT: 3.780040 s, deltaX: -2.099998 m, approachRate: -0.555549 m/s, rangeRepo size: 4 2025-10-24T20:03:52.795Z,1761336232.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 62.785954 m, bearing: 66.313902 deg, lat: 36.779633 deg, lon: -121.859520 deg, deltaT: 3.780040 s, deltaX: -2.089008 m, approachRate: -0.552642 m/s, posRepo size: 4 2025-10-24T20:03:52.801Z,1761336232.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:52.803Z,1761336232.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 62.164692 m, bearing: 67.252386 deg, approach rate: 0.000000 m/s, LOS rate: -0.053000 deg/s, cmd heading: 65.305597 deg, new cmd heading: 65.227333 deg. 2025-10-24T20:03:52.809Z,1761336232.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138432 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:52.813Z,1761336232.813 [DAT](INFO): DAT read: user:241> 2025-10-24T20:03:52.814Z,1761336232.814 [DAT](INFO): DAT read: Tx time:20:03:52.1934 2025-10-24T20:03:52.814Z,1761336232.814 [DAT](INFO): Ping request sent. 2025-10-24T20:03:52.814Z,1761336232.814 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:52.814Z,1761336232.814 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:52.815Z,1761336232.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-24T20:03:53.066Z,1761336233.066 [DAT](INFO): DAT read: TxSync time:20:03:52.1926 2025-10-24T20:03:53.067Z,1761336233.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252688 2025-10-24T20:03:53.098Z,1761336233.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415409,-0.907110,0.067723],[0.906288,0.406351,-0.116277],[0.077957,0.109679,0.990905]] 2025-10-24T20:03:53.139Z,1761336233.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:53.146Z,1761336233.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 61.953403 m, bearing: 67.235304 deg, approach rate: -0.611771 m/s, LOS rate: -0.049628 deg/s, cmd heading: 65.227330 deg, new cmd heading: 65.175909 deg. 2025-10-24T20:03:53.147Z,1761336233.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137534 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:53.317Z,1761336233.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502904 2025-10-24T20:03:53.530Z,1761336233.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:53.533Z,1761336233.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 61.718113 m, bearing: 67.216143 deg, approach rate: -0.600157 m/s, LOS rate: -0.049060 deg/s, cmd heading: 65.175912 deg, new cmd heading: 65.118211 deg. 2025-10-24T20:03:53.534Z,1761336233.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136527 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:53.572Z,1761336233.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757096 2025-10-24T20:03:53.821Z,1761336233.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006673 2025-10-24T20:03:53.903Z,1761336233.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415587,-0.906800,0.070715],[0.905971,0.405804,-0.120583],[0.080649,0.114179,0.990181]] 2025-10-24T20:03:53.966Z,1761336233.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:53.968Z,1761336233.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:53.971Z,1761336233.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 61.476883 m, bearing: 67.203535 deg, approach rate: -0.551466 m/s, LOS rate: -0.028936 deg/s, cmd heading: 65.118211 deg, new cmd heading: 65.080238 deg. 2025-10-24T20:03:53.973Z,1761336233.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135864 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:54.073Z,1761336234.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259113 2025-10-24T20:03:54.317Z,1761336234.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418007,-0.905958,0.067157],[0.904785,0.408557,-0.120187],[0.081447,0.111001,0.990477]] 2025-10-24T20:03:54.325Z,1761336234.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510764 2025-10-24T20:03:54.337Z,1761336234.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:54.341Z,1761336234.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 61.265392 m, bearing: 67.192958 deg, approach rate: -0.572621 m/s, LOS rate: -0.028739 deg/s, cmd heading: 65.080235 deg, new cmd heading: 65.048392 deg. 2025-10-24T20:03:54.342Z,1761336234.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135309 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:54.578Z,1761336234.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763988 2025-10-24T20:03:54.779Z,1761336234.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:54.782Z,1761336234.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 61.032928 m, bearing: 67.183535 deg, approach rate: -0.525971 m/s, LOS rate: -0.021400 deg/s, cmd heading: 65.048393 deg, new cmd heading: 65.020018 deg. 2025-10-24T20:03:54.783Z,1761336234.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134813 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:54.830Z,1761336234.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015489 2025-10-24T20:03:55.081Z,1761336235.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266675 2025-10-24T20:03:55.109Z,1761336235.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423770,-0.903638,0.062112],[0.902095,0.414886,-0.118721],[0.081511,0.106341,0.990983]] 2025-10-24T20:03:55.149Z,1761336235.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:55.151Z,1761336235.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 60.848228 m, bearing: 67.177135 deg, approach rate: -0.499336 m/s, LOS rate: -0.017355 deg/s, cmd heading: 65.020020 deg, new cmd heading: 65.000761 deg. 2025-10-24T20:03:55.157Z,1761336235.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134477 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:55.333Z,1761336235.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518669 2025-10-24T20:03:55.513Z,1761336235.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425666,-0.902852,0.060560],[0.901214,0.416973,-0.118095],[0.081370,0.104846,0.991154]] 2025-10-24T20:03:55.548Z,1761336235.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:55.551Z,1761336235.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 60.626171 m, bearing: 67.169840 deg, approach rate: -0.556298 m/s, LOS rate: -0.018343 deg/s, cmd heading: 65.000759 deg, new cmd heading: 64.978793 deg. 2025-10-24T20:03:55.552Z,1761336235.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134094 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:55.589Z,1761336235.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774592 2025-10-24T20:03:55.841Z,1761336235.841 [DAT](INFO): DAT read: Rx Time:20:03:54.6790 2025-10-24T20:03:55.841Z,1761336235.841 [DAT](INFO): Rx dataTimestamp_ set to:1761336235.841097 2025-10-24T20:03:55.842Z,1761336235.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027838 2025-10-24T20:03:55.922Z,1761336235.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428210,-0.901747,0.059058],[0.900008,0.419675,-0.117719],[0.081368,0.103561,0.991289]] 2025-10-24T20:03:55.985Z,1761336235.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.79 m. 2025-10-24T20:03:55.992Z,1761336235.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 62.785954 m, nav range: 60.417435 m, bearing: 67.168918 deg, approach rate: -0.477487 m/s, LOS rate: -0.002115 deg/s, cmd heading: 64.978793 deg, new cmd heading: 64.976020 deg. 2025-10-24T20:03:55.993Z,1761336235.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134045 target range: 62.785954 and range: 63.10 m. 2025-10-24T20:03:56.093Z,1761336236.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278693 2025-10-24T20:03:56.350Z,1761336236.350 [DAT](INFO): DAT read: 20:03:54.6790 LVL= 20624, 29985, 20690, 32755, AGC= 66, IDX= 414, 0.22,-2.901, 2.064,-2.929, 2.951, PHS= 0.519,-0.840, 0.401, RAW= 145.5, -1.2, CAL= 149.6, -10.3, ROT= 0.4, 10.3 2025-10-24T20:03:56.351Z,1761336236.351 [DAT](INFO): got valid direction response: 20:03:54.6790 LVL= 20624, 29985, 20690, 32755, AGC= 66, IDX= 414, 0.22,-2.901, 2.064,-2.929, 2.951, PHS= 0.519,-0.840, 0.401, RAW= 145.5, -1.2, CAL= 149.6, -10.3, ROT= 0.4, 10.3 2025-10-24T20:03:56.352Z,1761336236.352 [DAT](INFO): DAT read: Bearing 0.4, 10.3 (Local) 2025-10-24T20:03:56.353Z,1761336236.353 [DAT](INFO): Local bearing/azimuth received: Bearing 0.4, 10.3 (Local) 2025-10-24T20:03:56.354Z,1761336236.354 [DAT](INFO): DAT read: Range 10 to 50 : 61.0 m (Round-trip 81.4 ms) speed 0.5 m/s 2025-10-24T20:03:56.359Z,1761336236.359 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:03:56.363Z,1761336236.363 [DAT](INFO): direction in FSK: [0.983861,0.006869,-0.178802] 2025-10-24T20:03:56.363Z,1761336236.363 [DAT](INFO): publishing direction and range info 2025-10-24T20:03:56.370Z,1761336236.370 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:03:56.371Z,1761336236.371 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:03:56.371Z,1761336236.371 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:03:56.378Z,1761336236.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431566,-0.900298,0.056693],[0.898379,0.423257,-0.117339],[0.081645,0.101572,0.991472]] 2025-10-24T20:03:56.460Z,1761336236.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.000000 m, deltaT: 3.783077 s, deltaX: -2.099998 m, approachRate: -0.555103 m/s, rangeRepo size: 4 2025-10-24T20:03:56.462Z,1761336236.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.696709 m, bearing: 65.783573 deg, lat: 36.779637 deg, lon: -121.859523 deg, deltaT: 3.783077 s, deltaX: -2.089245 m, approachRate: -0.552261 m/s, posRepo size: 4 2025-10-24T20:03:56.463Z,1761336236.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:56.474Z,1761336236.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 60.095028 m, bearing: 66.708476 deg, approach rate: 0.000000 m/s, LOS rate: -0.002115 deg/s, cmd heading: 64.976020 deg, new cmd heading: 64.973044 deg. 2025-10-24T20:03:56.475Z,1761336236.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133994 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:56.597Z,1761336236.597 [DAT](INFO): DAT read: user:242> 2025-10-24T20:03:56.598Z,1761336236.598 [DAT](INFO): DAT read: Tx time:20:03:55.8918 2025-10-24T20:03:56.599Z,1761336236.599 [DAT](INFO): Ping request sent. 2025-10-24T20:03:56.599Z,1761336236.599 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:03:56.600Z,1761336236.600 [DAT](INFO): publishing transmit ping time 2025-10-24T20:03:56.602Z,1761336236.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002666 2025-10-24T20:03:56.758Z,1761336236.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433038,-0.899635,0.055994],[0.897667,0.424794,-0.117237],[0.081685,0.101033,0.991524]] 2025-10-24T20:03:56.849Z,1761336236.849 [DAT](INFO): DAT read: TxSync time:20:03:55.8911 2025-10-24T20:03:56.850Z,1761336236.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250945 2025-10-24T20:03:56.860Z,1761336236.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:56.862Z,1761336236.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:56.869Z,1761336236.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 59.891502 m, bearing: 66.706099 deg, approach rate: -0.499000 m/s, LOS rate: -0.005848 deg/s, cmd heading: 64.973042 deg, new cmd heading: 64.965886 deg. 2025-10-24T20:03:56.870Z,1761336236.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133869 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:57.101Z,1761336237.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502261 2025-10-24T20:03:57.152Z,1761336237.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431259,-0.900943,0.048132],[0.898356,0.423859,-0.115328],[0.083503,0.092975,0.992161]] 2025-10-24T20:03:57.188Z,1761336237.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:57.191Z,1761336237.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 59.735645 m, bearing: 66.704027 deg, approach rate: -0.484941 m/s, LOS rate: -0.006462 deg/s, cmd heading: 64.965884 deg, new cmd heading: 64.959653 deg. 2025-10-24T20:03:57.196Z,1761336237.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133760 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:57.353Z,1761336237.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753982 2025-10-24T20:03:57.548Z,1761336237.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431317,-0.900751,0.051113],[0.898289,0.423488,-0.117198],[0.083920,0.096464,0.991792]] 2025-10-24T20:03:57.578Z,1761336237.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:57.581Z,1761336237.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 59.536732 m, bearing: 66.701358 deg, approach rate: -0.503927 m/s, LOS rate: -0.006786 deg/s, cmd heading: 64.959655 deg, new cmd heading: 64.951619 deg. 2025-10-24T20:03:57.582Z,1761336237.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133620 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:57.605Z,1761336237.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006183 2025-10-24T20:03:57.857Z,1761336237.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258635 2025-10-24T20:03:57.951Z,1761336237.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430950,-0.900813,0.053087],[0.898387,0.422776,-0.119003],[0.084755,0.098977,0.991474]] 2025-10-24T20:03:57.997Z,1761336237.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:58.001Z,1761336238.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 59.335056 m, bearing: 66.705324 deg, approach rate: -0.481546 m/s, LOS rate: 0.009502 deg/s, cmd heading: 64.951616 deg, new cmd heading: 64.963554 deg. 2025-10-24T20:03:58.002Z,1761336238.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133828 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:58.109Z,1761336238.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510123 2025-10-24T20:03:58.355Z,1761336238.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434029,-0.899272,0.054114],[0.896981,0.425765,-0.118953],[0.083931,0.100169,0.991424]] 2025-10-24T20:03:58.361Z,1761336238.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762138 2025-10-24T20:03:58.380Z,1761336238.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:58.382Z,1761336238.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 59.151573 m, bearing: 66.709552 deg, approach rate: -0.479784 m/s, LOS rate: 0.011091 deg/s, cmd heading: 64.963555 deg, new cmd heading: 64.976279 deg. 2025-10-24T20:03:58.383Z,1761336238.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134050 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:58.613Z,1761336238.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014043 2025-10-24T20:03:58.863Z,1761336238.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:03:58.865Z,1761336238.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266102 2025-10-24T20:03:58.869Z,1761336238.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:58.876Z,1761336238.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 58.927067 m, bearing: 66.724236 deg, approach rate: -0.458655 m/s, LOS rate: 0.030112 deg/s, cmd heading: 64.976279 deg, new cmd heading: 65.020498 deg. 2025-10-24T20:03:58.877Z,1761336238.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134822 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:59.117Z,1761336239.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518027 2025-10-24T20:03:59.190Z,1761336239.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439191,-0.896770,0.053993],[0.894509,0.430918,-0.119008],[0.083456,0.100564,0.991424]] 2025-10-24T20:03:59.209Z,1761336239.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:59.211Z,1761336239.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 58.751293 m, bearing: 66.736797 deg, approach rate: -0.517456 m/s, LOS rate: 0.037089 deg/s, cmd heading: 65.020498 deg, new cmd heading: 65.058295 deg. 2025-10-24T20:03:59.213Z,1761336239.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135481 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:59.369Z,1761336239.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770021 2025-10-24T20:03:59.592Z,1761336239.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440501,-0.896131,0.053926],[0.893824,0.432169,-0.119618],[0.083888,0.100892,0.991354]] 2025-10-24T20:03:59.618Z,1761336239.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:03:59.621Z,1761336239.621 [DAT](INFO): DAT read: Rx Time:20:03:58.3747 2025-10-24T20:03:59.622Z,1761336239.622 [DAT](INFO): Rx dataTimestamp_ set to:1761336239.621643 2025-10-24T20:03:59.623Z,1761336239.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024192 2025-10-24T20:03:59.625Z,1761336239.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 58.553062 m, bearing: 66.751340 deg, approach rate: -0.483807 m/s, LOS rate: 0.035615 deg/s, cmd heading: 65.058296 deg, new cmd heading: 65.102074 deg. 2025-10-24T20:03:59.626Z,1761336239.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136245 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:03:59.873Z,1761336239.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274115 2025-10-24T20:04:00.023Z,1761336240.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442470,-0.895202,0.053226],[0.892795,0.434134,-0.120183],[0.084481,0.100698,0.991324]] 2025-10-24T20:04:00.095Z,1761336240.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.70 m. 2025-10-24T20:04:00.102Z,1761336240.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.696709 m, nav range: 58.316071 m, bearing: 66.762828 deg, approach rate: -0.496885 m/s, LOS rate: 0.024184 deg/s, cmd heading: 65.102071 deg, new cmd heading: 65.136675 deg. 2025-10-24T20:04:00.103Z,1761336240.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136849 target range: 60.696709 and range: 61.00 m. 2025-10-24T20:04:00.131Z,1761336240.131 [DAT](INFO): DAT read: 20:03:58.3747 LVL= 16864, 22769, 16114, 24179, AGC= 67, IDX= 417, 0.17, 2.674, 1.132, 2.568, 2.063, PHS= 0.699,-0.884, 0.502, RAW= 143.4, -4.3, CAL= 148.7, -13.4, ROT= 1.3, 13.4 2025-10-24T20:04:00.132Z,1761336240.132 [DAT](INFO): got valid direction response: 20:03:58.3747 LVL= 16864, 22769, 16114, 24179, AGC= 67, IDX= 417, 0.17, 2.674, 1.132, 2.568, 2.063, PHS= 0.699,-0.884, 0.502, RAW= 143.4, -4.3, CAL= 148.7, -13.4, ROT= 1.3, 13.4 2025-10-24T20:04:00.133Z,1761336240.133 [DAT](INFO): DAT read: Bearing 1.3, 13.4 (Local) 2025-10-24T20:04:00.134Z,1761336240.134 [DAT](INFO): Local bearing/azimuth received: Bearing 1.3, 13.4 (Local) 2025-10-24T20:04:00.135Z,1761336240.135 [DAT](INFO): DAT read: Range 10 to 50 : 59.0 m (Round-trip 78.7 ms) speed 0.4 m/s 2025-10-24T20:04:00.136Z,1761336240.136 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:00.137Z,1761336240.137 [DAT](INFO): direction in FSK: [0.972525,0.022070,-0.231748] 2025-10-24T20:04:00.137Z,1761336240.137 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:00.142Z,1761336240.142 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:00.142Z,1761336240.142 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:00.142Z,1761336240.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:00.377Z,1761336240.377 [DAT](INFO): DAT read: user:243> 2025-10-24T20:04:00.378Z,1761336240.378 [DAT](INFO): DAT read: Tx time:20:03:59.6918 2025-10-24T20:04:00.378Z,1761336240.378 [DAT](INFO): Ping request sent. 2025-10-24T20:04:00.378Z,1761336240.378 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:00.378Z,1761336240.378 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:00.379Z,1761336240.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-24T20:04:00.400Z,1761336240.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443535,-0.894697,0.052859],[0.892194,0.435148,-0.120979],[0.085238,0.100819,0.991247]] 2025-10-24T20:04:00.456Z,1761336240.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.000000 m, deltaT: 3.780007 s, deltaX: -2.000000 m, approachRate: -0.529100 m/s, rangeRepo size: 4 2025-10-24T20:04:00.458Z,1761336240.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.705688 m, bearing: 66.196851 deg, lat: 36.779641 deg, lon: -121.859525 deg, deltaT: 3.780007 s, deltaX: -1.991020 m, approachRate: -0.526724 m/s, posRepo size: 4 2025-10-24T20:04:00.459Z,1761336240.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.71 m. 2025-10-24T20:04:00.468Z,1761336240.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.00 m. 2025-10-24T20:04:00.470Z,1761336240.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.705688 m, nav range: 58.256439 m, bearing: 66.269414 deg, approach rate: 0.000000 m/s, LOS rate: 0.024184 deg/s, cmd heading: 65.136673 deg, new cmd heading: 65.162501 deg. 2025-10-24T20:04:00.476Z,1761336240.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137300 target range: 58.705688 and range: 59.00 m. 2025-10-24T20:04:00.629Z,1761336240.629 [DockingStepper](INFO): Changing to mode: 2 2025-10-24T20:04:00.634Z,1761336240.634 [DAT](INFO): DAT read: TxSync time:20:03:59.6911 2025-10-24T20:04:00.635Z,1761336240.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256780 2025-10-24T20:04:00.882Z,1761336240.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503565 2025-10-24T20:04:00.926Z,1761336240.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443241,-0.894845,0.052817],[0.892218,0.434719,-0.122339],[0.086513,0.101350,0.991082]] 2025-10-24T20:04:01.009Z,1761336241.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:01.011Z,1761336241.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.71 m. 2025-10-24T20:04:01.011Z,1761336241.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.00 m. 2025-10-24T20:04:01.014Z,1761336241.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.705688 m, nav range: 57.951443 m, bearing: 66.287400 deg, approach rate: -0.545308 m/s, LOS rate: 0.032326 deg/s, cmd heading: 65.162505 deg, new cmd heading: 65.216745 deg. 2025-10-24T20:04:01.015Z,1761336241.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138247 target range: 58.705688 and range: 59.00 m. 2025-10-24T20:04:01.133Z,1761336241.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754792 2025-10-24T20:04:01.385Z,1761336241.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006646 2025-10-24T20:04:01.399Z,1761336241.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443723,-0.894983,0.045982],[0.891898,0.436030,-0.119981],[0.087332,0.094249,0.991711]] 2025-10-24T20:04:01.435Z,1761336241.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.71 m. 2025-10-24T20:04:01.436Z,1761336241.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.00 m. 2025-10-24T20:04:01.440Z,1761336241.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.705688 m, nav range: 57.732056 m, bearing: 66.300595 deg, approach rate: -0.516588 m/s, LOS rate: 0.031188 deg/s, cmd heading: 65.216743 deg, new cmd heading: 65.256478 deg. 2025-10-24T20:04:01.441Z,1761336241.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138940 target range: 58.705688 and range: 59.00 m. 2025-10-24T20:04:01.637Z,1761336241.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259180 2025-10-24T20:04:01.843Z,1761336241.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442209,-0.895587,0.048738],[0.892478,0.433976,-0.123075],[0.089073,0.097923,0.991200]] 2025-10-24T20:04:01.891Z,1761336241.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512752 2025-10-24T20:04:01.947Z,1761336241.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.71 m. 2025-10-24T20:04:01.947Z,1761336241.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.00 m. 2025-10-24T20:04:01.960Z,1761336241.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.705688 m, nav range: 57.463192 m, bearing: 66.313043 deg, approach rate: -0.525520 m/s, LOS rate: 0.024445 deg/s, cmd heading: 65.256481 deg, new cmd heading: 65.294001 deg. 2025-10-24T20:04:01.961Z,1761336241.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139595 target range: 58.705688 and range: 59.00 m. 2025-10-24T20:04:02.147Z,1761336242.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767991 2025-10-24T20:04:02.397Z,1761336242.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018670 2025-10-24T20:04:02.428Z,1761336242.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.71 m. 2025-10-24T20:04:02.428Z,1761336242.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.00 m. 2025-10-24T20:04:02.431Z,1761336242.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.705688 m, nav range: 57.218273 m, bearing: 66.324485 deg, approach rate: -0.535974 m/s, LOS rate: 0.025146 deg/s, cmd heading: 65.293999 deg, new cmd heading: 65.328471 deg. 2025-10-24T20:04:02.432Z,1761336242.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140197 target range: 58.705688 and range: 59.00 m. 2025-10-24T20:04:02.650Z,1761336242.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272110 2025-10-24T20:04:02.783Z,1761336242.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442338,-0.895144,0.055267],[0.891879,0.432572,-0.132032],[0.094281,0.107694,0.989704]] 2025-10-24T20:04:02.849Z,1761336242.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.71 m. 2025-10-24T20:04:02.857Z,1761336242.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.00 m. 2025-10-24T20:04:02.881Z,1761336242.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.705688 m, nav range: 56.979301 m, bearing: 66.331169 deg, approach rate: -0.546951 m/s, LOS rate: 0.015364 deg/s, cmd heading: 65.328471 deg, new cmd heading: 65.348609 deg. 2025-10-24T20:04:02.882Z,1761336242.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140548 target range: 58.705688 and range: 59.00 m. 2025-10-24T20:04:02.902Z,1761336242.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523353 2025-10-24T20:04:03.153Z,1761336243.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774953 2025-10-24T20:04:03.181Z,1761336243.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442204,-0.895202,0.055402],[0.891673,0.432112,-0.134899],[0.096822,0.109053,0.989309]] 2025-10-24T20:04:03.210Z,1761336243.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:03.212Z,1761336243.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.71 m. 2025-10-24T20:04:03.213Z,1761336243.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.00 m. 2025-10-24T20:04:03.221Z,1761336243.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.705688 m, nav range: 56.769665 m, bearing: 66.337074 deg, approach rate: -0.564098 m/s, LOS rate: 0.015947 deg/s, cmd heading: 65.348607 deg, new cmd heading: 65.366386 deg. 2025-10-24T20:04:03.228Z,1761336243.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140859 target range: 58.705688 and range: 59.00 m. 2025-10-24T20:04:03.405Z,1761336243.405 [DAT](INFO): DAT read: Rx Time:20:04:02.1720 2025-10-24T20:04:03.406Z,1761336243.406 [DAT](INFO): Rx dataTimestamp_ set to:1761336243.405605 2025-10-24T20:04:03.406Z,1761336243.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028252 2025-10-24T20:04:03.577Z,1761336243.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443196,-0.894775,0.054361],[0.890975,0.433014,-0.136608],[0.098695,0.108978,0.989132]] 2025-10-24T20:04:03.606Z,1761336243.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.71 m. 2025-10-24T20:04:03.606Z,1761336243.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.00 m. 2025-10-24T20:04:03.609Z,1761336243.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.705688 m, nav range: 56.543468 m, bearing: 66.343769 deg, approach rate: -0.575756 m/s, LOS rate: 0.017111 deg/s, cmd heading: 65.366386 deg, new cmd heading: 65.386552 deg. 2025-10-24T20:04:03.610Z,1761336243.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141211 target range: 58.705688 and range: 59.00 m. 2025-10-24T20:04:03.657Z,1761336243.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278852 2025-10-24T20:04:03.939Z,1761336243.939 [DAT](INFO): DAT read: 20:04:02.1721 LVL= 17344, 20241, 16514, 27187, AGC= 62, IDX= 407,-0.40,-2.698, 2.196,-2.816, 2.954, PHS= 0.719,-0.711, 0.509, RAW= 142.2, -7.8, CAL= 148.6, -17.1, ROT= 1.4, 17.1 2025-10-24T20:04:03.948Z,1761336243.948 [DAT](INFO): got valid direction response: 20:04:02.1721 LVL= 17344, 20241, 16514, 27187, AGC= 62, IDX= 407,-0.40,-2.698, 2.196,-2.816, 2.954, PHS= 0.719,-0.711, 0.509, RAW= 142.2, -7.8, CAL= 148.6, -17.1, ROT= 1.4, 17.1 2025-10-24T20:04:03.949Z,1761336243.949 [DAT](INFO): DAT read: Bearing 1.4, 17.1 (Local) 2025-10-24T20:04:03.950Z,1761336243.950 [DAT](INFO): Local bearing/azimuth received: Bearing 1.4, 17.1 (Local) 2025-10-24T20:04:03.951Z,1761336243.951 [DAT](INFO): DAT read: Range 10 to 50 : 57.0 m (Round-trip 76.0 ms) speed 0.4 m/s 2025-10-24T20:04:03.952Z,1761336243.952 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:03.953Z,1761336243.953 [DAT](INFO): direction in FSK: [0.955508,0.023352,-0.294040] 2025-10-24T20:04:03.953Z,1761336243.953 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:03.961Z,1761336243.961 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:03.961Z,1761336243.961 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:03.962Z,1761336243.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:03.984Z,1761336243.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442596,-0.895069,0.054415],[0.891011,0.432129,-0.139157],[0.101041,0.110075,0.988774]] 2025-10-24T20:04:04.130Z,1761336244.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.000000 m, deltaT: 3.784253 s, deltaX: -2.000000 m, approachRate: -0.528506 m/s, rangeRepo size: 4 2025-10-24T20:04:04.137Z,1761336244.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.714256 m, bearing: 66.840633 deg, lat: 36.779641 deg, lon: -121.859525 deg, deltaT: 3.784253 s, deltaX: -1.991432 m, approachRate: -0.526242 m/s, posRepo size: 4 2025-10-24T20:04:04.138Z,1761336244.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:04.139Z,1761336244.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:04.144Z,1761336244.144 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:04:04.150Z,1761336244.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 56.194950 m, bearing: 66.319403 deg, approach rate: 0.000000 m/s, LOS rate: 0.017111 deg/s, cmd heading: 65.386555 deg, new cmd heading: 65.413473 deg. 2025-10-24T20:04:04.151Z,1761336244.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141680 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:04.161Z,1761336244.161 [DAT](INFO): DAT read: user:244> 2025-10-24T20:04:04.162Z,1761336244.162 [DAT](INFO): DAT read: Tx time:20:04:03.4919 2025-10-24T20:04:04.162Z,1761336244.162 [DAT](INFO): Ping request sent. 2025-10-24T20:04:04.162Z,1761336244.162 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:04.162Z,1761336244.162 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:04.163Z,1761336244.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-10-24T20:04:04.413Z,1761336244.413 [DAT](INFO): DAT read: TxSync time:20:04:03.4912 2025-10-24T20:04:04.414Z,1761336244.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251910 2025-10-24T20:04:04.422Z,1761336244.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442478,-0.895162,0.053833],[0.890825,0.431842,-0.141218],[0.103166,0.110442,0.988514]] 2025-10-24T20:04:04.482Z,1761336244.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:04.483Z,1761336244.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:04.498Z,1761336244.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 55.998962 m, bearing: 66.319906 deg, approach rate: -0.555937 m/s, LOS rate: 0.001433 deg/s, cmd heading: 65.413473 deg, new cmd heading: 65.414988 deg. 2025-10-24T20:04:04.499Z,1761336244.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141707 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:04.665Z,1761336244.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503002 2025-10-24T20:04:04.823Z,1761336244.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440215,-0.896820,0.043882],[0.891589,0.430821,-0.139509],[0.106209,0.100539,0.989248]] 2025-10-24T20:04:04.878Z,1761336244.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:04.878Z,1761336244.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:04.883Z,1761336244.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 55.754196 m, bearing: 66.310943 deg, approach rate: -0.619168 m/s, LOS rate: -0.022773 deg/s, cmd heading: 65.414989 deg, new cmd heading: 65.387982 deg. 2025-10-24T20:04:04.885Z,1761336244.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141236 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:04.917Z,1761336244.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754669 2025-10-24T20:04:05.148Z,1761336245.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:04:05.169Z,1761336245.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006677 2025-10-24T20:04:05.265Z,1761336245.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:05.267Z,1761336245.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:05.268Z,1761336245.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:05.271Z,1761336245.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 55.530926 m, bearing: 66.302698 deg, approach rate: -0.573200 m/s, LOS rate: -0.021252 deg/s, cmd heading: 65.387983 deg, new cmd heading: 65.363149 deg. 2025-10-24T20:04:05.273Z,1761336245.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140802 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:05.421Z,1761336245.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258628 2025-10-24T20:04:05.630Z,1761336245.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435340,-0.899200,0.043813],[0.893559,0.425655,-0.142723],[0.109687,0.101282,0.988792]] 2025-10-24T20:04:05.649Z,1761336245.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:05.650Z,1761336245.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:05.653Z,1761336245.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 55.298748 m, bearing: 66.292777 deg, approach rate: -0.607693 m/s, LOS rate: -0.026077 deg/s, cmd heading: 65.363148 deg, new cmd heading: 65.333259 deg. 2025-10-24T20:04:05.654Z,1761336245.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140280 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:05.673Z,1761336245.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511172 2025-10-24T20:04:05.926Z,1761336245.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764280 2025-10-24T20:04:06.079Z,1761336246.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:06.080Z,1761336246.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:06.083Z,1761336246.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 55.047203 m, bearing: 66.279149 deg, approach rate: -0.584996 m/s, LOS rate: -0.031839 deg/s, cmd heading: 65.333259 deg, new cmd heading: 65.292187 deg. 2025-10-24T20:04:06.084Z,1761336246.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.139564 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:06.180Z,1761336246.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017467 2025-10-24T20:04:06.433Z,1761336246.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270762 2025-10-24T20:04:06.461Z,1761336246.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:06.461Z,1761336246.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:06.464Z,1761336246.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 54.823154 m, bearing: 66.266905 deg, approach rate: -0.586856 m/s, LOS rate: -0.032202 deg/s, cmd heading: 65.292189 deg, new cmd heading: 65.255307 deg. 2025-10-24T20:04:06.465Z,1761336246.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.138920 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:06.685Z,1761336246.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522957 2025-10-24T20:04:06.850Z,1761336246.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425619,-0.903354,0.052910],[0.897701,0.414148,-0.150381],[0.113935,0.111503,0.987211]] 2025-10-24T20:04:06.924Z,1761336246.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:06.925Z,1761336246.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:06.927Z,1761336246.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 54.566986 m, bearing: 66.240817 deg, approach rate: -0.555945 m/s, LOS rate: -0.056881 deg/s, cmd heading: 65.255306 deg, new cmd heading: 65.176678 deg. 2025-10-24T20:04:06.928Z,1761336246.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137548 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:06.938Z,1761336246.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775597 2025-10-24T20:04:07.189Z,1761336247.189 [DAT](INFO): DAT read: Rx Time:20:04:05.9695 2025-10-24T20:04:07.190Z,1761336247.190 [DAT](INFO): Rx dataTimestamp_ set to:1761336247.189673 2025-10-24T20:04:07.190Z,1761336247.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028428 2025-10-24T20:04:07.235Z,1761336247.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423213,-0.904514,0.052392],[0.898623,0.411672,-0.151667],[0.115617,0.111268,0.987042]] 2025-10-24T20:04:07.292Z,1761336247.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:07.294Z,1761336247.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:07.294Z,1761336247.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:07.298Z,1761336247.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 54.342117 m, bearing: 66.217089 deg, approach rate: -0.604088 m/s, LOS rate: -0.064009 deg/s, cmd heading: 65.176677 deg, new cmd heading: 65.105196 deg. 2025-10-24T20:04:07.298Z,1761336247.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.136300 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:07.441Z,1761336247.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278759 2025-10-24T20:04:07.683Z,1761336247.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.71 m. 2025-10-24T20:04:07.683Z,1761336247.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.00 m. 2025-10-24T20:04:07.686Z,1761336247.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.714256 m, nav range: 54.111370 m, bearing: 66.192534 deg, approach rate: -0.593803 m/s, LOS rate: -0.063460 deg/s, cmd heading: 65.105199 deg, new cmd heading: 65.031220 deg. 2025-10-24T20:04:07.687Z,1761336247.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135009 target range: 56.714256 and range: 57.00 m. 2025-10-24T20:04:07.699Z,1761336247.699 [DAT](INFO): DAT read: 20:04:05.9695 LVL= 13296, 18929, 12210, 21043, AGC= 61, IDX= 412,-0.39, 0.872,-0.477, 0.912, 0.276, PHS= 0.683,-0.707, 0.633, RAW= 148.2, -9.0, CAL= 154.4, -17.3, ROT= 355.6, 17.3 2025-10-24T20:04:07.700Z,1761336247.700 [DAT](INFO): got valid direction response: 20:04:05.9695 LVL= 13296, 18929, 12210, 21043, AGC= 61, IDX= 412,-0.39, 0.872,-0.477, 0.912, 0.276, PHS= 0.683,-0.707, 0.633, RAW= 148.2, -9.0, CAL= 154.4, -17.3, ROT= 355.6, 17.3 2025-10-24T20:04:07.701Z,1761336247.701 [DAT](INFO): DAT read: Bearing 355.6, 17.3 (Local) 2025-10-24T20:04:07.701Z,1761336247.701 [DAT](INFO): Local bearing/azimuth received: Bearing 355.6, 17.3 (Local) 2025-10-24T20:04:07.702Z,1761336247.702 [DAT](INFO): DAT read: Range 10 to 50 : 55.0 m (Round-trip 73.4 ms) speed 0.7 m/s 2025-10-24T20:04:07.703Z,1761336247.703 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:07.705Z,1761336247.705 [DAT](INFO): direction in FSK: [0.951947,-0.073248,-0.297375] 2025-10-24T20:04:07.705Z,1761336247.705 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:07.725Z,1761336247.725 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:07.725Z,1761336247.725 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:07.725Z,1761336247.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:07.945Z,1761336247.945 [DAT](INFO): DAT read: user:245> 2025-10-24T20:04:07.946Z,1761336247.946 [DAT](INFO): DAT read: Tx time:20:04:07.2419 2025-10-24T20:04:07.946Z,1761336247.946 [DAT](INFO): Ping request sent. 2025-10-24T20:04:07.946Z,1761336247.946 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:07.946Z,1761336247.946 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:07.947Z,1761336247.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761 2025-10-24T20:04:08.043Z,1761336248.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417908,-0.906942,0.052998],[0.900756,0.406049,-0.154152],[0.118287,0.112160,0.986625]] 2025-10-24T20:04:08.146Z,1761336248.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.000000 m, deltaT: 3.783973 s, deltaX: -2.000000 m, approachRate: -0.528545 m/s, rangeRepo size: 4 2025-10-24T20:04:08.153Z,1761336248.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.723396 m, bearing: 62.823693 deg, lat: 36.779641 deg, lon: -121.859527 deg, deltaT: 3.783973 s, deltaX: -1.990860 m, approachRate: -0.526130 m/s, posRepo size: 4 2025-10-24T20:04:08.153Z,1761336248.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.72 m. 2025-10-24T20:04:08.154Z,1761336248.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.00 m. 2025-10-24T20:04:08.162Z,1761336248.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.723396 m, nav range: 53.749908 m, bearing: 66.114818 deg, approach rate: 0.000000 m/s, LOS rate: -0.063460 deg/s, cmd heading: 65.031221 deg, new cmd heading: 64.943116 deg. 2025-10-24T20:04:08.163Z,1761336248.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.133471 target range: 54.723396 and range: 55.00 m. 2025-10-24T20:04:08.199Z,1761336248.199 [DAT](INFO): DAT read: TxSync time:20:04:07.2412 2025-10-24T20:04:08.200Z,1761336248.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254188 2025-10-24T20:04:08.449Z,1761336248.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502706 2025-10-24T20:04:08.478Z,1761336248.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.72 m. 2025-10-24T20:04:08.479Z,1761336248.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.00 m. 2025-10-24T20:04:08.482Z,1761336248.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.723396 m, nav range: 53.545361 m, bearing: 66.093748 deg, approach rate: -0.614147 m/s, LOS rate: -0.063503 deg/s, cmd heading: 64.943119 deg, new cmd heading: 64.879668 deg. 2025-10-24T20:04:08.483Z,1761336248.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.132364 target range: 54.723396 and range: 55.00 m. 2025-10-24T20:04:08.701Z,1761336248.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754867 2025-10-24T20:04:08.879Z,1761336248.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411375,-0.909975,0.052110],[0.903289,0.399377,-0.156739],[0.121817,0.111549,0.986264]] 2025-10-24T20:04:08.956Z,1761336248.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009297 2025-10-24T20:04:08.962Z,1761336248.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.72 m. 2025-10-24T20:04:08.963Z,1761336248.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.00 m. 2025-10-24T20:04:08.979Z,1761336248.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.723396 m, nav range: 53.292889 m, bearing: 66.064924 deg, approach rate: -0.522922 m/s, LOS rate: -0.059983 deg/s, cmd heading: 64.879666 deg, new cmd heading: 64.792785 deg. 2025-10-24T20:04:08.989Z,1761336248.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130847 target range: 54.723396 and range: 55.00 m. 2025-10-24T20:04:09.205Z,1761336249.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259217 2025-10-24T20:04:09.257Z,1761336249.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406987,-0.911811,0.054424],[0.904977,0.394414,-0.159543],[0.124007,0.114185,0.985690]] 2025-10-24T20:04:09.285Z,1761336249.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.72 m. 2025-10-24T20:04:09.285Z,1761336249.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.00 m. 2025-10-24T20:04:09.288Z,1761336249.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.723396 m, nav range: 53.098106 m, bearing: 66.041483 deg, approach rate: -0.602530 m/s, LOS rate: -0.072775 deg/s, cmd heading: 64.792786 deg, new cmd heading: 64.722207 deg. 2025-10-24T20:04:09.289Z,1761336249.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129616 target range: 54.723396 and range: 55.00 m. 2025-10-24T20:04:09.457Z,1761336249.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510786 2025-10-24T20:04:09.662Z,1761336249.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403563,-0.913229,0.056132],[0.906370,0.390642,-0.160912],[0.125022,0.115814,0.985371]] 2025-10-24T20:04:09.684Z,1761336249.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:09.686Z,1761336249.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.72 m. 2025-10-24T20:04:09.686Z,1761336249.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.00 m. 2025-10-24T20:04:09.690Z,1761336249.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.723396 m, nav range: 52.876049 m, bearing: 66.013637 deg, approach rate: -0.553091 m/s, LOS rate: -0.069650 deg/s, cmd heading: 64.722210 deg, new cmd heading: 64.638320 deg. 2025-10-24T20:04:09.691Z,1761336249.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.128152 target range: 54.723396 and range: 55.00 m. 2025-10-24T20:04:09.726Z,1761336249.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779771 2025-10-24T20:04:09.977Z,1761336249.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030755 2025-10-24T20:04:10.063Z,1761336250.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402741,-0.913664,0.054942],[0.906664,0.389983,-0.160850],[0.125536,0.114595,0.985448]] 2025-10-24T20:04:10.126Z,1761336250.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.72 m. 2025-10-24T20:04:10.127Z,1761336250.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.00 m. 2025-10-24T20:04:10.154Z,1761336250.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.723396 m, nav range: 52.640728 m, bearing: 65.986498 deg, approach rate: -0.534590 m/s, LOS rate: -0.061928 deg/s, cmd heading: 64.638322 deg, new cmd heading: 64.556541 deg. 2025-10-24T20:04:10.155Z,1761336250.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.126724 target range: 54.723396 and range: 55.00 m. 2025-10-24T20:04:10.229Z,1761336250.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282857 2025-10-24T20:04:10.481Z,1761336250.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.534648 2025-10-24T20:04:10.599Z,1761336250.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400717,-0.914577,0.054549],[0.907337,0.387874,-0.162156],[0.127146,0.114473,0.985256]] 2025-10-24T20:04:10.629Z,1761336250.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.72 m. 2025-10-24T20:04:10.629Z,1761336250.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.00 m. 2025-10-24T20:04:10.632Z,1761336250.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.723396 m, nav range: 52.372532 m, bearing: 65.954628 deg, approach rate: -0.533712 m/s, LOS rate: -0.063747 deg/s, cmd heading: 64.556544 deg, new cmd heading: 64.460443 deg. 2025-10-24T20:04:10.633Z,1761336250.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125047 target range: 54.723396 and range: 55.00 m. 2025-10-24T20:04:10.733Z,1761336250.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787277 2025-10-24T20:04:10.985Z,1761336250.985 [DAT](INFO): DAT read: Rx Time:20:04:09.7166 2025-10-24T20:04:10.985Z,1761336250.985 [DAT](INFO): Rx dataTimestamp_ set to:1761336250.985054 2025-10-24T20:04:10.986Z,1761336250.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039796 2025-10-24T20:04:11.033Z,1761336251.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400040,-0.915018,0.052066],[0.907552,0.387577,-0.161659],[0.127741,0.111922,0.985472]] 2025-10-24T20:04:11.079Z,1761336251.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.72 m. 2025-10-24T20:04:11.080Z,1761336251.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.00 m. 2025-10-24T20:04:11.083Z,1761336251.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.723396 m, nav range: 52.135365 m, bearing: 65.923690 deg, approach rate: -0.526365 m/s, LOS rate: -0.068974 deg/s, cmd heading: 64.460443 deg, new cmd heading: 64.367209 deg. 2025-10-24T20:04:11.084Z,1761336251.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123420 target range: 54.723396 and range: 55.00 m. 2025-10-24T20:04:11.242Z,1761336251.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296018 2025-10-24T20:04:11.498Z,1761336251.498 [DAT](INFO): DAT read: 20:04:09.7166 LVL= 16784, 20561, 14498, 22915, AGC= 61, IDX= 414,-0.05, 2.346, 1.000, 2.469, 1.790, PHS= 0.643,-0.744, 0.675, RAW= 151.1, -8.2, CAL= 156.9, -16.2, ROT= 353.1, 16.2 2025-10-24T20:04:11.499Z,1761336251.499 [DAT](INFO): got valid direction response: 20:04:09.7166 LVL= 16784, 20561, 14498, 22915, AGC= 61, IDX= 414,-0.05, 2.346, 1.000, 2.469, 1.790, PHS= 0.643,-0.744, 0.675, RAW= 151.1, -8.2, CAL= 156.9, -16.2, ROT= 353.1, 16.2 2025-10-24T20:04:11.506Z,1761336251.506 [DAT](INFO): DAT read: Bearing 353.1, 16.2 (Local) 2025-10-24T20:04:11.506Z,1761336251.506 [DAT](INFO): Local bearing/azimuth received: Bearing 353.1, 16.2 (Local) 2025-10-24T20:04:11.508Z,1761336251.508 [DAT](INFO): DAT read: Range 10 to 50 : 52.8 m (Round-trip 70.5 ms) speed 0.7 m/s 2025-10-24T20:04:11.508Z,1761336251.508 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:11.509Z,1761336251.509 [DAT](INFO): direction in FSK: [0.953339,-0.115366,-0.278991] 2025-10-24T20:04:11.509Z,1761336251.509 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:11.537Z,1761336251.537 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:11.537Z,1761336251.537 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:11.537Z,1761336251.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:11.562Z,1761336251.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398751,-0.915824,0.047575],[0.907986,0.386994,-0.160614],[0.128683,0.107243,0.985870]] 2025-10-24T20:04:11.627Z,1761336251.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.799999 m, deltaT: 3.799544 s, deltaX: -2.200001 m, approachRate: -0.579017 m/s, rangeRepo size: 4 2025-10-24T20:04:11.641Z,1761336251.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.533150 m, bearing: 61.375150 deg, lat: 36.779646 deg, lon: -121.859528 deg, deltaT: 3.799544 s, deltaX: -2.190247 m, approachRate: -0.576450 m/s, posRepo size: 4 2025-10-24T20:04:11.642Z,1761336251.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:11.642Z,1761336251.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.80 m. 2025-10-24T20:04:11.650Z,1761336251.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 51.921162 m, bearing: 65.303229 deg, approach rate: 0.000000 m/s, LOS rate: -0.068974 deg/s, cmd heading: 64.367211 deg, new cmd heading: 64.255344 deg. 2025-10-24T20:04:11.651Z,1761336251.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.121467 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:11.745Z,1761336251.745 [DAT](INFO): DAT read: user:246> 2025-10-24T20:04:11.746Z,1761336251.746 [DAT](INFO): DAT read: Tx time:20:04:11.0919 2025-10-24T20:04:11.746Z,1761336251.746 [DAT](INFO): Ping request sent. 2025-10-24T20:04:11.746Z,1761336251.746 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:11.746Z,1761336251.746 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:11.747Z,1761336251.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000790 2025-10-24T20:04:11.949Z,1761336251.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398164,-0.916218,0.044830],[0.908182,0.386851,-0.159852],[0.129117,0.104361,0.986122]] 2025-10-24T20:04:11.997Z,1761336251.997 [DAT](INFO): DAT read: TxSync time:20:04:11.0912 2025-10-24T20:04:11.998Z,1761336251.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251741 2025-10-24T20:04:12.021Z,1761336252.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:12.029Z,1761336252.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:12.030Z,1761336252.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 52.80 m. 2025-10-24T20:04:12.030Z,1761336252.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 52.80 m. 2025-10-24T20:04:12.030Z,1761336252.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-24T20:04:12.045Z,1761336252.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 51.709538 m, bearing: 65.266601 deg, approach rate: -0.517073 m/s, LOS rate: -0.089861 deg/s, cmd heading: 64.255346 deg, new cmd heading: 64.145013 deg. 2025-10-24T20:04:12.046Z,1761336252.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.119542 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:12.252Z,1761336252.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505648 2025-10-24T20:04:12.359Z,1761336252.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395797,-0.917289,0.043871],[0.909035,0.384558,-0.160529],[0.130381,0.103417,0.986056]] 2025-10-24T20:04:12.385Z,1761336252.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:12.389Z,1761336252.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 51.513809 m, bearing: 65.231880 deg, approach rate: -0.549700 m/s, LOS rate: -0.097885 deg/s, cmd heading: 64.145011 deg, new cmd heading: 64.040452 deg. 2025-10-24T20:04:12.390Z,1761336252.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.117717 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:12.501Z,1761336252.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754838 2025-10-24T20:04:12.753Z,1761336252.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006621 2025-10-24T20:04:12.756Z,1761336252.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396412,-0.916824,0.047871],[0.908704,0.384403,-0.162765],[0.130825,0.108023,0.985503]] 2025-10-24T20:04:12.776Z,1761336252.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:12.779Z,1761336252.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 51.312298 m, bearing: 65.196023 deg, approach rate: -0.516251 m/s, LOS rate: -0.092221 deg/s, cmd heading: 64.040455 deg, new cmd heading: 63.932464 deg. 2025-10-24T20:04:12.779Z,1761336252.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.115832 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:13.007Z,1761336253.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261305 2025-10-24T20:04:13.159Z,1761336253.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395471,-0.917426,0.043949],[0.908920,0.384022,-0.162458],[0.132166,0.104193,0.985736]] 2025-10-24T20:04:13.179Z,1761336253.179 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412053583,3.7, 0.0,1496.1, 0 2025-10-24T20:04:13.197Z,1761336253.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:13.199Z,1761336253.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 51.094475 m, bearing: 65.156686 deg, approach rate: -0.518252 m/s, LOS rate: -0.093991 deg/s, cmd heading: 63.932463 deg, new cmd heading: 63.813949 deg. 2025-10-24T20:04:13.201Z,1761336253.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113764 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:13.257Z,1761336253.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511325 2025-10-24T20:04:13.509Z,1761336253.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675 2025-10-24T20:04:13.559Z,1761336253.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397466,-0.916735,0.040221],[0.908099,0.386669,-0.160762],[0.131824,0.100422,0.986173]] 2025-10-24T20:04:13.585Z,1761336253.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:13.589Z,1761336253.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 50.892475 m, bearing: 65.120402 deg, approach rate: -0.518693 m/s, LOS rate: -0.093540 deg/s, cmd heading: 63.813952 deg, new cmd heading: 63.704667 deg. 2025-10-24T20:04:13.590Z,1761336253.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.111856 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:13.761Z,1761336253.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014756 2025-10-24T20:04:13.972Z,1761336253.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398529,-0.916347,0.038504],[0.907663,0.388032,-0.159933],[0.131614,0.098686,0.986377]] 2025-10-24T20:04:14.013Z,1761336254.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902 2025-10-24T20:04:14.027Z,1761336254.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:14.030Z,1761336254.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:14.033Z,1761336254.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 50.669056 m, bearing: 65.081656 deg, approach rate: -0.502812 m/s, LOS rate: -0.087585 deg/s, cmd heading: 63.704669 deg, new cmd heading: 63.587917 deg. 2025-10-24T20:04:14.034Z,1761336254.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109819 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:14.265Z,1761336254.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518730 2025-10-24T20:04:14.369Z,1761336254.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400101,-0.915718,0.037152],[0.906987,0.389818,-0.159424],[0.131505,0.097482,0.986511]] 2025-10-24T20:04:14.389Z,1761336254.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:14.392Z,1761336254.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 50.484615 m, bearing: 65.049773 deg, approach rate: -0.513435 m/s, LOS rate: -0.089077 deg/s, cmd heading: 63.587921 deg, new cmd heading: 63.491924 deg. 2025-10-24T20:04:14.393Z,1761336254.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108143 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:14.517Z,1761336254.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770815 2025-10-24T20:04:14.769Z,1761336254.769 [DAT](INFO): DAT read: Rx Time:20:04:13.5636 2025-10-24T20:04:14.769Z,1761336254.769 [DAT](INFO): Rx dataTimestamp_ set to:1761336254.769145 2025-10-24T20:04:14.770Z,1761336254.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023953 2025-10-24T20:04:14.775Z,1761336254.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400818,-0.915425,0.036634],[0.906671,0.390610,-0.159284],[0.131503,0.097059,0.986553]] 2025-10-24T20:04:14.793Z,1761336254.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.53 m. 2025-10-24T20:04:14.796Z,1761336254.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.533150 m, nav range: 50.279106 m, bearing: 65.014159 deg, approach rate: -0.507983 m/s, LOS rate: -0.088392 deg/s, cmd heading: 63.491922 deg, new cmd heading: 63.384643 deg. 2025-10-24T20:04:14.797Z,1761336254.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.106271 target range: 52.533150 and range: 52.80 m. 2025-10-24T20:04:15.021Z,1761336255.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274646 2025-10-24T20:04:15.225Z,1761336255.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401745,-0.915045,0.035958],[0.906241,0.391621,-0.159250],[0.131639,0.096565,0.986583]] 2025-10-24T20:04:15.280Z,1761336255.280 [DAT](INFO): DAT read: 20:04:13.5636 LVL= 17904, 23889, 16098, 26515, AGC= 64, IDX= 416, 0.27, 1.393, 0.031, 1.513, 0.792, PHS= 0.689,-0.714, 0.717, RAW= 151.0, -9.8, CAL= 157.2, -17.6, ROT= 352.8, 17.6 2025-10-24T20:04:15.281Z,1761336255.281 [DAT](INFO): got valid direction response: 20:04:13.5636 LVL= 17904, 23889, 16098, 26515, AGC= 64, IDX= 416, 0.27, 1.393, 0.031, 1.513, 0.792, PHS= 0.689,-0.714, 0.717, RAW= 151.0, -9.8, CAL= 157.2, -17.6, ROT= 352.8, 17.6 2025-10-24T20:04:15.282Z,1761336255.282 [DAT](INFO): DAT read: Bearing 352.8, 17.6 (Local) 2025-10-24T20:04:15.282Z,1761336255.282 [DAT](INFO): Local bearing/azimuth received: Bearing 352.8, 17.6 (Local) 2025-10-24T20:04:15.284Z,1761336255.284 [DAT](INFO): DAT read: Range 10 to 50 : 50.6 m (Round-trip 67.5 ms) speed 0.4 m/s 2025-10-24T20:04:15.285Z,1761336255.285 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:15.286Z,1761336255.286 [DAT](INFO): direction in FSK: [0.945674,-0.119467,-0.302370] 2025-10-24T20:04:15.286Z,1761336255.286 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:15.291Z,1761336255.291 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:15.291Z,1761336255.291 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:15.291Z,1761336255.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:15.410Z,1761336255.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.599998 m, deltaT: 3.781879 s, deltaX: -2.200001 m, approachRate: -0.581722 m/s, rangeRepo size: 4 2025-10-24T20:04:15.421Z,1761336255.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.339737 m, bearing: 60.869462 deg, lat: 36.779666 deg, lon: -121.859542 deg, deltaT: 3.781879 s, deltaX: -2.193413 m, approachRate: -0.579980 m/s, posRepo size: 4 2025-10-24T20:04:15.422Z,1761336255.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:15.433Z,1761336255.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 49.942490 m, bearing: 62.030090 deg, approach rate: 0.000000 m/s, LOS rate: -0.088392 deg/s, cmd heading: 63.384640 deg, new cmd heading: 63.221244 deg. 2025-10-24T20:04:15.434Z,1761336255.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.103419 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:15.525Z,1761336255.525 [DAT](INFO): DAT read: user:247> 2025-10-24T20:04:15.526Z,1761336255.526 [DAT](INFO): DAT read: Tx time:20:04:14.8419 2025-10-24T20:04:15.526Z,1761336255.526 [DAT](INFO): Ping request sent. 2025-10-24T20:04:15.526Z,1761336255.526 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:15.526Z,1761336255.526 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:15.527Z,1761336255.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000782 2025-10-24T20:04:15.777Z,1761336255.777 [DAT](INFO): DAT read: TxSync time:20:04:14.8412 2025-10-24T20:04:15.778Z,1761336255.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251937 2025-10-24T20:04:15.821Z,1761336255.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:15.833Z,1761336255.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 49.726944 m, bearing: 61.982015 deg, approach rate: -0.524464 m/s, LOS rate: -0.117484 deg/s, cmd heading: 63.221242 deg, new cmd heading: 63.076390 deg. 2025-10-24T20:04:15.834Z,1761336255.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100891 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:16.030Z,1761336256.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504005 2025-10-24T20:04:16.119Z,1761336256.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402653,-0.915045,0.023718],[0.905765,0.394561,-0.154634],[0.132139,0.083746,0.987687]] 2025-10-24T20:04:16.176Z,1761336256.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:16.178Z,1761336256.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:16.181Z,1761336256.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 49.542534 m, bearing: 61.938210 deg, approach rate: -0.515861 m/s, LOS rate: -0.122994 deg/s, cmd heading: 63.076387 deg, new cmd heading: 62.944484 deg. 2025-10-24T20:04:16.182Z,1761336256.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098588 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:16.282Z,1761336256.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755445 2025-10-24T20:04:16.523Z,1761336256.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403082,-0.914791,0.026116],[0.905574,0.394575,-0.155714],[0.132141,0.086416,0.987457]] 2025-10-24T20:04:16.533Z,1761336256.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006788 2025-10-24T20:04:16.563Z,1761336256.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:16.566Z,1761336256.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 49.361084 m, bearing: 61.894895 deg, approach rate: -0.470919 m/s, LOS rate: -0.112829 deg/s, cmd heading: 62.944483 deg, new cmd heading: 62.814060 deg. 2025-10-24T20:04:16.567Z,1761336256.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096312 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:16.785Z,1761336256.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259074 2025-10-24T20:04:16.989Z,1761336256.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402390,-0.915012,0.028909],[0.905915,0.393441,-0.156597],[0.131914,0.089202,0.987239]] 2025-10-24T20:04:17.037Z,1761336257.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510842 2025-10-24T20:04:17.049Z,1761336257.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:17.052Z,1761336257.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 49.114197 m, bearing: 61.839439 deg, approach rate: -0.508215 m/s, LOS rate: -0.114729 deg/s, cmd heading: 62.814060 deg, new cmd heading: 62.646856 deg. 2025-10-24T20:04:17.053Z,1761336257.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.093394 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:17.289Z,1761336257.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763241 2025-10-24T20:04:17.343Z,1761336257.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404899,-0.913846,0.030685],[0.905022,0.395754,-0.155929],[0.130352,0.090906,0.987292]] 2025-10-24T20:04:17.362Z,1761336257.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:17.365Z,1761336257.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 48.957241 m, bearing: 61.804404 deg, approach rate: -0.501828 m/s, LOS rate: -0.112376 deg/s, cmd heading: 62.646857 deg, new cmd heading: 62.541415 deg. 2025-10-24T20:04:17.366Z,1761336257.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.091554 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:17.541Z,1761336257.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014729 2025-10-24T20:04:17.741Z,1761336257.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407213,-0.912780,0.031780],[0.904170,0.397967,-0.155239],[0.129051,0.091949,0.987366]] 2025-10-24T20:04:17.761Z,1761336257.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:17.764Z,1761336257.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 48.760315 m, bearing: 61.760721 deg, approach rate: -0.493234 m/s, LOS rate: -0.109852 deg/s, cmd heading: 62.541413 deg, new cmd heading: 62.409836 deg. 2025-10-24T20:04:17.765Z,1761336257.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089257 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:17.793Z,1761336257.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266925 2025-10-24T20:04:18.045Z,1761336258.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518661 2025-10-24T20:04:18.145Z,1761336258.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410923,-0.911174,0.030062],[0.902701,0.402044,-0.153270],[0.127570,0.090119,0.987727]] 2025-10-24T20:04:18.194Z,1761336258.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:18.197Z,1761336258.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:18.199Z,1761336258.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 48.546429 m, bearing: 61.716310 deg, approach rate: -0.491090 m/s, LOS rate: -0.102420 deg/s, cmd heading: 62.409836 deg, new cmd heading: 62.276014 deg. 2025-10-24T20:04:18.201Z,1761336258.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086921 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:18.297Z,1761336258.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770909 2025-10-24T20:04:18.543Z,1761336258.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414065,-0.909804,0.028414],[0.901368,0.405476,-0.152066],[0.126829,0.088577,0.987962]] 2025-10-24T20:04:18.549Z,1761336258.549 [DAT](INFO): DAT read: Rx Time:20:04:17.3114 2025-10-24T20:04:18.549Z,1761336258.549 [DAT](INFO): Rx dataTimestamp_ set to:1761336258.549168 2025-10-24T20:04:18.550Z,1761336258.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023925 2025-10-24T20:04:18.566Z,1761336258.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.34 m. 2025-10-24T20:04:18.569Z,1761336258.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.339737 m, nav range: 48.364319 m, bearing: 61.678947 deg, approach rate: -0.492904 m/s, LOS rate: -0.101508 deg/s, cmd heading: 62.276012 deg, new cmd heading: 62.163501 deg. 2025-10-24T20:04:18.570Z,1761336258.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.084958 target range: 50.339737 and range: 50.60 m. 2025-10-24T20:04:18.801Z,1761336258.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275034 2025-10-24T20:04:19.005Z,1761336259.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417660,-0.908201,0.027030],[0.899828,0.409318,-0.150893],[0.125977,0.087344,0.988181]] 2025-10-24T20:04:19.059Z,1761336259.059 [DAT](INFO): DAT read: 20:04:17.3114 LVL= 23024, 30913, 19954, 32755, AGC= 65, IDX= 424,-0.30,-1.796,-3.097,-1.670,-2.378, PHS= 0.670,-0.672, 0.705, RAW= 151.3, -10.4, CAL= 157.7, -18.1, ROT= 352.3, 18.1 2025-10-24T20:04:19.066Z,1761336259.066 [DAT](INFO): got valid direction response: 20:04:17.3114 LVL= 23024, 30913, 19954, 32755, AGC= 65, IDX= 424,-0.30,-1.796,-3.097,-1.670,-2.378, PHS= 0.670,-0.672, 0.705, RAW= 151.3, -10.4, CAL= 157.7, -18.1, ROT= 352.3, 18.1 2025-10-24T20:04:19.067Z,1761336259.067 [DAT](INFO): DAT read: Bearing 352.3, 18.1 (Local) 2025-10-24T20:04:19.067Z,1761336259.067 [DAT](INFO): Local bearing/azimuth received: Bearing 352.3, 18.1 (Local) 2025-10-24T20:04:19.069Z,1761336259.069 [DAT](INFO): DAT read: Range 10 to 50 : 48.9 m (Round-trip 65.2 ms) speed 0.4 m/s 2025-10-24T20:04:19.069Z,1761336259.069 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:19.070Z,1761336259.070 [DAT](INFO): direction in FSK: [0.941945,-0.127356,-0.310676] 2025-10-24T20:04:19.071Z,1761336259.071 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:19.113Z,1761336259.113 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:19.114Z,1761336259.114 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:19.114Z,1761336259.114 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:19.218Z,1761336259.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 3.778732 s, deltaX: -1.699997 m, approachRate: -0.449886 m/s, rangeRepo size: 4 2025-10-24T20:04:19.237Z,1761336259.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.644157 m, bearing: 59.273020 deg, lat: 36.779672 deg, lon: -121.859547 deg, deltaT: 3.778732 s, deltaX: -1.695580 m, approachRate: -0.448717 m/s, posRepo size: 4 2025-10-24T20:04:19.239Z,1761336259.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:19.246Z,1761336259.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 47.923149 m, bearing: 60.636968 deg, approach rate: 0.000000 m/s, LOS rate: -0.101508 deg/s, cmd heading: 62.163498 deg, new cmd heading: 61.967043 deg. 2025-10-24T20:04:19.246Z,1761336259.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.081529 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:19.306Z,1761336259.306 [DAT](INFO): DAT read: user:248> 2025-10-24T20:04:19.307Z,1761336259.307 [DAT](INFO): DAT read: Tx time:20:04:18.6420 2025-10-24T20:04:19.308Z,1761336259.308 [DAT](INFO): Ping request sent. 2025-10-24T20:04:19.308Z,1761336259.308 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:19.308Z,1761336259.308 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:19.309Z,1761336259.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001491 2025-10-24T20:04:19.524Z,1761336259.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.420618,-0.906859,0.026218],[0.898516,0.412403,-0.150307],[0.125495,0.086779,0.988292]] 2025-10-24T20:04:19.557Z,1761336259.557 [DAT](INFO): DAT read: TxSync time:20:04:18.6413 2025-10-24T20:04:19.558Z,1761336259.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250256 2025-10-24T20:04:19.577Z,1761336259.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:19.579Z,1761336259.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 47.749737 m, bearing: 60.600360 deg, approach rate: -0.474871 m/s, LOS rate: -0.100612 deg/s, cmd heading: 61.967042 deg, new cmd heading: 61.856818 deg. 2025-10-24T20:04:19.587Z,1761336259.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.079605 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:19.809Z,1761336259.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501324 2025-10-24T20:04:19.953Z,1761336259.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:19.957Z,1761336259.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 47.550228 m, bearing: 60.557907 deg, approach rate: -0.530198 m/s, LOS rate: -0.113293 deg/s, cmd heading: 61.856816 deg, new cmd heading: 61.728922 deg. 2025-10-24T20:04:19.958Z,1761336259.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077373 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:20.062Z,1761336260.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754317 2025-10-24T20:04:20.313Z,1761336260.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005111 2025-10-24T20:04:20.383Z,1761336260.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:20.386Z,1761336260.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:20.390Z,1761336260.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 47.335678 m, bearing: 60.512228 deg, approach rate: -0.495507 m/s, LOS rate: -0.105975 deg/s, cmd heading: 61.728921 deg, new cmd heading: 61.591262 deg. 2025-10-24T20:04:20.391Z,1761336260.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.074970 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:20.565Z,1761336260.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257032 2025-10-24T20:04:20.722Z,1761336260.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429274,-0.902737,0.028086],[0.894283,0.420490,-0.153118],[0.126415,0.090847,0.987809]] 2025-10-24T20:04:20.743Z,1761336260.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:20.746Z,1761336260.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 47.158661 m, bearing: 60.476386 deg, approach rate: -0.495202 m/s, LOS rate: -0.100642 deg/s, cmd heading: 61.591265 deg, new cmd heading: 61.483337 deg. 2025-10-24T20:04:20.747Z,1761336260.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.073087 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:20.818Z,1761336260.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510226 2025-10-24T20:04:21.069Z,1761336261.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761135 2025-10-24T20:04:21.126Z,1761336261.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432375,-0.901295,0.026808],[0.892863,0.423799,-0.152284],[0.125891,0.089780,0.987973]] 2025-10-24T20:04:21.233Z,1761336261.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:21.235Z,1761336261.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 46.925632 m, bearing: 60.420914 deg, approach rate: -0.476090 m/s, LOS rate: -0.113895 deg/s, cmd heading: 61.483334 deg, new cmd heading: 61.316092 deg. 2025-10-24T20:04:21.241Z,1761336261.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.070168 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:21.323Z,1761336261.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014865 2025-10-24T20:04:21.528Z,1761336261.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436392,-0.899379,0.026053],[0.891077,0.427989,-0.151018],[0.124672,0.089118,0.988188]] 2025-10-24T20:04:21.547Z,1761336261.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:21.551Z,1761336261.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 46.756252 m, bearing: 60.381195 deg, approach rate: -0.538286 m/s, LOS rate: -0.126682 deg/s, cmd heading: 61.316090 deg, new cmd heading: 61.196503 deg. 2025-10-24T20:04:21.551Z,1761336261.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068080 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:21.573Z,1761336261.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265709 2025-10-24T20:04:21.825Z,1761336261.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517705 2025-10-24T20:04:21.935Z,1761336261.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438660,-0.898281,0.025849],[0.890055,0.430314,-0.150441],[0.124015,0.089000,0.988281]] 2025-10-24T20:04:21.954Z,1761336261.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:21.958Z,1761336261.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 46.553024 m, bearing: 60.333804 deg, approach rate: -0.499758 m/s, LOS rate: -0.117049 deg/s, cmd heading: 61.196501 deg, new cmd heading: 61.053705 deg. 2025-10-24T20:04:21.959Z,1761336261.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065588 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:22.079Z,1761336262.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771046 2025-10-24T20:04:22.329Z,1761336262.329 [DAT](INFO): DAT read: Rx Time:20:04:21.1087 2025-10-24T20:04:22.329Z,1761336262.329 [DAT](INFO): Rx dataTimestamp_ set to:1761336262.329104 2025-10-24T20:04:22.330Z,1761336262.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022254 2025-10-24T20:04:22.342Z,1761336262.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440488,-0.897402,0.025278],[0.889203,0.432240,-0.149953],[0.123642,0.088529,0.988370]] 2025-10-24T20:04:22.403Z,1761336262.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:22.410Z,1761336262.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:22.425Z,1761336262.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 46.336067 m, bearing: 60.277095 deg, approach rate: -0.476042 m/s, LOS rate: -0.125013 deg/s, cmd heading: 61.053709 deg, new cmd heading: 60.882784 deg. 2025-10-24T20:04:22.426Z,1761336262.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062605 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:22.581Z,1761336262.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273002 2025-10-24T20:04:22.763Z,1761336262.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441661,-0.896820,0.025482],[0.888695,0.433409,-0.149593],[0.123114,0.088715,0.988419]] 2025-10-24T20:04:22.806Z,1761336262.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:04:22.814Z,1761336262.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.644157 m, nav range: 46.128376 m, bearing: 60.222649 deg, approach rate: -0.523725 m/s, LOS rate: -0.137911 deg/s, cmd heading: 60.882783 deg, new cmd heading: 60.718712 deg. 2025-10-24T20:04:22.815Z,1761336262.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.059741 target range: 48.644157 and range: 48.90 m. 2025-10-24T20:04:22.839Z,1761336262.839 [DAT](INFO): DAT read: 20:04:21.1087 LVL= 15152, 25281, 15346, 25715, AGC= 64, IDX= 413, 0.15, 2.817, 1.384, 2.863, 2.157, PHS= 0.748,-0.726, 0.703, RAW= 148.5, -10.0, CAL= 155.0, -18.2, ROT= 355.0, 18.2 2025-10-24T20:04:22.841Z,1761336262.841 [DAT](INFO): got valid direction response: 20:04:21.1087 LVL= 15152, 25281, 15346, 25715, AGC= 64, IDX= 413, 0.15, 2.817, 1.384, 2.863, 2.157, PHS= 0.748,-0.726, 0.703, RAW= 148.5, -10.0, CAL= 155.0, -18.2, ROT= 355.0, 18.2 2025-10-24T20:04:22.842Z,1761336262.842 [DAT](INFO): DAT read: Bearing 355.0, 18.2 (Local) 2025-10-24T20:04:22.842Z,1761336262.842 [DAT](INFO): Local bearing/azimuth received: Bearing 355.0, 18.2 (Local) 2025-10-24T20:04:22.843Z,1761336262.843 [DAT](INFO): DAT read: Range 10 to 50 : 46.8 m (Round-trip 62.5 ms) speed 0.4 m/s 2025-10-24T20:04:22.844Z,1761336262.844 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:22.845Z,1761336262.845 [DAT](INFO): direction in FSK: [0.946357,-0.082795,-0.312335] 2025-10-24T20:04:22.845Z,1761336262.845 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:22.849Z,1761336262.849 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:22.849Z,1761336262.849 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:22.849Z,1761336262.849 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:23.085Z,1761336263.085 [DAT](INFO): DAT read: user:249> 2025-10-24T20:04:23.085Z,1761336263.085 [DAT](INFO): DAT read: Tx time:20:04:22.3920 2025-10-24T20:04:23.086Z,1761336263.086 [DAT](INFO): Ping request sent. 2025-10-24T20:04:23.086Z,1761336263.086 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:23.086Z,1761336263.086 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:23.087Z,1761336263.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-24T20:04:23.194Z,1761336263.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443447,-0.895923,0.025999],[0.887821,0.435087,-0.149912],[0.122998,0.089561,0.988357]] 2025-10-24T20:04:23.310Z,1761336263.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.799999 m, deltaT: 3.779663 s, deltaX: -2.100002 m, approachRate: -0.555606 m/s, rangeRepo size: 4 2025-10-24T20:04:23.316Z,1761336263.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.550835 m, bearing: 60.283841 deg, lat: 36.779672 deg, lon: -121.859549 deg, deltaT: 3.779663 s, deltaX: -2.093323 m, approachRate: -0.553838 m/s, posRepo size: 4 2025-10-24T20:04:23.317Z,1761336263.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:23.324Z,1761336263.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 45.721943 m, bearing: 60.045316 deg, approach rate: 0.000000 m/s, LOS rate: -0.137911 deg/s, cmd heading: 60.718708 deg, new cmd heading: 60.510568 deg. 2025-10-24T20:04:23.325Z,1761336263.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.056109 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:23.337Z,1761336263.337 [DAT](INFO): DAT read: TxSync time:20:04:22.3913 2025-10-24T20:04:23.338Z,1761336263.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252119 2025-10-24T20:04:23.590Z,1761336263.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503764 2025-10-24T20:04:23.592Z,1761336263.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441093,-0.897290,0.017521],[0.888805,0.434051,-0.147055],[0.124346,0.080438,0.988973]] 2025-10-24T20:04:23.618Z,1761336263.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:23.623Z,1761336263.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 45.555202 m, bearing: 59.995649 deg, approach rate: -0.542249 m/s, LOS rate: -0.162112 deg/s, cmd heading: 60.510565 deg, new cmd heading: 60.361018 deg. 2025-10-24T20:04:23.625Z,1761336263.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053499 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:23.842Z,1761336263.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755720 2025-10-24T20:04:23.987Z,1761336263.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440608,-0.897473,0.020174],[0.889032,0.433128,-0.148397],[0.124444,0.083320,0.988722]] 2025-10-24T20:04:24.008Z,1761336264.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:24.011Z,1761336264.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 45.346840 m, bearing: 59.932932 deg, approach rate: -0.533030 m/s, LOS rate: -0.161177 deg/s, cmd heading: 60.361018 deg, new cmd heading: 60.172006 deg. 2025-10-24T20:04:24.012Z,1761336264.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.050200 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:24.096Z,1761336264.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009426 2025-10-24T20:04:24.345Z,1761336264.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258858 2025-10-24T20:04:24.392Z,1761336264.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439975,-0.897726,0.022580],[0.889264,0.432052,-0.150134],[0.125024,0.086135,0.988408]] 2025-10-24T20:04:24.443Z,1761336264.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:24.445Z,1761336264.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:24.451Z,1761336264.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 45.113087 m, bearing: 59.860247 deg, approach rate: -0.534350 m/s, LOS rate: -0.167018 deg/s, cmd heading: 60.172006 deg, new cmd heading: 59.952820 deg. 2025-10-24T20:04:24.453Z,1761336264.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.046374 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:24.597Z,1761336264.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 2025-10-24T20:04:24.795Z,1761336264.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441580,-0.896883,0.024636],[0.888602,0.433376,-0.150238],[0.124069,0.088234,0.988343]] 2025-10-24T20:04:24.830Z,1761336264.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:24.833Z,1761336264.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 44.906227 m, bearing: 59.795787 deg, approach rate: -0.537113 m/s, LOS rate: -0.168141 deg/s, cmd heading: 59.952819 deg, new cmd heading: 59.758550 deg. 2025-10-24T20:04:24.834Z,1761336264.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042983 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:24.849Z,1761336264.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101 2025-10-24T20:04:25.104Z,1761336265.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017197 2025-10-24T20:04:25.208Z,1761336265.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442603,-0.896356,0.025472],[0.888171,0.434295,-0.150133],[0.123510,0.089073,0.988338]] 2025-10-24T20:04:25.273Z,1761336265.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:25.276Z,1761336265.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 44.668797 m, bearing: 59.720120 deg, approach rate: -0.536717 m/s, LOS rate: -0.171957 deg/s, cmd heading: 59.758548 deg, new cmd heading: 59.530340 deg. 2025-10-24T20:04:25.285Z,1761336265.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.039000 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:25.354Z,1761336265.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267791 2025-10-24T20:04:25.603Z,1761336265.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444667,-0.895340,0.025246],[0.887183,0.436389,-0.149902],[0.123196,0.089054,0.988379]] 2025-10-24T20:04:25.606Z,1761336265.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519638 2025-10-24T20:04:25.625Z,1761336265.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:25.627Z,1761336265.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 44.479378 m, bearing: 59.659755 deg, approach rate: -0.538187 m/s, LOS rate: -0.172244 deg/s, cmd heading: 59.530337 deg, new cmd heading: 59.348471 deg. 2025-10-24T20:04:25.649Z,1761336265.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.035826 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:25.857Z,1761336265.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771335 2025-10-24T20:04:26.007Z,1761336266.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447022,-0.894177,0.024866],[0.886119,0.438850,-0.149008],[0.122327,0.088644,0.988523]] 2025-10-24T20:04:26.043Z,1761336266.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:26.058Z,1761336266.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 44.262947 m, bearing: 59.590908 deg, approach rate: -0.517457 m/s, LOS rate: -0.165408 deg/s, cmd heading: 59.348470 deg, new cmd heading: 59.140922 deg. 2025-10-24T20:04:26.059Z,1761336266.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.032204 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:26.113Z,1761336266.113 [DAT](INFO): DAT read: Rx Time:20:04:24.8562 2025-10-24T20:04:26.115Z,1761336266.115 [DAT](INFO): Rx dataTimestamp_ set to:1761336266.113810 2025-10-24T20:04:26.117Z,1761336266.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030854 2025-10-24T20:04:26.361Z,1761336266.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274802 2025-10-24T20:04:26.414Z,1761336266.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449231,-0.893089,0.024165],[0.885045,0.441166,-0.148552],[0.122009,0.088121,0.988609]] 2025-10-24T20:04:26.523Z,1761336266.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:26.529Z,1761336266.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.55 m. 2025-10-24T20:04:26.536Z,1761336266.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.550835 m, nav range: 44.002007 m, bearing: 59.519213 deg, approach rate: -0.536579 m/s, LOS rate: -0.148303 deg/s, cmd heading: 59.140921 deg, new cmd heading: 58.924561 deg. 2025-10-24T20:04:26.538Z,1761336266.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028428 target range: 46.550835 and range: 46.80 m. 2025-10-24T20:04:26.622Z,1761336266.622 [DAT](INFO): DAT read: 20:04:24.8562 LVL= 18704, 20273, 15586, 24851, AGC= 61, IDX= 418, 0.38,-1.765, 3.135,-1.763,-2.453, PHS= 0.776,-0.648, 0.688, RAW= 146.8, -11.8, CAL= 153.9, -20.2, ROT= 356.1, 20.2 2025-10-24T20:04:26.625Z,1761336266.625 [DAT](INFO): got valid direction response: 20:04:24.8562 LVL= 18704, 20273, 15586, 24851, AGC= 61, IDX= 418, 0.38,-1.765, 3.135,-1.763,-2.453, PHS= 0.776,-0.648, 0.688, RAW= 146.8, -11.8, CAL= 153.9, -20.2, ROT= 356.1, 20.2 2025-10-24T20:04:26.626Z,1761336266.626 [DAT](INFO): DAT read: Bearing 356.1, 20.2 (Local) 2025-10-24T20:04:26.627Z,1761336266.627 [DAT](INFO): Local bearing/azimuth received: Bearing 356.1, 20.2 (Local) 2025-10-24T20:04:26.630Z,1761336266.630 [DAT](INFO): DAT read: Range 10 to 50 : 45.0 m (Round-trip 60.0 ms) speed 0.4 m/s 2025-10-24T20:04:26.630Z,1761336266.630 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:26.631Z,1761336266.631 [DAT](INFO): direction in FSK: [0.936320,-0.063832,-0.345298] 2025-10-24T20:04:26.631Z,1761336266.631 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:26.635Z,1761336266.635 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:26.635Z,1761336266.635 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:26.635Z,1761336266.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:26.865Z,1761336266.865 [DAT](INFO): DAT read: user:250> 2025-10-24T20:04:26.866Z,1761336266.866 [DAT](INFO): DAT read: Tx time:20:04:26.1920 2025-10-24T20:04:26.866Z,1761336266.866 [DAT](INFO): Ping request sent. 2025-10-24T20:04:26.866Z,1761336266.866 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:26.866Z,1761336266.866 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:26.867Z,1761336266.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-24T20:04:26.874Z,1761336266.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.000000 m, deltaT: 3.780925 s, deltaX: -1.799999 m, approachRate: -0.476074 m/s, rangeRepo size: 4 2025-10-24T20:04:26.897Z,1761336266.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.758389 m, bearing: 61.148600 deg, lat: 36.779672 deg, lon: -121.859549 deg, deltaT: 3.780925 s, deltaX: -1.792446 m, approachRate: -0.474076 m/s, posRepo size: 4 2025-10-24T20:04:26.898Z,1761336266.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:26.907Z,1761336266.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 43.815861 m, bearing: 59.467533 deg, approach rate: 0.000000 m/s, LOS rate: -0.148303 deg/s, cmd heading: 58.924561 deg, new cmd heading: 58.771281 deg. 2025-10-24T20:04:26.913Z,1761336266.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.025752 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:27.123Z,1761336267.123 [DAT](INFO): DAT read: TxSync time:20:04:26.1913 2025-10-24T20:04:27.127Z,1761336267.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.260360 2025-10-24T20:04:27.350Z,1761336267.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:27.357Z,1761336267.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 43.571678 m, bearing: 59.406355 deg, approach rate: -0.512852 m/s, LOS rate: -0.129212 deg/s, cmd heading: 58.771278 deg, new cmd heading: 58.586715 deg. 2025-10-24T20:04:27.358Z,1761336267.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.022531 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:27.369Z,1761336267.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502603 2025-10-24T20:04:27.621Z,1761336267.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754788 2025-10-24T20:04:27.635Z,1761336267.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455209,-0.890065,0.023836],[0.882090,0.447161,-0.148202],[0.121251,0.088489,0.988670]] 2025-10-24T20:04:27.670Z,1761336267.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:27.678Z,1761336267.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 43.410892 m, bearing: 59.367164 deg, approach rate: -0.502440 m/s, LOS rate: -0.122922 deg/s, cmd heading: 58.586713 deg, new cmd heading: 58.468704 deg. 2025-10-24T20:04:27.681Z,1761336267.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020471 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:27.873Z,1761336267.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006683 2025-10-24T20:04:28.036Z,1761336268.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458234,-0.888546,0.022516],[0.880541,0.450362,-0.147721],[0.121117,0.087517,0.988773]] 2025-10-24T20:04:28.058Z,1761336268.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:28.061Z,1761336268.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 43.203728 m, bearing: 59.317211 deg, approach rate: -0.534012 m/s, LOS rate: -0.129381 deg/s, cmd heading: 58.468707 deg, new cmd heading: 58.318131 deg. 2025-10-24T20:04:28.062Z,1761336268.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017843 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:28.130Z,1761336268.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262783 2025-10-24T20:04:28.377Z,1761336268.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510545 2025-10-24T20:04:28.441Z,1761336268.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462073,-0.886599,0.020763],[0.878687,0.454531,-0.145983],[0.119990,0.085699,0.989069]] 2025-10-24T20:04:28.506Z,1761336268.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:28.509Z,1761336268.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 42.983498 m, bearing: 59.278916 deg, approach rate: -0.491527 m/s, LOS rate: -0.085909 deg/s, cmd heading: 58.318129 deg, new cmd heading: 58.202653 deg. 2025-10-24T20:04:28.510Z,1761336268.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015828 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:28.629Z,1761336268.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762496 2025-10-24T20:04:28.845Z,1761336268.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466155,-0.884475,0.020093],[0.876748,0.458806,-0.144257],[0.118373,0.084862,0.989336]] 2025-10-24T20:04:28.863Z,1761336268.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:28.865Z,1761336268.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:28.868Z,1761336268.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 42.799301 m, bearing: 59.247731 deg, approach rate: -0.512735 m/s, LOS rate: -0.087181 deg/s, cmd heading: 58.202651 deg, new cmd heading: 58.108693 deg. 2025-10-24T20:04:28.869Z,1761336268.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.014188 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:28.882Z,1761336268.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016019 2025-10-24T20:04:29.135Z,1761336269.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268713 2025-10-24T20:04:29.268Z,1761336269.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470081,-0.882408,0.019486],[0.874808,0.462873,-0.143037],[0.117197,0.084286,0.989525]] 2025-10-24T20:04:29.345Z,1761336269.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:29.347Z,1761336269.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 42.569622 m, bearing: 59.215944 deg, approach rate: -0.479149 m/s, LOS rate: -0.066670 deg/s, cmd heading: 58.108695 deg, new cmd heading: 58.012821 deg. 2025-10-24T20:04:29.352Z,1761336269.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.012515 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:29.385Z,1761336269.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518658 2025-10-24T20:04:29.637Z,1761336269.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770446 2025-10-24T20:04:29.653Z,1761336269.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474580,-0.880007,0.018985],[0.872519,0.467478,-0.142041],[0.116122,0.083975,0.989679]] 2025-10-24T20:04:29.696Z,1761336269.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:29.699Z,1761336269.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 42.402138 m, bearing: 59.193711 deg, approach rate: -0.481925 m/s, LOS rate: -0.064226 deg/s, cmd heading: 58.012820 deg, new cmd heading: 57.945858 deg. 2025-10-24T20:04:29.700Z,1761336269.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011346 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:29.890Z,1761336269.890 [DAT](INFO): DAT read: Rx Time:20:04:28.6536 2025-10-24T20:04:29.891Z,1761336269.891 [DAT](INFO): Rx dataTimestamp_ set to:1761336269.890327 2025-10-24T20:04:29.892Z,1761336269.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025284 2025-10-24T20:04:30.056Z,1761336270.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478789,-0.877744,0.018081],[0.870261,0.471790,-0.141635],[0.115789,0.083549,0.989754]] 2025-10-24T20:04:30.075Z,1761336270.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:04:30.078Z,1761336270.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758389 m, nav range: 42.203957 m, bearing: 59.168484 deg, approach rate: -0.517935 m/s, LOS rate: -0.066239 deg/s, cmd heading: 57.945856 deg, new cmd heading: 57.869820 deg. 2025-10-24T20:04:30.079Z,1761336270.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.010019 target range: 44.758389 and range: 45.00 m. 2025-10-24T20:04:30.144Z,1761336270.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277413 2025-10-24T20:04:30.403Z,1761336270.403 [DAT](INFO): DAT read: 20:04:28.6536 LVL= 15312, 20369, 15346, 23923, AGC= 61, IDX= 407,-0.02, 0.008,-1.450,-0.063,-0.736, PHS= 0.832,-0.666, 0.670, RAW= 144.4, -11.7, CAL= 151.4, -20.6, ROT= 358.6, 20.6 2025-10-24T20:04:30.406Z,1761336270.406 [DAT](INFO): got valid direction response: 20:04:28.6536 LVL= 15312, 20369, 15346, 23923, AGC= 61, IDX= 407,-0.02, 0.008,-1.450,-0.063,-0.736, PHS= 0.832,-0.666, 0.670, RAW= 144.4, -11.7, CAL= 151.4, -20.6, ROT= 358.6, 20.6 2025-10-24T20:04:30.407Z,1761336270.407 [DAT](INFO): DAT read: Bearing 358.6, 20.6 (Local) 2025-10-24T20:04:30.407Z,1761336270.407 [DAT](INFO): Local bearing/azimuth received: Bearing 358.6, 20.6 (Local) 2025-10-24T20:04:30.408Z,1761336270.408 [DAT](INFO): DAT read: Range 10 to 50 : 42.9 m (Round-trip 57.3 ms) speed 0.4 m/s 2025-10-24T20:04:30.409Z,1761336270.409 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:30.410Z,1761336270.410 [DAT](INFO): direction in FSK: [0.935780,-0.022870,-0.351842] 2025-10-24T20:04:30.410Z,1761336270.410 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:30.414Z,1761336270.414 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:30.414Z,1761336270.414 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:30.414Z,1761336270.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:30.480Z,1761336270.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483697,-0.875085,0.016192],[0.867609,0.476964,-0.140573],[0.115291,0.082043,0.989938]] 2025-10-24T20:04:30.580Z,1761336270.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 42.900002 m, deltaT: 3.779031 s, deltaX: -2.099998 m, approachRate: -0.555698 m/s, rangeRepo size: 4 2025-10-24T20:04:30.582Z,1761336270.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.659435 m, bearing: 61.230234 deg, lat: 36.779670 deg, lon: -121.859549 deg, deltaT: 3.779031 s, deltaX: -2.098953 m, approachRate: -0.555421 m/s, posRepo size: 4 2025-10-24T20:04:30.583Z,1761336270.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:30.590Z,1761336270.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 41.857525 m, bearing: 59.403752 deg, approach rate: 0.000000 m/s, LOS rate: -0.066239 deg/s, cmd heading: 57.869823 deg, new cmd heading: 57.770338 deg. 2025-10-24T20:04:30.591Z,1761336270.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.008283 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:30.646Z,1761336270.646 [DAT](INFO): DAT read: user:251> 2025-10-24T20:04:30.647Z,1761336270.647 [DAT](INFO): DAT read: Tx time:20:04:29.9421 2025-10-24T20:04:30.647Z,1761336270.647 [DAT](INFO): Ping request sent. 2025-10-24T20:04:30.648Z,1761336270.648 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:30.648Z,1761336270.648 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:30.649Z,1761336270.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001267 2025-10-24T20:04:30.874Z,1761336270.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487208,-0.873153,0.015261],[0.865660,0.480575,-0.140285],[0.115157,0.081559,0.989994]] 2025-10-24T20:04:30.897Z,1761336270.897 [DAT](INFO): DAT read: TxSync time:20:04:29.9414 2025-10-24T20:04:30.899Z,1761336270.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250714 2025-10-24T20:04:30.915Z,1761336270.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:30.922Z,1761336270.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:30.929Z,1761336270.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 41.691013 m, bearing: 59.389834 deg, approach rate: -0.481677 m/s, LOS rate: -0.040422 deg/s, cmd heading: 57.770341 deg, new cmd heading: 57.728420 deg. 2025-10-24T20:04:30.930Z,1761336270.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.007551 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:31.153Z,1761336271.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504585 2025-10-24T20:04:31.278Z,1761336271.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488915,-0.872304,0.006929],[0.864523,0.483463,-0.137346],[0.116458,0.073140,0.990499]] 2025-10-24T20:04:31.327Z,1761336271.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:31.330Z,1761336271.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 41.480503 m, bearing: 59.373574 deg, approach rate: -0.518862 m/s, LOS rate: -0.040279 deg/s, cmd heading: 57.728417 deg, new cmd heading: 57.679391 deg. 2025-10-24T20:04:31.331Z,1761336271.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006695 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:31.402Z,1761336271.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754651 2025-10-24T20:04:31.653Z,1761336271.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005181 2025-10-24T20:04:31.679Z,1761336271.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490804,-0.871265,0.002963],[0.863337,0.485874,-0.136295],[0.117309,0.069453,0.990664]] 2025-10-24T20:04:31.723Z,1761336271.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:31.726Z,1761336271.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 41.298904 m, bearing: 59.359973 deg, approach rate: -0.458145 m/s, LOS rate: -0.034466 deg/s, cmd heading: 57.679390 deg, new cmd heading: 57.638406 deg. 2025-10-24T20:04:31.727Z,1761336271.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005980 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:31.907Z,1761336271.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259656 2025-10-24T20:04:32.083Z,1761336272.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492095,-0.870522,0.005791],[0.862572,0.486681,-0.138243],[0.117525,0.073024,0.990381]] 2025-10-24T20:04:32.106Z,1761336272.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:32.109Z,1761336272.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 41.101124 m, bearing: 59.345447 deg, approach rate: -0.516690 m/s, LOS rate: -0.038129 deg/s, cmd heading: 57.638402 deg, new cmd heading: 57.594617 deg. 2025-10-24T20:04:32.110Z,1761336272.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.005216 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:32.161Z,1761336272.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512530 2025-10-24T20:04:32.409Z,1761336272.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761248 2025-10-24T20:04:32.487Z,1761336272.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494092,-0.869367,0.008618],[0.861563,0.488280,-0.138895],[0.116543,0.076052,0.990270]] 2025-10-24T20:04:32.561Z,1761336272.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:32.568Z,1761336272.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 40.873360 m, bearing: 59.314340 deg, approach rate: -0.500176 m/s, LOS rate: -0.068694 deg/s, cmd heading: 57.594614 deg, new cmd heading: 57.500771 deg. 2025-10-24T20:04:32.569Z,1761336272.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003578 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:32.662Z,1761336272.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014770 2025-10-24T20:04:32.914Z,1761336272.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265997 2025-10-24T20:04:32.935Z,1761336272.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.496929,-0.867735,0.009908],[0.860031,0.490929,-0.139052],[0.115796,0.077620,0.990236]] 2025-10-24T20:04:32.953Z,1761336272.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:32.956Z,1761336272.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:32.959Z,1761336272.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 40.672749 m, bearing: 59.287593 deg, approach rate: -0.508841 m/s, LOS rate: -0.068177 deg/s, cmd heading: 57.500774 deg, new cmd heading: 57.420138 deg. 2025-10-24T20:04:32.976Z,1761336272.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.002170 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:33.168Z,1761336273.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519681 2025-10-24T20:04:33.295Z,1761336273.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499711,-0.866120,0.011175],[0.858400,0.493447,-0.140213],[0.115927,0.079658,0.990058]] 2025-10-24T20:04:33.346Z,1761336273.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:33.349Z,1761336273.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 40.468166 m, bearing: 59.247117 deg, approach rate: -0.524247 m/s, LOS rate: -0.104246 deg/s, cmd heading: 57.420137 deg, new cmd heading: 57.298094 deg. 2025-10-24T20:04:33.350Z,1761336273.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000040 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:33.418Z,1761336273.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769886 2025-10-24T20:04:33.669Z,1761336273.669 [DAT](INFO): DAT read: Rx Time:20:04:32.4008 2025-10-24T20:04:33.669Z,1761336273.669 [DAT](INFO): Rx dataTimestamp_ set to:1761336273.669081 2025-10-24T20:04:33.670Z,1761336273.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022342 2025-10-24T20:04:33.699Z,1761336273.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502088,-0.864742,0.011363],[0.856975,0.495727,-0.140888],[0.116199,0.080476,0.989960]] 2025-10-24T20:04:33.744Z,1761336273.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:33.747Z,1761336273.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 40.259045 m, bearing: 59.206167 deg, approach rate: -0.525495 m/s, LOS rate: -0.103435 deg/s, cmd heading: 57.298095 deg, new cmd heading: 57.174609 deg. 2025-10-24T20:04:33.748Z,1761336273.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997885 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:33.921Z,1761336273.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273177 2025-10-24T20:04:34.106Z,1761336274.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504420,-0.863389,0.010952],[0.855539,0.498039,-0.141460],[0.116681,0.080725,0.989883]] 2025-10-24T20:04:34.137Z,1761336274.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.66 m. 2025-10-24T20:04:34.141Z,1761336274.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.659435 m, nav range: 40.059261 m, bearing: 59.167445 deg, approach rate: -0.507455 m/s, LOS rate: -0.098845 deg/s, cmd heading: 57.174609 deg, new cmd heading: 57.057863 deg. 2025-10-24T20:04:34.142Z,1761336274.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.995848 target range: 42.659435 and range: 42.90 m. 2025-10-24T20:04:34.182Z,1761336274.182 [DAT](INFO): DAT read: 20:04:32.4008 LVL= 15088, 21121, 15186, 21859, AGC= 64, IDX= 411,-0.01, 2.718, 1.017, 2.508, 1.857, PHS= 0.949,-0.793, 0.648, RAW= 140.7, -10.0, CAL= 147.5, -19.9, ROT= 2.5, 19.9 2025-10-24T20:04:34.183Z,1761336274.183 [DAT](INFO): got valid direction response: 20:04:32.4008 LVL= 15088, 21121, 15186, 21859, AGC= 64, IDX= 411,-0.01, 2.718, 1.017, 2.508, 1.857, PHS= 0.949,-0.793, 0.648, RAW= 140.7, -10.0, CAL= 147.5, -19.9, ROT= 2.5, 19.9 2025-10-24T20:04:34.185Z,1761336274.185 [DAT](INFO): DAT read: Bearing 2.5, 19.9 (Local) 2025-10-24T20:04:34.186Z,1761336274.186 [DAT](INFO): Local bearing/azimuth received: Bearing 2.5, 19.9 (Local) 2025-10-24T20:04:34.191Z,1761336274.191 [DAT](INFO): DAT read: Range 10 to 50 : 40.8 m (Round-trip 54.5 ms) speed 0.4 m/s 2025-10-24T20:04:34.194Z,1761336274.194 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:34.203Z,1761336274.203 [DAT](INFO): direction in FSK: [0.939393,0.041015,-0.340380] 2025-10-24T20:04:34.216Z,1761336274.216 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:34.262Z,1761336274.262 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:34.263Z,1761336274.263 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:34.263Z,1761336274.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:34.425Z,1761336274.425 [DAT](INFO): DAT read: user:252> 2025-10-24T20:04:34.426Z,1761336274.426 [DAT](INFO): DAT read: Tx time:20:04:33.7921 2025-10-24T20:04:34.426Z,1761336274.426 [DAT](INFO): Ping request sent. 2025-10-24T20:04:34.426Z,1761336274.426 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:34.426Z,1761336274.426 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:34.427Z,1761336274.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-24T20:04:34.573Z,1761336274.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 3.780871 s, deltaX: -2.100002 m, approachRate: -0.555428 m/s, rangeRepo size: 4 2025-10-24T20:04:34.575Z,1761336274.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.570190 m, bearing: 63.509794 deg, lat: 36.779661 deg, lon: -121.859546 deg, deltaT: 3.780871 s, deltaX: -2.089245 m, approachRate: -0.552583 m/s, posRepo size: 4 2025-10-24T20:04:34.575Z,1761336274.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:34.578Z,1761336274.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 39.515694 m, bearing: 60.587119 deg, approach rate: 0.000000 m/s, LOS rate: -0.098845 deg/s, cmd heading: 57.057864 deg, new cmd heading: 56.929426 deg. 2025-10-24T20:04:34.579Z,1761336274.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.993606 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:34.677Z,1761336274.677 [DAT](INFO): DAT read: TxSync time:20:04:33.7914 2025-10-24T20:04:34.679Z,1761336274.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252427 2025-10-24T20:04:34.923Z,1761336274.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508227,-0.861157,0.010679],[0.853067,0.501673,-0.143530],[0.118244,0.082056,0.989588]] 2025-10-24T20:04:34.929Z,1761336274.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503314 2025-10-24T20:04:34.959Z,1761336274.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:34.961Z,1761336274.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:34.965Z,1761336274.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 39.302746 m, bearing: 60.546570 deg, approach rate: -0.544742 m/s, LOS rate: -0.104290 deg/s, cmd heading: 56.929425 deg, new cmd heading: 56.807120 deg. 2025-10-24T20:04:34.966Z,1761336274.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.991471 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:35.181Z,1761336275.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755192 2025-10-24T20:04:35.272Z,1761336275.272 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:04:35.324Z,1761336275.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507776,-0.861360,0.014944],[0.853118,0.500353,-0.147775],[0.119810,0.087786,0.988908]] 2025-10-24T20:04:35.364Z,1761336275.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:35.367Z,1761336275.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 39.078182 m, bearing: 60.490096 deg, approach rate: -0.557502 m/s, LOS rate: -0.141008 deg/s, cmd heading: 56.807120 deg, new cmd heading: 56.636725 deg. 2025-10-24T20:04:35.388Z,1761336275.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.988497 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:35.435Z,1761336275.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008096 2025-10-24T20:04:35.685Z,1761336275.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258565 2025-10-24T20:04:35.762Z,1761336275.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:35.766Z,1761336275.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 38.857723 m, bearing: 60.434009 deg, approach rate: -0.554044 m/s, LOS rate: -0.141753 deg/s, cmd heading: 56.636724 deg, new cmd heading: 56.467510 deg. 2025-10-24T20:04:35.767Z,1761336275.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.985544 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:35.937Z,1761336275.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510661 2025-10-24T20:04:36.127Z,1761336276.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512360,-0.858708,0.010363],[0.850083,0.505428,-0.147991],[0.121843,0.084634,0.988934]] 2025-10-24T20:04:36.146Z,1761336276.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:36.149Z,1761336276.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 38.644402 m, bearing: 60.380876 deg, approach rate: -0.555548 m/s, LOS rate: -0.139138 deg/s, cmd heading: 56.467510 deg, new cmd heading: 56.307230 deg. 2025-10-24T20:04:36.150Z,1761336276.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982747 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:36.193Z,1761336276.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766052 2025-10-24T20:04:36.278Z,1761336276.277 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:04:36.441Z,1761336276.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014663 2025-10-24T20:04:36.530Z,1761336276.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516055,-0.856509,0.008916],[0.847893,0.509331,-0.147174],[0.121514,0.083509,0.989070]] 2025-10-24T20:04:36.568Z,1761336276.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:36.571Z,1761336276.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 38.405308 m, bearing: 60.325055 deg, approach rate: -0.567225 m/s, LOS rate: -0.133254 deg/s, cmd heading: 56.307229 deg, new cmd heading: 56.138724 deg. 2025-10-24T20:04:36.593Z,1761336276.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.979806 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:36.693Z,1761336276.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267088 2025-10-24T20:04:36.932Z,1761336276.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517752,-0.855494,0.007937],[0.846796,0.511122,-0.147277],[0.121938,0.082974,0.989063]] 2025-10-24T20:04:36.945Z,1761336276.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518710 2025-10-24T20:04:36.960Z,1761336276.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:36.962Z,1761336276.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:36.965Z,1761336276.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 38.182381 m, bearing: 60.273062 deg, approach rate: -0.564833 m/s, LOS rate: -0.132504 deg/s, cmd heading: 56.138725 deg, new cmd heading: 55.981836 deg. 2025-10-24T20:04:36.966Z,1761336276.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.977067 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:37.199Z,1761336277.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771841 2025-10-24T20:04:37.343Z,1761336277.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520059,-0.854096,0.007651],[0.845344,0.513406,-0.147674],[0.122200,0.083267,0.989006]] 2025-10-24T20:04:37.426Z,1761336277.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:37.430Z,1761336277.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 37.931385 m, bearing: 60.218614 deg, approach rate: -0.541573 m/s, LOS rate: -0.118259 deg/s, cmd heading: 55.981836 deg, new cmd heading: 55.817412 deg. 2025-10-24T20:04:37.431Z,1761336277.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.974198 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:37.449Z,1761336277.449 [DAT](INFO): DAT read: Rx Time:20:04:36.2483 2025-10-24T20:04:37.449Z,1761336277.449 [DAT](INFO): Rx dataTimestamp_ set to:1761336277.449084 2025-10-24T20:04:37.450Z,1761336277.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023767 2025-10-24T20:04:37.701Z,1761336277.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274691 2025-10-24T20:04:37.747Z,1761336277.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521063,-0.853494,0.006379],[0.844673,0.514576,-0.147445],[0.122561,0.082217,0.989050]] 2025-10-24T20:04:37.772Z,1761336277.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.57 m. 2025-10-24T20:04:37.775Z,1761336277.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.570190 m, nav range: 37.732098 m, bearing: 60.175237 deg, approach rate: -0.579368 m/s, LOS rate: -0.126771 deg/s, cmd heading: 55.817412 deg, new cmd heading: 55.686595 deg. 2025-10-24T20:04:37.776Z,1761336277.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971914 target range: 40.570190 and range: 40.80 m. 2025-10-24T20:04:37.959Z,1761336277.959 [DAT](INFO): DAT read: 20:04:36.2483 LVL= 17136, 24225, 18226, 28643, AGC= 60, IDX= 416, 0.20,-0.835,-2.611,-1.140,-1.754, PHS= 1.008,-0.810, 0.612, RAW= 138.0, -9.8, CAL= 144.4, -20.3, ROT= 5.6, 20.3 2025-10-24T20:04:37.964Z,1761336277.964 [DAT](INFO): got valid direction response: 20:04:36.2483 LVL= 17136, 24225, 18226, 28643, AGC= 60, IDX= 416, 0.20,-0.835,-2.611,-1.140,-1.754, PHS= 1.008,-0.810, 0.612, RAW= 138.0, -9.8, CAL= 144.4, -20.3, ROT= 5.6, 20.3 2025-10-24T20:04:37.965Z,1761336277.965 [DAT](INFO): DAT read: Bearing 5.6, 20.3 (Local) 2025-10-24T20:04:37.966Z,1761336277.966 [DAT](INFO): Local bearing/azimuth received: Bearing 5.6, 20.3 (Local) 2025-10-24T20:04:37.967Z,1761336277.967 [DAT](INFO): DAT read: Range 10 to 50 : 39.0 d-trip 52.0 m 0.4 m/s 2025-10-24T20:04:37.967Z,1761336277.967 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:37.970Z,1761336277.970 [DAT](INFO): direction in FSK: [0.933413,0.091522,-0.346936] 2025-10-24T20:04:37.970Z,1761336277.970 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:37.975Z,1761336277.975 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:37.975Z,1761336277.975 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:37.975Z,1761336277.975 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:04:38.143Z,1761336278.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522810,-0.852433,0.005281],[0.843503,0.516418,-0.147702],[0.123179,0.081674,0.989018]] 2025-10-24T20:04:38.185Z,1761336278.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.000000 m, deltaT: 3.779018 s, deltaX: -1.799999 m, approachRate: -0.476314 m/s, rangeRepo size: 4 2025-10-24T20:04:38.187Z,1761336278.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.778812 m, bearing: 65.262289 deg, lat: 36.779658 deg, lon: -121.859545 deg, deltaT: 3.779018 s, deltaX: -1.791378 m, approachRate: -0.474033 m/s, posRepo size: 4 2025-10-24T20:04:38.192Z,1761336278.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:38.198Z,1761336278.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 37.457596 m, bearing: 60.694011 deg, approach rate: 0.000000 m/s, LOS rate: -0.126771 deg/s, cmd heading: 55.686594 deg, new cmd heading: 55.533763 deg. 2025-10-24T20:04:38.199Z,1761336278.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969247 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:38.206Z,1761336278.206 [DAT](INFO): DAT read: user:253> 2025-10-24T20:04:38.206Z,1761336278.206 [DAT](INFO): DAT read: Tx time:20:04:37.4921 2025-10-24T20:04:38.207Z,1761336278.207 [DAT](INFO): Ping request sent. 2025-10-24T20:04:38.207Z,1761336278.207 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:38.207Z,1761336278.207 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:38.208Z,1761336278.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-24T20:04:38.459Z,1761336278.459 [DAT](INFO): DAT read: TxSync time:20:04:37.4914 2025-10-24T20:04:38.460Z,1761336278.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253185 2025-10-24T20:04:38.547Z,1761336278.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524377,-0.851462,0.006401],[0.842497,0.517737,-0.148821],[0.123401,0.083431,0.988844]] 2025-10-24T20:04:38.631Z,1761336278.631 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-24T20:04:38.631Z,1761336278.631 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T20:04:38.631Z,1761336278.631 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-24T20:04:38.633Z,1761336278.633 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.000000 m (mode 2.000000 count ). 2025-10-24T20:04:38.633Z,1761336278.633 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-24T20:04:38.633Z,1761336278.633 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-24T20:04:38.635Z,1761336278.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:38.639Z,1761336278.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 37.208096 m, bearing: 60.652451 deg, approach rate: -0.538366 m/s, LOS rate: -0.090280 deg/s, cmd heading: 55.533761 deg, new cmd heading: 55.408244 deg. 2025-10-24T20:04:38.640Z,1761336278.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967056 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:38.714Z,1761336278.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506947 2025-10-24T20:04:38.956Z,1761336278.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525449,-0.850794,0.007276],[0.841655,0.518515,-0.150864],[0.124582,0.085395,0.988528]] 2025-10-24T20:04:38.965Z,1761336278.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758142 2025-10-24T20:04:38.996Z,1761336278.996 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-24T20:04:38.997Z,1761336278.997 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-24T20:04:38.997Z,1761336278.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:38.999Z,1761336278.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:39.007Z,1761336279.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 37.025696 m, bearing: 60.622084 deg, approach rate: -0.501159 m/s, LOS rate: -0.083846 deg/s, cmd heading: 55.408243 deg, new cmd heading: 55.316694 deg. 2025-10-24T20:04:39.012Z,1761336279.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965458 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:39.217Z,1761336279.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009894 2025-10-24T20:04:39.365Z,1761336279.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529821,-0.848089,0.005966],[0.838658,0.522856,-0.152561],[0.126266,0.085833,0.988276]] 2025-10-24T20:04:39.439Z,1761336279.439 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-24T20:04:39.439Z,1761336279.439 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-24T20:04:39.447Z,1761336279.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:39.454Z,1761336279.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 36.800854 m, bearing: 60.598273 deg, approach rate: -0.501848 m/s, LOS rate: -0.053470 deg/s, cmd heading: 55.316695 deg, new cmd heading: 55.244826 deg. 2025-10-24T20:04:39.455Z,1761336279.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.964204 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:39.470Z,1761336279.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263222 2025-10-24T20:04:39.722Z,1761336279.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514396 2025-10-24T20:04:39.762Z,1761336279.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533743,-0.845635,0.004426],[0.836262,0.527034,-0.151333],[0.125640,0.084474,0.988473]] 2025-10-24T20:04:39.799Z,1761336279.799 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-24T20:04:39.799Z,1761336279.799 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T20:04:39.799Z,1761336279.799 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-24T20:04:39.799Z,1761336279.799 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T20:04:39.806Z,1761336279.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:39.811Z,1761336279.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 36.608456 m, bearing: 60.579083 deg, approach rate: -0.535908 m/s, LOS rate: -0.053736 deg/s, cmd heading: 55.244827 deg, new cmd heading: 55.186952 deg. 2025-10-24T20:04:39.817Z,1761336279.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.963194 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:39.973Z,1761336279.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766347 2025-10-24T20:04:40.164Z,1761336280.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537577,-0.843206,0.003909],[0.833948,0.530978,-0.150309],[0.124666,0.084063,0.988631]] 2025-10-24T20:04:40.183Z,1761336280.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:40.186Z,1761336280.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 36.399422 m, bearing: 60.559500 deg, approach rate: -0.554061 m/s, LOS rate: -0.052203 deg/s, cmd heading: 55.186952 deg, new cmd heading: 55.127867 deg. 2025-10-24T20:04:40.187Z,1761336280.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962163 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:40.225Z,1761336280.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018178 2025-10-24T20:04:40.477Z,1761336280.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270051 2025-10-24T20:04:40.570Z,1761336280.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540060,-0.841618,0.003610],[0.832368,0.533480,-0.150209],[0.124492,0.084127,0.988648]] 2025-10-24T20:04:40.617Z,1761336280.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:40.619Z,1761336280.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 36.187233 m, bearing: 60.545581 deg, approach rate: -0.489744 m/s, LOS rate: -0.032313 deg/s, cmd heading: 55.127867 deg, new cmd heading: 55.085867 deg. 2025-10-24T20:04:40.621Z,1761336280.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961430 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:40.729Z,1761336280.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522548 2025-10-24T20:04:40.973Z,1761336280.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543733,-0.839251,0.003371],[0.830037,0.537161,-0.149987],[0.124066,0.084351,0.988682]] 2025-10-24T20:04:40.981Z,1761336280.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774445 2025-10-24T20:04:40.994Z,1761336280.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:40.997Z,1761336280.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 36.002518 m, bearing: 60.534621 deg, approach rate: -0.489590 m/s, LOS rate: -0.029201 deg/s, cmd heading: 55.085868 deg, new cmd heading: 55.052818 deg. 2025-10-24T20:04:40.998Z,1761336280.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960853 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:41.233Z,1761336281.233 [DAT](INFO): DAT read: Rx Time:20:04:39.9457 2025-10-24T20:04:41.233Z,1761336281.233 [DAT](INFO): Rx dataTimestamp_ set to:1761336281.233015 2025-10-24T20:04:41.234Z,1761336281.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027046 2025-10-24T20:04:41.451Z,1761336281.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:41.453Z,1761336281.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.78 m. 2025-10-24T20:04:41.456Z,1761336281.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.778812 m, nav range: 35.778748 m, bearing: 60.519536 deg, approach rate: -0.487370 m/s, LOS rate: -0.033059 deg/s, cmd heading: 55.052817 deg, new cmd heading: 55.007281 deg. 2025-10-24T20:04:41.457Z,1761336281.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960058 target range: 38.778812 and range: 39.00 m. 2025-10-24T20:04:41.485Z,1761336281.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277932 2025-10-24T20:04:41.743Z,1761336281.743 [DAT](INFO): DAT read: 20:04:39.9457 LVL= 16176, 23985, 19186, 30707, AGC= 59, IDX= 421,-0.26, 0.068,-1.564,-0.269,-0.812, PHS= 0.967,-0.706, 0.540, RAW= 135.8, -10.7, CAL= 141.6, -21.3, ROT= 8.4, 21.3 2025-10-24T20:04:41.744Z,1761336281.744 [DAT](INFO): got valid direction response: 20:04:39.9457 LVL= 16176, 23985, 19186, 30707, AGC= 59, IDX= 421,-0.26, 0.068,-1.564,-0.269,-0.812, PHS= 0.967,-0.706, 0.540, RAW= 135.8, -10.7, CAL= 141.6, -21.3, ROT= 8.4, 21.3 2025-10-24T20:04:41.745Z,1761336281.745 [DAT](INFO): DAT read: Bearing 8.4, 21.3 (Local) 2025-10-24T20:04:41.745Z,1761336281.745 [DAT](INFO): Local bearing/azimuth received: Bearing 8.4, 21.3 (Local) 2025-10-24T20:04:41.747Z,1761336281.747 [DAT](INFO): DAT read: Range 10 to 50 : 36.9 m (Round-trip 49.3 ms) speed 0.5 m/s 2025-10-24T20:04:41.747Z,1761336281.747 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:41.762Z,1761336281.762 [DAT](INFO): direction in FSK: [0.921696,0.136104,-0.363251] 2025-10-24T20:04:41.762Z,1761336281.762 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:41.782Z,1761336281.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549778,-0.835310,0.001574],[0.826032,0.543390,-0.149661],[0.124158,0.083580,0.988736]] 2025-10-24T20:04:41.790Z,1761336281.790 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:04:41.790Z,1761336281.790 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:04:41.790Z,1761336281.790 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:04:41.847Z,1761336281.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 3.783984 s, deltaX: -2.099998 m, approachRate: -0.554970 m/s, rangeRepo size: 4 2025-10-24T20:04:41.853Z,1761336281.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.689476 m, bearing: 66.195980 deg, lat: 36.779645 deg, lon: -121.859536 deg, deltaT: 3.783984 s, deltaX: -2.089336 m, approachRate: -0.552153 m/s, posRepo size: 4 2025-10-24T20:04:41.855Z,1761336281.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m. 2025-10-24T20:04:41.862Z,1761336281.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.689476 m, nav range: 35.660114 m, bearing: 63.153595 deg, approach rate: 0.000000 m/s, LOS rate: -0.033059 deg/s, cmd heading: 55.007280 deg, new cmd heading: 54.968255 deg. 2025-10-24T20:04:41.863Z,1761336281.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959377 target range: 36.689476 and range: 36.90 m. 2025-10-24T20:04:41.990Z,1761336281.990 [DAT](INFO): DAT read: user:254> 2025-10-24T20:04:41.991Z,1761336281.991 [DAT](INFO): DAT read: Tx time:20:04:41.3422 2025-10-24T20:04:41.991Z,1761336281.991 [DAT](INFO): Ping request sent. 2025-10-24T20:04:41.991Z,1761336281.991 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:04:41.991Z,1761336281.991 [DAT](INFO): publishing transmit ping time 2025-10-24T20:04:41.992Z,1761336281.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000894 2025-10-24T20:04:42.183Z,1761336282.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551893,-0.833912,0.002151],[0.824565,0.545319,-0.150730],[0.124523,0.084961,0.988573]] 2025-10-24T20:04:42.209Z,1761336282.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m. 2025-10-24T20:04:42.228Z,1761336282.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.689476 m, nav range: 35.470856 m, bearing: 63.157732 deg, approach rate: -0.521903 m/s, LOS rate: 0.011469 deg/s, cmd heading: 54.968256 deg, new cmd heading: 54.980732 deg. 2025-10-24T20:04:42.229Z,1761336282.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959595 target range: 36.689476 and range: 36.90 m. 2025-10-24T20:04:42.241Z,1761336282.241 [DAT](INFO): DAT read: TxSync time:20:04:41.3415 2025-10-24T20:04:42.242Z,1761336282.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250766 2025-10-24T20:04:42.494Z,1761336282.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503072 2025-10-24T20:04:42.587Z,1761336282.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553693,-0.832700,-0.005836],[0.823076,0.548330,-0.147920],[0.126373,0.077099,0.988982]] 2025-10-24T20:04:42.634Z,1761336282.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m. 2025-10-24T20:04:42.637Z,1761336282.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.689476 m, nav range: 35.262905 m, bearing: 63.162901 deg, approach rate: -0.489435 m/s, LOS rate: 0.012237 deg/s, cmd heading: 54.980731 deg, new cmd heading: 54.996329 deg. 2025-10-24T20:04:42.639Z,1761336282.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959867 target range: 36.689476 and range: 36.90 m. 2025-10-24T20:04:42.746Z,1761336282.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754382 2025-10-24T20:04:42.995Z,1761336282.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554073,-0.832460,-0.003793],[0.822759,0.548299,-0.149788],[0.126773,0.079872,0.988711]] 2025-10-24T20:04:42.997Z,1761336282.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005874 2025-10-24T20:04:43.015Z,1761336283.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m. 2025-10-24T20:04:43.018Z,1761336283.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.689476 m, nav range: 35.076740 m, bearing: 63.167735 deg, approach rate: -0.488433 m/s, LOS rate: 0.012751 deg/s, cmd heading: 54.996328 deg, new cmd heading: 55.010908 deg. 2025-10-24T20:04:43.019Z,1761336283.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960121 target range: 36.689476 and range: 36.90 m. 2025-10-24T20:04:43.249Z,1761336283.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257757 2025-10-24T20:04:43.400Z,1761336283.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554129,-0.832430,-0.000718],[0.822604,0.547720,-0.152727],[0.127528,0.084040,0.988268]] 2025-10-24T20:04:43.447Z,1761336283.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m. 2025-10-24T20:04:43.450Z,1761336283.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.689476 m, nav range: 34.859711 m, bearing: 63.168279 deg, approach rate: -0.502635 m/s, LOS rate: 0.001269 deg/s, cmd heading: 55.010907 deg, new cmd heading: 55.012550 deg. 2025-10-24T20:04:43.451Z,1761336283.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960150 target range: 36.689476 and range: 36.90 m. 2025-10-24T20:04:43.501Z,1761336283.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509956 2025-10-24T20:04:43.753Z,1761336283.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761777 2025-10-24T20:04:43.806Z,1761336283.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557048,-0.830480,0.000837],[0.820783,0.550390,-0.152925],[0.126540,0.085874,0.988238]] 2025-10-24T20:04:43.832Z,1761336283.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:43.834Z,1761336283.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m. 2025-10-24T20:04:43.838Z,1761336283.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.689476 m, nav range: 34.664539 m, bearing: 63.169919 deg, approach rate: -0.503623 m/s, LOS rate: 0.004253 deg/s, cmd heading: 55.012550 deg, new cmd heading: 55.017495 deg. 2025-10-24T20:04:43.840Z,1761336283.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960236 target range: 36.689476 and range: 36.90 m. 2025-10-24T20:04:44.007Z,1761336284.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016216 2025-10-24T20:04:44.206Z,1761336284.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558926,-0.829216,0.001817],[0.819503,0.552042,-0.153831],[0.126556,0.087469,0.988096]] 2025-10-24T20:04:44.236Z,1761336284.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.69 m. 2025-10-24T20:04:44.240Z,1761336284.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.689476 m, nav range: 34.462223 m, bearing: 63.172425 deg, approach rate: -0.504053 m/s, LOS rate: 0.006282 deg/s, cmd heading: 55.017495 deg, new cmd heading: 55.025059 deg. 2025-10-24T20:04:44.241Z,1761336284.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960368 target range: 36.689476 and range: 36.90 m. 2025-10-24T20:04:44.258Z,1761336284.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267508 2025-10-24T20:04:44.509Z,1761336284.509 [DAT](INFO): DAT read: Rx Time:20:04:43.5180 2025-10-24T20:04:44.510Z,1761336284.510 [DAT](INFO): Rx dataTimestamp_ set to:1761336284.509567 2025-10-24T20:04:44.511Z,1761336284.511 [DAT](INFO): DAT read: Bearing 7.4, 19.4 (Local) 2025-10-24T20:04:44.511Z,1761336284.511 [DAT](INFO): Local bearing/azimuth received: Bearing 7.4, 19.4 (Local) 2025-10-24T20:04:44.514Z,1761336284.514 [DAT](INFO): DAT read: Range 10 to 50 : 35.0 m (trip time 23.3 ms) speed 0.4 2025-10-24T20:04:44.519Z,1761336284.519 [DAT](INFO): DAT read: 20:04:43.5180 LVL= 16368, 22385, 20850, 31955, AGC= 60, IDX= 410,-0.31,-0.358,-2.113,-0.701,-1.242, PHS= 0.973,-0.824, 0.538, RAW= 136.6, -8.5, CAL= 142.6, -19.4, ROT= 7.4, 19.4 2025-10-24T20:04:44.520Z,1761336284.520 [DAT](INFO): got valid direction response: 20:04:43.5180 LVL= 16368, 22385, 20850, 31955, AGC= 60, IDX= 410,-0.31,-0.358,-2.113,-0.701,-1.242, PHS= 0.973,-0.824, 0.538, RAW= 136.6, -8.5, CAL= 142.6, -19.4, ROT= 7.4, 19.4 2025-10-24T20:04:44.520Z,1761336284.520 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:04:44.521Z,1761336284.521 [DAT](INFO): direction in FSK: [0.935367,0.121483,-0.332161] 2025-10-24T20:04:44.521Z,1761336284.521 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:44.557Z,1761336284.557 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.565976 2025-10-24T20:04:44.613Z,1761336284.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561438,-0.827517,0.001929],[0.817830,0.554506,-0.153874],[0.126264,0.087968,0.988089]] 2025-10-24T20:04:44.713Z,1761336284.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 2.773336 s, deltaX: -1.900002 m, approachRate: -0.685096 m/s, rangeRepo size: 4 2025-10-24T20:04:44.715Z,1761336284.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.800034 m, bearing: 64.362858 deg, lat: 36.779639 deg, lon: -121.859533 deg, deltaT: 2.773336 s, deltaX: -1.889442 m, approachRate: -0.681289 m/s, posRepo size: 4 2025-10-24T20:04:44.715Z,1761336284.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.80 m. 2025-10-24T20:04:44.723Z,1761336284.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.800034 m, nav range: 34.101055 m, bearing: 64.362735 deg, approach rate: 0.000000 m/s, LOS rate: 0.006282 deg/s, cmd heading: 55.025059 deg, new cmd heading: 55.034030 deg. 2025-10-24T20:04:44.729Z,1761336284.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960525 target range: 34.800034 and range: 35.00 m. 2025-10-24T20:04:44.761Z,1761336284.761 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.770184 2025-10-24T20:04:45.013Z,1761336285.013 [DAT](INFO): DAT read: Rx Time:20:04:44.0177 2025-10-24T20:04:45.014Z,1761336285.014 [DAT](INFO): Rx dataTimestamp_ set to:1761336285.013572 2025-10-24T20:04:45.015Z,1761336285.015 [DAT](INFO): DAT read: Bearing 8.0, 20.1 (Local) 2025-10-24T20:04:45.015Z,1761336285.015 [DAT](INFO): Local bearing/azimuth received: Bearing 8.0, 20.1 (Local) 2025-10-24T20:04:45.018Z,1761336285.018 [DAT](INFO): DAT read: Range 10 to 50 : 34.5 m (trip time 23.0 ms) speed 0.4 2025-10-24T20:04:45.023Z,1761336285.023 [DAT](INFO): DAT read: 20:04:44.0177 LVL= 18352, 22961, 21698, 32595, AGC= 60, IDX= 503,-0.03,-0.235,-1.965,-0.591,-1.124, PHS= 0.977,-0.794, 0.531, RAW= 136.0, -9.0, CAL= 142.0, -20.1, ROT= 8.0, 20.1 2025-10-24T20:04:45.025Z,1761336285.025 [DAT](INFO): got valid direction response: 20:04:44.0177 LVL= 18352, 22961, 21698, 32595, AGC= 60, IDX= 503,-0.03,-0.235,-1.965,-0.591,-1.124, PHS= 0.977,-0.794, 0.531, RAW= 136.0, -9.0, CAL= 142.0, -20.1, ROT= 8.0, 20.1 2025-10-24T20:04:45.025Z,1761336285.025 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-24T20:04:45.026Z,1761336285.026 [DAT](INFO): direction in FSK: [0.929955,0.130697,-0.343660] 2025-10-24T20:04:45.026Z,1761336285.026 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:45.030Z,1761336285.030 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.038869 2025-10-24T20:04:45.145Z,1761336285.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562549,-0.826759,0.002728],[0.817127,0.555487,-0.154071],[0.125864,0.088901,0.988056]] 2025-10-24T20:04:45.194Z,1761336285.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.504005 s, deltaX: -0.500000 m, approachRate: -0.992054 m/s, rangeRepo size: 4 2025-10-24T20:04:45.201Z,1761336285.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.302887 m, bearing: 64.932752 deg, lat: 36.779635 deg, lon: -121.859533 deg, deltaT: 0.504005 s, deltaX: -0.497147 m, approachRate: -0.986392 m/s, posRepo size: 4 2025-10-24T20:04:45.201Z,1761336285.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m. 2025-10-24T20:04:45.208Z,1761336285.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.302887 m, nav range: 33.673454 m, bearing: 64.967451 deg, approach rate: 0.000000 m/s, LOS rate: 0.006282 deg/s, cmd heading: 55.034031 deg, new cmd heading: 55.043110 deg. 2025-10-24T20:04:45.209Z,1761336285.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960684 target range: 34.302887 and range: 34.50 m. 2025-10-24T20:04:45.265Z,1761336285.265 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274016 2025-10-24T20:04:45.518Z,1761336285.518 [DAT](INFO): DAT read: Rx Time:20:04:44.5177 2025-10-24T20:04:45.518Z,1761336285.518 [DAT](INFO): Rx dataTimestamp_ set to:1761336285.517862 2025-10-24T20:04:45.519Z,1761336285.519 [DAT](INFO): DAT read: Bearing 9.1, 20.3 (Local) 2025-10-24T20:04:45.520Z,1761336285.520 [DAT](INFO): Local bearing/azimuth received: Bearing 9.1, 20.3 (Local) 2025-10-24T20:04:45.522Z,1761336285.522 [DAT](INFO): DAT read: Range 10 to 50 : 34.5 m (trip time 23.0 ms) speed 0.4 2025-10-24T20:04:45.527Z,1761336285.527 [DAT](INFO): DAT read: 20:04:44.5177 LVL= 16560, 25665, 22338, 32755, AGC= 61, IDX= 502, 0.32, 1.461,-0.246, 1.087, 0.575, PHS= 0.974,-0.774, 0.508, RAW= 135.1, -9.1, CAL= 140.9, -20.3, ROT= 9.1, 20.3 2025-10-24T20:04:45.528Z,1761336285.528 [DAT](INFO): got valid direction response: 20:04:44.5177 LVL= 16560, 25665, 22338, 32755, AGC= 61, IDX= 502, 0.32, 1.461,-0.246, 1.087, 0.575, PHS= 0.974,-0.774, 0.508, RAW= 135.1, -9.1, CAL= 140.9, -20.3, ROT= 9.1, 20.3 2025-10-24T20:04:45.529Z,1761336285.529 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-24T20:04:45.530Z,1761336285.530 [DAT](INFO): direction in FSK: [0.926084,0.148335,-0.346936] 2025-10-24T20:04:45.530Z,1761336285.530 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:45.533Z,1761336285.533 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.542553 2025-10-24T20:04:45.647Z,1761336285.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563856,-0.825867,0.003219],[0.816308,0.556730,-0.153925],[0.125329,0.089419,0.988077]] 2025-10-24T20:04:45.753Z,1761336285.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.504290 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:04:45.760Z,1761336285.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.302849 m, bearing: 65.923227 deg, lat: 36.779635 deg, lon: -121.859529 deg, deltaT: 0.504290 s, deltaX: -0.000038 m, approachRate: -0.000076 m/s, posRepo size: 4 2025-10-24T20:04:45.761Z,1761336285.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.30 m. 2025-10-24T20:04:45.763Z,1761336285.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.302849 m, nav range: 33.681107 m, bearing: 65.287692 deg, approach rate: 0.000000 m/s, LOS rate: 0.006282 deg/s, cmd heading: 55.043111 deg, new cmd heading: 55.053558 deg. 2025-10-24T20:04:45.769Z,1761336285.769 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777953 2025-10-24T20:04:45.770Z,1761336285.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960866 target range: 34.302849 and range: 34.50 m. 2025-10-24T20:04:46.022Z,1761336286.022 [DAT](INFO): DAT read: Rx Time:20:04:45.0174 2025-10-24T20:04:46.023Z,1761336286.023 [DAT](INFO): Rx dataTimestamp_ set to:1761336286.022294 2025-10-24T20:04:46.024Z,1761336286.024 [DAT](INFO): DAT read: Bearing 9.6, 20.4 (Local) 2025-10-24T20:04:46.024Z,1761336286.024 [DAT](INFO): Local bearing/azimuth received: Bearing 9.6, 20.4 (Local) 2025-10-24T20:04:46.026Z,1761336286.026 [DAT](INFO): DAT read: Range 10 to 50 : 34.1 m (trip time 22.7 ms) speed 0.4 2025-10-24T20:04:46.031Z,1761336286.031 [DAT](INFO): DAT read: 20:04:45.0174 LVL= 16944, 27393, 25442, 32755, AGC= 59, IDX= 500,-0.20,-1.713, 2.906,-2.087,-2.579, PHS= 0.955,-0.751, 0.489, RAW= 134.7, -9.1, CAL= 140.4, -20.4, ROT= 9.6, 20.4 2025-10-24T20:04:46.033Z,1761336286.033 [DAT](INFO): got valid direction response: 20:04:45.0174 LVL= 16944, 27393, 25442, 32755, AGC= 59, IDX= 500,-0.20,-1.713, 2.906,-2.087,-2.579, PHS= 0.955,-0.751, 0.489, RAW= 134.7, -9.1, CAL= 140.4, -20.4, ROT= 9.6, 20.4 2025-10-24T20:04:46.033Z,1761336286.033 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-24T20:04:46.034Z,1761336286.034 [DAT](INFO): direction in FSK: [0.924156,0.156309,-0.348572] 2025-10-24T20:04:46.034Z,1761336286.034 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:46.042Z,1761336286.042 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.051114 2025-10-24T20:04:46.061Z,1761336286.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564082,-0.825698,0.005836],[0.816225,0.556513,-0.155144],[0.124855,0.092277,0.987875]] 2025-10-24T20:04:46.124Z,1761336286.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.099998 m, deltaT: 0.504432 s, deltaX: -0.400002 m, approachRate: -0.792974 m/s, rangeRepo size: 4 2025-10-24T20:04:46.126Z,1761336286.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.905132 m, bearing: 66.452880 deg, lat: 36.779631 deg, lon: -121.859530 deg, deltaT: 0.504432 s, deltaX: -0.397717 m, approachRate: -0.788444 m/s, posRepo size: 4 2025-10-24T20:04:46.127Z,1761336286.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.91 m. 2025-10-24T20:04:46.133Z,1761336286.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.905132 m, nav range: 33.259247 m, bearing: 65.891457 deg, approach rate: 0.000000 m/s, LOS rate: 0.006282 deg/s, cmd heading: 55.053558 deg, new cmd heading: 55.060547 deg. 2025-10-24T20:04:46.134Z,1761336286.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960988 target range: 33.905132 and range: 34.10 m. 2025-10-24T20:04:46.273Z,1761336286.273 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.282465 2025-10-24T20:04:46.494Z,1761336286.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563417,-0.826099,0.011071],[0.816827,0.554984,-0.157435],[0.123913,0.097745,0.987467]] 2025-10-24T20:04:46.527Z,1761336286.527 [DAT](INFO): DAT read: Rx Time:20:04:45.5172 2025-10-24T20:04:46.528Z,1761336286.528 [DAT](INFO): Rx dataTimestamp_ set to:1761336286.527604 2025-10-24T20:04:46.529Z,1761336286.529 [DAT](INFO): DAT read: Bearing 7.6, 19.6 (Local) 2025-10-24T20:04:46.530Z,1761336286.530 [DAT](INFO): Local bearing/azimuth received: Bearing 7.6, 19.6 (Local) 2025-10-24T20:04:46.532Z,1761336286.532 [DAT](INFO): DAT read: Range 10 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4 2025-10-24T20:04:46.537Z,1761336286.537 [DAT](INFO): DAT read: 20:04:45.5172 LVL= 18208, 23089, 24450, 32755, AGC= 60, IDX= 498, 0.04,-0.299,-2.093,-0.658,-1.209, PHS= 0.998,-0.837, 0.548, RAW= 136.4, -8.6, CAL= 142.4, -19.6, ROT= 7.6, 19.6 2025-10-24T20:04:46.538Z,1761336286.538 [DAT](INFO): got valid direction response: 20:04:45.5172 LVL= 18208, 23089, 24450, 32755, AGC= 60, IDX= 498, 0.04,-0.299,-2.093,-0.658,-1.209, PHS= 0.998,-0.837, 0.548, RAW= 136.4, -8.6, CAL= 142.4, -19.6, ROT= 7.6, 19.6 2025-10-24T20:04:46.538Z,1761336286.538 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-24T20:04:46.539Z,1761336286.539 [DAT](INFO): direction in FSK: [0.933782,0.124593,-0.335452] 2025-10-24T20:04:46.539Z,1761336286.539 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:46.552Z,1761336286.552 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.560588 2025-10-24T20:04:46.634Z,1761336286.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.505310 s, deltaX: -0.299999 m, approachRate: -0.593693 m/s, rangeRepo size: 4 2025-10-24T20:04:46.640Z,1761336286.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.606743 m, bearing: 64.632607 deg, lat: 36.779635 deg, lon: -121.859533 deg, deltaT: 0.505310 s, deltaX: -0.298389 m, approachRate: -0.590508 m/s, posRepo size: 4 2025-10-24T20:04:46.641Z,1761336286.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.61 m. 2025-10-24T20:04:46.648Z,1761336286.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.606743 m, nav range: 32.863022 m, bearing: 65.015131 deg, approach rate: 0.000000 m/s, LOS rate: 0.006282 deg/s, cmd heading: 55.060549 deg, new cmd heading: 55.070244 deg. 2025-10-24T20:04:46.649Z,1761336286.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.961157 target range: 33.606743 and range: 33.80 m. 2025-10-24T20:04:46.777Z,1761336286.777 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786126 2025-10-24T20:04:46.979Z,1761336286.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562883,-0.826455,0.011567],[0.817249,0.554412,-0.157261],[0.123556,0.097973,0.987489]] 2025-10-24T20:04:47.001Z,1761336287.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:47.003Z,1761336287.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.61 m. 2025-10-24T20:04:47.007Z,1761336287.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.606743 m, nav range: 32.631371 m, bearing: 65.007397 deg, approach rate: -0.626623 m/s, LOS rate: -0.021068 deg/s, cmd heading: 55.070244 deg, new cmd heading: 55.046879 deg. 2025-10-24T20:04:47.008Z,1761336287.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960749 target range: 33.606743 and range: 33.80 m. 2025-10-24T20:04:47.030Z,1761336287.030 [DAT](INFO): DAT read: Rx Time:20:04:46.0170 2025-10-24T20:04:47.030Z,1761336287.030 [DAT](INFO): Rx dataTimestamp_ set to:1761336287.029808 2025-10-24T20:04:47.031Z,1761336287.031 [DAT](INFO): DAT read: Bearing 8.0, 19.9 (Local) 2025-10-24T20:04:47.032Z,1761336287.032 [DAT](INFO): Local bearing/azimuth received: Bearing 8.0, 19.9 (Local) 2025-10-24T20:04:47.034Z,1761336287.034 [DAT](INFO): DAT read: Range 10 to 50 : 33.5 m (trip time 22.3 ms) speed 0.4 2025-10-24T20:04:47.045Z,1761336287.045 [DAT](INFO): DAT read: 20:04:46.0170 LVL= 16112, 24433, 22754, 32755, AGC= 60, IDX= 495, 0.21,-0.016,-1.824,-0.389,-0.942, PHS= 1.014,-0.835, 0.550, RAW= 136.1, -8.8, CAL= 142.0, -19.9, ROT= 8.0, 19.9 2025-10-24T20:04:47.046Z,1761336287.046 [DAT](INFO): got valid direction response: 20:04:46.0170 LVL= 16112, 24433, 22754, 32755, AGC= 60, IDX= 495, 0.21,-0.016,-1.824,-0.389,-0.942, PHS= 1.014,-0.835, 0.550, RAW= 136.1, -8.8, CAL= 142.0, -19.9, ROT= 8.0, 19.9 2025-10-24T20:04:47.047Z,1761336287.047 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-24T20:04:47.053Z,1761336287.053 [DAT](INFO): direction in FSK: [0.931137,0.130863,-0.340380] 2025-10-24T20:04:47.053Z,1761336287.053 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:47.067Z,1761336287.067 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.075618 2025-10-24T20:04:47.281Z,1761336287.281 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289860 2025-10-24T20:04:47.365Z,1761336287.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562310,-0.826827,0.012807],[0.817711,0.553671,-0.157471],[0.123111,0.099020,0.987441]] 2025-10-24T20:04:47.502Z,1761336287.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.500000 m, deltaT: 0.502204 s, deltaX: -0.299999 m, approachRate: -0.597365 m/s, rangeRepo size: 4 2025-10-24T20:04:47.509Z,1761336287.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.308483 m, bearing: 65.148635 deg, lat: 36.779635 deg, lon: -121.859531 deg, deltaT: 0.502204 s, deltaX: -0.298260 m, approachRate: -0.593902 m/s, posRepo size: 4 2025-10-24T20:04:47.509Z,1761336287.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.31 m. 2025-10-24T20:04:47.516Z,1761336287.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.308483 m, nav range: 32.569702 m, bearing: 65.173692 deg, approach rate: 0.000000 m/s, LOS rate: -0.021068 deg/s, cmd heading: 55.046878 deg, new cmd heading: 55.015358 deg. 2025-10-24T20:04:47.517Z,1761336287.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.960199 target range: 33.308483 and range: 33.50 m. 2025-10-24T20:04:47.534Z,1761336287.534 [DAT](INFO): DAT read: Rx Time:20:04:46.5169 2025-10-24T20:04:47.536Z,1761336287.536 [DAT](INFO): Rx dataTimestamp_ set to:1761336287.535978 2025-10-24T20:04:47.538Z,1761336287.538 [DAT](INFO): DAT read: Bearing 8.1, 19.5 (Local) 2025-10-24T20:04:47.538Z,1761336287.538 [DAT](INFO): Local bearing/azimuth received: Bearing 8.1, 19.5 (Local) 2025-10-24T20:04:47.543Z,1761336287.543 [DAT](INFO): DAT read: Range 10 to 50 : 33.3 m (trip time 22.2 ms) speed 0.4 2025-10-24T20:04:47.548Z,1761336287.548 [DAT](INFO): DAT read: 20:04:46.5169 LVL= 16848, 23937, 22290, 32467, AGC= 60, IDX= 510, 0.46, 1.702,-0.102, 1.328, 0.788, PHS= 1.002,-0.843, 0.537, RAW= 136.0, -8.4, CAL= 141.9, -19.5, ROT= 8.1, 19.5 2025-10-24T20:04:47.549Z,1761336287.549 [DAT](INFO): got valid direction response: 20:04:46.5169 LVL= 16848, 23937, 22290, 32467, AGC= 60, IDX= 510, 0.46, 1.702,-0.102, 1.328, 0.788, PHS= 1.002,-0.843, 0.537, RAW= 136.0, -8.4, CAL= 141.9, -19.5, ROT= 8.1, 19.5 2025-10-24T20:04:47.550Z,1761336287.550 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-24T20:04:47.551Z,1761336287.551 [DAT](INFO): direction in FSK: [0.933237,0.132819,-0.333807] 2025-10-24T20:04:47.551Z,1761336287.551 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:47.582Z,1761336287.582 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.591317 2025-10-24T20:04:47.786Z,1761336287.786 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.794599 2025-10-24T20:04:47.979Z,1761336287.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562288,-0.826829,0.013661],[0.817785,0.553534,-0.157569],[0.122721,0.099771,0.987413]] 2025-10-24T20:04:48.038Z,1761336288.038 [DAT](INFO): DAT read: Rx Time:20:04:47.0167 2025-10-24T20:04:48.039Z,1761336288.039 [DAT](INFO): Rx dataTimestamp_ set to:1761336288.038222 2025-10-24T20:04:48.041Z,1761336288.041 [DAT](INFO): DAT read: Bearing 7.8, 18.8 (Local) 2025-10-24T20:04:48.041Z,1761336288.041 [DAT](INFO): Local bearing/azimuth received: Bearing 7.8, 18.8 (Local) 2025-10-24T20:04:48.043Z,1761336288.043 [DAT](INFO): DAT read: Rto 50 : 33.0 m (trip time 22.0 ms) speed 0.4 2025-10-24T20:04:48.043Z,1761336288.043 [DAT](INFO): unknown deviceResponse_: Rto 50 : 33.0 m (trip time 22.0 ms) speed 0.4 2025-10-24T20:04:48.046Z,1761336288.046 [DAT](INFO): DAT read: 20:04:47.0167 LVL= 17632, 21697, 22306, 30883, AGC= 59, IDX= 508,-0.14,-1.246,-2.990,-1.5= 136.3, -8.0, CAL= 142.2, -18.8, ROT= 7.8, 18.8 2025-10-24T20:04:48.047Z,1761336288.047 [DAT](INFO): unknown deviceResponse_: 20:04:47.0167 LVL= 17632, 21697, 22306, 30883, AGC= 59, IDX= 508,-0.14,-1.246,-2.990,-1.5= 136.3, -8.0, CAL= 142.2, -18.8, ROT= 7.8, 18.8 2025-10-24T20:04:48.048Z,1761336288.048 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=6.057458 2025-10-24T20:04:48.131Z,1761336288.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.506170 s, deltaX: -0.200001 m, approachRate: -0.395126 m/s, rangeRepo size: 4 2025-10-24T20:04:48.139Z,1761336288.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.109627 m, bearing: 65.229099 deg, lat: 36.779635 deg, lon: -121.859530 deg, deltaT: 0.506170 s, deltaX: -0.198856 m, approachRate: -0.392865 m/s, posRepo size: 4 2025-10-24T20:04:48.149Z,1761336288.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.11 m. 2025-10-24T20:04:48.161Z,1761336288.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.109627 m, nav range: 32.307831 m, bearing: 65.209419 deg, approach rate: 0.000000 m/s, LOS rate: -0.021068 deg/s, cmd heading: 55.015357 deg, new cmd heading: 54.975603 deg. 2025-10-24T20:04:48.162Z,1761336288.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959505 target range: 33.109627 and range: 33.30 m. 2025-10-24T20:04:48.290Z,1761336288.290 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=6.298993 2025-10-24T20:04:48.548Z,1761336288.548 [DAT](INFO): DAT read: Rx Time:20:04:47.5166 2025-10-24T20:04:48.549Z,1761336288.549 [DAT](INFO): Rx dataTimestamp_ set to:1761336288.548115 2025-10-24T20:04:48.551Z,1761336288.551 [DAT](INFO): DAT read: Bearing 8.2, 19.9 (Local) 2025-10-24T20:04:48.551Z,1761336288.551 [DAT](INFO): Local bearing/azimuth received: Bearing 8.2, 19.9 (Local) 2025-10-24T20:04:48.553Z,1761336288.553 [DAT](INFO): DAT read: Range 10 to 50 : 32.9 m (trip time 21.9 ms) speed 0.4 2025-10-24T20:04:48.566Z,1761336288.566 [DAT](INFO): DAT read: 20:04:47.5166 LVL= 16048, 21889, 21666, 32691, AGC= 58, IDX= 507, 0.08, 0.738,-1.050, 0.365,-0.178, PHS= 1.004,-0.825, 0.540, RAW= 135.9, -8.8, CAL= 141.8, -19.9, ROT= 8.2, 19.9 2025-10-24T20:04:48.567Z,1761336288.567 [DAT](INFO): got valid direction response: 20:04:47.5166 LVL= 16048, 21889, 21666, 32691, AGC= 58, IDX= 507, 0.08, 0.738,-1.050, 0.365,-0.178, PHS= 1.004,-0.825, 0.540, RAW= 135.9, -8.8, CAL= 141.8, -19.9, ROT= 8.2, 19.9 2025-10-24T20:04:48.580Z,1761336288.580 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-24T20:04:48.581Z,1761336288.581 [DAT](INFO): direction in FSK: [0.930675,0.134112,-0.340380] 2025-10-24T20:04:48.581Z,1761336288.581 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:48.585Z,1761336288.585 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.593815 2025-10-24T20:04:48.741Z,1761336288.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.900002 m, deltaT: 1.012137 s, deltaX: -0.399998 m, approachRate: -0.395201 m/s, rangeRepo size: 4 2025-10-24T20:04:48.743Z,1761336288.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.712025 m, bearing: 65.358935 deg, lat: 36.779635 deg, lon: -121.859530 deg, deltaT: 1.012137 s, deltaX: -0.397602 m, approachRate: -0.392834 m/s, posRepo size: 4 2025-10-24T20:04:48.748Z,1761336288.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.71 m. 2025-10-24T20:04:48.751Z,1761336288.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.712025 m, nav range: 31.946785 m, bearing: 65.235989 deg, approach rate: 0.000000 m/s, LOS rate: -0.021068 deg/s, cmd heading: 54.975602 deg, new cmd heading: 54.937046 deg. 2025-10-24T20:04:48.756Z,1761336288.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958832 target range: 32.712025 and range: 32.90 m. 2025-10-24T20:04:48.797Z,1761336288.797 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.806139 2025-10-24T20:04:49.049Z,1761336289.049 [DAT](INFO): DAT read: Rx Time:20:04:48.0165 2025-10-24T20:04:49.050Z,1761336289.050 [DAT](INFO): Rx dataTimestamp_ set to:1761336289.049490 2025-10-24T20:04:49.051Z,1761336289.051 [DAT](INFO): DAT read: Bearing 8.0, 20.0 (Local) 2025-10-24T20:04:49.051Z,1761336289.051 [DAT](INFO): Local bearing/azimuth received: Bearing 8.0, 20.0 (Local) 2025-10-24T20:04:49.054Z,1761336289.054 [DAT](INFO): DAT read: Range 10 to 50 : 32.6 m (trip time 21.7 ms) speed 0.5 2025-10-24T20:04:49.059Z,1761336289.059 [DAT](INFO): DAT read: 20:04:48.0165 LVL= 15632, 20385, 21090, 32579, AGC= 58, IDX= 504, 0.25, 0.571,-1.215, 0.202,-0.344, PHS= 1.003,-0.824, 0.543, RAW= 136.0, -8.8, CAL= 142.0, -20.0, ROT= 8.0, 20.0 2025-10-24T20:04:49.060Z,1761336289.060 [DAT](INFO): got valid direction response: 20:04:48.0165 LVL= 15632, 20385, 21090, 32579, AGC= 58, IDX= 504, 0.25, 0.571,-1.215, 0.202,-0.344, PHS= 1.003,-0.824, 0.543, RAW= 136.0, -8.8, CAL= 142.0, -20.0, ROT= 8.0, 20.0 2025-10-24T20:04:49.061Z,1761336289.061 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-24T20:04:49.062Z,1761336289.062 [DAT](INFO): direction in FSK: [0.930548,0.130780,-0.342020] 2025-10-24T20:04:49.062Z,1761336289.062 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:49.066Z,1761336289.066 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=7.074567 2025-10-24T20:04:49.155Z,1761336289.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561083,-0.827589,0.016798],[0.818997,0.552085,-0.156354],[0.120123,0.101485,0.987558]] 2025-10-24T20:04:49.219Z,1761336289.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.501375 s, deltaX: -0.300003 m, approachRate: -0.598361 m/s, rangeRepo size: 4 2025-10-24T20:04:49.226Z,1761336289.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.413734 m, bearing: 65.310744 deg, lat: 36.779635 deg, lon: -121.859530 deg, deltaT: 0.501375 s, deltaX: -0.298290 m, approachRate: -0.594944 m/s, posRepo size: 4 2025-10-24T20:04:49.227Z,1761336289.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.41 m. 2025-10-24T20:04:49.234Z,1761336289.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.413734 m, nav range: 31.685944 m, bearing: 65.255534 deg, approach rate: 0.000000 m/s, LOS rate: -0.021068 deg/s, cmd heading: 54.937045 deg, new cmd heading: 54.907292 deg. 2025-10-24T20:04:49.235Z,1761336289.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.958313 target range: 32.413734 and range: 32.60 m. 2025-10-24T20:04:49.302Z,1761336289.302 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=7.310897 2025-10-24T20:04:49.542Z,1761336289.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560527,-0.827934,0.018288],[0.819617,0.551466,-0.155283],[0.118479,0.102029,0.987701]] 2025-10-24T20:04:49.556Z,1761336289.556 [DAT](INFO): DAT read: Rx Time:20:04:48.5164 2025-10-24T20:04:49.557Z,1761336289.557 [DAT](INFO): Rx dataTimestamp_ set to:1761336289.556190 2025-10-24T20:04:49.559Z,1761336289.559 [DAT](INFO): DAT read: Bearing 7.5, 19.6 (Local) 2025-10-24T20:04:49.560Z,1761336289.560 [DAT](INFO): Local bearing/azimuth received: Bearing 7.5, 19.6 (Local) 2025-10-24T20:04:49.565Z,1761336289.565 [DAT](INFO): DAT read: Range 10 to 50 : 32.4 m (trip time 21.6 ms) speed 0.5 2025-10-24T20:04:49.575Z,1761336289.575 [DAT](INFO): DAT read: 20:04:48.5164 LVL= 16672, 21553, 22466, 32755, AGC= 60, IDX= 503, 0.31, 2.839, 1.020, 2.475, 1.915, PHS= 1.011,-0.848, 0.557, RAW= 136.4, -8.6, CAL= 142.5, -19.6, ROT= 7.5, 19.6 2025-10-24T20:04:49.582Z,1761336289.582 [DAT](INFO): got valid direction response: 20:04:48.5164 LVL= 16672, 21553, 22466, 32755, AGC= 60, IDX= 503, 0.31, 2.839, 1.020, 2.475, 1.915, PHS= 1.011,-0.848, 0.557, RAW= 136.4, -8.6, CAL= 142.5, -19.6, ROT= 7.5, 19.6 2025-10-24T20:04:49.582Z,1761336289.582 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-24T20:04:49.583Z,1761336289.583 [DAT](INFO): direction in FSK: [0.933998,0.122963,-0.335452] 2025-10-24T20:04:49.583Z,1761336289.583 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:49.595Z,1761336289.595 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.604248 2025-10-24T20:04:49.714Z,1761336289.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 0.506700 s, deltaX: -0.199997 m, approachRate: -0.394705 m/s, rangeRepo size: 4 2025-10-24T20:04:49.720Z,1761336289.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.214737 m, bearing: 64.855973 deg, lat: 36.779635 deg, lon: -121.859530 deg, deltaT: 0.506700 s, deltaX: -0.198997 m, approachRate: -0.392732 m/s, posRepo size: 4 2025-10-24T20:04:49.721Z,1761336289.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.21 m. 2025-10-24T20:04:49.728Z,1761336289.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.214737 m, nav range: 31.424911 m, bearing: 65.289366 deg, approach rate: 0.000000 m/s, LOS rate: -0.021068 deg/s, cmd heading: 54.907293 deg, new cmd heading: 54.875589 deg. 2025-10-24T20:04:49.736Z,1761336289.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957760 target range: 32.214737 and range: 32.40 m. 2025-10-24T20:04:49.805Z,1761336289.805 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.814296 2025-10-24T20:04:50.058Z,1761336290.058 [DAT](INFO): DAT read: Rx Time:20:04:49.0161 2025-10-24T20:04:50.058Z,1761336290.058 [DAT](INFO): Rx dataTimestamp_ set to:1761336290.057722 2025-10-24T20:04:50.059Z,1761336290.059 [DAT](INFO): DAT read: Bearing 7.9, 20.0 (Local) 2025-10-24T20:04:50.060Z,1761336290.060 [DAT](INFO): Local bearing/azimuth received: Bearing 7.9, 20.0 (Local) 2025-10-24T20:04:50.062Z,1761336290.062 [DAT](INFO): DAT read: Range 10 to 50 : 32.0 m (trip time 21.3 ms) speed 0.5 2025-10-24T20:04:50.067Z,1761336290.067 [DAT](INFO): DAT read: 20:04:49.0161 LVL= 16560, 22689, 22466, 32755, AGC= 60, IDX= 500, 0.43, 1.656,-0.136, 1.287, 0.736, PHS= 1.008,-0.825, 0.548, RAW= 136.1, -8.9, CAL= 142.1, -20.0, ROT= 7.9, 20.0 2025-10-24T20:04:50.068Z,1761336290.068 [DAT](INFO): got valid direction response: 20:04:49.0161 LVL= 16560, 22689, 22466, 32755, AGC= 60, IDX= 500, 0.43, 1.656,-0.136, 1.287, 0.736, PHS= 1.008,-0.825, 0.548, RAW= 136.1, -8.9, CAL= 142.1, -20.0, ROT= 7.9, 20.0 2025-10-24T20:04:50.068Z,1761336290.068 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-24T20:04:50.069Z,1761336290.069 [DAT](INFO): direction in FSK: [0.930774,0.129156,-0.342020] 2025-10-24T20:04:50.070Z,1761336290.070 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:50.074Z,1761336290.074 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=8.083399 2025-10-24T20:04:50.093Z,1761336290.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561376,-0.827319,0.020011],[0.819682,0.552540,-0.151065],[0.113922,0.101207,0.988321]] 2025-10-24T20:04:50.162Z,1761336290.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.501532 s, deltaX: -0.400002 m, approachRate: -0.797559 m/s, rangeRepo size: 4 2025-10-24T20:04:50.185Z,1761336290.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.817024 m, bearing: 65.229780 deg, lat: 36.779635 deg, lon: -121.859530 deg, deltaT: 0.501532 s, deltaX: -0.397713 m, approachRate: -0.792996 m/s, posRepo size: 4 2025-10-24T20:04:50.185Z,1761336290.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.82 m. 2025-10-24T20:04:50.201Z,1761336290.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.817024 m, nav range: 31.179646 m, bearing: 65.343600 deg, approach rate: 0.000000 m/s, LOS rate: -0.021068 deg/s, cmd heading: 54.875587 deg, new cmd heading: 54.847233 deg. 2025-10-24T20:04:50.201Z,1761336290.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957265 target range: 31.817024 and range: 32.00 m. 2025-10-24T20:04:50.311Z,1761336290.311 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=8.319797 2025-10-24T20:04:50.529Z,1761336290.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562455,-0.826539,0.021862],[0.819320,0.553599,-0.149139],[0.111166,0.101796,0.988575]] 2025-10-24T20:04:50.561Z,1761336290.561 [DAT](INFO): DAT read: Rx Time:20:04:49.5159 2025-10-24T20:04:50.562Z,1761336290.562 [DAT](INFO): Rx dataTimestamp_ set to:1761336290.561434 2025-10-24T20:04:50.563Z,1761336290.563 [DAT](INFO): DAT read: Bearing 8.6, 19.6 (Local) 2025-10-24T20:04:50.563Z,1761336290.563 [DAT](INFO): Local bearing/azimuth received: Bearing 8.6, 19.6 (Local) 2025-10-24T20:04:50.566Z,1761336290.566 [DAT](INFO): DAT read: Range 10 to 50 : 31.7 m (trip time 21.1 ms) speed 0.5 2025-10-24T20:04:50.570Z,1761336290.570 [DAT](INFO): DAT read: 20:04:49.5159 LVL= 16720, 22705, 23746, 32755, AGC= 59, IDX= 499,-0.26,-1.454, 3.071,-1.829,-2.346, PHS= 0.980,-0.819, 0.514, RAW= 135.5, -8.4, CAL= 141.4, -19.6, ROT= 8.6, 19.6 2025-10-24T20:04:50.572Z,1761336290.572 [DAT](INFO): got valid direction response: 20:04:49.5159 LVL= 16720, 22705, 23746, 32755, AGC= 59, IDX= 499,-0.26,-1.454, 3.071,-1.829,-2.346, PHS= 0.980,-0.819, 0.514, RAW= 135.5, -8.4, CAL= 141.4, -19.6, ROT= 8.6, 19.6 2025-10-24T20:04:50.573Z,1761336290.573 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-24T20:04:50.576Z,1761336290.576 [DAT](INFO): direction in FSK: [0.931465,0.140871,-0.335452] 2025-10-24T20:04:50.576Z,1761336290.576 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:50.600Z,1761336290.600 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.592689 2025-10-24T20:04:50.702Z,1761336290.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.700001 m, deltaT: 0.503712 s, deltaX: -0.299999 m, approachRate: -0.595577 m/s, rangeRepo size: 4 2025-10-24T20:04:50.710Z,1761336290.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.518726 m, bearing: 65.820055 deg, lat: 36.779635 deg, lon: -121.859530 deg, deltaT: 0.503712 s, deltaX: -0.298298 m, approachRate: -0.592199 m/s, posRepo size: 4 2025-10-24T20:04:50.711Z,1761336290.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m. 2025-10-24T20:04:50.722Z,1761336290.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.518726 m, nav range: 30.883825 m, bearing: 65.436736 deg, approach rate: 0.000000 m/s, LOS rate: -0.021068 deg/s, cmd heading: 54.847232 deg, new cmd heading: 54.813747 deg. 2025-10-24T20:04:50.723Z,1761336290.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.956680 target range: 31.518726 and range: 31.70 m. 2025-10-24T20:04:50.813Z,1761336290.813 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.822092 2025-10-24T20:04:51.001Z,1761336291.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563726,-0.825607,0.024225],[0.818849,0.554790,-0.147291],[0.108164,0.102868,0.988797]] 2025-10-24T20:04:51.038Z,1761336291.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:51.045Z,1761336291.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m. 2025-10-24T20:04:51.047Z,1761336291.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.518726 m, nav range: 30.694326 m, bearing: 65.484627 deg, approach rate: -0.536370 m/s, LOS rate: 0.136389 deg/s, cmd heading: 54.813747 deg, new cmd heading: 54.958305 deg. 2025-10-24T20:04:51.053Z,1761336291.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.959203 target range: 31.518726 and range: 31.70 m. 2025-10-24T20:04:51.066Z,1761336291.066 [DAT](INFO): DAT read: Rx Time:20:04:50.0156 2025-10-24T20:04:51.066Z,1761336291.066 [DAT](INFO): Rx dataTimestamp_ set to:1761336291.065727 2025-10-24T20:04:51.067Z,1761336291.067 [DAT](INFO): DAT read: Bearing 9.8, 20.2 (Local) 2025-10-24T20:04:51.068Z,1761336291.068 [DAT](INFO): Local bearing/azimuth received: Bearing 9.8, 20.2 (Local) 2025-10-24T20:04:51.070Z,1761336291.070 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.5 2025-10-24T20:04:51.076Z,1761336291.076 [DAT](INFO): DAT read: 20:04:50.0156 LVL= 16624, 23409, 23122, 32755, AGC= 59, IDX= 496,-0.15, 3.129, 1.428, 2.739, 2.249, PHS= 0.967,-0.775, 0.486, RAW= 134.5, -8.8, CAL= 140.2, -20.2, ROT= 9.8, 20.2 2025-10-24T20:04:51.077Z,1761336291.077 [DAT](INFO): got valid direction response: 20:04:50.0156 LVL= 16624, 23409, 23122, 32755, AGC= 59, IDX= 496,-0.15, 3.129, 1.428, 2.739, 2.249, PHS= 0.967,-0.775, 0.486, RAW= 134.5, -8.8, CAL= 140.2, -20.2, ROT= 9.8, 20.2 2025-10-24T20:04:51.077Z,1761336291.077 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-24T20:04:51.078Z,1761336291.078 [DAT](INFO): direction in FSK: [0.924798,0.159740,-0.345298] 2025-10-24T20:04:51.078Z,1761336291.078 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:51.103Z,1761336291.103 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=9.111915 2025-10-24T20:04:51.317Z,1761336291.317 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=9.325780 2025-10-24T20:04:51.391Z,1761336291.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564916,-0.824710,0.026874],[0.818409,0.555851,-0.145725],[0.105244,0.104316,0.988960]] 2025-10-24T20:04:51.518Z,1761336291.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504293 s, deltaX: -0.500000 m, approachRate: -0.991487 m/s, rangeRepo size: 4 2025-10-24T20:04:51.524Z,1761336291.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.021399 m, bearing: 66.940629 deg, lat: 36.779635 deg, lon: -121.859530 deg, deltaT: 0.504293 s, deltaX: -0.497328 m, approachRate: -0.986188 m/s, posRepo size: 4 2025-10-24T20:04:51.525Z,1761336291.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.02 m. 2025-10-24T20:04:51.527Z,1761336291.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.021399 m, nav range: 30.460989 m, bearing: 65.544951 deg, approach rate: 0.000000 m/s, LOS rate: 0.136389 deg/s, cmd heading: 54.958304 deg, new cmd heading: 55.151560 deg. 2025-10-24T20:04:51.542Z,1761336291.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.962576 target range: 31.021399 and range: 31.20 m. 2025-10-24T20:04:51.570Z,1761336291.570 [DAT](INFO): DAT read: Rx Time:20:04:50.5155 2025-10-24T20:04:51.570Z,1761336291.570 [DAT](INFO): Rx dataTimestamp_ set to:1761336291.569976 2025-10-24T20:04:51.572Z,1761336291.572 [DAT](INFO): DAT read: Bearing 12.3, 20.6 (Local) 2025-10-24T20:04:51.572Z,1761336291.572 [DAT](INFO): Local bearing/azimuth received: Bearing 12.3, 20.6 (Local) 2025-10-24T20:04:51.574Z,1761336291.574 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.5 2025-10-24T20:04:51.579Z,1761336291.579 [DAT](INFO): DAT read: 20:04:50.5155 LVL= 16528, 24529, 25506, 32755, AGC= 59, IDX= 511,-0.02,-2.250, 2.405,-2.674,-3.108, PHS= 0.946,-0.723, 0.431, RAW= 132.5, -8.9, CAL= 137.7, -20.6, ROT= 12.3, 20.6 2025-10-24T20:04:51.580Z,1761336291.580 [DAT](INFO): got valid direction response: 20:04:50.5155 LVL= 16528, 24529, 25506, 32755, AGC= 59, IDX= 511,-0.02,-2.250, 2.405,-2.674,-3.108, PHS= 0.946,-0.723, 0.431, RAW= 132.5, -8.9, CAL= 137.7, -20.6, ROT= 12.3, 20.6 2025-10-24T20:04:51.580Z,1761336291.580 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-24T20:04:51.581Z,1761336291.581 [DAT](INFO): direction in FSK: [0.914573,0.199409,-0.351842] 2025-10-24T20:04:51.582Z,1761336291.582 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:51.603Z,1761336291.603 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.611923 2025-10-24T20:04:51.795Z,1761336291.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567135,-0.823115,0.028972],[0.817255,0.558033,-0.143854],[0.102241,0.105262,0.989175]] 2025-10-24T20:04:51.822Z,1761336291.822 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.831010 2025-10-24T20:04:51.985Z,1761336291.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.504249 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:04:51.992Z,1761336291.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.021399 m, bearing: 69.258734 deg, lat: 36.779633 deg, lon: -121.859530 deg, deltaT: 0.504249 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T20:04:51.993Z,1761336291.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.02 m. 2025-10-24T20:04:51.000Z,1761336292.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.021399 m, nav range: 30.172314 m, bearing: 66.006717 deg, approach rate: 0.000000 m/s, LOS rate: 0.136389 deg/s, cmd heading: 55.151561 deg, new cmd heading: 55.342930 deg. 2025-10-24T20:04:52.001Z,1761336292.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965916 target range: 31.021399 and range: 31.20 m. 2025-10-24T20:04:52.074Z,1761336292.074 [DAT](INFO): DAT read: Rx Time:20:04:51.0152 2025-10-24T20:04:52.074Z,1761336292.074 [DAT](INFO): Rx dataTimestamp_ set to:1761336292.073967 2025-10-24T20:04:52.076Z,1761336292.076 [DAT](INFO): DAT read: Bearing 11.0, 20.4 (Local) 2025-10-24T20:04:52.076Z,1761336292.076 [DAT](INFO): Local bearing/azimuth received: Bearing 11.0, 20.4 (Local) 2025-10-24T20:04:52.078Z,1761336292.078 [DAT](INFO): DAT read: Range 10 to 50 : 30.8 m (trip time 20.5 ms) speed 0.5 2025-10-24T20:04:52.083Z,1761336292.083 [DAT](INFO): DAT read: 20:04:51.0152 LVL= 15680, 24289, 24850, 32755, AGC= 60, IDX= 508, 0.04,-1.852, 2.732,-2.270,-2.739, PHS= 0.975,-0.766, 0.466, RAW= 133.5, -8.8, CAL= 139.0, -20.4, ROT= 11.0, 20.4 2025-10-24T20:04:52.084Z,1761336292.084 [DAT](INFO): got valid direction response: 20:04:51.0152 LVL= 15680, 24289, 24850, 32755, AGC= 60, IDX= 508, 0.04,-1.852, 2.732,-2.270,-2.739, PHS= 0.975,-0.766, 0.466, RAW= 133.5, -8.8, CAL= 139.0, -20.4, ROT= 11.0, 20.4 2025-10-24T20:04:52.085Z,1761336292.085 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-24T20:04:52.086Z,1761336292.086 [DAT](INFO): direction in FSK: [0.920061,0.178842,-0.348572] 2025-10-24T20:04:52.086Z,1761336292.086 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:52.091Z,1761336292.091 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=10.100128 2025-10-24T20:04:52.200Z,1761336292.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568629,-0.822034,0.030350],[0.816545,0.559597,-0.141797],[0.099578,0.105412,0.989430]] 2025-10-24T20:04:52.265Z,1761336292.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.503991 s, deltaX: -0.400002 m, approachRate: -0.793668 m/s, rangeRepo size: 4 2025-10-24T20:04:52.267Z,1761336292.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.623686 m, bearing: 67.910230 deg, lat: 36.779628 deg, lon: -121.859529 deg, deltaT: 0.503991 s, deltaX: -0.397713 m, approachRate: -0.789127 m/s, posRepo size: 4 2025-10-24T20:04:52.267Z,1761336292.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.62 m. 2025-10-24T20:04:52.279Z,1761336292.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.623686 m, nav range: 29.855095 m, bearing: 67.086341 deg, approach rate: 0.000000 m/s, LOS rate: 0.136389 deg/s, cmd heading: 55.342929 deg, new cmd heading: 55.453241 deg. 2025-10-24T20:04:52.292Z,1761336292.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967842 target range: 30.623686 and range: 30.80 m. 2025-10-24T20:04:52.325Z,1761336292.325 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=10.334204 2025-10-24T20:04:52.578Z,1761336292.578 [DAT](INFO): DAT read: Rx Time:20:04:51.5151 2025-10-24T20:04:52.578Z,1761336292.578 [DAT](INFO): Rx dataTimestamp_ set to:1761336292.577703 2025-10-24T20:04:52.579Z,1761336292.579 [DAT](INFO): DAT read: Bearing 11.1, 20.5 (Local) 2025-10-24T20:04:52.580Z,1761336292.580 [DAT](INFO): Local bearing/azimuth received: Bearing 11.1, 20.5 (Local) 2025-10-24T20:04:52.582Z,1761336292.582 [DAT](INFO): DAT read: Range 10 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4 2025-10-24T20:04:52.587Z,1761336292.587 [DAT](INFO): DAT read: 20:04:51.5151 LVL= 17248, 27569, 20786, 32755, AGC= 59, IDX= 507, 0.14,-0.250,-1.975,-0.677,-1.157, PHS= 0.995,-0.772, 0.476, RAW= 133.4, -8.9, CAL= 138.9, -20.5, ROT= 11.1, 20.5 2025-10-24T20:04:52.596Z,1761336292.596 [DAT](INFO): got valid direction response: 20:04:51.5151 LVL= 17248, 27569, 20786, 32755, AGC= 59, IDX= 507, 0.14,-0.250,-1.975,-0.677,-1.157, PHS= 0.995,-0.772, 0.476, RAW= 133.4, -8.9, CAL= 138.9, -20.5, ROT= 11.1, 20.5 2025-10-24T20:04:52.596Z,1761336292.596 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-24T20:04:52.597Z,1761336292.597 [DAT](INFO): direction in FSK: [0.919150,0.180330,-0.350207] 2025-10-24T20:04:52.598Z,1761336292.598 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:52.607Z,1761336292.607 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.615906 2025-10-24T20:04:52.622Z,1761336292.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571397,-0.820117,0.030230],[0.814936,0.562669,-0.138861],[0.096872,0.103981,0.989850]] 2025-10-24T20:04:52.752Z,1761336292.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.503736 s, deltaX: -0.199999 m, approachRate: -0.397031 m/s, rangeRepo size: 4 2025-10-24T20:04:52.755Z,1761336292.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.424362 m, bearing: 67.811644 deg, lat: 36.779625 deg, lon: -121.859529 deg, deltaT: 0.503736 s, deltaX: -0.199324 m, approachRate: -0.395691 m/s, posRepo size: 4 2025-10-24T20:04:52.765Z,1761336292.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m. 2025-10-24T20:04:52.773Z,1761336292.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.424362 m, nav range: 29.543667 m, bearing: 67.811539 deg, approach rate: 0.000000 m/s, LOS rate: 0.136389 deg/s, cmd heading: 55.453240 deg, new cmd heading: 55.651230 deg. 2025-10-24T20:04:52.774Z,1761336292.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971297 target range: 30.424362 and range: 30.60 m. 2025-10-24T20:04:52.830Z,1761336292.830 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.838919 2025-10-24T20:04:53.011Z,1761336293.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573517,-0.818574,0.031861],[0.813770,0.564820,-0.136957],[0.094114,0.104474,0.990065]] 2025-10-24T20:04:53.066Z,1761336293.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:53.077Z,1761336293.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.42 m. 2025-10-24T20:04:53.082Z,1761336293.082 [DAT](INFO): DAT read: Rx Time:20:04:52.01ring 9.5, 19.7 (Local) 2025-10-24T20:04:53.083Z,1761336293.083 [DAT](INFO): Rx dataTimestamp_ set to:1761336293.082473 2025-10-24T20:04:53.085Z,1761336293.085 [DAT](INFO): DAT read: Range 10 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4 2025-10-24T20:04:53.091Z,1761336293.091 [DAT](INFO): DAT read: 20:04:52.0149 LVL= 16112, 22209, 22258, 32163, AGC= 60, IDX= 504, 0.37,-1.026,-2.827,-1.437,-1.945, PHS= 1.007,-0.835, 0.505, RAW= 134.7, -8.3, CAL= 140.5, -19.7, ROT= 9.5, 19.7 2025-10-24T20:04:53.092Z,1761336293.092 [DAT](INFO): got valid direction response: 20:04:52.0149 LVL= 16112, 22209, 22258, 32163, AGC= 60, IDX= 504, 0.37,-1.026,-2.827,-1.437,-1.945, PHS= 1.007,-0.835, 0.505, RAW= 134.7, -8.3, CAL= 140.5, -19.7, ROT= 9.5, 19.7 2025-10-24T20:04:53.092Z,1761336293.092 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-24T20:04:53.093Z,1761336293.093 [DAT](INFO): direction in FSK: [0.928559,0.155387,-0.337095] 2025-10-24T20:04:53.093Z,1761336293.093 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:53.099Z,1761336293.099 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=11.108136 2025-10-24T20:04:53.100Z,1761336293.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.424362 m, nav range: 29.379423 m, bearing: 67.895050 deg, approach rate: -0.484977 m/s, LOS rate: 0.247968 deg/s, cmd heading: 55.651230 deg, new cmd heading: 55.903162 deg. 2025-10-24T20:04:53.101Z,1761336293.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.975694 target range: 30.424362 and range: 30.60 m. 2025-10-24T20:04:53.333Z,1761336293.333 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=11.342049 2025-10-24T20:04:53.432Z,1761336293.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576446,-0.816463,0.033155],[0.812029,0.567843,-0.134767],[0.091205,0.104608,0.990323]] 2025-10-24T20:04:53.586Z,1761336293.586 [DAT](INFO): DAT read: Rx Time:20:04:52.5148 2025-10-24T20:04:53.586Z,1761336293.586 [DAT](INFO): Rx dataTimestamp_ set to:1761336293.585686 2025-10-24T20:04:53.587Z,1761336293.587 [DAT](INFO): DAT read: Bearing 9.9, 17.9 (Local) 2025-10-24T20:04:53.588Z,1761336293.588 [DAT](INFO): Local bearing/azimuth received: Bearing 9.9, 17.9 (Local) 2025-10-24T20:04:53.590Z,1761336293.590 [DAT](INFO): DAT read: Range 10 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4 2025-10-24T20:04:53.595Z,1761336293.595 [DAT](INFO): DAT read: 20:04:52.5148 LVL= 17056, 20497, 20114, 26803, AGC= 60, IDX= 504,-0.13,-3.021, 1.420, 2.832, 2.358, PHS= 0.992,-0.891, 0.471, RAW= 134.5, -6.8, CAL= 140.1, -17.9, ROT= 9.9, 17.9 2025-10-24T20:04:53.596Z,1761336293.596 [DAT](INFO): got valid direction response: 20:04:52.5148 LVL= 17056, 20497, 20114, 26803, AGC= 60, IDX= 504,-0.13,-3.021, 1.420, 2.832, 2.358, PHS= 0.992,-0.891, 0.471, RAW= 134.5, -6.8, CAL= 140.1, -17.9, ROT= 9.9, 17.9 2025-10-24T20:04:53.596Z,1761336293.596 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-24T20:04:53.597Z,1761336293.597 [DAT](INFO): direction in FSK: [0.937425,0.163607,-0.307357] 2025-10-24T20:04:53.597Z,1761336293.597 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:53.601Z,1761336293.601 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.609883 2025-10-24T20:04:53.616Z,1761336293.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504770 s, deltaX: -0.300001 m, approachRate: -0.594332 m/s, rangeRepo size: 4 2025-10-24T20:04:53.618Z,1761336293.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.125414 m, bearing: 65.892464 deg, lat: 36.779625 deg, lon: -121.859529 deg, deltaT: 0.504770 s, deltaX: -0.298948 m, approachRate: -0.592247 m/s, posRepo size: 4 2025-10-24T20:04:53.619Z,1761336293.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m. 2025-10-24T20:04:53.638Z,1761336293.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.125414 m, nav range: 29.153526 m, bearing: 68.013116 deg, approach rate: 0.000000 m/s, LOS rate: 0.247968 deg/s, cmd heading: 55.903162 deg, new cmd heading: 56.279744 deg. 2025-10-24T20:04:53.656Z,1761336293.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982267 target range: 30.125414 and range: 30.30 m. 2025-10-24T20:04:53.837Z,1761336293.837 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.845940 2025-10-24T20:04:54.017Z,1761336294.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580185,-0.813621,0.037500],[0.809923,0.571457,-0.132143],[0.086085,0.107040,0.990521]] 2025-10-24T20:04:54.091Z,1761336294.091 [DAT](INFO): DAT read: Rx Time:20:04:53.0147 2025-10-24T20:04:54.092Z,1761336294.092 [DAT](INFO): Rx dataTimestamp_ set to:1761336294.091483 2025-10-24T20:04:54.094Z,1761336294.094 [DAT](INFO): DAT read: Bearing 11.4, 19.2 (Local) 2025-10-24T20:04:54.095Z,1761336294.095 [DAT](INFO): Local bearing/azimuth received: Bearing 11.4, 19.2 (Local) 2025-10-24T20:04:54.097Z,1761336294.097 [DAT](INFO): DAT read: Range 10 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4 2025-10-24T20:04:54.102Z,1761336294.102 [DAT](INFO): DAT read: 20:04:53.0147 LVL= 17200, 20689, 20642, 28339, AGC= 59, IDX= 501, 0.21, 2.476, 0.707, 2.029, 1.580, PHS= 0.984,-0.825, 0.447, RAW= 133.2, -7.6, CAL= 138.6, -19.2, ROT= 11.4, 19.2 2025-10-24T20:04:54.103Z,1761336294.103 [DAT](INFO): got valid direction response: 20:04:53.0147 LVL= 17200, 20689, 20642, 28339, AGC= 59, IDX= 501, 0.21, 2.476, 0.707, 2.029, 1.580, PHS= 0.984,-0.825, 0.447, RAW= 133.2, -7.6, CAL= 138.6, -19.2, ROT= 11.4, 19.2 2025-10-24T20:04:54.103Z,1761336294.103 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-24T20:04:54.109Z,1761336294.109 [DAT](INFO): direction in FSK: [0.925745,0.186663,-0.328867] 2025-10-24T20:04:54.109Z,1761336294.109 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:54.116Z,1761336294.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.503213 s, deltaX: -0.099998 m, approachRate: -0.198720 m/s, rangeRepo size: 4 2025-10-24T20:04:54.118Z,1761336294.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.025991 m, bearing: 65.920083 deg, lat: 36.779625 deg, lon: -121.859529 deg, deltaT: 0.503213 s, deltaX: -0.099422 m, approachRate: -0.197575 m/s, posRepo size: 4 2025-10-24T20:04:54.119Z,1761336294.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.03 m. 2025-10-24T20:04:54.122Z,1761336294.122 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=12.130493 2025-10-24T20:04:54.130Z,1761336294.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.025991 m, nav range: 28.915550 m, bearing: 68.149100 deg, approach rate: 0.000000 m/s, LOS rate: 0.247968 deg/s, cmd heading: 56.279744 deg, new cmd heading: 56.669716 deg. 2025-10-24T20:04:54.131Z,1761336294.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989073 target range: 30.025991 and range: 30.20 m. 2025-10-24T20:04:54.341Z,1761336294.341 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=12.350057 2025-10-24T20:04:54.396Z,1761336294.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581636,-0.812408,0.041141],[0.809134,0.572607,-0.131999],[0.083680,0.110064,0.990396]] 2025-10-24T20:04:54.557Z,1761336294.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.505797 s, deltaX: -0.200001 m, approachRate: -0.395417 m/s, rangeRepo size: 4 2025-10-24T20:04:54.560Z,1761336294.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.826593 m, bearing: 67.459303 deg, lat: 36.779629 deg, lon: -121.859529 deg, deltaT: 0.505797 s, deltaX: -0.199398 m, approachRate: -0.394225 m/s, posRepo size: 4 2025-10-24T20:04:54.565Z,1761336294.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.83 m. 2025-10-24T20:04:54.576Z,1761336294.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.826593 m, nav range: 28.911827 m, bearing: 67.351188 deg, approach rate: 0.000000 m/s, LOS rate: 0.247968 deg/s, cmd heading: 56.669718 deg, new cmd heading: 56.999422 deg. 2025-10-24T20:04:54.577Z,1761336294.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994828 target range: 29.826593 and range: 30.00 m. 2025-10-24T20:04:54.593Z,1761336294.593 [DAT](INFO): DAT read: Rx Time:20:04:53.5145 2025-10-24T20:04:54.594Z,1761336294.594 [DAT](INFO): Rx dataTimestamp_ set to:1761336294.593675 2025-10-24T20:04:54.595Z,1761336294.595 [DAT](INFO): DAT read: Bearing 11.8, 18.1 (Local) 2025-10-24T20:04:54.596Z,1761336294.596 [DAT](INFO): Local bearing/azimuth received: Bearing 11.8, 18.1 (Local) 2025-10-24T20:04:54.598Z,1761336294.598 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4 2025-10-24T20:04:54.603Z,1761336294.603 [DAT](INFO): DAT read: 20:04:53.5145 LVL= 18352, 20593, 22226, 31475, AGC= 59, IDX= 500,-0.25, 0.112,-1.640,-0.340,-0.755, PHS= 0.956,-0.838, 0.413, RAW= 132.8, -6.7, CAL= 138.2, -18.1, ROT= 11.8, 18.1 2025-10-24T20:04:54.604Z,1761336294.604 [DAT](INFO): got valid direction response: 20:04:53.5145 LVL= 18352, 20593, 22226, 31475, AGC= 59, IDX= 500,-0.25, 0.112,-1.640,-0.340,-0.755, PHS= 0.956,-0.838, 0.413, RAW= 132.8, -6.7, CAL= 138.2, -18.1, ROT= 11.8, 18.1 2025-10-24T20:04:54.604Z,1761336294.604 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-24T20:04:54.605Z,1761336294.605 [DAT](INFO): direction in FSK: [0.930429,0.194377,-0.310676] 2025-10-24T20:04:54.606Z,1761336294.606 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:54.613Z,1761336294.613 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.622328 2025-10-24T20:04:54.845Z,1761336294.845 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.853801 2025-10-24T20:04:54.874Z,1761336294.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582014,-0.811958,0.044532],[0.809041,0.572667,-0.132309],[0.081927,0.113034,0.990208]] 2025-10-24T20:04:55.014Z,1761336295.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.502192 s, deltaX: -0.299999 m, approachRate: -0.597380 m/s, rangeRepo size: 4 2025-10-24T20:04:55.021Z,1761336295.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.528330 m, bearing: 67.774630 deg, lat: 36.779629 deg, lon: -121.859529 deg, deltaT: 0.502192 s, deltaX: -0.298264 m, approachRate: -0.593923 m/s, posRepo size: 4 2025-10-24T20:04:55.022Z,1761336295.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m. 2025-10-24T20:04:55.026Z,1761336295.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.528330 m, nav range: 28.665956 m, bearing: 67.477057 deg, approach rate: 0.000000 m/s, LOS rate: 0.247968 deg/s, cmd heading: 56.999421 deg, new cmd heading: 57.343908 deg. 2025-10-24T20:04:55.027Z,1761336295.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.000840 target range: 29.528330 and range: 29.70 m. 2025-10-24T20:04:55.099Z,1761336295.099 [DAT](INFO): DAT read: Rx Time:20:04:54.0143 2025-10-24T20:04:55.099Z,1761336295.099 [DAT](INFO): Rx dataTimestamp_ set to:1761336295.099162 2025-10-24T20:04:55.101Z,1761336295.101 [DAT](INFO): DAT read: Bearing 11.4, 18.2 (Local) 2025-10-24T20:04:55.102Z,1761336295.102 [DAT](INFO): Local bearing/azimuth received: Bearing 11.4, 18.2 (Local) 2025-10-24T20:04:55.104Z,1761336295.104 [DAT](INFO): DAT read: Range 10 to 50 : 29.4 m (trip time 19.6 ms) speed 0.4 2025-10-24T20:04:55.109Z,1761336295.109 [DAT](INFO): DAT read: 20:04:54.0143 LVL= 16640, 18769, 21042, 28115, AGC= 59, IDX= 497, 0.17, 0.730,-1.079, 0.272,-0.168, PHS= 0.986,-0.864, 0.437, RAW= 133.2, -6.9, CAL= 138.6, -18.2, ROT= 11.4, 18.2 2025-10-24T20:04:55.110Z,1761336295.110 [DAT](INFO): got valid direction response: 20:04:54.0143 LVL= 16640, 18769, 21042, 28115, AGC= 59, IDX= 497, 0.17, 0.730,-1.079, 0.272,-0.168, PHS= 0.986,-0.864, 0.437, RAW= 133.2, -6.9, CAL= 138.6, -18.2, ROT= 11.4, 18.2 2025-10-24T20:04:55.111Z,1761336295.111 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-24T20:04:55.116Z,1761336295.116 [DAT](INFO): direction in FSK: [0.931230,0.187769,-0.312335] 2025-10-24T20:04:55.117Z,1761336295.117 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:55.122Z,1761336295.122 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=13.130987 2025-10-24T20:04:55.261Z,1761336295.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582956,-0.811180,0.046352],[0.808505,0.573490,-0.132021],[0.080510,0.114439,0.990163]] 2025-10-24T20:04:55.307Z,1761336295.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 0.505487 s, deltaX: -0.300001 m, approachRate: -0.593489 m/s, rangeRepo size: 4 2025-10-24T20:04:55.323Z,1761336295.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.230062 m, bearing: 67.363061 deg, lat: 36.779630 deg, lon: -121.859529 deg, deltaT: 0.505487 s, deltaX: -0.298267 m, approachRate: -0.590059 m/s, posRepo size: 4 2025-10-24T20:04:55.328Z,1761336295.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m. 2025-10-24T20:04:55.331Z,1761336295.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.230062 m, nav range: 28.560551 m, bearing: 67.362959 deg, approach rate: 0.000000 m/s, LOS rate: 0.247968 deg/s, cmd heading: 57.343905 deg, new cmd heading: 57.561568 deg. 2025-10-24T20:04:55.340Z,1761336295.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.004639 target range: 29.230062 and range: 29.40 m. 2025-10-24T20:04:55.349Z,1761336295.349 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=13.357980 2025-10-24T20:04:55.602Z,1761336295.602 [DAT](INFO): DAT read: Rx Time:20:04:54.5142 2025-10-24T20:04:55.603Z,1761336295.603 [DAT](INFO): Rx dataTimestamp_ set to:1761336295.602715 2025-10-24T20:04:55.609Z,1761336295.609 [DAT](INFO): DAT read: Bearing 11.9, 17.8 (Local) 2025-10-24T20:04:55.609Z,1761336295.609 [DAT](INFO): Local bearing/azimuth received: Bearing 11.9, 17.8 (Local) 2025-10-24T20:04:55.611Z,1761336295.611 [DAT](INFO): DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4 2025-10-24T20:04:55.622Z,1761336295.622 [DAT](INFO): DAT read: 20:04:54.5142 LVL= 17648, 20833, 23954, 31667, AGC= 60, IDX= 497,-0.32, 0.993,-0.805, 0.524, 0.107, PHS= 0.975,-0.864, 0.414, RAW= 132.7, -6.5, CAL= 138.1, -17.8, ROT= 11.9, 17.8 2025-10-24T20:04:55.623Z,1761336295.623 [DAT](INFO): got valid direction response: 20:04:54.5142 LVL= 17648, 20833, 23954, 31667, AGC= 60, IDX= 497,-0.32, 0.993,-0.805, 0.524, 0.107, PHS= 0.975,-0.864, 0.414, RAW= 132.7, -6.5, CAL= 138.1, -17.8, ROT= 11.9, 17.8 2025-10-24T20:04:55.636Z,1761336295.636 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-24T20:04:55.637Z,1761336295.637 [DAT](INFO): direction in FSK: [0.931667,0.196333,-0.305695] 2025-10-24T20:04:55.637Z,1761336295.637 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:55.666Z,1761336295.666 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.674599 2025-10-24T20:04:55.841Z,1761336295.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.503553 s, deltaX: -0.100000 m, approachRate: -0.198590 m/s, rangeRepo size: 4 2025-10-24T20:04:55.843Z,1761336295.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.130146 m, bearing: 67.806908 deg, lat: 36.779630 deg, lon: -121.859527 deg, deltaT: 0.503553 s, deltaX: -0.099916 m, approachRate: -0.198423 m/s, posRepo size: 4 2025-10-24T20:04:55.843Z,1761336295.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.13 m. 2025-10-24T20:04:55.851Z,1761336295.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.130146 m, nav range: 28.407618 m, bearing: 67.722395 deg, approach rate: 0.000000 m/s, LOS rate: 0.247968 deg/s, cmd heading: 57.561569 deg, new cmd heading: 57.952477 deg. 2025-10-24T20:04:55.851Z,1761336295.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011461 target range: 29.130146 and range: 29.30 m. 2025-10-24T20:04:55.853Z,1761336295.853 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.861925 2025-10-24T20:04:56.106Z,1761336296.106 [DAT](INFO): DAT read: Rx Time:20:04:55.0139 2025-10-24T20:04:56.107Z,1761336296.107 [DAT](INFO): Rx dataTimestamp_ set to:1761336296.106448 2025-10-24T20:04:56.108Z,1761336296.108 [DAT](INFO): DAT read: Bearing 12.7, 18.7 (Local) 2025-10-24T20:04:56.108Z,1761336296.108 [DAT](INFO): Local bearing/azimuth received: Bearing 12.7, 18.7 (Local) 2025-10-24T20:04:56.111Z,1761336296.111 [DAT](INFO): DAT read: Range 10 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 2025-10-24T20:04:56.116Z,1761336296.116 [DAT](INFO): DAT read: 20:04:55.0139 LVL= 19824, 22433, 22434, 32755, AGC= 59, IDX= 510, 0.02, 1.522,-0.235, 1.048, 0.637, PHS= 0.974,-0.825, 0.408, RAW= 132.1, -7.0, CAL= 137.3, -18.7, ROT= 12.7, 18.7 2025-10-24T20:04:56.117Z,1761336296.117 [DAT](INFO): got valid direction response: 20:04:55.0139 LVL= 19824, 22433, 22434, 32755, AGC= 59, IDX= 510, 0.02, 1.522,-0.235, 1.048, 0.637, PHS= 0.974,-0.825, 0.408, RAW= 132.1, -7.0, CAL= 137.3, -18.7, ROT= 12.7, 18.7 2025-10-24T20:04:56.117Z,1761336296.117 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-24T20:04:56.118Z,1761336296.118 [DAT](INFO): direction in FSK: [0.924036,0.208241,-0.320613] 2025-10-24T20:04:56.118Z,1761336296.118 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:56.137Z,1761336296.137 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=14.145656 2025-10-24T20:04:56.151Z,1761336296.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.503733 s, deltaX: -0.500000 m, approachRate: -0.992589 m/s, rangeRepo size: 4 2025-10-24T20:04:56.157Z,1761336296.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.633045 m, bearing: 68.669933 deg, lat: 36.779629 deg, lon: -121.859527 deg, deltaT: 0.503733 s, deltaX: -0.497101 m, approachRate: -0.986834 m/s, posRepo size: 4 2025-10-24T20:04:56.158Z,1761336296.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.63 m. 2025-10-24T20:04:56.165Z,1761336296.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.633045 m, nav range: 28.223293 m, bearing: 67.851588 deg, approach rate: 0.000000 m/s, LOS rate: 0.247968 deg/s, cmd heading: 57.952475 deg, new cmd heading: 58.189564 deg. 2025-10-24T20:04:56.166Z,1761336296.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.015599 target range: 28.633045 and range: 28.80 m. 2025-10-24T20:04:56.357Z,1761336296.357 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=14.366077 2025-10-24T20:04:56.495Z,1761336296.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580950,-0.812259,0.052269],[0.810334,0.571146,-0.130963],[0.076523,0.118439,0.990008]] 2025-10-24T20:04:56.590Z,1761336296.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:04:56.596Z,1761336296.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.63 m. 2025-10-24T20:04:56.599Z,1761336296.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.633045 m, nav range: 28.017527 m, bearing: 67.943960 deg, approach rate: -0.466179 m/s, LOS rate: 0.210812 deg/s, cmd heading: 58.189564 deg, new cmd heading: 58.468713 deg. 2025-10-24T20:04:56.609Z,1761336296.609 [DAT](INFO): DAT read: Rx Time:20:04:55.5139 2025-10-24T20:04:56.610Z,1761336296.610 [DAT](INFO): Rx dataTimestamp_ set to:1761336296.609660 2025-10-24T20:04:56.611Z,1761336296.611 [DAT](INFO): DAT read: Bearing 15.9, 19.6 (Local) 2025-10-24T20:04:56.612Z,1761336296.612 [DAT](INFO): Local bearing/azimuth received: Bearing 15.9, 19.6 (Local) 2025-10-24T20:04:56.614Z,1761336296.614 [DAT](INFO): DAT read: Range 10 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4 2025-10-24T20:04:56.619Z,1761336296.619 [DAT](INFO): DAT read: 20:04:55.5139 LVL= 18672, 32753, 28770, 32755, AGC= 59, IDX= 509, 0.38,-3.020, 1.583, 2.742, 2.393, PHS= 0.958,-0.763, 0.346, RAW= 129.5, -7.2, CAL= 134.1, -19.6, ROT= 15.9, 19.6 2025-10-24T20:04:56.620Z,1761336296.620 [DAT](INFO): got valid direction response: 20:04:55.5139 LVL= 18672, 32753, 28770, 32755, AGC= 59, IDX= 509, 0.38,-3.020, 1.583, 2.742, 2.393, PHS= 0.958,-0.763, 0.346, RAW= 129.5, -7.2, CAL= 134.1, -19.6, ROT= 15.9, 19.6 2025-10-24T20:04:56.620Z,1761336296.620 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-24T20:04:56.622Z,1761336296.622 [DAT](INFO): direction in FSK: [0.906016,0.258085,-0.335452] 2025-10-24T20:04:56.623Z,1761336296.623 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:56.626Z,1761336296.626 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.635328 2025-10-24T20:04:56.630Z,1761336296.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.020472 target range: 28.633045 and range: 28.80 m. 2025-10-24T20:04:56.862Z,1761336296.862 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.870605 2025-10-24T20:04:57.031Z,1761336297.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577818,-0.814271,0.055574],[0.812639,0.567663,-0.131818],[0.075788,0.121328,0.989715]] 2025-10-24T20:04:57.115Z,1761336297.115 [DAT](INFO): DAT read: Rx Time:20:04:56.0136 2025-10-24T20:04:57.115Z,1761336297.115 [DAT](INFO): Rx dataTimestamp_ set to:1761336297.115209 2025-10-24T20:04:57.117Z,1761336297.117 [DAT](INFO): DAT read: Bearing 17.1, 18.9 (Local) 2025-10-24T20:04:57.117Z,1761336297.117 [DAT](INFO): Local bearing/azimuth received: Bearing 17.1, 18.9 (Local) 2025-10-24T20:04:57.119Z,1761336297.119 [DAT](INFO): DAT read: Range 10 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4 2025-10-24T20:04:57.125Z,1761336297.125 [DAT](INFO): DAT read: 20:04:56.0136 LVL= 18480, 30449, 27538, 32755, AGC= 60, IDX= 507,-0.04,-0.411,-2.037,-0.940,-1.244, PHS= 0.921,-0.746, 0.302, RAW= 128.4, -6.6, CAL= 132.9, -18.9, ROT= 17.1, 18.9 2025-10-24T20:04:57.126Z,1761336297.126 [DAT](INFO): got valid direction response: 20:04:56.0136 LVL= 18480, 30449, 27538, 32755, AGC= 60, IDX= 507,-0.04,-0.411,-2.037,-0.940,-1.244, PHS= 0.921,-0.746, 0.302, RAW= 128.4, -6.6, CAL= 132.9, -18.9, ROT= 17.1, 18.9 2025-10-24T20:04:57.126Z,1761336297.126 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-24T20:04:57.127Z,1761336297.127 [DAT](INFO): direction in FSK: [0.904262,0.278187,-0.323917] 2025-10-24T20:04:57.127Z,1761336297.127 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:57.135Z,1761336297.135 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=15.144444 2025-10-24T20:04:57.168Z,1761336297.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 1.008761 s, deltaX: -0.400000 m, approachRate: -0.396526 m/s, rangeRepo size: 4 2025-10-24T20:04:57.171Z,1761336297.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.234909 m, bearing: 73.450260 deg, lat: 36.779629 deg, lon: -121.859526 deg, deltaT: 1.008761 s, deltaX: -0.398136 m, approachRate: -0.394678 m/s, posRepo size: 4 2025-10-24T20:04:57.176Z,1761336297.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.23 m. 2025-10-24T20:04:57.179Z,1761336297.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.234909 m, nav range: 27.762999 m, bearing: 68.249445 deg, approach rate: 0.000000 m/s, LOS rate: 0.210812 deg/s, cmd heading: 58.468714 deg, new cmd heading: 58.830137 deg. 2025-10-24T20:04:57.184Z,1761336297.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.026780 target range: 28.234909 and range: 28.40 m. 2025-10-24T20:04:57.365Z,1761336297.365 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=15.374015 2025-10-24T20:04:57.617Z,1761336297.617 [DAT](INFO): DAT read: Rx Time:20:04:56.5135 2025-10-24T20:04:57.618Z,1761336297.618 [DAT](INFO): Rx dataTimestamp_ set to:1761336297.617602 2025-10-24T20:04:57.619Z,1761336297.619 [DAT](INFO): DAT read: Bearing 14.2, 20.1 (Local) 2025-10-24T20:04:57.619Z,1761336297.619 [DAT](INFO): Local bearing/azimuth received: Bearing 14.2, 20.1 (Local) 2025-10-24T20:04:57.622Z,1761336297.622 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 2025-10-24T20:04:57.627Z,1761336297.627 [DAT](INFO): DAT read: 20:04:56.5135 LVL= 19440, 26417, 26306, 32755, AGC= 57, IDX= 506, 0.23, 2.686, 0.992, 2.198, 1.805, PHS= 0.970,-0.766, 0.391, RAW= 130.9, -7.8, CAL= 135.8, -20.1, ROT= 14.2, 20.1 2025-10-24T20:04:57.628Z,1761336297.628 [DAT](INFO): got valid direction response: 20:04:56.5135 LVL= 19440, 26417, 26306, 32755, AGC= 57, IDX= 506, 0.23, 2.686, 0.992, 2.198, 1.805, PHS= 0.970,-0.766, 0.391, RAW= 130.9, -7.8, CAL= 135.8, -20.1, ROT= 14.2, 20.1 2025-10-24T20:04:57.629Z,1761336297.629 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-24T20:04:57.630Z,1761336297.630 [DAT](INFO): direction in FSK: [0.910401,0.230367,-0.343660] 2025-10-24T20:04:57.630Z,1761336297.630 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:57.634Z,1761336297.634 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.642550 2025-10-24T20:04:57.662Z,1761336297.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.502393 s, deltaX: -0.199999 m, approachRate: -0.398092 m/s, rangeRepo size: 4 2025-10-24T20:04:57.668Z,1761336297.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.036238 m, bearing: 70.776754 deg, lat: 36.779625 deg, lon: -121.859526 deg, deltaT: 0.502393 s, deltaX: -0.198671 m, approachRate: -0.395450 m/s, posRepo size: 4 2025-10-24T20:04:57.669Z,1761336297.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m. 2025-10-24T20:04:57.671Z,1761336297.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.036238 m, nav range: 27.356089 m, bearing: 69.158981 deg, approach rate: 0.000000 m/s, LOS rate: 0.210812 deg/s, cmd heading: 58.830141 deg, new cmd heading: 59.144935 deg. 2025-10-24T20:04:57.677Z,1761336297.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.032274 target range: 28.036238 and range: 28.20 m. 2025-10-24T20:04:57.870Z,1761336297.870 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.878883 2025-10-24T20:04:58.094Z,1761336298.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561880,-0.824330,0.069073],[0.823976,0.550337,-0.134884],[0.073175,0.132703,0.988451]] 2025-10-24T20:04:58.122Z,1761336298.122 [DAT](INFO): DAT read: Rx Time:20:04:57.0133 2025-10-24T20:04:58.123Z,1761336298.123 [DAT](INFO): Rx dataTimestamp_ set to:1761336298.122300 2025-10-24T20:04:58.124Z,1761336298.124 [DAT](INFO): DAT read: Bearing 11.1, 19.1 (Local) 2025-10-24T20:04:58.124Z,1761336298.124 [DAT](INFO): Local bearing/azimuth received: Bearing 11.1, 19.1 (Local) 2025-10-24T20:04:58.126Z,1761336298.126 [DAT](INFO): DAT read: Range 10 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4 2025-10-24T20:04:58.131Z,1761336298.131 [DAT](INFO): DAT read: 20:04:57.0133 LVL= 18720, 24449, 24754, 32755, AGC= 59, IDX= 503, 0.47, 2.517, 0.730, 2.072, 1.613, PHS= 0.993,-0.836, 0.456, RAW= 133.4, -7.6, CAL= 138.9, -19.1, ROT= 11.1, 19.1 2025-10-24T20:04:58.133Z,1761336298.133 [DAT](INFO): got valid direction response: 20:04:57.0133 LVL= 18720, 24449, 24754, 32755, AGC= 59, IDX= 503, 0.47, 2.517, 0.730, 2.072, 1.613, PHS= 0.993,-0.836, 0.456, RAW= 133.4, -7.6, CAL= 138.9, -19.1, ROT= 11.1, 19.1 2025-10-24T20:04:58.133Z,1761336298.133 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-24T20:04:58.134Z,1761336298.134 [DAT](INFO): direction in FSK: [0.927271,0.181923,-0.327218] 2025-10-24T20:04:58.134Z,1761336298.134 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:58.142Z,1761336298.142 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=16.151190 2025-10-24T20:04:58.224Z,1761336298.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.504698 s, deltaX: -0.300001 m, approachRate: -0.594417 m/s, rangeRepo size: 4 2025-10-24T20:04:58.226Z,1761336298.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.737978 m, bearing: 69.011929 deg, lat: 36.779625 deg, lon: -121.859526 deg, deltaT: 0.504698 s, deltaX: -0.298260 m, approachRate: -0.590967 m/s, posRepo size: 4 2025-10-24T20:04:58.227Z,1761336298.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.74 m. 2025-10-24T20:04:58.239Z,1761336298.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.737978 m, nav range: 27.044519 m, bearing: 69.252761 deg, approach rate: 0.000000 m/s, LOS rate: 0.210812 deg/s, cmd heading: 59.144937 deg, new cmd heading: 59.495342 deg. 2025-10-24T20:04:58.244Z,1761336298.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.038390 target range: 27.737978 and range: 27.90 m. 2025-10-24T20:04:58.373Z,1761336298.373 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=16.382460 2025-10-24T20:04:58.510Z,1761336298.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555189,-0.828438,0.073864],[0.828628,0.543280,-0.134995],[0.071706,0.136153,0.988089]] 2025-10-24T20:04:58.574Z,1761336298.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.74 m. 2025-10-24T20:04:58.604Z,1761336298.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.737978 m, nav range: 26.828571 m, bearing: 69.315234 deg, approach rate: -0.613116 m/s, LOS rate: 0.178800 deg/s, cmd heading: 59.495339 deg, new cmd heading: 59.684266 deg. 2025-10-24T20:04:58.614Z,1761336298.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.041687 target range: 27.737978 and range: 27.90 m. 2025-10-24T20:04:58.626Z,1761336298.626 [DAT](INFO): DAT read: Rx Time:20:04:57.5131 2025-10-24T20:04:58.626Z,1761336298.626 [DAT](INFO): Rx dataTimestamp_ set to:1761336298.625965 2025-10-24T20:04:58.628Z,1761336298.628 [DAT](INFO): DAT read: Bearing 11.7, 20.0 (Local) 2025-10-24T20:04:58.628Z,1761336298.628 [DAT](INFO): Local bearing/azimuth received: Bearing 11.7, 20.0 (Local) 2025-10-24T20:04:58.630Z,1761336298.630 [DAT](INFO): DAT read: Range 10 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-24T20:04:58.635Z,1761336298.635 [DAT](INFO): DAT read: 20:04:57.5131 LVL= 17344, 24849, 22898, 32755, AGC= 58, IDX= 502,-0.23, 1.917, 0.188, 1.474, 1.026, PHS= 0.979,-0.791, 0.445, RAW= 132.9, -8.1, CAL= 138.3, -20.0, ROT= 11.7, 20.0 2025-10-24T20:04:58.636Z,1761336298.636 [DAT](INFO): got valid direction response: 20:04:57.5131 LVL= 17344, 24849, 22898, 32755, AGC= 58, IDX= 502,-0.23, 1.917, 0.188, 1.474, 1.026, PHS= 0.979,-0.791, 0.445, RAW= 132.9, -8.1, CAL= 138.3, -20.0, ROT= 11.7, 20.0 2025-10-24T20:04:58.637Z,1761336298.637 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-24T20:04:58.638Z,1761336298.638 [DAT](INFO): direction in FSK: [0.920168,0.190558,-0.342020] 2025-10-24T20:04:58.638Z,1761336298.638 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:58.642Z,1761336298.642 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.651077 2025-10-24T20:04:58.877Z,1761336298.877 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.885984 2025-10-24T20:04:58.953Z,1761336298.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548736,-0.832292,0.078608],[0.833096,0.536585,-0.134266],[0.069569,0.139165,0.987822]] 2025-10-24T20:04:59.028Z,1761336299.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.503665 s, deltaX: -0.299999 m, approachRate: -0.595632 m/s, rangeRepo size: 4 2025-10-24T20:04:59.030Z,1761336299.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.438955 m, bearing: 70.750239 deg, lat: 36.779620 deg, lon: -121.859525 deg, deltaT: 0.503665 s, deltaX: -0.299023 m, approachRate: -0.593694 m/s, posRepo size: 4 2025-10-24T20:04:59.031Z,1761336299.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.44 m. 2025-10-24T20:04:59.034Z,1761336299.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.438955 m, nav range: 26.455580 m, bearing: 70.651092 deg, approach rate: 0.000000 m/s, LOS rate: 0.178800 deg/s, cmd heading: 59.684269 deg, new cmd heading: 59.930845 deg. 2025-10-24T20:04:59.034Z,1761336299.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.045991 target range: 27.438955 and range: 27.60 m. 2025-10-24T20:04:59.129Z,1761336299.129 [DAT](INFO): DAT read: Rx Time:20:04:58.0128 2025-10-24T20:04:59.130Z,1761336299.130 [DAT](INFO): Rx dataTimestamp_ set to:1761336299.129686 2025-10-24T20:04:59.132Z,1761336299.132 [DAT](INFO): DAT read: Bearing 12.3, 20.9 (Local) 2025-10-24T20:04:59.133Z,1761336299.133 [DAT](INFO): Local bearing/azimuth received: Bearing 12.3, 20.9 (Local) 2025-10-24T20:04:59.136Z,1761336299.136 [DAT](INFO): DAT read: Range 10 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 2025-10-24T20:04:59.143Z,1761336299.143 [DAT](INFO): DAT read: 20:04:58.0128 LVL= 23648, 29393, 25778, 32755, AGC= 57, IDX= 499,-0.00, 2.219, 0.579, 1.790, 1.342, PHS= 0.964,-0.716, 0.445, RAW= 132.4, -9.3, CAL= 137.7, -20.9, ROT= 12.3, 20.9 2025-10-24T20:04:59.144Z,1761336299.144 [DAT](INFO): got valid direction response: 20:04:58.0128 LVL= 23648, 29393, 25778, 32755, AGC= 57, IDX= 499,-0.00, 2.219, 0.579, 1.790, 1.342, PHS= 0.964,-0.716, 0.445, RAW= 132.4, -9.3, CAL= 137.7, -20.9, ROT= 12.3, 20.9 2025-10-24T20:04:59.145Z,1761336299.145 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-24T20:04:59.146Z,1761336299.146 [DAT](INFO): direction in FSK: [0.912760,0.199014,-0.356738] 2025-10-24T20:04:59.146Z,1761336299.146 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:59.150Z,1761336299.150 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=17.159203 2025-10-24T20:04:59.329Z,1761336299.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540881,-0.836744,0.085481],[0.838364,0.528142,-0.134949],[0.067772,0.144655,0.987158]] 2025-10-24T20:04:59.381Z,1761336299.381 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=17.390184 2025-10-24T20:04:59.383Z,1761336299.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503721 s, deltaX: -0.400000 m, approachRate: -0.794090 m/s, rangeRepo size: 4 2025-10-24T20:04:59.390Z,1761336299.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.041897 m, bearing: 72.099035 deg, lat: 36.779618 deg, lon: -121.859524 deg, deltaT: 0.503721 s, deltaX: -0.397058 m, approachRate: -0.788251 m/s, posRepo size: 4 2025-10-24T20:04:59.391Z,1761336299.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.04 m. 2025-10-24T20:04:59.397Z,1761336299.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.041897 m, nav range: 26.245527 m, bearing: 71.145685 deg, approach rate: 0.000000 m/s, LOS rate: 0.178800 deg/s, cmd heading: 59.930846 deg, new cmd heading: 60.121595 deg. 2025-10-24T20:04:59.398Z,1761336299.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.049320 target range: 27.041897 and range: 27.20 m. 2025-10-24T20:04:59.634Z,1761336299.634 [DAT](INFO): DAT read: Rx Time:20:04:58.5128 2025-10-24T20:04:59.634Z,1761336299.634 [DAT](INFO): Rx dataTimestamp_ set to:1761336299.633693 2025-10-24T20:04:59.635Z,1761336299.635 [DAT](INFO): DAT read: Bearing 10.3, 20.6 (Local) 2025-10-24T20:04:59.636Z,1761336299.636 [DAT](INFO): Local bearing/azimuth received: Bearing 10.3, 20.6 (Local) 2025-10-24T20:04:59.639Z,1761336299.639 [DAT](INFO): DAT read: Range 10 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4 2025-10-24T20:04:59.644Z,1761336299.644 [DAT](INFO): DAT read: 20:04:58.5128 LVL= 15936, 22321, 21218, 31955, AGC= 57, IDX= 498, 0.21,-1.870, 2.689,-2.278,-2.779, PHS= 0.997,-0.768, 0.498, RAW= 134.1, -9.3, CAL= 139.7, -20.6, ROT= 10.3, 20.6 2025-10-24T20:04:59.645Z,1761336299.645 [DAT](INFO): got valid direction response: 20:04:58.5128 LVL= 15936, 22321, 21218, 31955, AGC= 57, IDX= 498, 0.21,-1.870, 2.689,-2.278,-2.779, PHS= 0.997,-0.768, 0.498, RAW= 134.1, -9.3, CAL= 139.7, -20.6, ROT= 10.3, 20.6 2025-10-24T20:04:59.646Z,1761336299.646 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-24T20:04:59.647Z,1761336299.647 [DAT](INFO): direction in FSK: [0.920975,0.167370,-0.351842] 2025-10-24T20:04:59.647Z,1761336299.647 [DAT](INFO): publishing direction and range info 2025-10-24T20:04:59.665Z,1761336299.665 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.673883 2025-10-24T20:04:59.734Z,1761336299.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533636,-0.840411,0.094566],[0.843132,0.519937,-0.137092],[0.066045,0.152889,0.986034]] 2025-10-24T20:04:59.866Z,1761336299.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.504007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:04:59.875Z,1761336299.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.041897 m, bearing: 70.798577 deg, lat: 36.779620 deg, lon: -121.859524 deg, deltaT: 0.504007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T20:04:59.881Z,1761336299.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.04 m. 2025-10-24T20:04:59.887Z,1761336299.887 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.895355 2025-10-24T20:04:59.896Z,1761336299.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.041897 m, nav range: 26.024963 m, bearing: 70.824584 deg, approach rate: 0.000000 m/s, LOS rate: 0.178800 deg/s, cmd heading: 60.121593 deg, new cmd heading: 60.380526 deg. 2025-10-24T20:04:59.899Z,1761336299.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.053839 target range: 27.041897 and range: 27.20 m. 2025-10-24T20:05:00.140Z,1761336300.140 [DAT](INFO): DAT read: Rx Time:20:04:59.0125 2025-10-24T20:05:00.141Z,1761336300.141 [DAT](INFO): Rx dataTimestamp_ set to:1761336300.140500 2025-10-24T20:05:00.142Z,1761336300.142 [DAT](INFO): DAT read: Bearing 8.5, 20.3 (Local) 2025-10-24T20:05:00.142Z,1761336300.142 [DAT](INFO): Local bearing/azimuth received: Bearing 8.5, 20.3 (Local) 2025-10-24T20:05:00.145Z,1761336300.145 [DAT](INFO): DAT read: Range 10 to 50 : 26.7 m (trip time 17.8 ms) speed 0.5 2025-10-24T20:05:00.150Z,1761336300.150 [DAT](INFO): DAT read: 20:04:59.0125 LVL= 15664, 20865, 22370, 32467, AGC= 56, IDX= 495, 0.44, 2.997, 1.284, 2.636, 2.111, PHS= 0.974,-0.780, 0.522, RAW= 135.6, -9.1, CAL= 141.5, -20.3, ROT= 8.5, 20.3 2025-10-24T20:05:00.159Z,1761336300.159 [DAT](INFO): got valid direction response: 20:04:59.0125 LVL= 15664, 20865, 22370, 32467, AGC= 56, IDX= 495, 0.44, 2.997, 1.284, 2.636, 2.111, PHS= 0.974,-0.780, 0.522, RAW= 135.6, -9.1, CAL= 141.5, -20.3, ROT= 8.5, 20.3 2025-10-24T20:05:00.159Z,1761336300.159 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-24T20:05:00.173Z,1761336300.173 [DAT](INFO): direction in FSK: [0.927587,0.138629,-0.346936] 2025-10-24T20:05:00.174Z,1761336300.174 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:00.202Z,1761336300.202 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=18.210779 2025-10-24T20:05:00.305Z,1761336300.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.700001 m, deltaT: 0.506807 s, deltaX: -0.500000 m, approachRate: -0.986569 m/s, rangeRepo size: 4 2025-10-24T20:05:00.307Z,1761336300.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.544802 m, bearing: 69.025326 deg, lat: 36.779620 deg, lon: -121.859524 deg, deltaT: 0.506807 s, deltaX: -0.497095 m, approachRate: -0.980837 m/s, posRepo size: 4 2025-10-24T20:05:00.316Z,1761336300.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.54 m. 2025-10-24T20:05:00.319Z,1761336300.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.544802 m, nav range: 25.780951 m, bearing: 70.818663 deg, approach rate: 0.000000 m/s, LOS rate: 0.178800 deg/s, cmd heading: 60.380525 deg, new cmd heading: 60.615454 deg. 2025-10-24T20:05:00.320Z,1761336300.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057939 target range: 26.544802 and range: 26.70 m. 2025-10-24T20:05:00.390Z,1761336300.390 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=18.399227 2025-10-24T20:05:00.646Z,1761336300.646 [DAT](INFO): DAT read: Rx Time:20:04:59.5125 2025-10-24T20:05:00.646Z,1761336300.646 [DAT](INFO): Rx dataTimestamp_ set to:1761336300.646128 2025-10-24T20:05:00.648Z,1761336300.648 [DAT](INFO): DAT read: Bearing 7.3, 20.1 (Local) 2025-10-24T20:05:00.649Z,1761336300.649 [DAT](INFO): Local bearing/azimuth received: Bearing 7.3, 20.1 (Local) 2025-10-24T20:05:00.651Z,1761336300.651 [DAT](INFO): DAT read: Range 10 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 2025-10-24T20:05:00.682Z,1761336300.682 [DAT](INFO): DAT read: 20:04:59.5125 LVL= 17696, 20721, 18274, 25683, AGC= 57, IDX= 511,-0.35,-3.104, 1.467, 2.847, 2.299, PHS= 0.968,-0.785, 0.545, RAW= 136.6, -9.2, CAL= 142.7, -20.1, ROT= 7.3, 20.1 2025-10-24T20:05:00.683Z,1761336300.683 [DAT](INFO): got valid direction response: 20:04:59.5125 LVL= 17696, 20721, 18274, 25683, AGC= 57, IDX= 511,-0.35,-3.104, 1.467, 2.847, 2.299, PHS= 0.968,-0.785, 0.545, RAW= 136.6, -9.2, CAL= 142.7, -20.1, ROT= 7.3, 20.1 2025-10-24T20:05:00.683Z,1761336300.683 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-24T20:05:00.685Z,1761336300.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510450,-0.853388,0.105687],[0.857722,0.496534,-0.133296],[0.061277,0.158691,0.985425]] 2025-10-24T20:05:00.692Z,1761336300.692 [DAT](INFO): direction in FSK: [0.931482,0.119326,-0.343660] 2025-10-24T20:05:00.692Z,1761336300.692 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:00.716Z,1761336300.716 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.725237 2025-10-24T20:05:00.799Z,1761336300.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.505628 s, deltaX: -0.100000 m, approachRate: -0.197775 m/s, rangeRepo size: 4 2025-10-24T20:05:00.812Z,1761336300.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.445143 m, bearing: 69.537382 deg, lat: 36.779620 deg, lon: -121.859524 deg, deltaT: 0.505628 s, deltaX: -0.099659 m, approachRate: -0.197099 m/s, posRepo size: 4 2025-10-24T20:05:00.813Z,1761336300.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-24T20:05:00.820Z,1761336300.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.445143 m, nav range: 25.501381 m, bearing: 70.894765 deg, approach rate: 0.000000 m/s, LOS rate: 0.178800 deg/s, cmd heading: 60.615456 deg, new cmd heading: 60.880200 deg. 2025-10-24T20:05:00.821Z,1761336300.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.062560 target range: 26.445143 and range: 26.60 m. 2025-10-24T20:05:00.894Z,1761336300.894 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.902771 2025-10-24T20:05:01.113Z,1761336301.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503664,-0.857568,0.104406],[0.861831,0.490415,-0.129385],[0.059754,0.155147,0.986083]] 2025-10-24T20:05:01.134Z,1761336301.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:01.137Z,1761336301.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-24T20:05:01.140Z,1761336301.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.445143 m, nav range: 25.298409 m, bearing: 70.947393 deg, approach rate: -0.597427 m/s, LOS rate: 0.156147 deg/s, cmd heading: 60.880201 deg, new cmd heading: 61.039351 deg. 2025-10-24T20:05:01.141Z,1761336301.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065338 target range: 26.445143 and range: 26.60 m. 2025-10-24T20:05:01.146Z,1761336301.146 [DAT](INFO): DAT read: Rx Time:20:05:00.0123 2025-10-24T20:05:01.146Z,1761336301.146 [DAT](INFO): Rx dataTimestamp_ set to:1761336301.145689 2025-10-24T20:05:01.147Z,1761336301.147 [DAT](INFO): DAT read: Bearing 5.8, 19.8 (Local) 2025-10-24T20:05:01.148Z,1761336301.148 [DAT](INFO): Local bearing/azimuth received: Bearing 5.8, 19.8 (Local) 2025-10-24T20:05:01.150Z,1761336301.150 [DAT](INFO): DAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed 0.5 2025-10-24T20:05:01.155Z,1761336301.155 [DAT](INFO): DAT read: 20:05:00.0123 LVL= 14640, 18129, 17842, 26019, AGC= 57, IDX= 508,-0.30, 2.613, 0.906, 2.318, 1.747, PHS= 0.955,-0.794, 0.569, RAW= 137.9, -9.2, CAL= 144.2, -19.8, ROT= 5.8, 19.8 2025-10-24T20:05:01.157Z,1761336301.157 [DAT](INFO): got valid direction response: 20:05:00.0123 LVL= 14640, 18129, 17842, 26019, AGC= 57, IDX= 508,-0.30, 2.613, 0.906, 2.318, 1.747, PHS= 0.955,-0.794, 0.569, RAW= 137.9, -9.2, CAL= 144.2, -19.8, ROT= 5.8, 19.8 2025-10-24T20:05:01.157Z,1761336301.157 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-24T20:05:01.158Z,1761336301.158 [DAT](INFO): direction in FSK: [0.936064,0.095082,-0.338738] 2025-10-24T20:05:01.158Z,1761336301.158 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:01.162Z,1761336301.162 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=19.171013 2025-10-24T20:05:01.397Z,1761336301.397 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=19.405806 2025-10-24T20:05:01.499Z,1761336301.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497186,-0.861297,0.104757],[0.865708,0.484386,-0.126172],[0.057929,0.153420,0.986462]] 2025-10-24T20:05:01.565Z,1761336301.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.499561 s, deltaX: -0.300001 m, approachRate: -0.600530 m/s, rangeRepo size: 4 2025-10-24T20:05:01.567Z,1761336301.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.146484 m, bearing: 68.840995 deg, lat: 36.779625 deg, lon: -121.859526 deg, deltaT: 0.499561 s, deltaX: -0.298658 m, approachRate: -0.597842 m/s, posRepo size: 4 2025-10-24T20:05:01.568Z,1761336301.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.15 m. 2025-10-24T20:05:01.571Z,1761336301.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.146484 m, nav range: 25.078180 m, bearing: 69.628622 deg, approach rate: 0.000000 m/s, LOS rate: 0.156147 deg/s, cmd heading: 61.039352 deg, new cmd heading: 61.239339 deg. 2025-10-24T20:05:01.572Z,1761336301.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.068828 target range: 26.146484 and range: 26.30 m. 2025-10-24T20:05:01.650Z,1761336301.650 [DAT](INFO): DAT read: Rx Time:20:05:00.5122 2025-10-24T20:05:01.650Z,1761336301.650 [DAT](INFO): Rx dataTimestamp_ set to:1761336301.649736 2025-10-24T20:05:01.651Z,1761336301.651 [DAT](INFO): DAT read: Bearing 5.6, 20.5 (Local) 2025-10-24T20:05:01.652Z,1761336301.652 [DAT](INFO): Local bearing/azimuth received: Bearing 5.6, 20.5 (Local) 2025-10-24T20:05:01.654Z,1761336301.654 [DAT](INFO): DAT read: Range 10 to 50 : 26.1 m (trip time 17.4 ms) speed 0.5 2025-10-24T20:05:01.659Z,1761336301.659 [DAT](INFO): DAT read: 20:05:00.5122 LVL= 13920, 19361, 16338, 26419, AGC= 57, IDX= 507,-0.24,-2.195, 2.464,-2.467,-3.038, PHS= 0.931,-0.734, 0.568, RAW= 138.1, -10.1, CAL= 144.4, -20.5, ROT= 5.6, 20.5 2025-10-24T20:05:01.661Z,1761336301.661 [DAT](INFO): got valid direction response: 20:05:00.5122 LVL= 13920, 19361, 16338, 26419, AGC= 57, IDX= 507,-0.24,-2.195, 2.464,-2.467,-3.038, PHS= 0.931,-0.734, 0.568, RAW= 138.1, -10.1, CAL= 144.4, -20.5, ROT= 5.6, 20.5 2025-10-24T20:05:01.661Z,1761336301.661 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-24T20:05:01.662Z,1761336301.662 [DAT](INFO): direction in FSK: [0.932202,0.091403,-0.350207] 2025-10-24T20:05:01.662Z,1761336301.662 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:01.674Z,1761336301.674 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.683064 2025-10-24T20:05:01.902Z,1761336301.902 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.910622 2025-10-24T20:05:02.048Z,1761336302.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491016,-0.864350,0.108635],[0.869312,0.478059,-0.125522],[0.056561,0.156071,0.986125]] 2025-10-24T20:05:02.133Z,1761336302.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.504047 s, deltaX: -0.199999 m, approachRate: -0.396786 m/s, rangeRepo size: 4 2025-10-24T20:05:02.135Z,1761336302.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.947653 m, bearing: 69.225237 deg, lat: 36.779626 deg, lon: -121.859526 deg, deltaT: 0.504047 s, deltaX: -0.198832 m, approachRate: -0.394470 m/s, posRepo size: 4 2025-10-24T20:05:02.153Z,1761336302.153 [DAT](INFO): DAT read: Rx Time:20:05:01.0119 2025-10-24T20:05:02.154Z,1761336302.154 [DAT](INFO): Rx dataTimestamp_ set to:1761336302.153622 2025-10-24T20:05:02.156Z,1761336302.156 [DAT](INFO): DAT read: Bearing 4.2, 20.1 (Local) 2025-10-24T20:05:02.156Z,1761336302.156 [DAT](INFO): Local bearing/azimuth received: Bearing 4.2, 20.1 (Local) 2025-10-24T20:05:02.158Z,1761336302.158 [DAT](INFO): DAT read: Range 10 to 50 : 25.7 m (trip time 17.1 ms) speed 0.5 2025-10-24T20:05:02.164Z,1761336302.164 [DAT](INFO): DAT read: 20:05:01.0119 LVL= 13392, 18769, 16098, 24355, AGC= 57, IDX= 504,-0.18, 3.058, 1.401, 2.813, 2.214, PHS= 0.932,-0.766, 0.596, RAW= 139.2, -9.8, CAL= 145.8, -20.1, ROT= 4.2, 20.1 2025-10-24T20:05:02.165Z,1761336302.165 [DAT](INFO): got valid direction response: 20:05:01.0119 LVL= 13392, 18769, 16098, 24355, AGC= 57, IDX= 504,-0.18, 3.058, 1.401, 2.813, 2.214, PHS= 0.932,-0.766, 0.596, RAW= 139.2, -9.8, CAL= 145.8, -20.1, ROT= 4.2, 20.1 2025-10-24T20:05:02.165Z,1761336302.165 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-24T20:05:02.166Z,1761336302.166 [DAT](INFO): direction in FSK: [0.936572,0.068778,-0.343660] 2025-10-24T20:05:02.167Z,1761336302.167 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:02.171Z,1761336302.171 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=20.180399 2025-10-24T20:05:02.176Z,1761336302.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-24T20:05:02.179Z,1761336302.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.947653 m, nav range: 24.815893 m, bearing: 69.432960 deg, approach rate: 0.000000 m/s, LOS rate: 0.156147 deg/s, cmd heading: 61.239339 deg, new cmd heading: 61.505893 deg. 2025-10-24T20:05:02.185Z,1761336302.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.073480 target range: 25.947653 and range: 26.10 m. 2025-10-24T20:05:02.406Z,1761336302.406 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=20.414871 2025-10-24T20:05:02.586Z,1761336302.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486483,-0.866373,0.112834],[0.871987,0.473410,-0.124585],[0.054520,0.158999,0.985772]] 2025-10-24T20:05:02.662Z,1761336302.662 [DAT](INFO): DAT read: Rx Time:20:05:01.5117 2025-10-24T20:05:02.663Z,1761336302.663 [DAT](INFO): Rx dataTimestamp_ set to:1761336302.662565 2025-10-24T20:05:02.669Z,1761336302.669 [DAT](INFO): DAT read: Bearing 3.1, 19.8 (Local) 2025-10-24T20:05:02.670Z,1761336302.670 [DAT](INFO): Local bearing/azimuth received: Bearing 3.1, 19.8 (Local) 2025-10-24T20:05:02.679Z,1761336302.679 [DAT](INFO): DAT read: Range 10 to 50 : 25.4 m (trip time 16.9 ms) speed 0.5 2025-10-24T20:05:02.683Z,1761336302.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503886 s, deltaX: -0.400000 m, approachRate: -0.793830 m/s, rangeRepo size: 4 2025-10-24T20:05:02.698Z,1761336302.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.550045 m, bearing: 68.174173 deg, lat: 36.779628 deg, lon: -121.859526 deg, deltaT: 0.503886 s, deltaX: -0.397608 m, approachRate: -0.789083 m/s, posRepo size: 4 2025-10-24T20:05:02.698Z,1761336302.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m. 2025-10-24T20:05:02.701Z,1761336302.701 [DAT](INFO): DAT read: 20:05:01.5117 LVL= 13680, 18049, 15154, 23539, AGC= 57, IDX= 502,-0.09, 3.018, 1.340, 2.796, 2.170, PHS= 0.936,-0.783, 0.623, RAW= 140.2, -9.8, CAL= 146.9, -19.8, ROT= 3.1, 19.8 2025-10-24T20:05:02.702Z,1761336302.702 [DAT](INFO): got valid direction response: 20:05:01.5117 LVL= 13680, 18049, 15154, 23539, AGC= 57, IDX= 502,-0.09, 3.018, 1.340, 2.796, 2.170, PHS= 0.936,-0.783, 0.623, RAW= 140.2, -9.8, CAL= 146.9, -19.8, ROT= 3.1, 19.8 2025-10-24T20:05:02.702Z,1761336302.702 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-24T20:05:02.703Z,1761336302.703 [DAT](INFO): direction in FSK: [0.939504,0.050882,-0.338738] 2025-10-24T20:05:02.703Z,1761336302.703 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:02.709Z,1761336302.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.550045 m, nav range: 24.594339 m, bearing: 69.233642 deg, approach rate: 0.000000 m/s, LOS rate: 0.156147 deg/s, cmd heading: 61.505894 deg, new cmd heading: 61.763587 deg. 2025-10-24T20:05:02.710Z,1761336302.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.077978 target range: 25.550045 and range: 25.70 m. 2025-10-24T20:05:02.715Z,1761336302.715 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.724323 2025-10-24T20:05:02.914Z,1761336302.914 [DAT](INFO): DAT read: Rx Time:20:05:02.0114 2025-10-24T20:05:02.920Z,1761336302.920 [DAT](INFO): Rx dataTimestamp_ set to:1761336302.914742 2025-10-24T20:05:02.923Z,1761336302.923 [DAT](INFO): DAT read: Bearing 3.1, 20.2 (Local) 2025-10-24T20:05:02.929Z,1761336302.929 [DAT](INFO): Local bearing/azimuth received: Bearing 3.1, 20.2 (Local) 2025-10-24T20:05:02.970Z,1761336302.970 [DAT](INFO): DAT read: Range 10 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 2025-10-24T20:05:02.000Z,1761336303.000 [DAT](INFO): DAT read: 20:05:02.0114 LVL= 14816, 19697, 14738, 22835, AGC= 56, IDX= 499, 0.05, 2.013, 0.384, 1.801, 1.180, PHS= 0.921,-0.749, 0.618, RAW= 140.2, -10.3, CAL= 146.9, -20.2, ROT= 3.1, 20.2 2025-10-24T20:05:03.001Z,1761336303.001 [DAT](INFO): got valid direction response: 20:05:02.0114 LVL= 14816, 19697, 14738, 22835, AGC= 56, IDX= 499, 0.05, 2.013, 0.384, 1.801, 1.180, PHS= 0.921,-0.749, 0.618, RAW= 140.2, -10.3, CAL= 146.9, -20.2, ROT= 3.1, 20.2 2025-10-24T20:05:03.001Z,1761336303.001 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-24T20:05:03.002Z,1761336303.002 [DAT](INFO): direction in FSK: [0.937120,0.050753,-0.345298] 2025-10-24T20:05:03.002Z,1761336303.002 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:03.010Z,1761336303.010 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=21.019461 2025-10-24T20:05:03.161Z,1761336303.161 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=21.169861 2025-10-24T20:05:03.268Z,1761336303.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.761120 s, deltaX: -0.800001 m, approachRate: -1.051084 m/s, rangeRepo size: 4 2025-10-24T20:05:03.270Z,1761336303.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.754711 m, bearing: 67.129767 deg, lat: 36.779629 deg, lon: -121.859526 deg, deltaT: 0.761120 s, deltaX: -0.795334 m, approachRate: -1.044952 m/s, posRepo size: 4 2025-10-24T20:05:03.270Z,1761336303.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m. 2025-10-24T20:05:03.278Z,1761336303.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.754711 m, nav range: 24.317348 m, bearing: 69.097977 deg, approach rate: 0.000000 m/s, LOS rate: 0.156147 deg/s, cmd heading: 61.763591 deg, new cmd heading: 62.031242 deg. 2025-10-24T20:05:03.279Z,1761336303.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.082649 target range: 24.754711 and range: 24.90 m. 2025-10-24T20:05:03.417Z,1761336303.417 [DAT](INFO): DAT read: Rx Time:20:05:02.5114 2025-10-24T20:05:03.419Z,1761336303.419 [DAT](INFO): Rx dataTimestamp_ set to:1761336303.417352 2025-10-24T20:05:03.422Z,1761336303.422 [DAT](INFO): DAT read: Bearing 2.3, 20.0 (Local) 2025-10-24T20:05:03.423Z,1761336303.423 [DAT](INFO): Local bearing/azimuth received: Bearing 2.3, 20.0 (Local) 2025-10-24T20:05:03.427Z,1761336303.427 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=21.435225 2025-10-24T20:05:03.627Z,1761336303.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:03.649Z,1761336303.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m. 2025-10-24T20:05:03.673Z,1761336303.673 [DAT](INFO): DAT read: Range 10 to 50 : 24.9 m (trip time 16.6 ms).4 2025-10-24T20:05:03.685Z,1761336303.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.754711 m, nav range: 24.140194 m, bearing: 69.164455 deg, approach rate: -0.455989 m/s, LOS rate: 0.172365 deg/s, cmd heading: 62.031245 deg, new cmd heading: 62.232140 deg. 2025-10-24T20:05:03.686Z,1761336303.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.086156 target range: 24.754711 and range: 24.90 m. 2025-10-24T20:05:03.689Z,1761336303.689 [DAT](INFO): DAT read: 20:05:02.5114 LVL= 15072, 18033, 15090, 21587, AGC= 56, IDX= 498, 0.20, 2.404, 0.827, 2.218, 1.606, PHS= 0.886,-0.732, 0.609, RAW= 140.8, -10.2, CAL= 147.7, -20.0, ROT= 2.3, 20.0 2025-10-24T20:05:03.690Z,1761336303.690 [DAT](INFO): got valid direction response: 20:05:02.5114 LVL= 15072, 18033, 15090, 21587, AGC= 56, IDX= 498, 0.20, 2.404, 0.827, 2.218, 1.606, PHS= 0.886,-0.732, 0.609, RAW= 140.8, -10.2, CAL= 147.7, -20.0, ROT= 2.3, 20.0 2025-10-24T20:05:03.691Z,1761336303.691 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-24T20:05:03.691Z,1761336303.691 [DAT](INFO): direction in FSK: [0.938936,0.037712,-0.342020] 2025-10-24T20:05:03.696Z,1761336303.696 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:03.712Z,1761336303.712 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.721098 2025-10-24T20:05:03.922Z,1761336303.922 [DAT](INFO): DAT read: Rx Time:20:05:03.0111 2025-10-24T20:05:03.923Z,1761336303.923 [DAT](INFO): Rx dataTimestamp_ set to:1761336303.922242 2025-10-24T20:05:03.927Z,1761336303.927 [DAT](INFO): DAT read: Bearing 2.7, 20.3 (Local) 2025-10-24T20:05:03.931Z,1761336303.931 [DAT](INFO): Local bearing/azimuth received: Bearing 2.7, 20.3 (Local) 2025-10-24T20:05:03.938Z,1761336303.938 [DAT](INFO): DAT read: Range 10 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4 2025-10-24T20:05:03.941Z,1761336303.941 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-24T20:05:03.946Z,1761336303.946 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.954115 2025-10-24T20:05:04.030Z,1761336304.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472145,-0.874540,0.110714],[0.880533,0.461937,-0.106188],[0.041723,0.147624,0.988163]] 2025-10-24T20:05:04.092Z,1761336304.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 1.007500 s, deltaX: -0.299999 m, approachRate: -0.297766 m/s, rangeRepo size: 4 2025-10-24T20:05:04.094Z,1761336304.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.456459 m, bearing: 67.070818 deg, lat: 36.779631 deg, lon: -121.859529 deg, deltaT: 1.007500 s, deltaX: -0.298252 m, approachRate: -0.296032 m/s, posRepo size: 4 2025-10-24T20:05:04.095Z,1761336304.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-24T20:05:04.098Z,1761336304.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.456459 m, nav range: 23.825024 m, bearing: 68.435676 deg, approach rate: 0.000000 m/s, LOS rate: 0.172365 deg/s, cmd heading: 62.232142 deg, new cmd heading: 62.464174 deg. 2025-10-24T20:05:04.099Z,1761336304.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090206 target range: 24.456459 and range: 24.60 m. 2025-10-24T20:05:04.174Z,1761336304.174 [DAT](INFO): DAT read: 20:05:03.0111 LVL= 12752, 19345, 14306, 22659, AGC= 56, IDX= 495, 0.40, 0.941,-0.571, 0.760, 0.168, PHS= 0.861,-0.693, 0.588, RAW= 140.6, -10.5, CAL= 147.3, -20.3, ROT= 2.7, 20.3 2025-10-24T20:05:04.175Z,1761336304.175 [DAT](INFO): got valid direction response: 20:05:03.0111 LVL= 12752, 19345, 14306, 22659, AGC= 56, IDX= 495, 0.40, 0.941,-0.571, 0.760, 0.168, PHS= 0.861,-0.693, 0.588, RAW= 140.6, -10.5, CAL= 147.3, -20.3, ROT= 2.7, 20.3 2025-10-24T20:05:04.176Z,1761336304.176 [DAT](INFO): #Rx 40: Read direction message, but no range. 2025-10-24T20:05:04.178Z,1761336304.178 [DAT](INFO): direction in FSK: [0.936848,0.044181,-0.346936] 2025-10-24T20:05:04.182Z,1761336304.182 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.191473 2025-10-24T20:05:04.393Z,1761336304.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469602,-0.875836,0.111290],[0.882072,0.460043,-0.101534],[0.037729,0.145847,0.988587]] 2025-10-24T20:05:04.424Z,1761336304.424 [DAT](INFO): DAT read: Rx Time:20:05:03.5110 2025-10-24T20:05:04.426Z,1761336304.426 [DAT](INFO): Rx dataTimestamp_ set to:1761336304.424959 2025-10-24T20:05:04.431Z,1761336304.431 [DAT](INFO): DAT read: Bearing 2.0, 20.2 (Local) 2025-10-24T20:05:04.433Z,1761336304.433 [DAT](INFO): Local bearing/azimuth received: Bearing 2.0, 20.2 (Local) 2025-10-24T20:05:04.444Z,1761336304.444 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 2025-10-24T20:05:04.447Z,1761336304.447 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-24T20:05:04.469Z,1761336304.469 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.477598 2025-10-24T20:05:04.518Z,1761336304.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.502717 s, deltaX: -0.100000 m, approachRate: -0.198920 m/s, rangeRepo size: 4 2025-10-24T20:05:04.525Z,1761336304.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.357529 m, bearing: 67.647820 deg, lat: 36.779633 deg, lon: -121.859534 deg, deltaT: 0.502717 s, deltaX: -0.098930 m, approachRate: -0.196791 m/s, posRepo size: 4 2025-10-24T20:05:04.525Z,1761336304.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-24T20:05:04.532Z,1761336304.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.357529 m, nav range: 23.226486 m, bearing: 67.647737 deg, approach rate: 0.000000 m/s, LOS rate: 0.172365 deg/s, cmd heading: 62.464177 deg, new cmd heading: 62.684381 deg. 2025-10-24T20:05:04.533Z,1761336304.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.094049 target range: 24.357529 and range: 24.50 m. 2025-10-24T20:05:04.694Z,1761336304.694 [DAT](INFO): DAT read: 20:05:03.5110 LVL= 15024, 21361, 15058, 23075, AGC= 57, IDX= 511,-0.23,-0.167,-1.574,-0.315,-0.876, PHS= 0.797,-0.651, 0.558, RAW= 141.2, -10.5, CAL= 148.0, -20.2, ROT= 2.0, 20.2 2025-10-24T20:05:04.702Z,1761336304.702 [DAT](INFO): got valid direction response: 20:05:03.5110 LVL= 15024, 21361, 15058, 23075, AGC= 57, IDX= 511,-0.23,-0.167,-1.574,-0.315,-0.876, PHS= 0.797,-0.651, 0.558, RAW= 141.2, -10.5, CAL= 148.0, -20.2, ROT= 2.0, 20.2 2025-10-24T20:05:04.717Z,1761336304.717 [DAT](INFO): #Rx 42: Read direction message, but no range. 2025-10-24T20:05:04.718Z,1761336304.718 [DAT](INFO): direction in FSK: [0.937921,0.032753,-0.345298] 2025-10-24T20:05:04.722Z,1761336304.722 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.731237 2025-10-24T20:05:04.807Z,1761336304.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467108,-0.876943,0.113058],[0.883551,0.458033,-0.097694],[0.033887,0.145526,0.988774]] 2025-10-24T20:05:04.930Z,1761336304.930 [DAT](INFO): DAT read: Rx Time:20:05:04.0107 2025-10-24T20:05:04.931Z,1761336304.931 [DAT](INFO): Rx dataTimestamp_ set to:1761336304.930639 2025-10-24T20:05:04.936Z,1761336304.936 [DAT](INFO): DAT read: Bearing 1.7, 20.0 (Local) 2025-10-24T20:05:04.938Z,1761336304.938 [DAT](INFO): Local bearing/azimuth received: Bearing 1.7, 20.0 (Local) 2025-10-24T20:05:04.969Z,1761336304.969 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4 2025-10-24T20:05:04.979Z,1761336304.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-24T20:05:04.991Z,1761336304.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.357529 m, nav range: 23.036861 m, bearing: 67.727911 deg, approach rate: -0.411336 m/s, LOS rate: 0.175345 deg/s, cmd heading: 62.684382 deg, new cmd heading: 62.926881 deg. 2025-10-24T20:05:04.992Z,1761336304.992 [DAT](INFO): DAT read: 20:05:04.0107 LVL= 12880, 19409, 14354, 22195, AGC= 57, IDX= 508,-0.03,-0.331,-1.769,-0.478,-1.051, PHS= 0.808,-0.671, 0.570, RAW= 141.4, -10.3, CAL= 148.3, -20.0, ROT= 1.7, 20.0 2025-10-24T20:05:04.993Z,1761336304.993 [DAT](INFO): got valid direction response: 20:05:04.0107 LVL= 12880, 19409, 14354, 22195, AGC= 57, IDX= 508,-0.03,-0.331,-1.769,-0.478,-1.051, PHS= 0.808,-0.671, 0.570, RAW= 141.4, -10.3, CAL= 148.3, -20.0, ROT= 1.7, 20.0 2025-10-24T20:05:04.993Z,1761336304.993 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-24T20:05:04.994Z,1761336304.994 [DAT](INFO): direction in FSK: [0.939279,0.027877,-0.342020] 2025-10-24T20:05:04.995Z,1761336304.995 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:05.011Z,1761336305.011 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.019602 2025-10-24T20:05:05.012Z,1761336305.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098281 target range: 24.357529 and range: 24.50 m. 2025-10-24T20:05:05.177Z,1761336305.177 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.185966 2025-10-24T20:05:05.203Z,1761336305.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464761,-0.877967,0.114764],[0.884938,0.456233,-0.093470],[0.029705,0.145001,0.988985]] 2025-10-24T20:05:05.262Z,1761336305.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.505680 s, deltaX: -0.500000 m, approachRate: -0.988768 m/s, rangeRepo size: 4 2025-10-24T20:05:05.270Z,1761336305.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.860435 m, bearing: 66.943522 deg, lat: 36.779634 deg, lon: -121.859536 deg, deltaT: 0.505680 s, deltaX: -0.497093 m, approachRate: -0.983019 m/s, posRepo size: 4 2025-10-24T20:05:05.271Z,1761336305.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m. 2025-10-24T20:05:05.278Z,1761336305.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.860435 m, nav range: 22.816568 m, bearing: 67.477676 deg, approach rate: 0.000000 m/s, LOS rate: 0.175345 deg/s, cmd heading: 62.926881 deg, new cmd heading: 63.075775 deg. 2025-10-24T20:05:05.279Z,1761336305.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100880 target range: 23.860435 and range: 24.00 m. 2025-10-24T20:05:05.435Z,1761336305.435 [DAT](INFO): DAT read: Rx Time:20:05:04.5107 2025-10-24T20:05:05.437Z,1761336305.437 [DAT](INFO): Rx dataTimestamp_ set to:1761336305.435432 2025-10-24T20:05:05.441Z,1761336305.441 [DAT](INFO): DAT read: Bearing 1.8, 19.7 (Local) 2025-10-24T20:05:05.443Z,1761336305.443 [DAT](INFO): Local bearing/azimuth received: Bearing 1.8, 19.7 (Local) 2025-10-24T20:05:05.462Z,1761336305.462 [DAT](INFO): DAT read: Range 10 to 50 : 24.0 m (trip time 16.0 ms) speed 0.4 2025-10-24T20:05:05.481Z,1761336305.481 [DAT](INFO): DAT read: 20:05:04.5107 LVL= 16832, 20865, 15154, 22131, AGC= 57, IDX= 507, 0.25, 2.466, 0.926, 2.301, 1.698, PHS= 0.856,-0.725, 0.599, RAW= 141.3, -10.0, CAL= 148.2, -19.7, ROT= 1.8, 19.7 2025-10-24T20:05:05.482Z,1761336305.482 [DAT](INFO): got valid direction response: 20:05:04.5107 LVL= 16832, 20865, 15154, 22131, AGC= 57, IDX= 507, 0.25, 2.466, 0.926, 2.301, 1.698, PHS= 0.856,-0.725, 0.599, RAW= 141.3, -10.0, CAL= 148.2, -19.7, ROT= 1.8, 19.7 2025-10-24T20:05:05.482Z,1761336305.482 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-24T20:05:05.483Z,1761336305.483 [DAT](INFO): direction in FSK: [0.941006,0.029572,-0.337095] 2025-10-24T20:05:05.483Z,1761336305.483 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:05.518Z,1761336305.518 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.527290 2025-10-24T20:05:05.686Z,1761336305.686 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.694139 2025-10-24T20:05:05.734Z,1761336305.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504793 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:05.741Z,1761336305.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.860340 m, bearing: 66.993511 deg, lat: 36.779634 deg, lon: -121.859536 deg, deltaT: 0.504793 s, deltaX: -0.000095 m, approachRate: -0.000189 m/s, posRepo size: 4 2025-10-24T20:05:05.741Z,1761336305.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m. 2025-10-24T20:05:05.753Z,1761336305.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.860340 m, nav range: 22.633949 m, bearing: 67.363101 deg, approach rate: 0.000000 m/s, LOS rate: 0.175345 deg/s, cmd heading: 63.075772 deg, new cmd heading: 63.324252 deg. 2025-10-24T20:05:05.754Z,1761336305.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105217 target range: 23.860340 and range: 24.00 m. 2025-10-24T20:05:05.941Z,1761336305.941 [DAT](INFO): DAT read: Rx Time:20:05:05.0104 2025-10-24T20:05:05.942Z,1761336305.942 [DAT](INFO): Rx dataTimestamp_ set to:1761336305.941030 2025-10-24T20:05:05.947Z,1761336305.947 [DAT](INFO): DAT read: Bearing 0.7, 18.1 (Local) 2025-10-24T20:05:05.965Z,1761336305.965 [DAT](INFO): Local bearing/azimuth received: Bearing 0.7, 18.1 (Local) 2025-10-24T20:05:05.967Z,1761336305.967 [DAT](INFO): DAT read: Range 10 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 2025-10-24T20:05:06.025Z,1761336306.025 [DAT](INFO): DAT read: 20:05:05.0104 LVL= 13808, 17393, 15346, 21475, AGC= 58, IDX= 505,-0.18,-2.101, 2.655,-2.227,-2.822, PHS= 0.809,-0.759, 0.592, RAW= 142.7, -8.8, CAL= 149.3, -18.1, ROT= 0.7, 18.1 2025-10-24T20:05:06.026Z,1761336306.026 [DAT](INFO): got valid direction response: 20:05:05.0104 LVL= 13808, 17393, 15346, 21475, AGC= 58, IDX= 505,-0.18,-2.101, 2.655,-2.227,-2.822, PHS= 0.809,-0.759, 0.592, RAW= 142.7, -8.8, CAL= 149.3, -18.1, ROT= 0.7, 18.1 2025-10-24T20:05:06.026Z,1761336306.026 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-24T20:05:06.027Z,1761336306.027 [DAT](INFO): direction in FSK: [0.950445,0.011612,-0.310676] 2025-10-24T20:05:06.036Z,1761336306.036 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:06.042Z,1761336306.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460493,-0.879355,0.121168],[0.887418,0.452845,-0.086144],[0.020881,0.147195,0.988887]] 2025-10-24T20:05:06.048Z,1761336306.048 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.057371 2025-10-24T20:05:06.174Z,1761336306.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.505598 s, deltaX: -0.400000 m, approachRate: -0.791142 m/s, rangeRepo size: 4 2025-10-24T20:05:06.179Z,1761336306.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.462667 m, bearing: 65.998036 deg, lat: 36.779635 deg, lon: -121.859536 deg, deltaT: 0.505598 s, deltaX: -0.397673 m, approachRate: -0.786539 m/s, posRepo size: 4 2025-10-24T20:05:06.179Z,1761336306.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m. 2025-10-24T20:05:06.185Z,1761336306.185 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.194014 2025-10-24T20:05:06.198Z,1761336306.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.462667 m, nav range: 22.470476 m, bearing: 67.286631 deg, approach rate: 0.000000 m/s, LOS rate: 0.175345 deg/s, cmd heading: 63.324255 deg, new cmd heading: 63.555480 deg. 2025-10-24T20:05:06.199Z,1761336306.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.109252 target range: 23.462667 and range: 23.60 m. 2025-10-24T20:05:06.397Z,1761336306.397 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:05:06.442Z,1761336306.442 [DAT](INFO): DAT read: Rx Time:20:05:05.5103 2025-10-24T20:05:06.445Z,1761336306.445 [DAT](INFO): Rx dataTimestamp_ set to:1761336306.443274 2025-10-24T20:05:06.449Z,1761336306.449 [DAT](INFO): DAT read: Bearing 0.7, 18.2 (Local) 2025-10-24T20:05:06.450Z,1761336306.450 [DAT](INFO): Local bearing/azimuth received: Bearing 0.7, 18.2 (Local) 2025-10-24T20:05:06.458Z,1761336306.458 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 2025-10-24T20:05:06.491Z,1761336306.491 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-24T20:05:06.493Z,1761336306.493 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.501585 2025-10-24T20:05:06.585Z,1761336306.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:06.594Z,1761336306.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.502244 s, deltaX: -0.200001 m, approachRate: -0.398214 m/s, rangeRepo size: 4 2025-10-24T20:05:06.595Z,1761336306.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m. 2025-10-24T20:05:06.602Z,1761336306.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.462667 m, nav range: 22.282833 m, bearing: 67.370109 deg, approach rate: -0.446654 m/s, LOS rate: 0.200380 deg/s, cmd heading: 63.555477 deg, new cmd heading: 63.808020 deg. 2025-10-24T20:05:06.603Z,1761336306.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113660 target range: 23.462667 and range: 23.40 m. 2025-10-24T20:05:06.707Z,1761336306.707 [DAT](INFO): DAT read: 20:05:05.5103 LVL= 15312, 20433, 15042, 22643, AGC= 59, IDX= 503, 0.18,-0.102,-1.683,-0.237,-0.854, PHS= 0.840,-0.782, 0.614, RAW= 142.6, -8.9, CAL= 149.3, -18.2, ROT= 0.7, 18.2 2025-10-24T20:05:06.723Z,1761336306.723 [DAT](INFO): got valid direction response: 20:05:05.5103 LVL= 15312, 20433, 15042, 22643, AGC= 59, IDX= 503, 0.18,-0.102,-1.683,-0.237,-0.854, PHS= 0.840,-0.782, 0.614, RAW= 142.6, -8.9, CAL= 149.3, -18.2, ROT= 0.7, 18.2 2025-10-24T20:05:06.729Z,1761336306.729 [DAT](INFO): #Rx 47: Read direction message, but no range. 2025-10-24T20:05:06.737Z,1761336306.737 [DAT](INFO): direction in FSK: [0.949901,0.011606,-0.312335] 2025-10-24T20:05:06.745Z,1761336306.745 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.753757 2025-10-24T20:05:06.946Z,1761336306.946 [DAT](INFO): DAT read: Rx Time:20:05:06.0101 2025-10-24T20:05:06.947Z,1761336306.947 [DAT](INFO): Rx dataTimestamp_ set to:1761336306.946219 2025-10-24T20:05:06.955Z,1761336306.955 [DAT](INFO): DAT read: Bearing 0.1, 16.9 (Local) 2025-10-24T20:05:06.956Z,1761336306.956 [DAT](INFO): Local bearing/azimuth received: Bearing 0.1, 16.9 (Local) 2025-10-24T20:05:06.985Z,1761336306.985 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 2025-10-24T20:05:07.017Z,1761336307.017 [DAT](INFO): DAT read: 20:05:06.0101 LVL= 14688, 22001, 15714, 22099, AGC= 59, IDX= 501,-0.20, 2.803, 1.265, 2.702, 2.109, PHS= 0.783,-0.796, 0.590, RAW= 143.6, -7.8, CAL= 149.9, -16.9, ROT= 0.1, 16.9 2025-10-24T20:05:07.018Z,1761336307.018 [DAT](INFO): got valid direction response: 20:05:06.0101 LVL= 14688, 22001, 15714, 22099, AGC= 59, IDX= 501,-0.20, 2.803, 1.265, 2.702, 2.109, PHS= 0.783,-0.796, 0.590, RAW= 143.6, -7.8, CAL= 149.9, -16.9, ROT= 0.1, 16.9 2025-10-24T20:05:07.018Z,1761336307.018 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-24T20:05:07.019Z,1761336307.019 [DAT](INFO): direction in FSK: [0.956812,0.001670,-0.290702] 2025-10-24T20:05:07.019Z,1761336307.019 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:07.021Z,1761336307.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452841,-0.882713,0.125511],[0.891540,0.446797,-0.074357],[0.009558,0.145570,0.989302]] 2025-10-24T20:05:07.047Z,1761336307.047 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.056362 2025-10-24T20:05:07.193Z,1761336307.193 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.201845 2025-10-24T20:05:07.209Z,1761336307.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.502945 s, deltaX: -0.299999 m, approachRate: -0.596485 m/s, rangeRepo size: 4 2025-10-24T20:05:07.211Z,1761336307.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.965496 m, bearing: 65.696401 deg, lat: 36.779636 deg, lon: -121.859538 deg, deltaT: 1.005189 s, deltaX: -0.497171 m, approachRate: -0.494605 m/s, posRepo size: 4 2025-10-24T20:05:07.211Z,1761336307.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-24T20:05:07.223Z,1761336307.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.965496 m, nav range: 21.889406 m, bearing: 67.007648 deg, approach rate: 0.000000 m/s, LOS rate: 0.200380 deg/s, cmd heading: 63.808017 deg, new cmd heading: 64.172468 deg. 2025-10-24T20:05:07.232Z,1761336307.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120021 target range: 22.965496 and range: 23.10 m. 2025-10-24T20:05:07.402Z,1761336307.402 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:05:07.450Z,1761336307.450 [DAT](INFO): DAT read: Rx Time:20:05:06.5101 2025-10-24T20:05:07.454Z,1761336307.454 [DAT](INFO): Rx dataTimestamp_ set to:1761336307.451008 2025-10-24T20:05:07.460Z,1761336307.460 [DAT](INFO): DAT read: Bearing 0.7, 17.3 (Local) 2025-10-24T20:05:07.461Z,1761336307.461 [DAT](INFO): Local bearing/azimuth received: Bearing 0.7, 17.3 (Local) 2025-10-24T20:05:07.463Z,1761336307.463 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m (trip time 15.4 ms) speed 0.4 2025-10-24T20:05:07.529Z,1761336307.529 [DAT](INFO): DAT read: 20:05:06.5101 LVL= 14304, 18913, 14466, 21811, AGC= 59, IDX= 500, 0.17, 0.051,-1.509,-0.075,-0.669, PHS= 0.808,-0.794, 0.591, RAW= 142.8, -8.1, CAL= 149.3, -17.3, ROT= 0.7, 17.3 2025-10-24T20:05:07.530Z,1761336307.530 [DAT](INFO): got valid direction response: 20:05:06.5101 LVL= 14304, 18913, 14466, 21811, AGC= 59, IDX= 500, 0.17, 0.051,-1.509,-0.075,-0.669, PHS= 0.808,-0.794, 0.591, RAW= 142.8, -8.1, CAL= 149.3, -17.3, ROT= 0.7, 17.3 2025-10-24T20:05:07.531Z,1761336307.531 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-24T20:05:07.541Z,1761336307.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450821,-0.883667,0.126069],[0.892591,0.445265,-0.070856],[0.006479,0.144471,0.989488]] 2025-10-24T20:05:07.544Z,1761336307.544 [DAT](INFO): direction in FSK: [0.954690,0.011664,-0.297375] 2025-10-24T20:05:07.544Z,1761336307.544 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:07.560Z,1761336307.560 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.556730 2025-10-24T20:05:07.700Z,1761336307.700 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.708626 2025-10-24T20:05:07.757Z,1761336307.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504789 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:07.759Z,1761336307.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.965475 m, bearing: 66.464206 deg, lat: 36.779639 deg, lon: -121.859538 deg, deltaT: 0.504789 s, deltaX: -0.000021 m, approachRate: -0.000042 m/s, posRepo size: 4 2025-10-24T20:05:07.773Z,1761336307.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-24T20:05:07.788Z,1761336307.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.965475 m, nav range: 21.807516 m, bearing: 66.239554 deg, approach rate: 0.000000 m/s, LOS rate: 0.200380 deg/s, cmd heading: 64.172469 deg, new cmd heading: 64.507296 deg. 2025-10-24T20:05:07.789Z,1761336307.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.125865 target range: 22.965475 and range: 23.10 m. 2025-10-24T20:05:07.954Z,1761336307.954 [DAT](INFO): DAT read: Rx Time:20:98 2025-10-24T20:05:07.957Z,1761336307.957 [DAT](INFO): Rx dataTimestamp_ set to:1761336307.954398 2025-10-24T20:05:07.961Z,1761336307.961 [DAT](INFO): DAT read: Bearing 0.1, 16l) 2025-10-24T20:05:07.962Z,1761336307.962 [DAT](INFO): unknown deviceResponse_: Bearing 0.1, 16l) 2025-10-24T20:05:07.993Z,1761336307.993 [DAT](INFO): DAT read: Range 10 to 50 : 22.7 m (trip time 15.1 ms) speed 0.4 2025-10-24T20:05:08.014Z,1761336308.014 [DAT](INFO): DAT read: 20:05:07.0098 LVL= 15344, 18097, 14562, 21123, AGC= 58, IDX= 498,-0.27,-2.543, 2.275,-2.632, 3.088, PHS= 0.741,-0.766, 0.561, RAW= 143.7, -7.6, CAL= 149.9, -16.7, ROT= 0.1, 16.7 2025-10-24T20:05:08.021Z,1761336308.021 [DAT](INFO): got valid direction response: 20:05:07.0098 LVL= 15344, 18097, 14562, 21123, AGC= 58, IDX= 498,-0.27,-2.543, 2.275,-2.632, 3.088, PHS= 0.741,-0.766, 0.561, RAW= 143.7, -7.6, CAL= 149.9, -16.7, ROT= 0.1, 16.7 2025-10-24T20:05:08.022Z,1761336308.022 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-24T20:05:08.048Z,1761336308.048 [DAT](INFO): direction in FSK: [0.957821,0.001672,-0.287361] 2025-10-24T20:05:08.049Z,1761336308.049 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:08.056Z,1761336308.056 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.065426 2025-10-24T20:05:08.083Z,1761336308.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447839,-0.884886,0.128127],[0.894106,0.442593,-0.068455],[0.003867,0.145216,0.989392]] 2025-10-24T20:05:08.201Z,1761336308.201 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.209814 2025-10-24T20:05:08.261Z,1761336308.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503390 s, deltaX: -0.400000 m, approachRate: -0.794612 m/s, rangeRepo size: 4 2025-10-24T20:05:08.263Z,1761336308.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.567806 m, bearing: 65.985115 deg, lat: 36.779639 deg, lon: -121.859537 deg, deltaT: 0.503390 s, deltaX: -0.397669 m, approachRate: -0.789982 m/s, posRepo size: 4 2025-10-24T20:05:08.264Z,1761336308.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.57 m. 2025-10-24T20:05:08.267Z,1761336308.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.567806 m, nav range: 21.603180 m, bearing: 66.341697 deg, approach rate: 0.000000 m/s, LOS rate: 0.200380 deg/s, cmd heading: 64.507298 deg, new cmd heading: 64.810124 deg. 2025-10-24T20:05:08.276Z,1761336308.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.131150 target range: 22.567806 and range: 22.70 m. 2025-10-24T20:05:08.461Z,1761336308.461 [DAT](INFO): DAT read: Rx Time:20:05:07.5097 2025-10-24T20:05:08.461Z,1761336308.461 [DAT](INFO): Rx dataTimestamp_ set to:1761336308.460880 2025-10-24T20:05:08.462Z,1761336308.462 [DAT](INFO): DAT read: Bearing 0.1, 17.0 (Local) 2025-10-24T20:05:08.463Z,1761336308.463 [DAT](INFO): Local bearing/azimuth received: Bearing 0.1, 17.0 (Local) 2025-10-24T20:05:08.473Z,1761336308.473 [DAT](INFO): DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 2025-10-24T20:05:08.479Z,1761336308.479 [DAT](INFO): DAT read: 20:05:07.5097 LVL= 14720, 21745, 13874, 21939, AGC= 56, IDX= 497, 0.14,-0.323,-1.731,-0.409,-0.956, PHS= 0.722,-0.728, 0.544, RAW= 143.5, -7.9, CAL= 149.9, -17.0, ROT= 0.1, 17.0 2025-10-24T20:05:08.495Z,1761336308.495 [DAT](INFO): got valid direction response: 20:05:07.5097 LVL= 14720, 21745, 13874, 21939, AGC= 56, IDX= 497, 0.14,-0.323,-1.731,-0.409,-0.956, PHS= 0.722,-0.728, 0.544, RAW= 143.5, -7.9, CAL= 149.9, -17.0, ROT= 0.1, 17.0 2025-10-24T20:05:08.495Z,1761336308.495 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-24T20:05:08.502Z,1761336308.502 [DAT](INFO): direction in FSK: [0.956303,0.001669,-0.292372] 2025-10-24T20:05:08.503Z,1761336308.503 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:08.541Z,1761336308.541 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.549824 2025-10-24T20:05:08.546Z,1761336308.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445039,-0.886175,0.128970],[0.895510,0.440195,-0.065498],[0.001270,0.144643,0.989483]] 2025-10-24T20:05:08.663Z,1761336308.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.506482 s, deltaX: -0.200001 m, approachRate: -0.394882 m/s, rangeRepo size: 4 2025-10-24T20:05:08.693Z,1761336308.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.369028 m, bearing: 66.203956 deg, lat: 36.779640 deg, lon: -121.859537 deg, deltaT: 0.506482 s, deltaX: -0.198778 m, approachRate: -0.392468 m/s, posRepo size: 4 2025-10-24T20:05:08.693Z,1761336308.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.37 m. 2025-10-24T20:05:08.702Z,1761336308.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.369028 m, nav range: 21.422325 m, bearing: 66.203878 deg, approach rate: 0.000000 m/s, LOS rate: 0.200380 deg/s, cmd heading: 64.810121 deg, new cmd heading: 65.051845 deg. 2025-10-24T20:05:08.712Z,1761336308.712 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.720276 2025-10-24T20:05:08.719Z,1761336308.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.135369 target range: 22.369028 and range: 22.50 m. 2025-10-24T20:05:08.962Z,1761336308.962 [DAT](INFO): DAT read: Rx Time:20:05:08.0095 2025-10-24T20:05:08.962Z,1761336308.962 [DAT](INFO): Rx dataTimestamp_ set to:1761336308.962003 2025-10-24T20:05:08.964Z,1761336308.964 [DAT](INFO): DAT read: Bearing 359.2, 16.6 (Local) 2025-10-24T20:05:08.964Z,1761336308.964 [DAT](INFO): Local bearing/azimuth received: Bearing 359.2, 16.6 (Local) 2025-10-24T20:05:08.966Z,1761336308.966 [DAT](INFO): DAT read: Range 10 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 2025-10-24T20:05:08.972Z,1761336308.972 [DAT](INFO): DAT read: 20:05:08.0095 LVL= 13520, 21345, 13858, 21651, AGC= 56, IDX= 511,-0.30, 2.537, 1.231, 2.490, 1.968, PHS= 0.657,-0.690, 0.519, RAW= 144.6, -7.6, CAL= 150.8, -16.6, ROT= 359.2, 16.6 2025-10-24T20:05:08.973Z,1761336308.973 [DAT](INFO): got valid direction response: 20:05:08.0095 LVL= 13520, 21345, 13858, 21651, AGC= 56, IDX= 511,-0.30, 2.537, 1.231, 2.490, 1.968, PHS= 0.657,-0.690, 0.519, RAW= 144.6, -7.6, CAL= 150.8, -16.6, ROT= 359.2, 16.6 2025-10-24T20:05:08.974Z,1761336308.974 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-24T20:05:08.977Z,1761336308.977 [DAT](INFO): direction in FSK: [0.958229,-0.013380,-0.285688] 2025-10-24T20:05:08.977Z,1761336308.977 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:08.982Z,1761336308.982 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.991291 2025-10-24T20:05:09.204Z,1761336309.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.501123 s, deltaX: -0.299999 m, approachRate: -0.598654 m/s, rangeRepo size: 4 2025-10-24T20:05:09.207Z,1761336309.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.070776 m, bearing: 65.252223 deg, lat: 36.779641 deg, lon: -121.859537 deg, deltaT: 0.501123 s, deltaX: -0.298252 m, approachRate: -0.595167 m/s, posRepo size: 4 2025-10-24T20:05:09.207Z,1761336309.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m. 2025-10-24T20:05:09.213Z,1761336309.213 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.221968 2025-10-24T20:05:09.220Z,1761336309.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.070776 m, nav range: 21.170607 m, bearing: 65.960496 deg, approach rate: 0.000000 m/s, LOS rate: 0.200380 deg/s, cmd heading: 65.051849 deg, new cmd heading: 65.374418 deg. 2025-10-24T20:05:09.222Z,1761336309.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140999 target range: 22.070776 and range: 22.20 m. 2025-10-24T20:05:09.466Z,1761336309.466 [DAT](INFO): DAT read: Rx Time:20:05:08.5094 2025-10-24T20:05:09.467Z,1761336309.467 [DAT](INFO): Rx dataTimestamp_ set to:1761336309.466316 2025-10-24T20:05:09.468Z,1761336309.468 [DAT](INFO): DAT read: Bearing 358.9, 15.9 (Local) 2025-10-24T20:05:09.468Z,1761336309.468 [DAT](INFO): Local bearing/azimuth received: Bearing 358.9, 15.9 (Local) 2025-10-24T20:05:09.471Z,1761336309.471 [DAT](INFO): DAT read: Range 10 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 2025-10-24T20:05:09.480Z,1761336309.480 [DAT](INFO): DAT read: 20:05:08.5094 LVL= 13536, 20145, 13218, 20707, AGC= 55, IDX= 510, 0.01,-1.234,-2.612,-1.275,-1.821, PHS= 0.675,-0.744, 0.543, RAW= 145.2, -7.0, CAL= 151.1, -15.9, ROT= 358.9, 15.9 2025-10-24T20:05:09.481Z,1761336309.481 [DAT](INFO): got valid direction response: 20:05:08.5094 LVL= 13536, 20145, 13218, 20707, AGC= 55, IDX= 510, 0.01,-1.234,-2.612,-1.275,-1.821, PHS= 0.675,-0.744, 0.543, RAW= 145.2, -7.0, CAL= 151.1, -15.9, ROT= 358.9, 15.9 2025-10-24T20:05:09.481Z,1761336309.481 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-24T20:05:09.482Z,1761336309.482 [DAT](INFO): direction in FSK: [0.961564,-0.018463,-0.273959] 2025-10-24T20:05:09.483Z,1761336309.483 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:09.499Z,1761336309.499 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.507586 2025-10-24T20:05:09.527Z,1761336309.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433539,-0.891679,0.130200],[0.901121,0.429793,-0.057089],[-0.005054,0.142076,0.989843]] 2025-10-24T20:05:09.622Z,1761336309.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.504313 s, deltaX: -0.100000 m, approachRate: -0.198290 m/s, rangeRepo size: 4 2025-10-24T20:05:09.625Z,1761336309.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.971279 m, bearing: 65.539205 deg, lat: 36.779641 deg, lon: -121.859537 deg, deltaT: 0.504313 s, deltaX: -0.099497 m, approachRate: -0.197292 m/s, posRepo size: 4 2025-10-24T20:05:09.626Z,1761336309.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.97 m. 2025-10-24T20:05:09.637Z,1761336309.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.971279 m, nav range: 20.952591 m, bearing: 65.941966 deg, approach rate: 0.000000 m/s, LOS rate: 0.200380 deg/s, cmd heading: 65.374418 deg, new cmd heading: 65.625032 deg. 2025-10-24T20:05:09.639Z,1761336309.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145373 target range: 21.971279 and range: 22.10 m. 2025-10-24T20:05:09.721Z,1761336309.721 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.728579 2025-10-24T20:05:09.962Z,1761336309.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428504,-0.894006,0.130913],[0.903512,0.425108,-0.054305],[-0.007103,0.141551,0.989905]] 2025-10-24T20:05:09.970Z,1761336309.970 [DAT](INFO): DAT read: Rx Time:20:05:09.0092 2025-10-24T20:05:09.970Z,1761336309.970 [DAT](INFO): Rx dataTimestamp_ set to:1761336309.970221 2025-10-24T20:05:09.972Z,1761336309.972 [DAT](INFO): DAT read: Bearing 358.8, 15.5 (Local) 2025-10-24T20:05:09.972Z,1761336309.972 [DAT](INFO): Local bearing/azimuth received: Bearing 358.8, 15.5 (Local) 2025-10-24T20:05:09.974Z,1761336309.974 [DAT](INFO): DAT read: Range 10 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4 2025-10-24T20:05:09.979Z,1761336309.979 [DAT](INFO): DAT read: 20:05:09.0092 LVL= 14784, 21345, 15090, 22803, AGC= 56, IDX= 507, 0.20,-0.569,-2.039,-0.610,-1.188, PHS= 0.707,-0.804, 0.575, RAW= 145.5, -6.6, CAL= 151.2, -15.5, ROT= 358.8, 15.5 2025-10-24T20:05:09.981Z,1761336309.981 [DAT](INFO): got valid direction response: 20:05:09.0092 LVL= 14784, 21345, 15090, 22803, AGC= 56, IDX= 507, 0.20,-0.569,-2.039,-0.610,-1.188, PHS= 0.707,-0.804, 0.575, RAW= 145.5, -6.6, CAL= 151.2, -15.5, ROT= 358.8, 15.5 2025-10-24T20:05:09.981Z,1761336309.981 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-24T20:05:09.982Z,1761336309.982 [DAT](INFO): direction in FSK: [0.963419,-0.020181,-0.267238] 2025-10-24T20:05:09.983Z,1761336309.983 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:09.993Z,1761336309.993 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.002071 2025-10-24T20:05:10.125Z,1761336310.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503905 s, deltaX: -0.300001 m, approachRate: -0.595353 m/s, rangeRepo size: 4 2025-10-24T20:05:10.127Z,1761336310.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.673025 m, bearing: 65.690321 deg, lat: 36.779642 deg, lon: -121.859537 deg, deltaT: 0.503905 s, deltaX: -0.298254 m, approachRate: -0.591885 m/s, posRepo size: 4 2025-10-24T20:05:10.132Z,1761336310.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m. 2025-10-24T20:05:10.141Z,1761336310.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.673025 m, nav range: 20.723864 m, bearing: 65.542501 deg, approach rate: 0.000000 m/s, LOS rate: 0.200380 deg/s, cmd heading: 65.625031 deg, new cmd heading: 65.923130 deg. 2025-10-24T20:05:10.142Z,1761336310.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150576 target range: 21.673025 and range: 21.80 m. 2025-10-24T20:05:10.222Z,1761336310.222 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.230682 2025-10-24T20:05:10.474Z,1761336310.474 [DAT](INFO): DAT read: Rx Time:20:05:09.5090 2025-10-24T20:05:10.474Z,1761336310.474 [DAT](INFO): Rx dataTimestamp_ set to:1761336310.473870 2025-10-24T20:05:10.475Z,1761336310.475 [DAT](INFO): DAT read: Bearing 358.3, 15.1 (Local) 2025-10-24T20:05:10.476Z,1761336310.476 [DAT](INFO): Local bearing/azimuth received: Bearing 358.3, 15.1 (Local) 2025-10-24T20:05:10.478Z,1761336310.478 [DAT](INFO): DAT read: Range 10 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 2025-10-24T20:05:10.483Z,1761336310.483 [DAT](INFO): DAT read: 20:05:09.5090 LVL= 12432, 20593, 13810, 20611, AGC= 55, IDX= 505, 0.44, 0.713,-0.733, 0.692, 0.119, PHS= 0.681,-0.806, 0.570, RAW= 146.1, -6.3, CAL= 151.7, -15.1, ROT= 358.3, 15.1 2025-10-24T20:05:10.484Z,1761336310.484 [DAT](INFO): got valid direction response: 20:05:09.5090 LVL= 12432, 20593, 13810, 20611, AGC= 55, IDX= 505, 0.44, 0.713,-0.733, 0.692, 0.119, PHS= 0.681,-0.806, 0.570, RAW= 146.1, -6.3, CAL= 151.7, -15.1, ROT= 358.3, 15.1 2025-10-24T20:05:10.485Z,1761336310.485 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-24T20:05:10.486Z,1761336310.486 [DAT](INFO): direction in FSK: [0.965048,-0.028642,-0.260505] 2025-10-24T20:05:10.486Z,1761336310.486 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:10.490Z,1761336310.490 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.499292 2025-10-24T20:05:10.501Z,1761336310.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423586,-0.896274,0.131409],[0.905814,0.420489,-0.051871],[-0.008765,0.141004,0.989970]] 2025-10-24T20:05:10.574Z,1761336310.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.503649 s, deltaX: -0.299999 m, approachRate: -0.595651 m/s, rangeRepo size: 4 2025-10-24T20:05:10.580Z,1761336310.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.374630 m, bearing: 65.436370 deg, lat: 36.779642 deg, lon: -121.859536 deg, deltaT: 0.503649 s, deltaX: -0.298395 m, approachRate: -0.592466 m/s, posRepo size: 4 2025-10-24T20:05:10.581Z,1761336310.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m. 2025-10-24T20:05:10.583Z,1761336310.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.374630 m, nav range: 20.549147 m, bearing: 65.398952 deg, approach rate: 0.000000 m/s, LOS rate: 0.200380 deg/s, cmd heading: 65.923128 deg, new cmd heading: 66.200382 deg. 2025-10-24T20:05:10.589Z,1761336310.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.155415 target range: 21.374630 and range: 21.50 m. 2025-10-24T20:05:10.725Z,1761336310.725 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.734135 2025-10-24T20:05:10.822Z,1761336310.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417649,-0.898755,0.133447],[0.908550,0.414759,-0.050118],[-0.010305,0.142175,0.989788]] 2025-10-24T20:05:10.951Z,1761336310.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:10.966Z,1761336310.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m. 2025-10-24T20:05:10.975Z,1761336310.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.374630 m, nav range: 20.345463 m, bearing: 65.305609 deg, approach rate: -0.519326 m/s, LOS rate: -0.240377 deg/s, cmd heading: 66.200379 deg, new cmd heading: 65.917548 deg. 2025-10-24T20:05:10.978Z,1761336310.978 [DAT](INFO): DAT read: Rx Time:20:05:10.0087 2025-10-24T20:05:10.979Z,1761336310.979 [DAT](INFO): Rx dataTimestamp_ set to:1761336310.978364 2025-10-24T20:05:10.980Z,1761336310.980 [DAT](INFO): DAT read: Bearing 356.6, 14.2 (Local) 2025-10-24T20:05:10.981Z,1761336310.981 [DAT](INFO): Local bearing/azimuth received: Bearing 356.6, 14.2 (Local) 2025-10-24T20:05:10.985Z,1761336310.985 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-24T20:05:10.997Z,1761336310.997 [DAT](INFO): DAT read: 20:05:10.0087 LVL= 13792, 20641, 15346, 21491, AGC= 55, IDX= 503,-0.23,-2.361, 2.585,-2.317,-2.873, PHS= 0.600,-0.778, 0.554, RAW= 148.3, -5.6, CAL= 153.4, -14.2, ROT= 356.6, 14.2 2025-10-24T20:05:11.001Z,1761336311.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.150478 target range: 21.374630 and range: 21.50 m. 2025-10-24T20:05:11.008Z,1761336311.008 [DAT](INFO): got valid direction response: 20:05:10.0087 LVL= 13792, 20641, 15346, 21491, AGC= 55, IDX= 503,-0.23,-2.361, 2.585,-2.317,-2.873, PHS= 0.600,-0.778, 0.554, RAW= 148.3, -5.6, CAL= 153.4, -14.2, ROT= 356.6, 14.2 2025-10-24T20:05:11.009Z,1761336311.009 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-24T20:05:11.011Z,1761336311.011 [DAT](INFO): direction in FSK: [0.967739,-0.057494,-0.245307] 2025-10-24T20:05:11.021Z,1761336311.021 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:11.033Z,1761336311.033 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.042019 2025-10-24T20:05:11.230Z,1761336311.230 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.238508 2025-10-24T20:05:11.362Z,1761336311.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.504494 s, deltaX: -0.500000 m, approachRate: -0.991092 m/s, rangeRepo size: 4 2025-10-24T20:05:11.368Z,1761336311.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.877546 m, bearing: 64.004633 deg, lat: 36.779642 deg, lon: -121.859536 deg, deltaT: 0.504494 s, deltaX: -0.497084 m, approachRate: -0.985311 m/s, posRepo size: 4 2025-10-24T20:05:11.369Z,1761336311.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-24T20:05:11.376Z,1761336311.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.877546 m, nav range: 20.094618 m, bearing: 65.124197 deg, approach rate: 0.000000 m/s, LOS rate: -0.240377 deg/s, cmd heading: 65.917548 deg, new cmd heading: 65.632056 deg. 2025-10-24T20:05:11.377Z,1761336311.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.145495 target range: 20.877546 and range: 21.00 m. 2025-10-24T20:05:11.482Z,1761336311.482 [DAT](INFO): DAT read: Rx Time:20:05:10.5086 2025-10-24T20:05:11.482Z,1761336311.482 [DAT](INFO): Rx dataTimestamp_ set to:1761336311.482165 2025-10-24T20:05:11.485Z,1761336311.485 [DAT](INFO): DAT read: Bearing 356.0, 13.2 (Local) 2025-10-24T20:05:11.485Z,1761336311.485 [DAT](INFO): Local bearing/azimuth received: Bearing 356.0, 13.2 (Local) 2025-10-24T20:05:11.489Z,1761336311.489 [DAT](INFO): DAT read: Range 10 to 50 : 20.9 m (trip time 13.9 ms) speed 0.4 2025-10-24T20:05:11.495Z,1761336311.495 [DAT](INFO): DAT read: 20:05:10.5086 LVL= 15584, 20449, 13810, 20899, AGC= 56, IDX= 502,-0.07,-0.154,-1.567,-0.086,-0.668, PHS= 0.602,-0.851, 0.579, RAW= 149.2, -4.6, CAL= 154.0, -13.2, ROT= 356.0, 13.2 2025-10-24T20:05:11.497Z,1761336311.497 [DAT](INFO): got valid direction response: 20:05:10.5086 LVL= 15584, 20449, 13810, 20899, AGC= 56, IDX= 502,-0.07,-0.154,-1.567,-0.086,-0.668, PHS= 0.602,-0.851, 0.579, RAW= 149.2, -4.6, CAL= 154.0, -13.2, ROT= 356.0, 13.2 2025-10-24T20:05:11.498Z,1761336311.498 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-24T20:05:11.499Z,1761336311.499 [DAT](INFO): direction in FSK: [0.971207,-0.067913,-0.228351] 2025-10-24T20:05:11.499Z,1761336311.499 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:11.506Z,1761336311.506 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.514612 2025-10-24T20:05:11.679Z,1761336311.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405539,-0.903885,0.136123],[0.913983,0.403120,-0.046148],[-0.013161,0.143129,0.989617]] 2025-10-24T20:05:11.739Z,1761336311.739 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.747051 2025-10-24T20:05:11.787Z,1761336311.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503801 s, deltaX: -0.100000 m, approachRate: -0.198492 m/s, rangeRepo size: 4 2025-10-24T20:05:11.801Z,1761336311.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.778034 m, bearing: 64.030121 deg, lat: 36.779642 deg, lon: -121.859535 deg, deltaT: 0.503801 s, deltaX: -0.099512 m, approachRate: -0.197523 m/s, posRepo size: 4 2025-10-24T20:05:11.802Z,1761336311.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.78 m. 2025-10-24T20:05:11.808Z,1761336311.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.778034 m, nav range: 19.890989 m, bearing: 65.041634 deg, approach rate: 0.000000 m/s, LOS rate: -0.240377 deg/s, cmd heading: 65.632053 deg, new cmd heading: 65.330702 deg. 2025-10-24T20:05:11.809Z,1761336311.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140236 target range: 20.778034 and range: 20.90 m. 2025-10-24T20:05:11.985Z,1761336311.985 [DAT](INFO): DAT read: Rx Time:20:05:11.0083 2025-10-24T20:05:11.986Z,1761336311.986 [DAT](INFO): Rx dataTimestamp_ set to:1761336311.985664 2025-10-24T20:05:11.987Z,1761336311.987 [DAT](INFO): DAT read: Bearing 355.0, 13.2 (Local) 2025-10-24T20:05:11.988Z,1761336311.988 [DAT](INFO): Local bearing/azimuth received: Bearing 355.0, 13.2 (Local) 2025-10-24T20:05:11.993Z,1761336311.993 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed 0.5 2025-10-24T20:05:11.998Z,1761336311.998 [DAT](INFO): DAT read: 20:05:11.0083 LVL= 16208, 18849, 15074, 23027, AGC= 55, IDX= 499, 0.09,-0.792,-2.184,-0.692,-1.290, PHS= 0.585,-0.847, 0.595, RAW= 150.3, -4.7, CAL= 155.0, -13.2, ROT= 355.0, 13.2 2025-10-24T20:05:11.999Z,1761336311.999 [DAT](INFO): got valid direction response: 20:05:11.0083 LVL= 16208, 18849, 15074, 23027, AGC= 55, IDX= 499, 0.09,-0.792,-2.184,-0.692,-1.290, PHS= 0.585,-0.847, 0.595, RAW= 150.3, -4.7, CAL= 155.0, -13.2, ROT= 355.0, 13.2 2025-10-24T20:05:11.999Z,1761336311.999 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-24T20:05:12.036Z,1761336312.036 [DAT](INFO): direction in FSK: [0.969874,-0.084853,-0.228351] 2025-10-24T20:05:12.037Z,1761336312.037 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:12.045Z,1761336312.045 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.053785 2025-10-24T20:05:12.094Z,1761336312.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399359,-0.906261,0.138577],[0.916682,0.397090,-0.044865],[-0.014368,0.144949,0.989335]] 2025-10-24T20:05:12.206Z,1761336312.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503499 s, deltaX: -0.500000 m, approachRate: -0.993051 m/s, rangeRepo size: 4 2025-10-24T20:05:12.213Z,1761336312.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.280951 m, bearing: 63.446938 deg, lat: 36.779646 deg, lon: -121.859535 deg, deltaT: 0.503499 s, deltaX: -0.497084 m, approachRate: -0.987258 m/s, posRepo size: 4 2025-10-24T20:05:12.213Z,1761336312.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.28 m. 2025-10-24T20:05:12.220Z,1761336312.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.280951 m, nav range: 19.771204 m, bearing: 63.851585 deg, approach rate: 0.000000 m/s, LOS rate: -0.240377 deg/s, cmd heading: 65.330705 deg, new cmd heading: 65.023021 deg. 2025-10-24T20:05:12.222Z,1761336312.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134866 target range: 20.280951 and range: 20.40 m. 2025-10-24T20:05:12.237Z,1761336312.237 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.245913 2025-10-24T20:05:12.490Z,1761336312.490 [DAT](INFO): DAT read: Rx Time:20:05:11.5083 2025-10-24T20:05:12.490Z,1761336312.490 [DAT](INFO): Rx dataTimestamp_ set to:1761336312.489975 2025-10-24T20:05:12.492Z,1761336312.492 [DAT](INFO): DAT read: Bearing 354.4, 12.4 (Local) 2025-10-24T20:05:12.492Z,1761336312.492 [DAT](INFO): Local bearing/azimuth received: Bearing 354.4, 12.4 (Local) 2025-10-24T20:05:12.494Z,1761336312.494 [DAT](INFO): DAT read: Range 10 to 50 : 20.3 m (trip time 13.5 ms) speed 0.6 2025-10-24T20:05:12.510Z,1761336312.510 [DAT](INFO): DAT read: 20:05:11.5083 LVL= 15664, 20913, 14162, 22947, AGC= 55, IDX= 498, 0.15, 0.743,-0.643, 0.872, 0.275, PHS= 0.556,-0.871, 0.594, RAW= 151.3, -3.9, CAL= 155.6, -12.4, ROT= 354.4, 12.4 2025-10-24T20:05:12.511Z,1761336312.511 [DAT](INFO): got valid direction response: 20:05:11.5083 LVL= 15664, 20913, 14162, 22947, AGC= 55, IDX= 498, 0.15, 0.743,-0.643, 0.872, 0.275, PHS= 0.556,-0.871, 0.594, RAW= 151.3, -3.9, CAL= 155.6, -12.4, ROT= 354.4, 12.4 2025-10-24T20:05:12.524Z,1761336312.524 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-24T20:05:12.525Z,1761336312.525 [DAT](INFO): direction in FSK: [0.972011,-0.095307,-0.214735] 2025-10-24T20:05:12.525Z,1761336312.525 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:12.533Z,1761336312.533 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.541981 2025-10-24T20:05:12.563Z,1761336312.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504311 s, deltaX: -0.100000 m, approachRate: -0.198291 m/s, rangeRepo size: 4 2025-10-24T20:05:12.569Z,1761336312.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.181707 m, bearing: 62.728073 deg, lat: 36.779646 deg, lon: -121.859537 deg, deltaT: 0.504311 s, deltaX: -0.099243 m, approachRate: -0.196790 m/s, posRepo size: 4 2025-10-24T20:05:12.570Z,1761336312.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m. 2025-10-24T20:05:12.578Z,1761336312.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.181707 m, nav range: 19.468178 m, bearing: 63.436090 deg, approach rate: 0.000000 m/s, LOS rate: -0.240377 deg/s, cmd heading: 65.023018 deg, new cmd heading: 64.765873 deg. 2025-10-24T20:05:12.579Z,1761336312.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.130378 target range: 20.181707 and range: 20.30 m. 2025-10-24T20:05:12.743Z,1761336312.743 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.752314 2025-10-24T20:05:12.995Z,1761336312.995 [DAT](INFO): DAT read: 20:05:12.0081 2025-10-24T20:05:12.998Z,1761336312.998 [DAT](INFO): unknown deviceResponse_: 20:05:12.0081 2025-10-24T20:05:13.000Z,1761336313.000 [DAT](INFO): DAT read: Bearing 353.8, 11.9 (Local) 2025-10-24T20:05:13.001Z,1761336313.001 [DAT](INFO): Local bearing/azimuth received: Bearing 353.8, 11.9 (Local) 2025-10-24T20:05:13.003Z,1761336313.003 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed 0.5 2025-10-24T20:05:13.018Z,1761336313.018 [DAT](INFO): DAT read: 20:05:12.0081 LVL= 16352, 24561, 13346, 23779, AGC= 56, IDX= 495, 0.16,-0.074,-1.466, 0.081,-0.525, PHS= 0.540,-0.893, 0.603, RAW= 152.1, -3.4, CAL= 156.2, -11.9, ROT= 353.8, 11.9 2025-10-24T20:05:13.019Z,1761336313.019 [DAT](INFO): got valid direction response: 20:05:12.0081 LVL= 16352, 24561, 13346, 23779, AGC= 56, IDX= 495, 0.16,-0.074,-1.466, 0.081,-0.525, PHS= 0.540,-0.893, 0.603, RAW= 152.1, -3.4, CAL= 156.2, -11.9, ROT= 353.8, 11.9 2025-10-24T20:05:13.019Z,1761336313.019 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-24T20:05:13.028Z,1761336313.028 [DAT](INFO): direction in FSK: [0.972786,-0.105678,-0.206204] 2025-10-24T20:05:13.028Z,1761336313.028 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:13.041Z,1761336313.041 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.049562 2025-10-24T20:05:13.130Z,1761336313.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503432 s, deltaX: -0.299999 m, approachRate: -0.595908 m/s, rangeRepo size: 4 2025-10-24T20:05:13.136Z,1761336313.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.883457 m, bearing: 62.055316 deg, lat: 36.779646 deg, lon: -121.859537 deg, deltaT: 0.503432 s, deltaX: -0.298250 m, approachRate: -0.592434 m/s, posRepo size: 4 2025-10-24T20:05:13.137Z,1761336313.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m. 2025-10-24T20:05:13.145Z,1761336313.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.883457 m, nav range: 19.145651 m, bearing: 63.141576 deg, approach rate: 0.000000 m/s, LOS rate: -0.240377 deg/s, cmd heading: 64.765875 deg, new cmd heading: 64.357066 deg. 2025-10-24T20:05:13.146Z,1761336313.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123243 target range: 19.883457 and range: 20.00 m. 2025-10-24T20:05:13.247Z,1761336313.247 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.255442 2025-10-24T20:05:13.384Z,1761336313.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377198,-0.915721,0.138477],[0.925914,0.376117,-0.034918],[-0.020109,0.141389,0.989750]] 2025-10-24T20:05:13.478Z,1761336313.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:13.484Z,1761336313.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m. 2025-10-24T20:05:13.487Z,1761336313.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.883457 m, nav range: 18.921410 m, bearing: 62.959032 deg, approach rate: -0.639711 m/s, LOS rate: -0.526929 deg/s, cmd heading: 64.357068 deg, new cmd heading: 63.802965 deg. 2025-10-24T20:05:13.492Z,1761336313.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.113572 target range: 19.883457 and range: 20.00 m. 2025-10-24T20:05:13.497Z,1761336313.497 [DAT](INFO): DAT read: Rx Time:20:05:12.5079 2025-10-24T20:05:13.498Z,1761336313.498 [DAT](INFO): Rx dataTimestamp_ set to:1761336313.497629 2025-10-24T20:05:13.499Z,1761336313.499 [DAT](INFO): DAT read: Bearing 352.8, 12.0 (Local) 2025-10-24T20:05:13.500Z,1761336313.500 [DAT](INFO): Local bearing/azimuth received: Bearing 352.8, 12.0 (Local) 2025-10-24T20:05:13.502Z,1761336313.502 [DAT](INFO): DAT read: Range 10 to 50 : 19.7 m (trip time 13.1 ms) speed 0.5 2025-10-24T20:05:13.507Z,1761336313.507 [DAT](INFO): DAT read: 20:05:12.5079 LVL= 15712, 23153, 14434, 23523, AGC= 55, IDX= 509, 0.12, 0.244,-1.095, 0.424,-0.184, PHS= 0.516,-0.864, 0.605, RAW= 153.1, -3.6, CAL= 157.2, -12.0, ROT= 352.8, 12.0 2025-10-24T20:05:13.508Z,1761336313.508 [DAT](INFO): got valid direction response: 20:05:12.5079 LVL= 15712, 23153, 14434, 23523, AGC= 55, IDX= 509, 0.12, 0.244,-1.095, 0.424,-0.184, PHS= 0.516,-0.864, 0.605, RAW= 153.1, -3.6, CAL= 157.2, -12.0, ROT= 352.8, 12.0 2025-10-24T20:05:13.509Z,1761336313.509 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-24T20:05:13.510Z,1761336313.510 [DAT](INFO): direction in FSK: [0.970435,-0.122595,-0.207912] 2025-10-24T20:05:13.510Z,1761336313.510 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:13.514Z,1761336313.514 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.522545 2025-10-24T20:05:13.749Z,1761336313.749 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.757885 2025-10-24T20:05:13.893Z,1761336313.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.374759,-0.917130,0.135749],[0.926849,0.374163,-0.030863],[-0.022487,0.137385,0.990262]] 2025-10-24T20:05:14.001Z,1761336314.001 [DAT](INFO): DAT read: Rx Time:20:05:13.0075 2025-10-24T20:05:14.002Z,1761336314.002 [DAT](INFO): Rx dataTimestamp_ set to:1761336314.001601 2025-10-24T20:05:14.003Z,1761336314.003 [DAT](INFO): DAT read: Bearing 352.2, 11.1 (Local) 2025-10-24T20:05:14.003Z,1761336314.003 [DAT](INFO): Local bearing/azimuth received: Bearing 352.2, 11.1 (Local) 2025-10-24T20:05:14.007Z,1761336314.007 [DAT](INFO): DAT read: Range 10 to 50 : 19.1 m (trip time 12.7 ms) speed 0.6 2025-10-24T20:05:14.017Z,1761336314.017 [DAT](INFO): DAT read: 20:05:13.0075 LVL= 13536, 23777, 14322, 23539, AGC= 55, IDX= 506, 0.08,-1.626,-2.942,-1.416,-2.012, PHS= 0.474,-0.883, 0.593, RAW= 154.2, -2.6, CAL= 157.8, -11.1, ROT= 352.2, 11.1 2025-10-24T20:05:14.018Z,1761336314.018 [DAT](INFO): got valid direction response: 20:05:13.0075 LVL= 13536, 23777, 14322, 23539, AGC= 55, IDX= 506, 0.08,-1.626,-2.942,-1.416,-2.012, PHS= 0.474,-0.883, 0.593, RAW= 154.2, -2.6, CAL= 157.8, -11.1, ROT= 352.2, 11.1 2025-10-24T20:05:14.018Z,1761336314.018 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-24T20:05:14.019Z,1761336314.019 [DAT](INFO): direction in FSK: [0.972214,-0.133176,-0.192522] 2025-10-24T20:05:14.019Z,1761336314.019 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:14.028Z,1761336314.028 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.037422 2025-10-24T20:05:14.050Z,1761336314.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 1.008194 s, deltaX: -0.900000 m, approachRate: -0.892685 m/s, rangeRepo size: 4 2025-10-24T20:05:14.058Z,1761336314.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.988691 m, bearing: 61.762599 deg, lat: 36.779648 deg, lon: -121.859537 deg, deltaT: 1.008194 s, deltaX: -0.894766 m, approachRate: -0.887494 m/s, posRepo size: 4 2025-10-24T20:05:14.064Z,1761336314.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m. 2025-10-24T20:05:14.067Z,1761336314.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.988691 m, nav range: 18.701876 m, bearing: 62.133544 deg, approach rate: 0.000000 m/s, LOS rate: -0.526929 deg/s, cmd heading: 63.802962 deg, new cmd heading: 62.902120 deg. 2025-10-24T20:05:14.067Z,1761336314.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.097849 target range: 18.988691 and range: 19.10 m. 2025-10-24T20:05:14.253Z,1761336314.253 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.261833 2025-10-24T20:05:14.283Z,1761336314.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372085,-0.918585,0.133247],[0.927843,0.372063,-0.026006],[-0.025687,0.133309,0.990742]] 2025-10-24T20:05:14.326Z,1761336314.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m. 2025-10-24T20:05:14.332Z,1761336314.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.988691 m, nav range: 18.519382 m, bearing: 61.970619 deg, approach rate: -0.661641 m/s, LOS rate: -0.596517 deg/s, cmd heading: 62.902122 deg, new cmd heading: 62.408542 deg. 2025-10-24T20:05:14.333Z,1761336314.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.089235 target range: 18.988691 and range: 19.10 m. 2025-10-24T20:05:14.507Z,1761336314.507 [DAT](INFO): DAT read: Rx Time:20:05:13.5074 2025-10-24T20:05:14.507Z,1761336314.507 [DAT](INFO): Rx dataTimestamp_ set to:1761336314.507139 2025-10-24T20:05:14.509Z,1761336314.509 [DAT](INFO): DAT read: Bearing 351.6, 10.8 (Local) 2025-10-24T20:05:14.509Z,1761336314.509 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 10.8 (Local) 2025-10-24T20:05:14.518Z,1761336314.518 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed 0.5 2025-10-24T20:05:14.523Z,1761336314.523 [DAT](INFO): DAT read: 20:05:13.5074 LVL= 14608, 22833, 14322, 23651, AGC= 54, IDX= 505, 0.06,-1.468,-2.758,-1.237,-1.831, PHS= 0.451,-0.880, 0.591, RAW= 154.9, -2.3, CAL= 158.4, -10.8, ROT= 351.6, 10.8 2025-10-24T20:05:14.532Z,1761336314.532 [DAT](INFO): got valid direction response: 20:05:13.5074 LVL= 14608, 22833, 14322, 23651, AGC= 54, IDX= 505, 0.06,-1.468,-2.758,-1.237,-1.831, PHS= 0.451,-0.880, 0.591, RAW= 154.9, -2.3, CAL= 158.4, -10.8, ROT= 351.6, 10.8 2025-10-24T20:05:14.533Z,1761336314.533 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-24T20:05:14.533Z,1761336314.533 [DAT](INFO): direction in FSK: [0.971750,-0.143496,-0.187381] 2025-10-24T20:05:14.534Z,1761336314.534 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:14.542Z,1761336314.542 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.550812 2025-10-24T20:05:14.749Z,1761336314.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.505538 s, deltaX: -0.200001 m, approachRate: -0.395620 m/s, rangeRepo size: 4 2025-10-24T20:05:14.751Z,1761336314.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.789970 m, bearing: 61.230203 deg, lat: 36.779648 deg, lon: -121.859538 deg, deltaT: 0.505538 s, deltaX: -0.198721 m, approachRate: -0.393088 m/s, posRepo size: 4 2025-10-24T20:05:14.757Z,1761336314.757 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.765816 2025-10-24T20:05:14.758Z,1761336314.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-24T20:05:14.765Z,1761336314.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.789970 m, nav range: 18.241184 m, bearing: 61.529560 deg, approach rate: 0.000000 m/s, LOS rate: -0.596517 deg/s, cmd heading: 62.408545 deg, new cmd heading: 61.659716 deg. 2025-10-24T20:05:14.766Z,1761336314.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.076165 target range: 18.789970 and range: 18.90 m. 2025-10-24T20:05:15.010Z,1761336315.010 [DAT](INFO): DAT read: Rx Time:20:05:14.0072 2025-10-24T20:05:15.011Z,1761336315.011 [DAT](INFO): Rx dataTimestamp_ set to:1761336315.010638 2025-10-24T20:05:15.013Z,1761336315.013 [DAT](INFO): DAT read: Bearing 351.8, 9.8 (Local) 2025-10-24T20:05:15.013Z,1761336315.013 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 9.8 (Local) 2025-10-24T20:05:15.015Z,1761336315.015 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.6 2025-10-24T20:05:15.020Z,1761336315.020 [DAT](INFO): DAT read: 20:05:14.0072 LVL= 14016, 21345, 13570, 24547, AGC= 55, IDX= 502, 0.03,-2.911, 2.033,-2.667, 3.024, PHS= 0.436,-0.943, 0.589, RAW= 155.2, -1.1, CAL= 158.2, -9.8, ROT= 351.8, 9.8 2025-10-24T20:05:15.022Z,1761336315.022 [DAT](INFO): got valid direction response: 20:05:14.0072 LVL= 14016, 21345, 13570, 24547, AGC= 55, IDX= 502, 0.03,-2.911, 2.033,-2.667, 3.024, PHS= 0.436,-0.943, 0.589, RAW= 155.2, -1.1, CAL= 158.2, -9.8, ROT= 351.8, 9.8 2025-10-24T20:05:15.023Z,1761336315.023 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-24T20:05:15.031Z,1761336315.031 [DAT](INFO): direction in FSK: [0.975333,-0.140548,-0.170209] 2025-10-24T20:05:15.031Z,1761336315.031 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:15.041Z,1761336315.041 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.049732 2025-10-24T20:05:15.103Z,1761336315.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370137,-0.920061,0.128402],[0.928368,0.371348,-0.015266],[-0.033636,0.124855,0.991605]] 2025-10-24T20:05:15.213Z,1761336315.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503499 s, deltaX: -0.100000 m, approachRate: -0.198611 m/s, rangeRepo size: 4 2025-10-24T20:05:15.215Z,1761336315.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.690552 m, bearing: 61.305861 deg, lat: 36.779649 deg, lon: -121.859537 deg, deltaT: 0.503499 s, deltaX: -0.099419 m, approachRate: -0.197455 m/s, posRepo size: 4 2025-10-24T20:05:15.221Z,1761336315.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-24T20:05:15.228Z,1761336315.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.690552 m, nav range: 18.096851 m, bearing: 61.134320 deg, approach rate: 0.000000 m/s, LOS rate: -0.596517 deg/s, cmd heading: 61.659717 deg, new cmd heading: 60.821559 deg. 2025-10-24T20:05:15.229Z,1761336315.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.061536 target range: 18.690552 and range: 18.80 m. 2025-10-24T20:05:15.261Z,1761336315.261 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.269955 2025-10-24T20:05:15.503Z,1761336315.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371791,-0.919844,0.125133],[0.927526,0.373644,-0.009201],[-0.038292,0.119485,0.992097]] 2025-10-24T20:05:15.515Z,1761336315.515 [DAT](INFO): DAT read: Rx Time:20:05:14.5072 2025-10-24T20:05:15.516Z,1761336315.516 [DAT](INFO): Rx dataTimestamp_ set to:1761336315.515377 2025-10-24T20:05:15.518Z,1761336315.518 [DAT](INFO): DAT read: Bearing 351.7, 9.4 (Local) 2025-10-24T20:05:15.519Z,1761336315.519 [DAT](INFO): Local bearing/azimuth received: Bearing 351.7, 9.4 (Local) 2025-10-24T20:05:15.523Z,1761336315.523 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-24T20:05:15.530Z,1761336315.530 [DAT](INFO): DAT read: 20:05:14.5072 LVL= 16112, 23137, 15474, 25587, AGC= 56, IDX= 502, 0.03,-1.309,-2.657,-1.055,-1.646, PHS= 0.425,-0.964, 0.588, RAW= 155.5, -0.7, CAL= 158.3, -9.4, ROT= 351.7, 9.4 2025-10-24T20:05:15.531Z,1761336315.531 [DAT](INFO): got valid direction response: 20:05:14.5072 LVL= 16112, 23137, 15474, 25587, AGC= 56, IDX= 502, 0.03,-1.309,-2.657,-1.055,-1.646, PHS= 0.425,-0.964, 0.588, RAW= 155.5, -0.7, CAL= 158.3, -9.4, ROT= 351.7, 9.4 2025-10-24T20:05:15.531Z,1761336315.531 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-24T20:05:15.544Z,1761336315.544 [DAT](INFO): direction in FSK: [0.976239,-0.142417,-0.163326] 2025-10-24T20:05:15.545Z,1761336315.545 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:15.552Z,1761336315.552 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.561504 2025-10-24T20:05:15.598Z,1761336315.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504739 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:15.605Z,1761336315.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.690821 m, bearing: 60.986396 deg, lat: 36.779650 deg, lon: -121.859537 deg, deltaT: 0.504739 s, deltaX: 0.000269 m, approachRate: 0.000533 m/s, posRepo size: 4 2025-10-24T20:05:15.606Z,1761336315.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-24T20:05:15.613Z,1761336315.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.690821 m, nav range: 17.896063 m, bearing: 60.904520 deg, approach rate: 0.000000 m/s, LOS rate: -0.596517 deg/s, cmd heading: 60.821557 deg, new cmd heading: 60.132505 deg. 2025-10-24T20:05:15.614Z,1761336315.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.049510 target range: 18.690821 and range: 18.80 m. 2025-10-24T20:05:15.765Z,1761336315.765 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.774136 2025-10-24T20:05:16.017Z,1761336316.017 [DAT](INFO): DAT read: Rx Time:20:05:15.0069 2025-10-24T20:05:16.018Z,1761336316.018 [DAT](INFO): Rx dataTimestamp_ set to:1761336316.017620 2025-10-24T20:05:16.019Z,1761336316.019 [DAT](INFO): DAT read: Bearing 351.6, 8.9 (Local) 2025-10-24T20:05:16.019Z,1761336316.019 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 8.9 (Local) 2025-10-24T20:05:16.022Z,1761336316.022 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 2025-10-24T20:05:16.026Z,1761336316.026 [DAT](INFO): DAT read: 20:05:15.0069 LVL= 17440, 23025, 14994, 26339, AGC= 56, IDX= 499, 0.07, 2.808, 1.508, 3.064, 2.498, PHS= 0.398,-0.944, 0.563, RAW= 155.7, -0.2, CAL= 158.4, -8.9, ROT= 351.6, 8.9 2025-10-24T20:05:16.028Z,1761336316.028 [DAT](INFO): got valid direction response: 20:05:15.0069 LVL= 17440, 23025, 14994, 26339, AGC= 56, IDX= 499, 0.07, 2.808, 1.508, 3.064, 2.498, PHS= 0.398,-0.944, 0.563, RAW= 155.7, -0.2, CAL= 158.4, -8.9, ROT= 351.6, 8.9 2025-10-24T20:05:16.028Z,1761336316.028 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-24T20:05:16.029Z,1761336316.029 [DAT](INFO): direction in FSK: [0.977361,-0.144324,-0.154710] 2025-10-24T20:05:16.029Z,1761336316.029 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:16.033Z,1761336316.033 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.042461 2025-10-24T20:05:16.064Z,1761336316.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373845,-0.919708,0.119902],[0.926495,0.376300,-0.002329],[-0.042977,0.111959,0.992783]] 2025-10-24T20:05:16.165Z,1761336316.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.502243 s, deltaX: -0.500000 m, approachRate: -0.995534 m/s, rangeRepo size: 4 2025-10-24T20:05:16.172Z,1761336316.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.193724 m, bearing: 60.613716 deg, lat: 36.779650 deg, lon: -121.859535 deg, deltaT: 0.502243 s, deltaX: -0.497097 m, approachRate: -0.989754 m/s, posRepo size: 4 2025-10-24T20:05:16.173Z,1761336316.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m. 2025-10-24T20:05:16.175Z,1761336316.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.193724 m, nav range: 17.726025 m, bearing: 60.931503 deg, approach rate: 0.000000 m/s, LOS rate: -0.596517 deg/s, cmd heading: 60.132507 deg, new cmd heading: 59.128828 deg. 2025-10-24T20:05:16.180Z,1761336316.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.031993 target range: 18.193724 and range: 18.30 m. 2025-10-24T20:05:16.269Z,1761336316.269 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.277817 2025-10-24T20:05:16.500Z,1761336316.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382589,-0.917057,0.112394],[0.922407,0.386082,0.010284],[-0.052825,0.099738,0.993611]] 2025-10-24T20:05:16.523Z,1761336316.523 [DAT](INFO): DAT read: Rx Time:20:05:15.5068 2025-10-24T20:05:16.523Z,1761336316.523 [DAT](INFO): Rx dataTimestamp_ set to:1761336316.522751 2025-10-24T20:05:16.525Z,1761336316.525 [DAT](INFO): DAT read: Bearing 351.8, 8.9 (Local) 2025-10-24T20:05:16.525Z,1761336316.525 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 8.9 (Local) 2025-10-24T20:05:16.527Z,1761336316.527 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 2025-10-24T20:05:16.532Z,1761336316.532 [DAT](INFO): DAT read: 20:05:15.5068 LVL= 14448, 23841, 14290, 23155, AGC= 55, IDX= 498, 0.16,-2.618, 2.416,-2.375,-2.915, PHS= 0.384,-0.905, 0.537, RAW= 155.5, -0.2, CAL= 158.2, -8.9, ROT= 351.8, 8.9 2025-10-24T20:05:16.533Z,1761336316.533 [DAT](INFO): got valid direction response: 20:05:15.5068 LVL= 14448, 23841, 14290, 23155, AGC= 55, IDX= 498, 0.16,-2.618, 2.416,-2.375,-2.915, PHS= 0.384,-0.905, 0.537, RAW= 155.5, -0.2, CAL= 158.2, -8.9, ROT= 351.8, 8.9 2025-10-24T20:05:16.534Z,1761336316.534 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-24T20:05:16.535Z,1761336316.535 [DAT](INFO): direction in FSK: [0.977859,-0.140912,-0.154710] 2025-10-24T20:05:16.535Z,1761336316.535 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:16.539Z,1761336316.539 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.548515 2025-10-24T20:05:16.565Z,1761336316.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.505131 s, deltaX: -0.099998 m, approachRate: -0.197965 m/s, rangeRepo size: 4 2025-10-24T20:05:16.567Z,1761336316.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.094196 m, bearing: 60.126046 deg, lat: 36.779651 deg, lon: -121.859535 deg, deltaT: 0.505131 s, deltaX: -0.099527 m, approachRate: -0.197033 m/s, posRepo size: 4 2025-10-24T20:05:16.572Z,1761336316.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m. 2025-10-24T20:05:16.574Z,1761336316.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.094196 m, nav range: 17.587662 m, bearing: 60.499790 deg, approach rate: 0.000000 m/s, LOS rate: -0.596517 deg/s, cmd heading: 59.128832 deg, new cmd heading: 58.410027 deg. 2025-10-24T20:05:16.575Z,1761336316.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.019447 target range: 18.094196 and range: 18.20 m. 2025-10-24T20:05:16.778Z,1761336316.778 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.786743 2025-10-24T20:05:17.029Z,1761336317.029 [DAT](INFO): DAT read: Rx Time:20:05:16.0065 2025-10-24T20:05:17.030Z,1761336317.030 [DAT](INFO): Rx dataTimestamp_ set to:1761336317.029636 2025-10-24T20:05:17.031Z,1761336317.031 [DAT](INFO): DAT read: Bearing 352.9, 8.8 (Local) 2025-10-24T20:05:17.032Z,1761336317.032 [DAT](INFO): Local bearing/azimuth received: Bearing 352.9, 8.8 (Local) 2025-10-24T20:05:17.034Z,1761336317.034 [DAT](INFO): DAT read: Range 10 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 2025-10-24T20:05:17.039Z,1761336317.039 [DAT](INFO): DAT read: 20:05:16.0065 LVL= 16528, 25489, 14306, 23859, AGC= 57, IDX= 495, 0.21, 2.876, 1.597, 3.087, 2.563, PHS= 0.402,-0.919, 0.521, RAW= 154.3, -0.1, CAL= 157.1, -8.8, ROT= 352.9, 8.8 2025-10-24T20:05:17.040Z,1761336317.040 [DAT](INFO): got valid direction response: 20:05:16.0065 LVL= 16528, 25489, 14306, 23859, AGC= 57, IDX= 495, 0.21, 2.876, 1.597, 3.087, 2.563, PHS= 0.402,-0.919, 0.521, RAW= 154.3, -0.1, CAL= 157.1, -8.8, ROT= 352.9, 8.8 2025-10-24T20:05:17.040Z,1761336317.040 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-24T20:05:17.041Z,1761336317.041 [DAT](INFO): direction in FSK: [0.980651,-0.122146,-0.152986] 2025-10-24T20:05:17.041Z,1761336317.041 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:17.049Z,1761336317.049 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.058270 2025-10-24T20:05:17.127Z,1761336317.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.506885 s, deltaX: -0.500000 m, approachRate: -0.986417 m/s, rangeRepo size: 4 2025-10-24T20:05:17.140Z,1761336317.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.597103 m, bearing: 61.225102 deg, lat: 36.779651 deg, lon: -121.859535 deg, deltaT: 0.506885 s, deltaX: -0.497093 m, approachRate: -0.980682 m/s, posRepo size: 4 2025-10-24T20:05:17.141Z,1761336317.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-24T20:05:17.143Z,1761336317.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.597103 m, nav range: 17.318363 m, bearing: 60.357737 deg, approach rate: 0.000000 m/s, LOS rate: -0.596517 deg/s, cmd heading: 58.410029 deg, new cmd heading: 57.396004 deg. 2025-10-24T20:05:17.149Z,1761336317.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.001749 target range: 17.597103 and range: 17.70 m. 2025-10-24T20:05:17.281Z,1761336317.281 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.289948 2025-10-24T20:05:17.379Z,1761336317.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396694,-0.912036,0.104040],[0.915723,0.401073,0.024332],[-0.063919,0.085620,0.994275]] 2025-10-24T20:05:17.497Z,1761336317.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:17.499Z,1761336317.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-24T20:05:17.509Z,1761336317.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.597103 m, nav range: 17.168955 m, bearing: 60.279969 deg, approach rate: -0.401762 m/s, LOS rate: -0.210941 deg/s, cmd heading: 57.396006 deg, new cmd heading: 57.160671 deg. 2025-10-24T20:05:17.510Z,1761336317.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.997642 target range: 17.597103 and range: 17.70 m. 2025-10-24T20:05:17.534Z,1761336317.534 [DAT](INFO): DAT read: Rx Time:20:05:16.5064 2025-10-24T20:05:17.534Z,1761336317.534 [DAT](INFO): Rx dataTimestamp_ set to:1761336317.533698 2025-10-24T20:05:17.535Z,1761336317.535 [DAT](INFO): DAT read: Bearing 354.9, 9.1 (Local) 2025-10-24T20:05:17.536Z,1761336317.536 [DAT](INFO): Local bearing/azimuth received: Bearing 354.9, 9.1 (Local) 2025-10-24T20:05:17.539Z,1761336317.539 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 2025-10-24T20:05:17.544Z,1761336317.544 [DAT](INFO): DAT read: 20:05:16.5064 LVL= 17184, 26801, 15138, 26995, AGC= 56, IDX= 509, 0.34,-2.664, 2.282,-2.517,-3.023, PHS= 0.447,-0.930, 0.504, RAW= 152.0, -0.3, CAL= 155.1, -9.1, ROT= 354.9, 9.1 2025-10-24T20:05:17.545Z,1761336317.545 [DAT](INFO): got valid direction response: 20:05:16.5064 LVL= 17184, 26801, 15138, 26995, AGC= 56, IDX= 509, 0.34,-2.664, 2.282,-2.517,-3.023, PHS= 0.447,-0.930, 0.504, RAW= 152.0, -0.3, CAL= 155.1, -9.1, ROT= 354.9, 9.1 2025-10-24T20:05:17.546Z,1761336317.546 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-24T20:05:17.547Z,1761336317.547 [DAT](INFO): direction in FSK: [0.983505,-0.087776,-0.158158] 2025-10-24T20:05:17.547Z,1761336317.547 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:17.568Z,1761336317.568 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.572617 2025-10-24T20:05:17.785Z,1761336317.785 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.793884 2025-10-24T20:05:17.811Z,1761336317.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405234,-0.908789,0.099439],[0.911536,0.409969,0.032074],[-0.069915,0.077645,0.994527]] 2025-10-24T20:05:17.998Z,1761336317.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504062 s, deltaX: -0.100000 m, approachRate: -0.198389 m/s, rangeRepo size: 4 2025-10-24T20:05:18.005Z,1761336318.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.498089 m, bearing: 61.597057 deg, lat: 36.779651 deg, lon: -121.859535 deg, deltaT: 0.504062 s, deltaX: -0.099014 m, approachRate: -0.196433 m/s, posRepo size: 4 2025-10-24T20:05:18.006Z,1761336318.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T20:05:18.025Z,1761336318.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.498089 m, nav range: 16.943274 m, bearing: 60.177774 deg, approach rate: 0.000000 m/s, LOS rate: -0.210941 deg/s, cmd heading: 57.160672 deg, new cmd heading: 56.851098 deg. 2025-10-24T20:05:18.026Z,1761336318.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.992239 target range: 17.498089 and range: 17.60 m. 2025-10-24T20:05:18.038Z,1761336318.038 [DAT](INFO): DAT read: Rx Time:20:05:17.0061 2025-10-24T20:05:18.038Z,1761336318.038 [DAT](INFO): Rx dataTimestamp_ set to:1761336318.037713 2025-10-24T20:05:18.039Z,1761336318.039 [DAT](INFO): DAT read: Bearing 356.1, 8.2 (Local) 2025-10-24T20:05:18.040Z,1761336318.040 [DAT](INFO): Local bearing/azimuth received: Bearing 356.1, 8.2 (Local) 2025-10-24T20:05:18.042Z,1761336318.042 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-24T20:05:18.046Z,1761336318.046 [DAT](INFO): DAT read: 20:61 LVL= 14448, 25777, 15234, 24963, AGCX= 507,-0.26, 0.488,-0.865, 0.608, 0.135, PHS= 0.441,-0.953, 0.469, RAW= 151.0, 0.6, CAL= 153.9, -8.2, ROT= 356.1, 8.2 2025-10-24T20:05:18.047Z,1761336318.047 [DAT](INFO): unknown deviceResponse_: 20:61 LVL= 14448, 25777, 15234, 24963, AGCX= 507,-0.26, 0.488,-0.865, 0.608, 0.135, PHS= 0.441,-0.953, 0.469, RAW= 151.0, 0.6, CAL= 153.9, -8.2, ROT= 356.1, 8.2 2025-10-24T20:05:18.047Z,1761336318.047 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-24T20:05:18.048Z,1761336318.048 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.057140 2025-10-24T20:05:18.292Z,1761336318.292 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.300533 2025-10-24T20:05:18.343Z,1761336318.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414904,-0.904787,0.095998],[0.906748,0.419901,0.038624],[-0.075256,0.071020,0.994632]] 2025-10-24T20:05:18.515Z,1761336318.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504015 s, deltaX: -0.500000 m, approachRate: -0.992034 m/s, rangeRepo size: 4 2025-10-24T20:05:18.521Z,1761336318.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-24T20:05:18.528Z,1761336318.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.498089 m, nav range: 16.663548 m, bearing: 60.092800 deg, approach rate: -0.530879 m/s, LOS rate: -0.163975 deg/s, cmd heading: 56.851097 deg, new cmd heading: 56.591898 deg. 2025-10-24T20:05:18.533Z,1761336318.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.987715 target range: 17.498089 and range: 17.10 m. 2025-10-24T20:05:18.545Z,1761336318.545 [DAT](INFO): DAT read: Rx Time:20:05:17.5060 2025-10-24T20:05:18.546Z,1761336318.546 [DAT](INFO): Rx dataTimestamp_ set to:1761336318.545581 2025-10-24T20:05:18.547Z,1761336318.547 [DAT](INFO): DAT read: Bearing 358.1, 8.3 (Local) 2025-10-24T20:05:18.547Z,1761336318.547 [DAT](INFO): Local bearing/azimuth received: Bearing 358.1, 8.3 (Local) 2025-10-24T20:05:18.550Z,1761336318.550 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 2025-10-24T20:05:18.555Z,1761336318.555 [DAT](INFO): DAT read: 20:05:17.5060 LVL= 15504, 26721, 16018, 25315, AGC= 58, IDX= 506, 0.10, 2.096, 0.676, 2.147, 1.698, PHS= 0.485,-0.975, 0.446, RAW= 148.6, 0.6, CAL= 151.9, -8.3, ROT= 358.1, 8.3 2025-10-24T20:05:18.557Z,1761336318.557 [DAT](INFO): got valid direction response: 20:05:17.5060 LVL= 15504, 26721, 16018, 25315, AGC= 58, IDX= 506, 0.10, 2.096, 0.676, 2.147, 1.698, PHS= 0.485,-0.975, 0.446, RAW= 148.6, 0.6, CAL= 151.9, -8.3, ROT= 358.1, 8.3 2025-10-24T20:05:18.557Z,1761336318.557 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-24T20:05:18.558Z,1761336318.558 [DAT](INFO): direction in FSK: [0.988982,-0.032808,-0.144356] 2025-10-24T20:05:18.558Z,1761336318.558 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:18.562Z,1761336318.562 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.570992 2025-10-24T20:05:18.797Z,1761336318.797 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.805984 2025-10-24T20:05:18.833Z,1761336318.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434314,-0.895222,0.099746],[0.896735,0.440172,0.045982],[-0.085070,0.069475,0.993950]] 2025-10-24T20:05:18.976Z,1761336318.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.507868 s, deltaX: -0.100000 m, approachRate: -0.196902 m/s, rangeRepo size: 4 2025-10-24T20:05:18.978Z,1761336318.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.902063 m, bearing: 62.823467 deg, lat: 36.779648 deg, lon: -121.859535 deg, deltaT: 1.011883 s, deltaX: -0.596025 m, approachRate: -0.589026 m/s, posRepo size: 4 2025-10-24T20:05:18.979Z,1761336318.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m. 2025-10-24T20:05:18.982Z,1761336318.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.902063 m, nav range: 16.336519 m, bearing: 60.945236 deg, approach rate: 0.000000 m/s, LOS rate: -0.163975 deg/s, cmd heading: 56.591898 deg, new cmd heading: 56.367759 deg. 2025-10-24T20:05:18.983Z,1761336318.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983803 target range: 16.902063 and range: 17.00 m. 2025-10-24T20:05:19.051Z,1761336319.051 [DAT](INFO): DAT read: Rx Time:20:05:18.0058 2025-10-24T20:05:19.051Z,1761336319.051 [DAT](INFO): Rx dataTimestamp_ set to:1761336319.051163 2025-10-24T20:05:19.054Z,1761336319.054 [DAT](INFO): DAT read: Bearing 0.2, 7.5 (Local) 2025-10-24T20:05:19.054Z,1761336319.054 [DAT](INFO): Local bearing/azimuth received: Bearing 0.2, 7.5 (Local) 2025-10-24T20:05:19.059Z,1761336319.059 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-24T20:05:19.064Z,1761336319.064 [DAT](INFO): DAT read: 20:05:18.0058 LVL= 15200, 25585, 16802, 26019, AGC= 58, IDX= 504,-0.39,-0.454,-1.856,-0.462,-0.849, PHS= 0.483,-0.960, 0.383, RAW= 146.5, 1.4, CAL= 149.8, -7.5, ROT= 0.2, 7.5 2025-10-24T20:05:19.066Z,1761336319.066 [DAT](INFO): got valid direction response: 20:05:18.0058 LVL= 15200, 25585, 16802, 26019, AGC= 58, IDX= 504,-0.39,-0.454,-1.856,-0.462,-0.849, PHS= 0.483,-0.960, 0.383, RAW= 146.5, 1.4, CAL= 149.8, -7.5, ROT= 0.2, 7.5 2025-10-24T20:05:19.066Z,1761336319.066 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-24T20:05:19.067Z,1761336319.067 [DAT](INFO): direction in FSK: [0.991439,0.003461,-0.130526] 2025-10-24T20:05:19.067Z,1761336319.067 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:19.077Z,1761336319.077 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.085854 2025-10-24T20:05:19.301Z,1761336319.301 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.309864 2025-10-24T20:05:19.370Z,1761336319.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.505582 s, deltaX: -0.299999 m, approachRate: -0.593374 m/s, rangeRepo size: 4 2025-10-24T20:05:19.377Z,1761336319.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.603792 m, bearing: 64.894093 deg, lat: 36.779648 deg, lon: -121.859532 deg, deltaT: 0.505582 s, deltaX: -0.298271 m, approachRate: -0.589956 m/s, posRepo size: 4 2025-10-24T20:05:19.378Z,1761336319.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m. 2025-10-24T20:05:19.384Z,1761336319.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.603792 m, nav range: 16.356579 m, bearing: 61.481840 deg, approach rate: 0.000000 m/s, LOS rate: -0.163975 deg/s, cmd heading: 56.367758 deg, new cmd heading: 56.174161 deg. 2025-10-24T20:05:19.385Z,1761336319.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.980424 target range: 16.603792 and range: 16.70 m. 2025-10-24T20:05:19.554Z,1761336319.554 [DAT](INFO): DAT read: Rx Time:20:05:18.5058 2025-10-24T20:05:19.555Z,1761336319.555 [DAT](INFO): Rx dataTimestamp_ set to:1761336319.554638 2025-10-24T20:05:19.557Z,1761336319.557 [DAT](INFO): DAT read: Bearing 2.8, 6.9 (Local) 2025-10-24T20:05:19.557Z,1761336319.557 [DAT](INFO): Local bearing/azimuth received: Bearing 2.8, 6.9 (Local) 2025-10-24T20:05:19.559Z,1761336319.559 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed 0.4 2025-10-24T20:05:19.565Z,1761336319.565 [DAT](INFO): DAT read: 20:05:18.5058 LVL= 14864, 25297, 17106, 25843, AGC= 57, IDX= 503, 0.08, 1.372,-0.055, 1.281, 0.952, PHS= 0.508,-0.960, 0.326, RAW= 143.5, 1.8, CAL= 147.2, -6.9, ROT= 2.8, 6.9 2025-10-24T20:05:19.566Z,1761336319.566 [DAT](INFO): got valid direction response: 20:05:18.5058 LVL= 14864, 25297, 17106, 25843, AGC= 57, IDX= 503, 0.08, 1.372,-0.055, 1.281, 0.952, PHS= 0.508,-0.960, 0.326, RAW= 143.5, 1.8, CAL= 147.2, -6.9, ROT= 2.8, 6.9 2025-10-24T20:05:19.566Z,1761336319.566 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-24T20:05:19.567Z,1761336319.567 [DAT](INFO): direction in FSK: [0.991572,0.048496,-0.120137] 2025-10-24T20:05:19.568Z,1761336319.568 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:19.583Z,1761336319.583 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.590893 2025-10-24T20:05:19.761Z,1761336319.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453361,-0.885716,0.099856],[0.886378,0.459795,0.054063],[-0.093798,0.064000,0.993532]] 2025-10-24T20:05:19.806Z,1761336319.806 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.814781 2025-10-24T20:05:19.826Z,1761336319.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.503475 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:19.833Z,1761336319.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.603285 m, bearing: 66.201278 deg, lat: 36.779644 deg, lon: -121.859531 deg, deltaT: 0.503475 s, deltaX: -0.000507 m, approachRate: -0.001008 m/s, posRepo size: 4 2025-10-24T20:05:19.834Z,1761336319.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m. 2025-10-24T20:05:19.841Z,1761336319.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.603285 m, nav range: 16.046766 m, bearing: 62.815381 deg, approach rate: 0.000000 m/s, LOS rate: -0.163975 deg/s, cmd heading: 56.174160 deg, new cmd heading: 55.947259 deg. 2025-10-24T20:05:19.842Z,1761336319.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976464 target range: 16.603285 and range: 16.70 m. 2025-10-24T20:05:20.058Z,1761336320.058 [DAT](INFO): DAT read: Rx Time:20:05:19.0055 2025-10-24T20:05:20.058Z,1761336320.058 [DAT](INFO): Rx dataTimestamp_ set to:1761336320.057811 2025-10-24T20:05:20.059Z,1761336320.059 [DAT](INFO): DAT read: Bearing 5.4, 5.3 (Local) 2025-10-24T20:05:20.060Z,1761336320.060 [DAT](INFO): Local bearing/azimuth received: Bearing 5.4, 5.3 (Local) 2025-10-24T20:05:20.062Z,1761336320.062 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 2025-10-24T20:05:20.067Z,1761336320.067 [DAT](INFO): DAT read: 20:05:19.0055 LVL= 15568, 24641, 15986, 25891, AGC= 58, IDX= 501,-0.33,-0.770,-2.199,-0.936,-1.189, PHS= 0.507,-0.963, 0.250, RAW= 140.6, 3.1, CAL= 144.6, -5.3, ROT= 5.4, 5.3 2025-10-24T20:05:20.068Z,1761336320.068 [DAT](INFO): got valid direction response: 20:05:19.0055 LVL= 15568, 24641, 15986, 25891, AGC= 58, IDX= 501,-0.33,-0.770,-2.199,-0.936,-1.189, PHS= 0.507,-0.963, 0.250, RAW= 140.6, 3.1, CAL= 144.6, -5.3, ROT= 5.4, 5.3 2025-10-24T20:05:20.068Z,1761336320.068 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-24T20:05:20.069Z,1761336320.069 [DAT](INFO): direction in FSK: [0.991306,0.093706,-0.092371] 2025-10-24T20:05:20.070Z,1761336320.070 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:20.079Z,1761336320.079 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.087784 2025-10-24T20:05:20.234Z,1761336320.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463124,-0.880429,0.101786],[0.880873,0.469928,0.056834],[-0.097870,0.063339,0.993182]] 2025-10-24T20:05:20.309Z,1761336320.309 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.317951 2025-10-24T20:05:20.382Z,1761336320.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503173 s, deltaX: -0.500000 m, approachRate: -0.993694 m/s, rangeRepo size: 4 2025-10-24T20:05:20.386Z,1761336320.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.106180 m, bearing: 68.069058 deg, lat: 36.779639 deg, lon: -121.859528 deg, deltaT: 0.503173 s, deltaX: -0.497105 m, approachRate: -0.987940 m/s, posRepo size: 4 2025-10-24T20:05:20.387Z,1761336320.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T20:05:20.463Z,1761336320.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.106180 m, nav range: 15.771750 m, bearing: 64.946840 deg, approach rate: 0.000000 m/s, LOS rate: -0.163975 deg/s, cmd heading: 55.947258 deg, new cmd heading: 55.673722 deg. 2025-10-24T20:05:20.463Z,1761336320.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.971690 target range: 16.106180 and range: 16.20 m. 2025-10-24T20:05:20.562Z,1761336320.562 [DAT](INFO): DAT read: Rx Time:20:05:19.5055 2025-10-24T20:05:20.562Z,1761336320.562 [DAT](INFO): Rx dataTimestamp_ set to:1761336320.561810 2025-10-24T20:05:20.563Z,1761336320.563 [DAT](INFO): DAT read: Bearing 8.1, 4.6 (Local) 2025-10-24T20:05:20.564Z,1761336320.564 [DAT](INFO): Local bearing/azimuth received: Bearing 8.1, 4.6 (Local) 2025-10-24T20:05:20.566Z,1761336320.566 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 2025-10-24T20:05:20.572Z,1761336320.572 [DAT](INFO): DAT read: 20:05:19.5055 LVL= 16816, 28353, 16834, 28051, AGC= 57, IDX= 500, 0.15, 1.661, 0.235, 1.413, 1.222, PHS= 0.527,-0.940, 0.188, RAW= 137.2, 3.4, CAL= 141.9, -4.6, ROT= 8.1, 4.6 2025-10-24T20:05:20.573Z,1761336320.573 [DAT](INFO): got valid direction response: 20:05:19.5055 LVL= 16816, 28353, 16834, 28051, AGC= 57, IDX= 500, 0.15, 1.661, 0.235, 1.413, 1.222, PHS= 0.527,-0.940, 0.188, RAW= 137.2, 3.4, CAL= 141.9, -4.6, ROT= 8.1, 4.6 2025-10-24T20:05:20.573Z,1761336320.573 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-24T20:05:20.574Z,1761336320.574 [DAT](INFO): direction in FSK: [0.986835,0.140447,-0.080199] 2025-10-24T20:05:20.575Z,1761336320.575 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:20.583Z,1761336320.583 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.591614 2025-10-24T20:05:20.813Z,1761336320.813 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.822105 2025-10-24T20:05:20.901Z,1761336320.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.480709,-0.870424,0.106208],[0.870590,0.488229,0.060878],[-0.104843,0.063199,0.992479]] 2025-10-24T20:05:21.059Z,1761336321.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503999 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:21.065Z,1761336321.065 [DAT](INFO): DAT read: Rx Time:20:05:20.0052 2025-10-24T20:05:21.066Z,1761336321.066 [DAT](INFO): Rx dataTimestamp_ set to:1761336321.065228 2025-10-24T20:05:21.067Z,1761336321.067 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4 2025-10-24T20:05:21.067Z,1761336321.067 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-24T20:05:21.069Z,1761336321.069 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.077560 2025-10-24T20:05:21.081Z,1761336321.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.106209 m, bearing: 69.577012 deg, lat: 36.779637 deg, lon: -121.859524 deg, deltaT: 0.503999 s, deltaX: 0.000029 m, approachRate: 0.000057 m/s, posRepo size: 4 2025-10-24T20:05:21.082Z,1761336321.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T20:05:21.089Z,1761336321.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.106209 m, nav range: 15.668869 m, bearing: 66.290682 deg, approach rate: 0.000000 m/s, LOS rate: -0.163975 deg/s, cmd heading: 55.673722 deg, new cmd heading: 55.340787 deg. 2025-10-24T20:05:21.090Z,1761336321.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.965879 target range: 16.106209 and range: 16.20 m. 2025-10-24T20:05:21.317Z,1761336321.317 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.326168 2025-10-24T20:05:21.387Z,1761336321.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488350,-0.865884,0.108440],[0.866000,0.496183,0.062018],[-0.107506,0.063623,0.992167]] 2025-10-24T20:05:21.569Z,1761336321.569 [DAT](INFO): DAT read: Rx Time:20:05:20.5051 2025-10-24T20:05:21.569Z,1761336321.569 [DAT](INFO): Rx dataTimestamp_ set to:1761336321.569180 2025-10-24T20:05:21.571Z,1761336321.571 [DAT](INFO): DAT read: Range 10 to 50 : 15.6 m (trip time 10.4 ms) speed 0.4 2025-10-24T20:05:21.572Z,1761336321.572 [DAT](ERROR): #Rx 77: Read range message, but no direction. 2025-10-24T20:05:21.573Z,1761336321.573 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.582039 2025-10-24T20:05:21.602Z,1761336321.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:21.613Z,1761336321.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 1.007370 s, deltaX: -0.600000 m, approachRate: -0.595611 m/s, rangeRepo size: 4 2025-10-24T20:05:21.614Z,1761336321.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T20:05:21.629Z,1761336321.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.106209 m, nav range: 15.407313 m, bearing: 66.339504 deg, approach rate: -0.471514 m/s, LOS rate: 0.089507 deg/s, cmd heading: 55.340788 deg, new cmd heading: 55.489739 deg. 2025-10-24T20:05:21.630Z,1761336321.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.968479 target range: 16.106209 and range: 15.60 m. 2025-10-24T20:05:21.822Z,1761336321.822 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.830982 2025-10-24T20:05:22.074Z,1761336322.074 [DAT](INFO): DAT read: Rx Time:20:05:21.0048 2025-10-24T20:05:22.074Z,1761336322.074 [DAT](INFO): Rx dataTimestamp_ set to:1761336322.073847 2025-10-24T20:05:22.075Z,1761336322.075 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.4 2025-10-24T20:05:22.076Z,1761336322.076 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-24T20:05:22.077Z,1761336322.077 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.086124 2025-10-24T20:05:22.186Z,1761336322.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504667 s, deltaX: -0.400001 m, approachRate: -0.792603 m/s, rangeRepo size: 4 2025-10-24T20:05:22.186Z,1761336322.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-24T20:05:22.195Z,1761336322.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.106209 m, nav range: 15.124015 m, bearing: 66.326617 deg, approach rate: -0.495135 m/s, LOS rate: -0.022945 deg/s, cmd heading: 55.489741 deg, new cmd heading: 55.450356 deg. 2025-10-24T20:05:22.208Z,1761336322.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967791 target range: 16.106209 and range: 15.20 m. 2025-10-24T20:05:22.325Z,1761336322.325 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.334087 2025-10-24T20:05:22.526Z,1761336322.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509420,-0.852759,0.115297],[0.852983,0.518098,0.063198],[-0.113628,0.066152,0.991319]] 2025-10-24T20:05:22.577Z,1761336322.577 [DAT](INFO): DAT read: Rx Time:20:05:21.5048 2025-10-24T20:05:22.578Z,1761336322.578 [DAT](INFO): Rx dataTimestamp_ set to:1761336322.577469 2025-10-24T20:05:22.579Z,1761336322.579 [DAT](INFO): DAT read: Bearing 16.4, -1.1 (Local) 2025-10-24T20:05:22.579Z,1761336322.579 [DAT](INFO): Local bearing/azimuth received: Bearing 16.4, -1.1 (Local) 2025-10-24T20:05:22.582Z,1761336322.582 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.4 2025-10-24T20:05:22.586Z,1761336322.586 [DAT](INFO): DAT read: 20:05:21.5048 LVL= 22048, 32753, 20546, 32755, AGC= 55, IDX= 509, 0.42,-0.512,-1.880,-1.000,-0.959, PHS= 0.535,-0.873,-0.043, RAW= 125.9, 6.3, CAL= 133.6, 1.1, ROT= 16.4, -1.1 2025-10-24T20:05:22.588Z,1761336322.588 [DAT](INFO): got valid direction response: 20:05:21.5048 LVL= 22048, 32753, 20546, 32755, AGC= 55, IDX= 509, 0.42,-0.512,-1.880,-1.000,-0.959, PHS= 0.535,-0.873,-0.043, RAW= 125.9, 6.3, CAL= 133.6, 1.1, ROT= 16.4, -1.1 2025-10-24T20:05:22.589Z,1761336322.589 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-24T20:05:22.590Z,1761336322.590 [DAT](INFO): direction in FSK: [0.959137,0.282289,0.019197] 2025-10-24T20:05:22.590Z,1761336322.590 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:22.593Z,1761336322.593 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.602482 2025-10-24T20:05:22.642Z,1761336322.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503622 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:22.647Z,1761336322.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.111814 m, bearing: 75.479315 deg, lat: 36.779632 deg, lon: -121.859524 deg, deltaT: 2.015659 s, deltaX: -0.994394 m, approachRate: -0.493335 m/s, posRepo size: 4 2025-10-24T20:05:22.656Z,1761336322.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-24T20:05:22.659Z,1761336322.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.111814 m, nav range: 14.752293 m, bearing: 68.298249 deg, approach rate: 0.000000 m/s, LOS rate: -0.022945 deg/s, cmd heading: 55.450355 deg, new cmd heading: 55.418939 deg. 2025-10-24T20:05:22.668Z,1761336322.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.967243 target range: 15.111814 and range: 15.20 m. 2025-10-24T20:05:22.829Z,1761336322.829 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.837872 2025-10-24T20:05:22.981Z,1761336322.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514885,-0.848960,0.118996],[0.849536,0.523898,0.061806],[-0.114812,0.069269,0.990969]] 2025-10-24T20:05:23.030Z,1761336323.030 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768V 2025-10-24T20:05:23.058Z,1761336323.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-24T20:05:23.065Z,1761336323.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.111814 m, nav range: 14.546940 m, bearing: 68.341600 deg, approach rate: -0.492590 m/s, LOS rate: 0.105455 deg/s, cmd heading: 55.418939 deg, new cmd heading: 55.550826 deg. 2025-10-24T20:05:23.066Z,1761336323.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.969545 target range: 15.111814 and range: 15.20 m. 2025-10-24T20:05:23.082Z,1761336323.082 [DAT](INFO): DAT read: Rx Time:20:05:22.0046 2025-10-24T20:05:23.082Z,1761336323.082 [DAT](INFO): Rx dataTimestamp_ set to:1761336323.081880 2025-10-24T20:05:23.083Z,1761336323.083 [DAT](INFO): DAT read: Bearing 17.2, -1.6 (Local) 2025-10-24T20:05:23.084Z,1761336323.084 [DAT](INFO): Local bearing/azimuth received: Bearing 17.2, -1.6 (Local) 2025-10-24T20:05:23.086Z,1761336323.086 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4 2025-10-24T20:05:23.093Z,1761336323.093 [DAT](INFO): DAT read: 20:05:22.0046 LVL= 20624, 32753, 18194, 32755, AGC= 56, IDX= 507,-0.07,-2.326, 2.539,-2.858,-2.794, PHS= 0.556,-0.904,-0.067, RAW= 124.8, 6.6, CAL= 132.8, 1.6, ROT= 17.2, -1.6 2025-10-24T20:05:23.094Z,1761336323.094 [DAT](INFO): got valid direction response: 20:05:22.0046 LVL= 20624, 32753, 18194, 32755, AGC= 56, IDX= 507,-0.07,-2.326, 2.539,-2.858,-2.794, PHS= 0.556,-0.904,-0.067, RAW= 124.8, 6.6, CAL= 132.8, 1.6, ROT= 17.2, -1.6 2025-10-24T20:05:23.094Z,1761336323.094 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-24T20:05:23.095Z,1761336323.095 [DAT](INFO): direction in FSK: [0.954906,0.295593,0.027922] 2025-10-24T20:05:23.096Z,1761336323.096 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:23.105Z,1761336323.105 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.113857 2025-10-24T20:05:23.333Z,1761336323.333 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.341984 2025-10-24T20:05:23.512Z,1761336323.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.504411 s, deltaX: -0.300000 m, approachRate: -0.594753 m/s, rangeRepo size: 4 2025-10-24T20:05:23.514Z,1761336323.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.813840 m, bearing: 75.847380 deg, lat: 36.779630 deg, lon: -121.859519 deg, deltaT: 0.504411 s, deltaX: -0.297975 m, approachRate: -0.590738 m/s, posRepo size: 4 2025-10-24T20:05:23.515Z,1761336323.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.81 m. 2025-10-24T20:05:23.526Z,1761336323.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.813840 m, nav range: 14.690049 m, bearing: 69.916038 deg, approach rate: 0.000000 m/s, LOS rate: 0.105455 deg/s, cmd heading: 55.550827 deg, new cmd heading: 55.692968 deg. 2025-10-24T20:05:23.527Z,1761336323.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.972026 target range: 14.813840 and range: 14.90 m. 2025-10-24T20:05:23.586Z,1761336323.586 [DAT](INFO): DAT read: Rx Time:20:05:22.5045 2025-10-24T20:05:23.586Z,1761336323.586 [DAT](INFO): Rx dataTimestamp_ set to:1761336323.585738 2025-10-24T20:05:23.588Z,1761336323.588 [DAT](INFO): DAT read: Bearing 16.4, -1.1 (Local) 2025-10-24T20:05:23.589Z,1761336323.589 [DAT](INFO): Local bearing/azimuth received: Bearing 16.4, -1.1 (Local) 2025-10-24T20:05:23.591Z,1761336323.591 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 2025-10-24T20:05:23.596Z,1761336323.596 [DAT](INFO): DAT read: 20:05:22.5045 LVL= 19696, 32753, 18370, 32755, AGC= 57, IDX= 506, 0.26, 0.811,-0.706, 0.260, 0.305, PHS= 0.594,-0.964,-0.048, RAW= 125.8, 6.2, CAL= 133.6, 1.1, ROT= 16.4, -1.1 2025-10-24T20:05:23.597Z,1761336323.597 [DAT](INFO): got valid direction response: 20:05:22.5045 LVL= 19696, 32753, 18370, 32755, AGC= 57, IDX= 506, 0.26, 0.811,-0.706, 0.260, 0.305, PHS= 0.594,-0.964,-0.048, RAW= 125.8, 6.2, CAL= 133.6, 1.1, ROT= 16.4, -1.1 2025-10-24T20:05:23.598Z,1761336323.598 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-24T20:05:23.599Z,1761336323.599 [DAT](INFO): direction in FSK: [0.959137,0.282289,0.019197] 2025-10-24T20:05:23.599Z,1761336323.599 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:23.620Z,1761336323.620 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.616680 2025-10-24T20:05:23.837Z,1761336323.837 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.845909 2025-10-24T20:05:23.853Z,1761336323.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503858 s, deltaX: -0.200000 m, approachRate: -0.396937 m/s, rangeRepo size: 4 2025-10-24T20:05:23.860Z,1761336323.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.614996 m, bearing: 75.099789 deg, lat: 36.779619 deg, lon: -121.859514 deg, deltaT: 0.503858 s, deltaX: -0.198844 m, approachRate: -0.394643 m/s, posRepo size: 4 2025-10-24T20:05:23.861Z,1761336323.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-24T20:05:23.863Z,1761336323.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.614996 m, nav range: 14.559265 m, bearing: 75.080598 deg, approach rate: 0.000000 m/s, LOS rate: 0.105455 deg/s, cmd heading: 55.692966 deg, new cmd heading: 55.800633 deg. 2025-10-24T20:05:23.869Z,1761336323.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.973905 target range: 14.614996 and range: 14.70 m. 2025-10-24T20:05:24.090Z,1761336324.090 [DAT](INFO): DAT read: Rx Time:20:05:23.0043 2025-10-24T20:05:24.091Z,1761336324.091 [DAT](INFO): Rx dataTimestamp_ set to:1761336324.090588 2025-10-24T20:05:24.092Z,1761336324.092 [DAT](INFO): DAT read: Bearing 18.9, -3.8 (Local) 2025-10-24T20:05:24.093Z,1761336324.093 [DAT](INFO): Local bearing/azimuth received: Bearing 18.9, -3.8 (Local) 2025-10-24T20:05:24.095Z,1761336324.095 [DAT](INFO): DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4 2025-10-24T20:05:24.100Z,1761336324.100 [DAT](INFO): DAT read: 20:05:23.0043 LVL= 24208, 32753, 22322, 32755, AGC= 56, IDX= 504,-0.28,-0.806,-2.181,-1.357,-1.234, PHS= 0.516,-0.900,-0.126, RAW= 123.1, 8.4, CAL= 131.1, 3.8, ROT= 18.9, -3.8 2025-10-24T20:05:24.101Z,1761336324.101 [DAT](INFO): got valid direction response: 20:05:23.0043 LVL= 24208, 32753, 22322, 32755, AGC= 56, IDX= 504,-0.28,-0.806,-2.181,-1.357,-1.234, PHS= 0.516,-0.900,-0.126, RAW= 123.1, 8.4, CAL= 131.1, 3.8, ROT= 18.9, -3.8 2025-10-24T20:05:24.101Z,1761336324.101 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-24T20:05:24.102Z,1761336324.102 [DAT](INFO): direction in FSK: [0.944005,0.323205,0.066274] 2025-10-24T20:05:24.102Z,1761336324.102 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:24.114Z,1761336324.114 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.123184 2025-10-24T20:05:24.341Z,1761336324.341 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.349895 2025-10-24T20:05:24.391Z,1761336324.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.504850 s, deltaX: -0.300000 m, approachRate: -0.594236 m/s, rangeRepo size: 4 2025-10-24T20:05:24.398Z,1761336324.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.316730 m, bearing: 77.314598 deg, lat: 36.779617 deg, lon: -121.859514 deg, deltaT: 0.504850 s, deltaX: -0.298265 m, approachRate: -0.590800 m/s, posRepo size: 4 2025-10-24T20:05:24.398Z,1761336324.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-24T20:05:24.430Z,1761336324.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.316730 m, nav range: 14.237243 m, bearing: 75.991860 deg, approach rate: 0.000000 m/s, LOS rate: 0.105455 deg/s, cmd heading: 55.800634 deg, new cmd heading: 55.972424 deg. 2025-10-24T20:05:24.446Z,1761336324.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.976903 target range: 14.316730 and range: 14.40 m. 2025-10-24T20:05:24.593Z,1761336324.593 [DAT](INFO): DAT read: Rx Time:20:05:23.5042 2025-10-24T20:05:24.594Z,1761336324.594 [DAT](INFO): Rx dataTimestamp_ set to:1761336324.593672 2025-10-24T20:05:24.595Z,1761336324.595 [DAT](INFO): DAT read: Bearing 17.5, -2.4 (Local) 2025-10-24T20:05:24.596Z,1761336324.596 [DAT](INFO): Local bearing/azimuth received: Bearing 17.5, -2.4 (Local) 2025-10-24T20:05:24.598Z,1761336324.598 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-24T20:05:24.603Z,1761336324.603 [DAT](INFO): DAT read: 20:05:23.5042 LVL= 22080, 32753, 20786, 32755, AGC= 57, IDX= 503,-0.00, 2.110, 0.639, 1.550, 1.634, PHS= 0.564,-0.949,-0.087, RAW= 124.6, 7.2, CAL= 132.5, 2.4, ROT= 17.5, -2.4 2025-10-24T20:05:24.604Z,1761336324.604 [DAT](INFO): got valid direction response: 20:05:23.5042 LVL= 22080, 32753, 20786, 32755, AGC= 57, IDX= 503,-0.00, 2.110, 0.639, 1.550, 1.634, PHS= 0.564,-0.949,-0.087, RAW= 124.6, 7.2, CAL= 132.5, 2.4, ROT= 17.5, -2.4 2025-10-24T20:05:24.605Z,1761336324.605 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-24T20:05:24.606Z,1761336324.606 [DAT](INFO): direction in FSK: [0.952880,0.300442,0.041876] 2025-10-24T20:05:24.606Z,1761336324.606 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:24.610Z,1761336324.610 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.619320 2025-10-24T20:05:24.786Z,1761336324.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539034,-0.832058,0.130847],[0.834132,0.548898,0.054180],[-0.116902,0.079939,0.989921]] 2025-10-24T20:05:24.845Z,1761336324.845 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.854095 2025-10-24T20:05:24.894Z,1761336324.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503084 s, deltaX: -0.099999 m, approachRate: -0.198773 m/s, rangeRepo size: 4 2025-10-24T20:05:24.916Z,1761336324.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.218023 m, bearing: 74.370643 deg, lat: 36.779617 deg, lon: -121.859513 deg, deltaT: 0.503084 s, deltaX: -0.098707 m, approachRate: -0.196204 m/s, posRepo size: 4 2025-10-24T20:05:24.919Z,1761336324.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-24T20:05:24.983Z,1761336324.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.218023 m, nav range: 14.083157 m, bearing: 76.220816 deg, approach rate: 0.000000 m/s, LOS rate: 0.105455 deg/s, cmd heading: 55.972424 deg, new cmd heading: 56.131129 deg. 2025-10-24T20:05:25.013Z,1761336325.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.979673 target range: 14.218023 and range: 14.30 m. 2025-10-24T20:05:25.099Z,1761336325.099 [DAT](INFO): DAT read: Rx Time:20:05:24.0040 2025-10-24T20:05:25.100Z,1761336325.100 [DAT](INFO): Rx dataTimestamp_ set to:1761336325.099371 2025-10-24T20:05:25.102Z,1761336325.102 [DAT](INFO): DAT read: Bearing 16.8, -1.9 (Local) 2025-10-24T20:05:25.103Z,1761336325.103 [DAT](INFO): Local bearing/azimuth received: Bearing 16.8, -1.9 (Local) 2025-10-24T20:05:25.107Z,1761336325.107 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 2025-10-24T20:05:25.112Z,1761336325.112 [DAT](INFO): DAT read: 20:05:24.0040 LVL= 22240, 32753, 20738, 32755, AGC= 57, IDX= 500, 0.27, 2.202, 0.689, 1.645, 1.710, PHS= 0.580,-0.974,-0.068, RAW= 125.5, 6.9, CAL= 133.2, 1.9, ROT= 16.8, -1.9 2025-10-24T20:05:25.113Z,1761336325.113 [DAT](INFO): got valid direction response: 20:05:24.0040 LVL= 22240, 32753, 20738, 32755, AGC= 57, IDX= 500, 0.27, 2.202, 0.689, 1.645, 1.710, PHS= 0.580,-0.974,-0.068, RAW= 125.5, 6.9, CAL= 133.2, 1.9, ROT= 16.8, -1.9 2025-10-24T20:05:25.113Z,1761336325.113 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-24T20:05:25.114Z,1761336325.114 [DAT](INFO): direction in FSK: [0.956793,0.288873,0.033155] 2025-10-24T20:05:25.114Z,1761336325.114 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:25.119Z,1761336325.119 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.127579 2025-10-24T20:05:25.342Z,1761336325.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543173,-0.829092,0.132553],[0.831444,0.553117,0.052561],[-0.116896,0.081661,0.989781]] 2025-10-24T20:05:25.349Z,1761336325.349 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.357933 2025-10-24T20:05:25.515Z,1761336325.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.505699 s, deltaX: -0.500000 m, approachRate: -0.988730 m/s, rangeRepo size: 4 2025-10-24T20:05:25.541Z,1761336325.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.721242 m, bearing: 73.439038 deg, lat: 36.779619 deg, lon: -121.859513 deg, deltaT: 0.505699 s, deltaX: -0.496781 m, approachRate: -0.982366 m/s, posRepo size: 4 2025-10-24T20:05:25.542Z,1761336325.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-24T20:05:25.565Z,1761336325.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.721242 m, nav range: 13.774369 m, bearing: 75.600456 deg, approach rate: 0.000000 m/s, LOS rate: 0.105455 deg/s, cmd heading: 56.131130 deg, new cmd heading: 56.327750 deg. 2025-10-24T20:05:25.566Z,1761336325.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.983105 target range: 13.721242 and range: 13.80 m. 2025-10-24T20:05:25.602Z,1761336325.602 [DAT](INFO): DAT read: Rx Time:20:05:24.5039 2025-10-24T20:05:25.602Z,1761336325.602 [DAT](INFO): Rx dataTimestamp_ set to:1761336325.601718 2025-10-24T20:05:25.603Z,1761336325.603 [DAT](INFO): DAT read: Bearing 18.5, -4.0 (Local) 2025-10-24T20:05:25.604Z,1761336325.604 [DAT](INFO): Local bearing/azimuth received: Bearing 18.5, -4.0 (Local) 2025-10-24T20:05:25.606Z,1761336325.606 [DAT](INFO): DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-24T20:05:25.612Z,1761336325.612 [DAT](INFO): DAT read: 20:05:24.5039 LVL= 24624, 32753, 22930, 32755, AGC= 57, IDX= 499,-0.42, 1.079,-0.361, 0.511, 0.638, PHS= 0.529,-0.952,-0.130, RAW= 123.6, 8.6, CAL= 131.5, 4.0, ROT= 18.5, -4.0 2025-10-24T20:05:25.613Z,1761336325.613 [DAT](INFO): got valid direction response: 20:05:24.5039 LVL= 24624, 32753, 22930, 32755, AGC= 57, IDX= 499,-0.42, 1.079,-0.361, 0.511, 0.638, PHS= 0.529,-0.952,-0.130, RAW= 123.6, 8.6, CAL= 131.5, 4.0, ROT= 18.5, -4.0 2025-10-24T20:05:25.613Z,1761336325.613 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-24T20:05:25.614Z,1761336325.614 [DAT](INFO): direction in FSK: [0.946014,0.316532,0.069756] 2025-10-24T20:05:25.614Z,1761336325.614 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:25.623Z,1761336325.623 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.631855 2025-10-24T20:05:25.853Z,1761336325.853 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.862408 2025-10-24T20:05:25.946Z,1761336325.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545628,-0.827224,0.134128],[0.829874,0.555626,0.050888],[-0.116621,0.083543,0.989657]] 2025-10-24T20:05:26.042Z,1761336326.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.502347 s, deltaX: -0.100000 m, approachRate: -0.199066 m/s, rangeRepo size: 4 2025-10-24T20:05:26.048Z,1761336326.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.621813 m, bearing: 74.709468 deg, lat: 36.779622 deg, lon: -121.859513 deg, deltaT: 0.502347 s, deltaX: -0.099429 m, approachRate: -0.197929 m/s, posRepo size: 4 2025-10-24T20:05:26.049Z,1761336326.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-24T20:05:26.051Z,1761336326.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.621813 m, nav range: 13.546723 m, bearing: 74.647057 deg, approach rate: 0.000000 m/s, LOS rate: 0.105455 deg/s, cmd heading: 56.327750 deg, new cmd heading: 56.494562 deg. 2025-10-24T20:05:26.057Z,1761336326.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.986016 target range: 13.621813 and range: 13.70 m. 2025-10-24T20:05:26.107Z,1761336326.107 [DAT](INFO): DAT read: Rx Time:20:05:25.0036 2025-10-24T20:05:26.107Z,1761336326.107 [DAT](INFO): Rx dataTimestamp_ set to:1761336326.106852 2025-10-24T20:05:26.109Z,1761336326.109 [DAT](INFO): DAT read: Bearing 18.1, -3.3 (Local) 2025-10-24T20:05:26.109Z,1761336326.109 [DAT](INFO): Local bearing/azimuth received: Bearing 18.1, -3.3 (Local) 2025-10-24T20:05:26.111Z,1761336326.111 [DAT](INFO): DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed 0.5 2025-10-24T20:05:26.116Z,1761336326.116 [DAT](INFO): DAT read: 20:05:25.0036 LVL= 23472, 32753, 20658, 32755, AGC= 56, IDX= 496,-0.14,-0.706,-2.155,-1.271,-1.162, PHS= 0.544,-0.945,-0.111, RAW= 124.0, 8.0, CAL= 131.9, 3.3, ROT= 18.1, -3.3 2025-10-24T20:05:26.117Z,1761336326.117 [DAT](INFO): got valid direction response: 20:05:25.0036 LVL= 23472, 32753, 20658, 32755, AGC= 56, IDX= 496,-0.14,-0.706,-2.155,-1.271,-1.162, PHS= 0.544,-0.945,-0.111, RAW= 124.0, 8.0, CAL= 131.9, 3.3, ROT= 18.1, -3.3 2025-10-24T20:05:26.117Z,1761336326.117 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-24T20:05:26.118Z,1761336326.118 [DAT](INFO): direction in FSK: [0.948940,0.310161,0.057564] 2025-10-24T20:05:26.119Z,1761336326.119 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:26.132Z,1761336326.132 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.141167 2025-10-24T20:05:26.357Z,1761336326.357 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.365940 2025-10-24T20:05:26.508Z,1761336326.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549326,-0.823919,0.139277],[0.827613,0.559461,0.045392],[-0.115319,0.090332,0.989213]] 2025-10-24T20:05:26.610Z,1761336326.610 [DAT](INFO): DAT read: Rx Time:20:05:25.5035 2025-10-24T20:05:26.610Z,1761336326.610 [DAT](INFO): Rx dataTimestamp_ set to:1761336326.609786 2025-10-24T20:05:26.611Z,1761336326.611 [DAT](INFO): DAT read: Bearing 17.9, -3.1 (Local) 2025-10-24T20:05:26.612Z,1761336326.612 [DAT](INFO): Local bearing/azimuth received: Bearing 17.9, -3.1 (Local) 2025-10-24T20:05:26.614Z,1761336326.614 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.5 2025-10-24T20:05:26.619Z,1761336326.619 [DAT](INFO): DAT read: 20:05:25.5035 LVL= 26416, 32753, 22258, 32755, AGC= 57, IDX= 511, 0.00, 0.454,-1.025,-0.118,-0.014, PHS= 0.557,-0.964,-0.107, RAW= 124.2, 7.8, CAL= 132.1, 3.1, ROT= 17.9, -3.1 2025-10-24T20:05:26.620Z,1761336326.620 [DAT](INFO): got valid direction response: 20:05:25.5035 LVL= 26416, 32753, 22258, 32755, AGC= 57, IDX= 511, 0.00, 0.454,-1.025,-0.118,-0.014, PHS= 0.557,-0.964,-0.107, RAW= 124.2, 7.8, CAL= 132.1, 3.1, ROT= 17.9, -3.1 2025-10-24T20:05:26.621Z,1761336326.621 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-24T20:05:26.622Z,1761336326.622 [DAT](INFO): direction in FSK: [0.950202,0.306907,0.054079] 2025-10-24T20:05:26.622Z,1761336326.622 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:26.630Z,1761336326.630 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.639503 2025-10-24T20:05:26.635Z,1761336326.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 1.008068 s, deltaX: -0.599999 m, approachRate: -0.595197 m/s, rangeRepo size: 4 2025-10-24T20:05:26.642Z,1761336326.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.024516 m, bearing: 73.933827 deg, lat: 36.779622 deg, lon: -121.859513 deg, deltaT: 1.008068 s, deltaX: -0.597297 m, approachRate: -0.592516 m/s, posRepo size: 4 2025-10-24T20:05:26.643Z,1761336326.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-24T20:05:26.649Z,1761336326.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.024516 m, nav range: 13.227733 m, bearing: 74.795822 deg, approach rate: 0.000000 m/s, LOS rate: 0.105455 deg/s, cmd heading: 56.494561 deg, new cmd heading: 56.682332 deg. 2025-10-24T20:05:26.650Z,1761336326.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.989293 target range: 13.024516 and range: 13.10 m. 2025-10-24T20:05:26.861Z,1761336326.861 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.869858 2025-10-24T20:05:27.033Z,1761336327.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:27.041Z,1761336327.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-24T20:05:27.048Z,1761336327.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.024516 m, nav range: 13.050075 m, bearing: 74.893668 deg, approach rate: -0.437069 m/s, LOS rate: 0.243996 deg/s, cmd heading: 56.682333 deg, new cmd heading: 56.979866 deg. 2025-10-24T20:05:27.049Z,1761336327.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994486 target range: 13.024516 and range: 13.10 m. 2025-10-24T20:05:27.114Z,1761336327.114 [DAT](INFO): DAT read: Rx Time:20:05:26.0032 2025-10-24T20:05:27.115Z,1761336327.115 [DAT](INFO): Rx dataTimestamp_ set to:1761336327.114686 2025-10-24T20:05:27.117Z,1761336327.117 [DAT](INFO): DAT read: Bearing 19.2, -4.5 (Local) 2025-10-24T20:05:27.118Z,1761336327.118 [DAT](INFO): Local bearing/azimuth received: Bearing 19.2, -4.5 (Local) 2025-10-24T20:05:27.122Z,1761336327.122 [DAT](INFO): DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.5 2025-10-24T20:05:27.137Z,1761336327.137 [DAT](INFO): DAT read: 20:05:26.0032 LVL= 25408, 32753, 24130, 32755, AGC= 57, IDX= 508, 0.02,-0.122,-1.465,-0.663,-0.528, PHS= 0.494,-0.891,-0.138, RAW= 122.9, 9.0, CAL= 130.8, 4.5, ROT= 19.2, -4.5 2025-10-24T20:05:27.138Z,1761336327.138 [DAT](INFO): got valid direction response: 20:05:26.0032 LVL= 25408, 32753, 24130, 32755, AGC= 57, IDX= 508, 0.02,-0.122,-1.465,-0.663,-0.528, PHS= 0.494,-0.891,-0.138, RAW= 122.9, 9.0, CAL= 130.8, 4.5, ROT= 19.2, -4.5 2025-10-24T20:05:27.139Z,1761336327.139 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-24T20:05:27.139Z,1761336327.139 [DAT](INFO): direction in FSK: [0.941465,0.327853,0.078459] 2025-10-24T20:05:27.147Z,1761336327.147 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:27.162Z,1761336327.162 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.170292 2025-10-24T20:05:27.321Z,1761336327.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550378,-0.822354,0.144287],[0.827196,0.560531,0.039399],[-0.113277,0.097669,0.988751]] 2025-10-24T20:05:27.365Z,1761336327.365 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.373951 2025-10-24T20:05:27.453Z,1761336327.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504900 s, deltaX: -0.500000 m, approachRate: -0.990295 m/s, rangeRepo size: 4 2025-10-24T20:05:27.468Z,1761336327.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.527397 m, bearing: 74.937526 deg, lat: 36.779622 deg, lon: -121.859515 deg, deltaT: 0.504900 s, deltaX: -0.497119 m, approachRate: -0.984589 m/s, posRepo size: 4 2025-10-24T20:05:27.469Z,1761336327.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:05:27.476Z,1761336327.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527397 m, nav range: 12.568004 m, bearing: 74.824827 deg, approach rate: 0.000000 m/s, LOS rate: 0.243996 deg/s, cmd heading: 56.979866 deg, new cmd heading: 57.277574 deg. 2025-10-24T20:05:27.477Z,1761336327.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.999682 target range: 12.527397 and range: 12.60 m. 2025-10-24T20:05:27.617Z,1761336327.617 [DAT](INFO): DAT read: Rx Time:20:05:26.5031 2025-10-24T20:05:27.618Z,1761336327.618 [DAT](INFO): Rx dataTimestamp_ set to:1761336327.617262 2025-10-24T20:05:27.619Z,1761336327.619 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 2025-10-24T20:05:27.621Z,1761336327.621 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-24T20:05:27.623Z,1761336327.623 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.631561 2025-10-24T20:05:27.722Z,1761336327.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550510,-0.821805,0.146886],[0.827238,0.560667,0.036462],[-0.112319,0.101437,0.988481]] 2025-10-24T20:05:27.766Z,1761336327.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502576 s, deltaX: -0.100000 m, approachRate: -0.198976 m/s, rangeRepo size: 4 2025-10-24T20:05:27.766Z,1761336327.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:05:27.774Z,1761336327.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527397 m, nav range: 12.382204 m, bearing: 74.945638 deg, approach rate: -0.585954 m/s, LOS rate: 0.386718 deg/s, cmd heading: 57.277574 deg, new cmd heading: 57.645440 deg. 2025-10-24T20:05:27.775Z,1761336327.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.006103 target range: 12.527397 and range: 12.50 m. 2025-10-24T20:05:27.870Z,1761336327.870 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.878628 2025-10-24T20:05:28.121Z,1761336328.121 [DAT](INFO): DAT read: Rx Time:20:05:27.0028 2025-10-24T20:05:28.122Z,1761336328.122 [DAT](INFO): Rx dataTimestamp_ set to:1761336328.121655 2025-10-24T20:05:28.123Z,1761336328.123 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.6 2025-10-24T20:05:28.124Z,1761336328.124 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-24T20:05:28.125Z,1761336328.125 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.134323 2025-10-24T20:05:28.129Z,1761336328.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549468,-0.821819,0.150661],[0.828052,0.559681,0.032976],[-0.111423,0.106636,0.988035]] 2025-10-24T20:05:28.255Z,1761336328.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504393 s, deltaX: -0.300000 m, approachRate: -0.594775 m/s, rangeRepo size: 4 2025-10-24T20:05:28.261Z,1761336328.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:05:28.263Z,1761336328.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527397 m, nav range: 12.117406 m, bearing: 75.157403 deg, approach rate: -0.541632 m/s, LOS rate: 0.442620 deg/s, cmd heading: 57.645437 deg, new cmd heading: 58.294586 deg. 2025-10-24T20:05:28.268Z,1761336328.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.017432 target range: 12.527397 and range: 12.20 m. 2025-10-24T20:05:28.373Z,1761336328.373 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.381962 2025-10-24T20:05:28.626Z,1761336328.626 [DAT](INFO): DAT read: Rx Time:20:05:27.5027 2025-10-24T20:05:28.627Z,1761336328.627 [DAT](INFO): Rx dataTimestamp_ set to:1761336328.626480 2025-10-24T20:05:28.629Z,1761336328.629 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 2025-10-24T20:05:28.630Z,1761336328.630 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-24T20:05:28.631Z,1761336328.631 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.640030 2025-10-24T20:05:28.671Z,1761336328.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547840,-0.822483,0.152945],[0.829247,0.558042,0.030630],[-0.110542,0.110049,0.987760]] 2025-10-24T20:05:28.715Z,1761336328.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504825 s, deltaX: -0.200000 m, approachRate: -0.396177 m/s, rangeRepo size: 4 2025-10-24T20:05:28.715Z,1761336328.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:05:28.723Z,1761336328.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527397 m, nav range: 11.855596 m, bearing: 75.373549 deg, approach rate: -0.569032 m/s, LOS rate: 0.480156 deg/s, cmd heading: 58.294585 deg, new cmd heading: 58.957312 deg. 2025-10-24T20:05:28.729Z,1761336328.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.028999 target range: 12.527397 and range: 12.00 m. 2025-10-24T20:05:28.878Z,1761336328.878 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.886631 2025-10-24T20:05:29.105Z,1761336329.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543851,-0.824432,0.156646],[0.832158,0.553921,0.026175],[-0.108349,0.116118,0.987308]] 2025-10-24T20:05:29.129Z,1761336329.129 [DAT](INFO): DAT read: Rx Time:20:05:28.0025 2025-10-24T20:05:29.130Z,1761336329.130 [DAT](INFO): Rx dataTimestamp_ set to:1761336329.129349 2025-10-24T20:05:29.131Z,1761336329.131 [DAT](INFO): DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5 2025-10-24T20:05:29.131Z,1761336329.131 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-24T20:05:29.132Z,1761336329.132 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.141441 2025-10-24T20:05:29.205Z,1761336329.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:29.207Z,1761336329.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.502869 s, deltaX: -0.300000 m, approachRate: -0.596577 m/s, rangeRepo size: 4 2025-10-24T20:05:29.213Z,1761336329.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:05:29.215Z,1761336329.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527397 m, nav range: 11.606972 m, bearing: 75.626189 deg, approach rate: -0.504796 m/s, LOS rate: 0.523936 deg/s, cmd heading: 58.957312 deg, new cmd heading: 59.731416 deg. 2025-10-24T20:05:29.220Z,1761336329.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042510 target range: 12.527397 and range: 11.70 m. 2025-10-24T20:05:29.382Z,1761336329.382 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.390617 2025-10-24T20:05:29.609Z,1761336329.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541027,-0.826186,0.157184],[0.834163,0.550962,0.024760],[-0.107058,0.117721,0.987259]] 2025-10-24T20:05:29.633Z,1761336329.633 [DAT](INFO): DAT read: Rx Time:20:05:28.5023 2025-10-24T20:05:29.634Z,1761336329.634 [DAT](INFO): Rx dataTimestamp_ set to:1761336329.633348 2025-10-24T20:05:29.635Z,1761336329.635 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 2025-10-24T20:05:29.635Z,1761336329.635 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-24T20:05:29.636Z,1761336329.636 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.645451 2025-10-24T20:05:29.683Z,1761336329.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503999 s, deltaX: -0.300000 m, approachRate: -0.595240 m/s, rangeRepo size: 4 2025-10-24T20:05:29.685Z,1761336329.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:05:29.692Z,1761336329.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527397 m, nav range: 11.367699 m, bearing: 75.875619 deg, approach rate: -0.502726 m/s, LOS rate: 0.535098 deg/s, cmd heading: 59.731418 deg, new cmd heading: 60.495414 deg. 2025-10-24T20:05:29.693Z,1761336329.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.055844 target range: 12.527397 and range: 11.40 m. 2025-10-24T20:05:29.886Z,1761336329.886 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.894669 2025-10-24T20:05:30.003Z,1761336330.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537164,-0.828121,0.160218],[0.836806,0.547057,0.022018],[-0.105882,0.122244,0.986836]] 2025-10-24T20:05:30.138Z,1761336330.138 [DAT](INFO): DAT read: Rx Time:20:05:29.0020 2025-10-24T20:05:30.139Z,1761336330.139 [DAT](INFO): Rx dataTimestamp_ set to:1761336330.137970 2025-10-24T20:05:30.140Z,1761336330.140 [DAT](INFO): DAT read: Range 10 to 50 : 11.0 m (trip time 7.3 ms) speed 0.5 2025-10-24T20:05:30.141Z,1761336330.141 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-24T20:05:30.141Z,1761336330.141 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.150440 2025-10-24T20:05:30.215Z,1761336330.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504622 s, deltaX: -0.400000 m, approachRate: -0.792672 m/s, rangeRepo size: 4 2025-10-24T20:05:30.220Z,1761336330.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:05:30.223Z,1761336330.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527397 m, nav range: 11.091128 m, bearing: 76.239624 deg, approach rate: -0.519549 m/s, LOS rate: 0.700844 deg/s, cmd heading: 60.495416 deg, new cmd heading: 61.614510 deg. 2025-10-24T20:05:30.233Z,1761336330.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.075376 target range: 12.527397 and range: 11.00 m. 2025-10-24T20:05:30.393Z,1761336330.393 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.400459 2025-10-24T20:05:30.523Z,1761336330.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533673,-0.830002,0.162144],[0.839164,0.543505,0.020173],[-0.104869,0.125299,0.986561]] 2025-10-24T20:05:30.598Z,1761336330.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:05:30.606Z,1761336330.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527397 m, nav range: 10.903198 m, bearing: 76.493321 deg, approach rate: -0.490793 m/s, LOS rate: 0.673966 deg/s, cmd heading: 61.614508 deg, new cmd heading: 62.388668 deg. 2025-10-24T20:05:30.606Z,1761336330.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.088888 target range: 12.527397 and range: 11.00 m. 2025-10-24T20:05:30.642Z,1761336330.642 [DAT](INFO): DAT read: Rx Time:20:05:29.5019 2025-10-24T20:05:30.642Z,1761336330.642 [DAT](INFO): Rx dataTimestamp_ set to:1761336330.641710 2025-10-24T20:05:30.643Z,1761336330.643 [DAT](INFO): DAT read: Bearing 17.2, -1.5 (Local) 2025-10-24T20:05:30.644Z,1761336330.644 [DAT](INFO): Local bearing/azimuth received: Bearing 17.2, -1.5 (Local) 2025-10-24T20:05:30.646Z,1761336330.646 [DAT](INFO): DAT read: Range 10 to 50 : 10.8 m (trip time 7.2 ms) speed 0.5 2025-10-24T20:05:30.651Z,1761336330.651 [DAT](INFO): DAT read: 20:05:29.5019 LVL= 21120, 32753, 21170, 32755, AGC= 54, IDX= 510, 0.23, 0.260,-1.110,-0.252,-0.193, PHS= 0.542,-0.870,-0.062, RAW= 124.8, 6.4, CAL= 132.8, 1.5, ROT= 17.2, -1.5 2025-10-24T20:05:30.652Z,1761336330.652 [DAT](INFO): got valid direction response: 20:05:29.5019 LVL= 21120, 32753, 21170, 32755, AGC= 54, IDX= 510, 0.23, 0.260,-1.110,-0.252,-0.193, PHS= 0.542,-0.870,-0.062, RAW= 124.8, 6.4, CAL= 132.8, 1.5, ROT= 17.2, -1.5 2025-10-24T20:05:30.652Z,1761336330.652 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-24T20:05:30.653Z,1761336330.653 [DAT](INFO): direction in FSK: [0.954951,0.295607,0.026177] 2025-10-24T20:05:30.654Z,1761336330.654 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:30.678Z,1761336330.678 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.687218 2025-10-24T20:05:30.896Z,1761336330.896 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.904110 2025-10-24T20:05:31.007Z,1761336331.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529847,-0.831706,0.165914],[0.841659,0.539719,0.017703],[-0.104271,0.130264,0.985981]] 2025-10-24T20:05:31.129Z,1761336331.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.503740 s, deltaX: -0.200000 m, approachRate: -0.397030 m/s, rangeRepo size: 4 2025-10-24T20:05:31.131Z,1761336331.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.738728 m, bearing: 74.655161 deg, lat: 36.779623 deg, lon: -121.859515 deg, deltaT: 3.527024 s, deltaX: -1.788670 m, approachRate: -0.507133 m/s, posRepo size: 4 2025-10-24T20:05:31.136Z,1761336331.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m. 2025-10-24T20:05:31.139Z,1761336331.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.738728 m, nav range: 10.660855 m, bearing: 76.117683 deg, approach rate: 0.000000 m/s, LOS rate: 0.673966 deg/s, cmd heading: 62.388669 deg, new cmd heading: 63.452444 deg. 2025-10-24T20:05:31.146Z,1761336331.146 [DAT](INFO): DAT read: Rx Time:20:05:30.0017 2025-10-24T20:05:31.146Z,1761336331.146 [DAT](INFO): Rx dataTimestamp_ set to:1761336331.145896 2025-10-24T20:05:31.147Z,1761336331.147 [DAT](INFO): DAT read: Bearing 16.5, -0.9 (Local) 2025-10-24T20:05:31.148Z,1761336331.148 [DAT](INFO): Local bearing/azimuth received: Bearing 16.5, -0.9 (Local) 2025-10-24T20:05:31.150Z,1761336331.150 [DAT](INFO): DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 2025-10-24T20:05:31.156Z,1761336331.156 [DAT](INFO): DAT read: 20:05:30.0017 LVL= 25216, 32753, 23026, 32755, AGC= 53, IDX= 507, 0.48,-1.912, 2.925,-2.437,-2.395, PHS= 0.571,-0.916,-0.045, RAW= 125.6, 6.1, CAL= 133.5, 0.9, ROT= 16.5, -0.9 2025-10-24T20:05:31.157Z,1761336331.157 [DAT](INFO): got valid direction response: 20:05:30.0017 LVL= 25216, 32753, 23026, 32755, AGC= 53, IDX= 507, 0.48,-1.912, 2.925,-2.437,-2.395, PHS= 0.571,-0.916,-0.045, RAW= 125.6, 6.1, CAL= 133.5, 0.9, ROT= 16.5, -0.9 2025-10-24T20:05:31.157Z,1761336331.157 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-24T20:05:31.158Z,1761336331.158 [DAT](INFO): direction in FSK: [0.958701,0.283980,0.015707] 2025-10-24T20:05:31.158Z,1761336331.158 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:31.163Z,1761336331.163 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.171913 2025-10-24T20:05:31.181Z,1761336331.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.107454 target range: 10.738728 and range: 10.80 m. 2025-10-24T20:05:31.402Z,1761336331.402 [DAT](INFO): DAT read: Rx Time:20:05:30.5016 2025-10-24T20:05:31.404Z,1761336331.404 [DAT](INFO): Rx dataTimestamp_ set to:1761336331.402920 2025-10-24T20:05:31.414Z,1761336331.414 [DAT](INFO): DAT read: Bearing 17.1, -1.6 (Local) 2025-10-24T20:05:31.416Z,1761336331.416 [DAT](INFO): Local bearing/azimuth received: Bearing 17.1, -1.6 (Local) 2025-10-24T20:05:31.435Z,1761336331.435 [DAT](INFO): DAT read: Range 10 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 2025-10-24T20:05:31.489Z,1761336331.489 [DAT](INFO): DAT read: 20:05:30.5016 LVL= 22272, 28033, 19042, 32755, AGC= 54, IDX= 507,-0.23,-2.684, 2.147, 3.055, 3.120, PHS= 0.568,-0.925,-0.067, RAW= 124.9, 6.6, CAL= 132.9, 1.6, ROT= 17.1, -1.6 2025-10-24T20:05:31.490Z,1761336331.490 [DAT](INFO): got valid direction response: 20:05:30.5016 LVL= 22272, 28033, 19042, 32755, AGC= 54, IDX= 507,-0.23,-2.684, 2.147, 3.055, 3.120, PHS= 0.568,-0.925,-0.067, RAW= 124.9, 6.6, CAL= 132.9, 1.6, ROT= 17.1, -1.6 2025-10-24T20:05:31.490Z,1761336331.490 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-24T20:05:31.491Z,1761336331.491 [DAT](INFO): direction in FSK: [0.955420,0.293926,0.027922] 2025-10-24T20:05:31.491Z,1761336331.491 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:31.505Z,1761336331.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519719,-0.837077,0.170863],[0.848144,0.529565,0.014576],[-0.102684,0.137341,0.985187]] 2025-10-24T20:05:31.508Z,1761336331.508 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.517200 2025-10-24T20:05:31.587Z,1761336331.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.761210 s, deltaX: -0.400001 m, approachRate: -0.525480 m/s, rangeRepo size: 4 2025-10-24T20:05:31.594Z,1761336331.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.341242 m, bearing: 75.202757 deg, lat: 36.779623 deg, lon: -121.859515 deg, deltaT: 0.761210 s, deltaX: -0.397486 m, approachRate: -0.522176 m/s, posRepo size: 4 2025-10-24T20:05:31.594Z,1761336331.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-24T20:05:31.601Z,1761336331.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.341242 m, nav range: 10.416885 m, bearing: 76.499408 deg, approach rate: 0.000000 m/s, LOS rate: 0.673966 deg/s, cmd heading: 63.452444 deg, new cmd heading: 64.386636 deg. 2025-10-24T20:05:31.602Z,1761336331.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.123759 target range: 10.341242 and range: 10.40 m. 2025-10-24T20:05:31.650Z,1761336331.650 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.658703 2025-10-24T20:05:31.872Z,1761336331.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514008,-0.840103,0.173269],[0.851725,0.523825,0.013120],[-0.101785,0.140833,0.984787]] 2025-10-24T20:05:31.905Z,1761336331.905 [DAT](INFO): DAT read: Rx Time:20:05:31.0013 2025-10-24T20:05:31.907Z,1761336331.907 [DAT](INFO): Rx dataTimestamp_ set to:1761336331.905921 2025-10-24T20:05:31.910Z,1761336331.910 [DAT](INFO): DAT read: Bearing 15.8, -0.6 (Local) 2025-10-24T20:05:31.911Z,1761336331.911 [DAT](INFO): Local bearing/azimuth received: Bearing 15.8, -0.6 (Local) 2025-10-24T20:05:31.914Z,1761336331.914 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.922310 2025-10-24T20:05:31.958Z,1761336331.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:31.965Z,1761336331.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-24T20:05:31.967Z,1761336331.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.341242 m, nav range: 10.237295 m, bearing: 76.812730 deg, approach rate: -0.474268 m/s, LOS rate: 0.841943 deg/s, cmd heading: 64.386636 deg, new cmd heading: 65.342998 deg. 2025-10-24T20:05:31.969Z,1761336331.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.140450 target range: 10.341242 and range: 10.40 m. 2025-10-24T20:05:32.155Z,1761336332.155 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-24T20:05:32.160Z,1761336332.160 [DAT](INFO): DAT read: 20:05:31.0013 LVL= 20208, 25041, 20642, 32307, AGC= 54, IDX= 504, 0.03,-2.925, 1.852, 2.833, 2.858, PHS= 0.589,-0.958,-0.028, RAW= 126.7, 6.0, CAL= 134.2, 0.6, ROT= 15.8, -0.6 2025-10-24T20:05:32.161Z,1761336332.161 [DAT](INFO): got valid direction response: 20:05:31.0013 LVL= 20208, 25041, 20642, 32307, AGC= 54, IDX= 504, 0.03,-2.925, 1.852, 2.833, 2.858, PHS= 0.589,-0.958,-0.028, RAW= 126.7, 6.0, CAL= 134.2, 0.6, ROT= 15.8, -0.6 2025-10-24T20:05:32.162Z,1761336332.162 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-24T20:05:32.163Z,1761336332.163 [DAT](INFO): direction in FSK: [0.962165,0.272265,0.010472] 2025-10-24T20:05:32.163Z,1761336332.163 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:32.167Z,1761336332.167 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.175850 2025-10-24T20:05:32.279Z,1761336332.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508417,-0.843050,0.175442],[0.855168,0.518213,0.011956],[-0.100996,0.143953,0.984417]] 2025-10-24T20:05:32.374Z,1761336332.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.749540 s, deltaX: -0.500000 m, approachRate: -0.667076 m/s, rangeRepo size: 4 2025-10-24T20:05:32.382Z,1761336332.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.844067 m, bearing: 74.824144 deg, lat: 36.779625 deg, lon: -121.859516 deg, deltaT: 0.749540 s, deltaX: -0.497175 m, approachRate: -0.663307 m/s, posRepo size: 4 2025-10-24T20:05:32.383Z,1761336332.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m. 2025-10-24T20:05:32.394Z,1761336332.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-24T20:05:32.394Z,1761336332.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-24T20:05:32.412Z,1761336332.412 [DAT](INFO): DAT read: Rx Time:20:05:31.5013 2025-10-24T20:05:32.414Z,1761336332.414 [DAT](INFO): Rx dataTimestamp_ set to:1761336332.412669 2025-10-24T20:05:32.419Z,1761336332.419 [DAT](INFO): DAT read: Bearing 14.9, 0.2 (Local) 2025-10-24T20:05:32.432Z,1761336332.432 [DAT](INFO): Local bearing/azimuth received: Bearing 14.9, 0.2 (Local) 2025-10-24T20:05:32.439Z,1761336332.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 10.090892 m, bearing: 75.994759 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 65.342999 deg, new cmd heading: 66.376156 deg. 2025-10-24T20:05:32.457Z,1761336332.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158482 target range: 9.844067 and range: 9.90 m. 2025-10-24T20:05:32.464Z,1761336332.464 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-24T20:05:32.497Z,1761336332.497 [DAT](INFO): DAT read: 20:05:31.5013 LVL= 21488, 26433, 19314, 32755, AGC= 54, IDX= 503, 0.35,-1.567,-3.070,-2.066,-2.069, PHS= 0.589,-0.954, 0.000, RAW= 127.8, 5.5, CAL= 135.1, -0.2, ROT= 14.9, 0.2 2025-10-24T20:05:32.498Z,1761336332.498 [DAT](INFO): got valid direction response: 20:05:31.5013 LVL= 21488, 26433, 19314, 32755, AGC= 54, IDX= 503, 0.35,-1.567,-3.070,-2.066,-2.069, PHS= 0.589,-0.954, 0.000, RAW= 127.8, 5.5, CAL= 135.1, -0.2, ROT= 14.9, 0.2 2025-10-24T20:05:32.498Z,1761336332.498 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-24T20:05:32.499Z,1761336332.499 [DAT](INFO): direction in FSK: [0.966370,0.257131,-0.003491] 2025-10-24T20:05:32.512Z,1761336332.512 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:32.521Z,1761336332.521 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.529758 2025-10-24T20:05:32.657Z,1761336332.657 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.665894 2025-10-24T20:05:32.680Z,1761336332.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501654,-0.846765,0.177012],[0.859248,0.511432,0.011400],[-0.100183,0.146379,0.984143]] 2025-10-24T20:05:32.737Z,1761336332.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.260209 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:32.739Z,1761336332.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.844007 m, bearing: 74.516593 deg, lat: 36.779625 deg, lon: -121.859517 deg, deltaT: 0.260209 s, deltaX: -0.000060 m, approachRate: -0.000231 m/s, posRepo size: 4 2025-10-24T20:05:32.757Z,1761336332.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:32.759Z,1761336332.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 9.924025 m, bearing: 76.291365 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 66.376154 deg, new cmd heading: 67.280020 deg. 2025-10-24T20:05:32.765Z,1761336332.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174258 target range: 9.844067 and range: 9.90 m. 2025-10-24T20:05:32.977Z,1761336332.977 [DAT](INFO): DAT read: Rx Time:20:05:32.0010 2025-10-24T20:05:32.978Z,1761336332.978 [DAT](INFO): Rx dataTimestamp_ set to:1761336332.977620 2025-10-24T20:05:32.995Z,1761336332.995 [DAT](INFO): DAT read: Bearing 15.8, -1.6 (Local) 2025-10-24T20:05:32.995Z,1761336332.995 [DAT](INFO): Local bearing/azimuth received: Bearing 15.8, -1.6 (Local) 2025-10-24T20:05:33.003Z,1761336333.003 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-24T20:05:33.028Z,1761336333.028 [DAT](INFO): DAT read: 20:05:32.0010 LVL= 18928, 32305, 18930, 32755, AGC= 54, IDX= 501,-0.18, 1.501, 0.063, 1.006, 1.047, PHS= 0.542,-0.937,-0.044, RAW= 126.8, 6.9, CAL= 134.2, 1.6, ROT= 15.8, -1.6 2025-10-24T20:05:33.036Z,1761336333.036 [DAT](INFO): got valid direction response: 20:05:32.0010 LVL= 18928, 32305, 18930, 32755, AGC= 54, IDX= 501,-0.18, 1.501, 0.063, 1.006, 1.047, PHS= 0.542,-0.937,-0.044, RAW= 126.8, 6.9, CAL= 134.2, 1.6, ROT= 15.8, -1.6 2025-10-24T20:05:33.037Z,1761336333.037 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-24T20:05:33.044Z,1761336333.044 [DAT](INFO): direction in FSK: [0.961843,0.272174,0.027922] 2025-10-24T20:05:33.044Z,1761336333.044 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:33.052Z,1761336333.052 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.061142 2025-10-24T20:05:33.138Z,1761336333.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494912,-0.850472,0.178213],[0.863229,0.504687,0.011221],[-0.099485,0.148285,0.983928]] 2025-10-24T20:05:33.161Z,1761336333.161 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.169956 2025-10-24T20:05:33.281Z,1761336333.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.564951 s, deltaX: -0.400000 m, approachRate: -0.708025 m/s, rangeRepo size: 4 2025-10-24T20:05:33.283Z,1761336333.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.446269 m, bearing: 75.544732 deg, lat: 36.779626 deg, lon: -121.859517 deg, deltaT: 0.825160 s, deltaX: -0.397798 m, approachRate: -0.482085 m/s, posRepo size: 4 2025-10-24T20:05:33.288Z,1761336333.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.84 m. 2025-10-24T20:05:33.294Z,1761336333.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 9.694160 m, bearing: 76.766100 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 67.280020 deg, new cmd heading: 68.665764 deg. 2025-10-24T20:05:33.295Z,1761336333.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.198444 target range: 9.844067 and range: 9.50 m. 2025-10-24T20:05:33.418Z,1761336333.418 [DAT](INFO): DAT read: Rx Time:20:05:32.5008 2025-10-24T20:05:33.419Z,1761336333.419 [DAT](INFO): Rx dataTimestamp_ set to:1761336333.418416 2025-10-24T20:05:33.424Z,1761336333.424 [DAT](INFO): DAT read: Bearing 13.9, -0.0 (Local) 2025-10-24T20:05:33.426Z,1761336333.426 [DAT](INFO): Local bearing/azimuth received: Bearing 13.9, -0.0 (Local) 2025-10-24T20:05:33.446Z,1761336333.446 [DAT](INFO): DAT read: Range 10 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4 2025-10-24T20:05:33.452Z,1761336333.452 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-24T20:05:33.454Z,1761336333.454 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.462559 2025-10-24T20:05:33.499Z,1761336333.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487448,-0.854147,0.181185],[0.867532,0.497274,0.010309],[-0.098904,0.152158,0.983395]] 2025-10-24T20:05:33.541Z,1761336333.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.440796 s, deltaX: -0.300000 m, approachRate: -0.680587 m/s, rangeRepo size: 4 2025-10-24T20:05:33.564Z,1761336333.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:33.579Z,1761336333.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 9.571432 m, bearing: 77.022175 deg, approach rate: -0.480619 m/s, LOS rate: 1.015673 deg/s, cmd heading: 68.665763 deg, new cmd heading: 69.443787 deg. 2025-10-24T20:05:33.590Z,1761336333.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.212023 target range: 9.844067 and range: 9.20 m. 2025-10-24T20:05:33.676Z,1761336333.676 [DAT](INFO): DAT read: 20:05:32.5008 LVL= 18736, 27889, 16354, 29299, AGC= 52, IDX= 499, 0.16,-2.835, 1.999, 3.003, 2.987, PHS= 0.549,-0.940, 0.013, RAW= 129.2, 5.8, CAL= 136.1, 0.0, ROT= 13.9, -0.0 2025-10-24T20:05:33.678Z,1761336333.678 [DAT](INFO): got valid direction response: 20:05:32.5008 LVL= 18736, 27889, 16354, 29299, AGC= 52, IDX= 499, 0.16,-2.835, 1.999, 3.003, 2.987, PHS= 0.549,-0.940, 0.013, RAW= 129.2, 5.8, CAL= 136.1, 0.0, ROT= 13.9, -0.0 2025-10-24T20:05:33.678Z,1761336333.678 [DAT](INFO): #Rx 102: Read direction message, but no range. 2025-10-24T20:05:33.679Z,1761336333.679 [DAT](INFO): direction in FSK: [0.970716,0.240228,0.000000] 2025-10-24T20:05:33.686Z,1761336333.686 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.694187 2025-10-24T20:05:33.922Z,1761336333.922 [DAT](INFO): DAT read: Rx Time:20:05:33.0006 2025-10-24T20:05:33.923Z,1761336333.923 [DAT](INFO): Rx dataTimestamp_ set to:1761336333.922296 2025-10-24T20:05:33.926Z,1761336333.926 [DAT](INFO): DAT read: Bearing 14.5, -1.1 (Local) 2025-10-24T20:05:33.927Z,1761336333.927 [DAT](INFO): Local bearing/azimuth received: Bearing 14.5, -1.1 (Local) 2025-10-24T20:05:33.933Z,1761336333.933 [DAT](INFO): DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-24T20:05:33.935Z,1761336333.935 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-24T20:05:33.939Z,1761336333.939 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.947166 2025-10-24T20:05:33.965Z,1761336333.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.478805,-0.858475,0.183758],[0.872422,0.488657,0.009683],[-0.098107,0.155679,0.982924]] 2025-10-24T20:05:34.026Z,1761336334.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503880 s, deltaX: -0.300000 m, approachRate: -0.595380 m/s, rangeRepo size: 4 2025-10-24T20:05:34.033Z,1761336334.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.850010 m, bearing: 74.989989 deg, lat: 36.779626 deg, lon: -121.859519 deg, deltaT: 1.769836 s, deltaX: -0.994057 m, approachRate: -0.561666 m/s, posRepo size: 4 2025-10-24T20:05:34.034Z,1761336334.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.84 m. 2025-10-24T20:05:34.039Z,1761336334.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 9.367376 m, bearing: 77.449467 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 69.443790 deg, new cmd heading: 70.680078 deg. 2025-10-24T20:05:34.052Z,1761336334.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233600 target range: 9.844067 and range: 8.90 m. 2025-10-24T20:05:34.174Z,1761336334.174 [DAT](INFO): DAT read: 20:05:33.0006 LVL= 18976, 32753, 18978, 32755, AGC= 52, IDX= 497,-0.32, 1.100,-0.265, 0.672, 0.682, PHS= 0.506,-0.900,-0.013, RAW= 128.6, 6.7, CAL= 135.5, 1.1, ROT= 14.5, -1.1 2025-10-24T20:05:34.175Z,1761336334.175 [DAT](INFO): got valid direction response: 20:05:33.0006 LVL= 18976, 32753, 18978, 32755, AGC= 52, IDX= 497,-0.32, 1.100,-0.265, 0.672, 0.682, PHS= 0.506,-0.900,-0.013, RAW= 128.6, 6.7, CAL= 135.5, 1.1, ROT= 14.5, -1.1 2025-10-24T20:05:34.175Z,1761336334.175 [DAT](INFO): #Rx 104: Read direction message, but no range. 2025-10-24T20:05:34.177Z,1761336334.177 [DAT](INFO): direction in FSK: [0.967969,0.250334,0.019197] 2025-10-24T20:05:34.180Z,1761336334.180 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.189236 2025-10-24T20:05:34.425Z,1761336334.425 [DAT](INFO): DAT read: Rx Time:20:05:33.5005 2025-10-24T20:05:34.427Z,1761336334.427 [DAT](INFO): Rx dataTimestamp_ set to:1761336334.425632 2025-10-24T20:05:34.431Z,1761336334.431 [DAT](INFO): DAT read: Bearing 11.2, -5.6 (Local) 2025-10-24T20:05:34.433Z,1761336334.433 [DAT](INFO): Local bearing/azimuth received: Bearing 11.2, -5.6 (Local) 2025-10-24T20:05:34.452Z,1761336334.452 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 2025-10-24T20:05:34.477Z,1761336334.477 [DAT](INFO): DAT read: 20:05:33.5005 LVL= 17008, 32753, 17394, 32755, AGC= 52, IDX= 512, 0.14,-2.316, 2.253,-2.721,-2.678, PHS= 0.450,-1.306,-0.046, RAW= 134.1, 11.5, CAL= 138.8, 5.6, ROT= 11.2, -5.6 2025-10-24T20:05:34.478Z,1761336334.478 [DAT](INFO): got valid direction response: 20:05:33.5005 LVL= 17008, 32753, 17394, 32755, AGC= 52, IDX= 512, 0.14,-2.316, 2.253,-2.721,-2.678, PHS= 0.450,-1.306,-0.046, RAW= 134.1, 11.5, CAL= 138.8, 5.6, ROT= 11.2, -5.6 2025-10-24T20:05:34.478Z,1761336334.478 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-24T20:05:34.479Z,1761336334.479 [DAT](INFO): direction in FSK: [0.976273,0.193307,0.097583] 2025-10-24T20:05:34.479Z,1761336334.479 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:34.505Z,1761336334.505 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.513569 2025-10-24T20:05:34.614Z,1761336334.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503336 s, deltaX: -0.200000 m, approachRate: -0.397349 m/s, rangeRepo size: 4 2025-10-24T20:05:34.620Z,1761336334.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.651589 m, bearing: 71.362900 deg, lat: 36.779627 deg, lon: -121.859519 deg, deltaT: 2.273172 s, deltaX: -1.192477 m, approachRate: -0.524587 m/s, posRepo size: 4 2025-10-24T20:05:34.622Z,1761336334.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.84 m. 2025-10-24T20:05:34.628Z,1761336334.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 9.120560 m, bearing: 77.951982 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 70.680075 deg, new cmd heading: 72.146734 deg. 2025-10-24T20:05:34.629Z,1761336334.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259198 target range: 9.844067 and range: 8.70 m. 2025-10-24T20:05:34.675Z,1761336334.675 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.683914 2025-10-24T20:05:34.931Z,1761336334.931 [DAT](INFO): DAT read: Rx Time:20:05:34.0004 2025-10-24T20:05:34.934Z,1761336334.934 [DAT](INFO): Rx dataTimestamp_ set to:1761336334.932807 2025-10-24T20:05:34.957Z,1761336334.957 [DAT](INFO): DAT read: Bearing 13.3, -1.8 (Local) 2025-10-24T20:05:34.957Z,1761336334.957 [DAT](INFO): Local bearing/azimuth received: Bearing 13.3, -1.8 (Local) 2025-10-24T20:05:34.959Z,1761336334.959 [DAT](INFO): DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4 2025-10-24T20:05:34.980Z,1761336334.980 [DAT](INFO): DAT read: 20:05:34.0004 LVL= 16864, 32753, 18562, 32755, AGC= 51, IDX= 510,-0.28, 0.510,-0.818, 0.135, 0.137, PHS= 0.460,-0.908,-0.005, RAW= 130.5, 7.6, CAL= 136.7, 1.8, ROT= 13.3, -1.8 2025-10-24T20:05:34.981Z,1761336334.981 [DAT](INFO): got valid direction response: 20:05:34.0004 LVL= 16864, 32753, 18562, 32755, AGC= 51, IDX= 510,-0.28, 0.510,-0.818, 0.135, 0.137, PHS= 0.460,-0.908,-0.005, RAW= 130.5, 7.6, CAL= 136.7, 1.8, ROT= 13.3, -1.8 2025-10-24T20:05:34.982Z,1761336334.982 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-24T20:05:34.983Z,1761336334.983 [DAT](INFO): direction in FSK: [0.972699,0.229936,0.031411] 2025-10-24T20:05:34.983Z,1761336334.983 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:34.991Z,1761336334.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459020,-0.867217,0.192961],[0.883112,0.469102,0.007498],[-0.097021,0.166965,0.981178]] 2025-10-24T20:05:34.999Z,1761336334.999 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.007702 2025-10-24T20:05:35.061Z,1761336335.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.507175 s, deltaX: -0.099999 m, approachRate: -0.197169 m/s, rangeRepo size: 4 2025-10-24T20:05:35.063Z,1761336335.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.552147 m, bearing: 75.331560 deg, lat: 36.779627 deg, lon: -121.859521 deg, deltaT: 2.780347 s, deltaX: -1.291920 m, approachRate: -0.464661 m/s, posRepo size: 4 2025-10-24T20:05:35.076Z,1761336335.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.55 m. 9.84 m. 2025-10-24T20:05:35.079Z,1761336335.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 8.919875 m, bearing: 78.349444 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 72.146735 deg, new cmd heading: 73.293776 deg. 2025-10-24T20:05:35.079Z,1761336335.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279218 target range: 9.844067 and range: 8.60 m. 2025-10-24T20:05:35.177Z,1761336335.177 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.185940 2025-10-24T20:05:35.434Z,1761336335.434 [DAT](INFO): DAT read: Rx Time:20:05:34.5004 2025-10-24T20:05:35.435Z,1761336335.435 [DAT](INFO): Rx dataTimestamp_ set to:1761336335.434353 2025-10-24T20:05:35.439Z,1761336335.439 [DAT](INFO): DAT read: Bearing 11.6, -1.0 (Local) 2025-10-24T20:05:35.441Z,1761336335.441 [DAT](INFO): Local bearing/azimuth received: Bearing 11.6, -1.0 (Local) 2025-10-24T20:05:35.452Z,1761336335.452 [DAT](INFO): DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4 2025-10-24T20:05:35.457Z,1761336335.457 [DAT](INFO): DAT read: 20:05:34.5004 LVL= 17872, 32753, 19778, 32755, AGC= 50, IDX= 509, 0.20, 2.498, 1.179, 2.176, 2.140, PHS= 0.446,-0.913, 0.034, RAW= 132.8, 7.2, CAL= 138.4, 1.0, ROT= 11.6, -1.0 2025-10-24T20:05:35.458Z,1761336335.458 [DAT](INFO): got valid direction response: 20:05:34.5004 LVL= 17872, 32753, 19778, 32755, AGC= 50, IDX= 509, 0.20, 2.498, 1.179, 2.176, 2.140, PHS= 0.446,-0.913, 0.034, RAW= 132.8, 7.2, CAL= 138.4, 1.0, ROT= 11.6, -1.0 2025-10-24T20:05:35.458Z,1761336335.458 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-24T20:05:35.459Z,1761336335.459 [DAT](INFO): direction in FSK: [0.979426,0.201047,0.017452] 2025-10-24T20:05:35.459Z,1761336335.459 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:35.463Z,1761336335.463 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.471947 2025-10-24T20:05:35.529Z,1761336335.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436375,-0.876901,0.201547],[0.894601,0.446810,0.007075],[-0.096257,0.177217,0.979453]] 2025-10-24T20:05:35.681Z,1761336335.681 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.689960 2025-10-24T20:05:35.826Z,1761336335.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.501546 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:35.837Z,1761336335.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.552789 m, bearing: 75.236103 deg, lat: 36.779628 deg, lon: -121.859521 deg, deltaT: 3.281893 s, deltaX: -1.291278 m, approachRate: -0.393455 m/s, posRepo size: 4 2025-10-24T20:05:35.839Z,1761336335.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.55 m. 9.84 m. 2025-10-24T20:05:35.845Z,1761336335.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 8.602631 m, bearing: 78.947449 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 73.293776 deg, new cmd heading: 75.200458 deg. 2025-10-24T20:05:35.848Z,1761336335.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312496 target range: 9.844067 and range: 8.60 m. 2025-10-24T20:05:35.933Z,1761336335.933 [DAT](INFO): DAT read: Rx Time:20:05:35.0001 2025-10-24T20:05:35.934Z,1761336335.934 [DAT](INFO): Rx dataTimestamp_ set to:1761336335.933249 2025-10-24T20:05:35.935Z,1761336335.935 [DAT](INFO): DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 2025-10-24T20:05:35.935Z,1761336335.935 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-24T20:05:35.937Z,1761336335.937 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.946289 2025-10-24T20:05:36.189Z,1761336336.189 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.196575 2025-10-24T20:05:36.215Z,1761336336.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408928,-0.886525,0.216450],[0.907391,0.420231,0.006874],[-0.097053,0.193594,0.976270]] 2025-10-24T20:05:36.441Z,1761336336.441 [DAT](INFO): DAT read: Rx Time:20:05:35.5000 2025-10-24T20:05:36.443Z,1761336336.443 [DAT](INFO): Rx dataTimestamp_ set to:1761336336.441874 2025-10-24T20:05:36.448Z,1761336336.448 [DAT](INFO): DAT read: Bearing 8.2, -0.4 (Local) 2025-10-24T20:05:36.450Z,1761336336.450 [DAT](INFO): Local bearing/azimuth received: Bearing 8.2, -0.4 (Local) 2025-10-24T20:05:36.458Z,1761336336.458 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-24T20:05:36.471Z,1761336336.471 [DAT](INFO): DAT read: 20:05:35.5000 LVL= 17104, 32753, 19698, 32755, AGC= 49, IDX= 505, 0.30, 1.078,-0.233, 0.865, 0.765, PHS= 0.401,-0.951, 0.097, RAW= 137.6, 7.4, CAL= 141.8, 0.4, ROT= 8.2, -0.4 2025-10-24T20:05:36.481Z,1761336336.481 [DAT](INFO): got valid direction response: 20:05:35.5000 LVL= 17104, 32753, 19698, 32755, AGC= 49, IDX= 505, 0.30, 1.078,-0.233, 0.865, 0.765, PHS= 0.401,-0.951, 0.097, RAW= 137.6, 7.4, CAL= 141.8, 0.4, ROT= 8.2, -0.4 2025-10-24T20:05:36.482Z,1761336336.482 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-24T20:05:36.508Z,1761336336.508 [DAT](INFO): direction in FSK: [0.989752,0.142625,0.006981] 2025-10-24T20:05:36.508Z,1761336336.508 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:36.519Z,1761336336.519 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.528389 2025-10-24T20:05:36.645Z,1761336336.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 1.007521 s, deltaX: -0.600000 m, approachRate: -0.595521 m/s, rangeRepo size: 4 2025-10-24T20:05:36.647Z,1761336336.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.956324 m, bearing: 73.719474 deg, lat: 36.779630 deg, lon: -121.859521 deg, deltaT: 4.289414 s, deltaX: -1.887743 m, approachRate: -0.440093 m/s, posRepo size: 4 2025-10-24T20:05:36.664Z,1761336336.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.84 m. 2025-10-24T20:05:36.667Z,1761336336.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 8.215989 m, bearing: 79.548941 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 75.200458 deg, new cmd heading: 77.294019 deg. 2025-10-24T20:05:36.676Z,1761336336.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.349035 target range: 9.844067 and range: 8.00 m. 2025-10-24T20:05:36.690Z,1761336336.690 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.698738 2025-10-24T20:05:36.946Z,1761336336.946 [DAT](INFO): DAT read: Rx Time:20:05:35.9998 2025-10-24T20:05:36.949Z,1761336336.949 [DAT](INFO): Rx dataTimestamp_ set to:1761336336.947203 2025-10-24T20:05:36.953Z,1761336336.953 [DAT](INFO): DAT read: Bearing 5.8, -0.6 (Local) 2025-10-24T20:05:36.953Z,1761336336.953 [DAT](INFO): Local bearing/azimuth received: Bearing 5.8, -0.6 (Local) 2025-10-24T20:05:36.961Z,1761336336.961 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-10-24T20:05:36.966Z,1761336336.966 [DAT](INFO): DAT read: 20:05:35.9998 LVL= 17392, 32753, 19954, 32755, AGC= 49, IDX= 503,-0.13,-1.180,-2.466,-1.311,-1.443, PHS= 0.351,-0.976, 0.129, RAW= 141.0, 8.1, CAL= 144.2, 0.6, ROT= 5.8, -0.6 2025-10-24T20:05:36.967Z,1761336336.967 [DAT](INFO): got valid direction response: 20:05:35.9998 LVL= 17392, 32753, 19954, 32755, AGC= 49, IDX= 503,-0.13,-1.180,-2.466,-1.311,-1.443, PHS= 0.351,-0.976, 0.129, RAW= 141.0, 8.1, CAL= 144.2, 0.6, ROT= 5.8, -0.6 2025-10-24T20:05:36.967Z,1761336336.967 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-24T20:05:36.989Z,1761336336.989 [DAT](INFO): direction in FSK: [0.994826,0.101051,0.010472] 2025-10-24T20:05:36.989Z,1761336336.989 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:36.999Z,1761336336.999 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.008286 2025-10-24T20:05:37.002Z,1761336337.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376664,-0.897206,0.230533],[0.921190,0.389012,0.008873],[-0.097641,0.209023,0.973024]] 2025-10-24T20:05:37.126Z,1761336337.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.505329 s, deltaX: -0.500000 m, approachRate: -0.989454 m/s, rangeRepo size: 4 2025-10-24T20:05:37.143Z,1761336337.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.459054 m, bearing: 73.316274 deg, lat: 36.779631 deg, lon: -121.859521 deg, deltaT: 4.794743 s, deltaX: -2.385013 m, approachRate: -0.497423 m/s, posRepo size: 4 2025-10-24T20:05:37.159Z,1761336337.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.46 m. 9.84 m. 2025-10-24T20:05:37.193Z,1761336337.193 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.202141 2025-10-24T20:05:37.194Z,1761336337.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 8.004454 m, bearing: 79.847275 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 77.294020 deg, new cmd heading: 78.490723 deg. 2025-10-24T20:05:37.195Z,1761336337.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369922 target range: 9.844067 and range: 7.50 m. 2025-10-24T20:05:37.450Z,1761336337.450 [DAT](INFO): DAT read: Rx Time:20:05:36.4998 2025-10-24T20:05:37.456Z,1761336337.456 [DAT](INFO): Rx dataTimestamp_ set to:1761336337.451022 2025-10-24T20:05:37.457Z,1761336337.457 [DAT](INFO): DAT read: Bearing 2.5, 0.7 (Local) 2025-10-24T20:05:37.457Z,1761336337.457 [DAT](INFO): Local bearing/azimuth received: Bearing 2.5, 0.7 (Local) 2025-10-24T20:05:37.459Z,1761336337.459 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-10-24T20:05:37.479Z,1761336337.479 [DAT](INFO): DAT read: 20:05:36.4998 LVL= 17728, 32753, 19938, 32755, AGC= 49, IDX= 502, 0.25, 1.357,-0.003, 1.326, 1.107, PHS= 0.337,-1.064, 0.216, RAW= 145.5, 7.6, CAL= 147.5, -0.7, ROT= 2.5, 0.7 2025-10-24T20:05:37.489Z,1761336337.489 [DAT](INFO): got valid direction response: 20:05:36.4998 LVL= 17728, 32753, 19938, 32755, AGC= 49, IDX= 502, 0.25, 1.357,-0.003, 1.326, 1.107, PHS= 0.337,-1.064, 0.216, RAW= 145.5, 7.6, CAL= 147.5, -0.7, ROT= 2.5, 0.7 2025-10-24T20:05:37.489Z,1761336337.489 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-24T20:05:37.490Z,1761336337.490 [DAT](INFO): direction in FSK: [0.998974,0.043616,-0.012217] 2025-10-24T20:05:37.490Z,1761336337.490 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:37.519Z,1761336337.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.358825,-0.902811,0.237017],[0.928254,0.371787,0.010855],[-0.097920,0.216117,0.971445]] 2025-10-24T20:05:37.521Z,1761336337.521 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.529213 2025-10-24T20:05:37.524Z,1761336337.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:05:37.676Z,1761336337.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503819 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:37.678Z,1761336337.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.459070 m, bearing: 71.470967 deg, lat: 36.779631 deg, lon: -121.859521 deg, deltaT: 5.298562 s, deltaX: -2.384996 m, approachRate: -0.450121 m/s, posRepo size: 4 2025-10-24T20:05:37.679Z,1761336337.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.46 m. 9.84 m. 2025-10-24T20:05:37.686Z,1761336337.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 7.723443 m, bearing: 80.084639 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 78.490724 deg, new cmd heading: 79.885098 deg. 2025-10-24T20:05:37.687Z,1761336337.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394258 target range: 9.844067 and range: 7.50 m. 2025-10-24T20:05:37.700Z,1761336337.700 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.709286 2025-10-24T20:05:37.882Z,1761336337.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340626,-0.908304,0.242813],[0.935010,0.354350,0.013875],[-0.098644,0.222307,0.969974]] 2025-10-24T20:05:37.953Z,1761336337.953 [DAT](INFO): DAT read: Rx Time:20:05:36.9995 2025-10-24T20:05:37.953Z,1761336337.953 [DAT](INFO): Rx dataTimestamp_ set to:1761336337.952809 2025-10-24T20:05:37.955Z,1761336337.955 [DAT](INFO): DAT read: Bearing 359.3, 1.0 (Local) 2025-10-24T20:05:37.955Z,1761336337.955 [DAT](INFO): Local bearing/azimuth received: Bearing 359.3, 1.0 (Local) 2025-10-24T20:05:37.958Z,1761336337.958 [DAT](INFO): DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 2025-10-24T20:05:37.962Z,1761336337.962 [DAT](INFO): DAT read: 20:05:36.9995 LVL= 17968, 32753, 19858, 32755, AGC= 51, IDX= 500,-0.19,-0.638,-2.012,-0.551,-0.839, PHS= 0.289,-1.84, RAW= 149.8, 7.9, CAL= 150.7, -1.0, ROT= 359.3, 1.0 2025-10-24T20:05:37.963Z,1761336337.963 [DAT](INFO): unknown deviceResponse_: 20:05:36.9995 LVL= 17968, 32753, 19858, 32755, AGC= 51, IDX= 500,-0.19,-0.638,-2.012,-0.551,-0.839, PHS= 0.289,-1.84, RAW= 149.8, 7.9, CAL= 150.7, -1.0, ROT= 359.3, 1.0 2025-10-24T20:05:37.964Z,1761336337.964 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-24T20:05:37.965Z,1761336337.965 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.974323 2025-10-24T20:05:38.006Z,1761336338.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:38.012Z,1761336338.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.501787 s, deltaX: -0.400000 m, approachRate: -0.797151 m/s, rangeRepo size: 4 2025-10-24T20:05:38.013Z,1761336338.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:38.020Z,1761336338.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 7.539351 m, bearing: 80.222481 deg, approach rate: -0.546319 m/s, LOS rate: 0.419057 deg/s, cmd heading: 79.885100 deg, new cmd heading: 80.308718 deg. 2025-10-24T20:05:38.022Z,1761336338.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401652 target range: 9.844067 and range: 7.10 m. 2025-10-24T20:05:38.201Z,1761336338.201 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.210121 2025-10-24T20:05:38.454Z,1761336338.454 [DAT](INFO): DAT read: Rx Time:20:05:37.4994 2025-10-24T20:05:38.454Z,1761336338.454 [DAT](INFO): Rx dataTimestamp_ set to:1761336338.453929 2025-10-24T20:05:38.455Z,1761336338.455 [DAT](INFO): DAT read: Bearing 355.7, 2.1 (Local) 2025-10-24T20:05:38.456Z,1761336338.456 [DAT](INFO): Local bearing/azimuth received: Bearing 355.7, 2.1 (Local) 2025-10-24T20:05:38.460Z,1761336338.460 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 2025-10-24T20:05:38.466Z,1761336338.466 [DAT](INFO): DAT read: 20:05:37.4994 LVL= 18400, 32753, 19746, 32755, AGC= 51, IDX= 499, 0.16, 2.293, 0.878, 2.497, 2.111, PHS= 0.269,-1.186, 0.383, RAW= 153.7, 7.1, CAL= 154.3, -2.1, ROT= 355.7, 2.1 2025-10-24T20:05:38.467Z,1761336338.467 [DAT](INFO): got valid direction response: 20:05:37.4994 LVL= 18400, 32753, 19746, 32755, AGC= 51, IDX= 499, 0.16, 2.293, 0.878, 2.497, 2.111, PHS= 0.269,-1.186, 0.383, RAW= 153.7, 7.1, CAL= 154.3, -2.1, ROT= 355.7, 2.1 2025-10-24T20:05:38.472Z,1761336338.472 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-24T20:05:38.473Z,1761336338.473 [DAT](INFO): direction in FSK: [0.996515,-0.074928,-0.036644] 2025-10-24T20:05:38.473Z,1761336338.473 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:38.487Z,1761336338.487 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.495773 2025-10-24T20:05:38.528Z,1761336338.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:05:38.630Z,1761336338.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.501120 s, deltaX: -0.200000 m, approachRate: -0.399106 m/s, rangeRepo size: 4 2025-10-24T20:05:38.649Z,1761336338.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.862047 m, bearing: 66.222171 deg, lat: 36.779631 deg, lon: -121.859522 deg, deltaT: 6.301469 s, deltaX: -2.982019 m, approachRate: -0.473226 m/s, posRepo size: 4 2025-10-24T20:05:38.650Z,1761336338.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.84 m. 2025-10-24T20:05:38.652Z,1761336338.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 7.209991 m, bearing: 80.373193 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 80.308715 deg, new cmd heading: 81.879923 deg. 2025-10-24T20:05:38.653Z,1761336338.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429074 target range: 9.844067 and range: 6.90 m. 2025-10-24T20:05:38.706Z,1761336338.706 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.715034 2025-10-24T20:05:38.958Z,1761336338.958 [DAT](INFO): DAT read: Rx Time:20:05:37.9992 2025-10-24T20:05:38.958Z,1761336338.958 [DAT](INFO): Rx dataTimestamp_ set to:1761336338.957831 2025-10-24T20:05:38.959Z,1761336338.959 [DAT](INFO): DAT read: Bearing 352.0, 2.0 (Local) 2025-10-24T20:05:38.960Z,1761336338.960 [DAT](INFO): Local bearing/azimuth received: Bearing 352.0, 2.0 (Local) 2025-10-24T20:05:38.962Z,1761336338.962 [DAT](INFO): DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed 0.4 2025-10-24T20:05:38.967Z,1761336338.967 [DAT](INFO): DAT read: 20:05:37.9992 LVL= 19040, 32753, 19090, 32755, AGC= 52, IDX= 497,-0.42, 0.379,-1.000, 0.722, 0.271, PHS= 0.195,-1.224, 0.447, RAW= 158.0, 7.5, CAL= 158.0, -2.0, ROT= 352.0, 2.0 2025-10-24T20:05:38.969Z,1761336338.969 [DAT](INFO): got valid direction response: 20:05:37.9992 LVL= 19040, 32753, 19090, 32755, AGC= 52, IDX= 497,-0.42, 0.379,-1.000, 0.722, 0.271, PHS= 0.195,-1.224, 0.447, RAW= 158.0, 7.5, CAL= 158.0, -2.0, ROT= 352.0, 2.0 2025-10-24T20:05:38.969Z,1761336338.969 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-24T20:05:38.970Z,1761336338.970 [DAT](INFO): direction in FSK: [0.989665,-0.139088,-0.034899] 2025-10-24T20:05:38.971Z,1761336338.971 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:38.975Z,1761336338.975 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.983692 2025-10-24T20:05:39.139Z,1761336339.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.503902 s, deltaX: -0.300000 m, approachRate: -0.595354 m/s, rangeRepo size: 4 2025-10-24T20:05:39.146Z,1761336339.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.563697 m, bearing: 62.542756 deg, lat: 36.779634 deg, lon: -121.859524 deg, deltaT: 6.805371 s, deltaX: -3.280369 m, approachRate: -0.482027 m/s, posRepo size: 4 2025-10-24T20:05:39.154Z,1761336339.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.84 m. 2025-10-24T20:05:39.216Z,1761336339.216 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.225262 2025-10-24T20:05:39.229Z,1761336339.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 6.942918 m, bearing: 80.505921 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 81.879925 deg, new cmd heading: 83.162421 deg. 2025-10-24T20:05:39.230Z,1761336339.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451458 target range: 9.844067 and range: 6.60 m. 2025-10-24T20:05:39.462Z,1761336339.462 [DAT](INFO): DAT read: Rx Time:20:05:38.4991 2025-10-24T20:05:39.462Z,1761336339.462 [DAT](INFO): Rx dataTimestamp_ set to:1761336339.461942 2025-10-24T20:05:39.463Z,1761336339.463 [DAT](INFO): DAT read: Range 10 to 50 : 6.5 m (trip time 4.3 ms) speed 0.4 2025-10-24T20:05:39.464Z,1761336339.464 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-24T20:05:39.465Z,1761336339.465 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.474110 2025-10-24T20:05:39.616Z,1761336339.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.504111 s, deltaX: -0.100000 m, approachRate: -0.198369 m/s, rangeRepo size: 4 2025-10-24T20:05:39.617Z,1761336339.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:39.624Z,1761336339.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 6.659486 m, bearing: 80.594193 deg, approach rate: -0.598205 m/s, LOS rate: 0.194236 deg/s, cmd heading: 83.162423 deg, new cmd heading: 83.438510 deg. 2025-10-24T20:05:39.625Z,1761336339.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456277 target range: 9.844067 and range: 6.50 m. 2025-10-24T20:05:39.713Z,1761336339.713 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.721931 2025-10-24T20:05:39.962Z,1761336339.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249872,-0.936058,0.247707],[0.963046,0.266812,0.036792],[-0.100531,0.229360,0.968136]] 2025-10-24T20:05:39.965Z,1761336339.965 [DAT](INFO): DAT read: Rx Time:20:05:38.9988 2025-10-24T20:05:39.966Z,1761336339.966 [DAT](INFO): Rx dataTimestamp_ set to:1761336339.965664 2025-10-24T20:05:39.967Z,1761336339.967 [DAT](INFO): DAT read: Bearing 345.9, 3.4 (Local) 2025-10-24T20:05:39.968Z,1761336339.968 [DAT](INFO): Local bearing/azimuth received: Bearing 345.9, 3.4 (Local) 2025-10-24T20:05:39.971Z,1761336339.971 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-24T20:05:39.976Z,1761336339.976 [DAT](INFO): DAT read: 20:05:38.9988 LVL= 20000, 32753, 13970, 32755, AGC= 52, IDX= 509, 0.18,-2.829, 2.116,-2.269,-2.878, PHS= 0.137,-1.243, 0.606, RAW= 164.1, 6.1, CAL= 164.1, -3.4, ROT= 345.9, 3.4 2025-10-24T20:05:39.977Z,1761336339.977 [DAT](INFO): got valid direction response: 20:05:38.9988 LVL= 20000, 32753, 13970, 32755, AGC= 52, IDX= 509, 0.18,-2.829, 2.116,-2.269,-2.878, PHS= 0.137,-1.243, 0.606, RAW= 164.1, 6.1, CAL= 164.1, -3.4, ROT= 345.9, 3.4 2025-10-24T20:05:39.978Z,1761336339.978 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-24T20:05:39.979Z,1761336339.979 [DAT](INFO): direction in FSK: [0.968165,-0.243186,-0.059306] 2025-10-24T20:05:39.979Z,1761336339.979 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:39.983Z,1761336339.983 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.991570 2025-10-24T20:05:40.028Z,1761336340.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503722 s, deltaX: -0.300000 m, approachRate: -0.595567 m/s, rangeRepo size: 4 2025-10-24T20:05:40.030Z,1761336340.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.165606 m, bearing: 62.270935 deg, lat: 36.779639 deg, lon: -121.859526 deg, deltaT: 7.813204 s, deltaX: -3.678461 m, approachRate: -0.470801 m/s, posRepo size: 4 2025-10-24T20:05:40.031Z,1761336340.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.84 m. 2025-10-24T20:05:40.042Z,1761336340.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 6.425111 m, bearing: 80.474041 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 83.438513 deg, new cmd heading: 84.478427 deg. 2025-10-24T20:05:40.042Z,1761336340.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474427 target range: 9.844067 and range: 6.20 m. 2025-10-24T20:05:40.217Z,1761336340.217 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.226387 2025-10-24T20:05:40.469Z,1761336340.469 [DAT](INFO): DAT read: Rx Time:20:05:39.4987 2025-10-24T20:05:40.470Z,1761336340.470 [DAT](INFO): Rx dataTimestamp_ set to:1761336340.469659 2025-10-24T20:05:40.471Z,1761336340.471 [DAT](INFO): DAT read: Bearing 342.8, 3.5 (Local) 2025-10-24T20:05:40.472Z,1761336340.472 [DAT](INFO): Local bearing/azimuth received: Bearing 342.8, 3.5 (Local) 2025-10-24T20:05:40.474Z,1761336340.474 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 2025-10-24T20:05:40.478Z,1761336340.478 [DAT](INFO): DAT read: 20:05:39.4987 LVL= 21200, 32753, 16626, 32579, AGC= 52, IDX= 507, 0.47,-2.829, 2.183,-2.166,-2.825, PHS= 0.084,-1.228, 0.656, RAW= 167.2, 5.9, CAL= 167.2, -3.5, ROT= 342.8, 3.5 2025-10-24T20:05:40.480Z,1761336340.480 [DAT](INFO): got valid direction response: 20:05:39.4987 LVL= 21200, 32753, 16626, 32579, AGC= 52, IDX= 507, 0.47,-2.829, 2.183,-2.166,-2.825, PHS= 0.084,-1.228, 0.656, RAW= 167.2, 5.9, CAL= 167.2, -3.5, ROT= 342.8, 3.5 2025-10-24T20:05:40.480Z,1761336340.480 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-24T20:05:40.481Z,1761336340.481 [DAT](INFO): direction in FSK: [0.953496,-0.295157,-0.061049] 2025-10-24T20:05:40.481Z,1761336340.481 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:40.489Z,1761336340.489 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.497932 2025-10-24T20:05:40.556Z,1761336340.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503995 s, deltaX: -0.200000 m, approachRate: -0.396829 m/s, rangeRepo size: 4 2025-10-24T20:05:40.561Z,1761336340.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.966580 m, bearing: 59.184618 deg, lat: 36.779640 deg, lon: -121.859527 deg, deltaT: 8.317199 s, deltaX: -3.877487 m, approachRate: -0.466201 m/s, posRepo size: 4 2025-10-24T20:05:40.563Z,1761336340.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.97 m. 9.84 m. 2025-10-24T20:05:40.576Z,1761336340.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 6.120751 m, bearing: 80.291523 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 84.478430 deg, new cmd heading: 85.803845 deg. 2025-10-24T20:05:40.577Z,1761336340.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497560 target range: 9.844067 and range: 6.00 m. 2025-10-24T20:05:40.722Z,1761336340.722 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.730560 2025-10-24T20:05:40.757Z,1761336340.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.212670,-0.944925,0.248772],[0.971833,0.231007,0.046651],[-0.101550,0.231844,0.967438]] 2025-10-24T20:05:40.813Z,1761336340.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:40.820Z,1761336340.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:40.823Z,1761336340.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 5.945350 m, bearing: 80.112552 deg, approach rate: -0.656358 m/s, LOS rate: -0.689471 deg/s, cmd heading: 85.803842 deg, new cmd heading: 85.251108 deg. 2025-10-24T20:05:40.829Z,1761336340.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487913 target range: 9.844067 and range: 6.00 m. 2025-10-24T20:05:40.975Z,1761336340.975 [DAT](INFO): DAT read: Rx Time:20:05:39.9984 2025-10-24T20:05:40.975Z,1761336340.975 [DAT](INFO): Rx dataTimestamp_ set to:1761336340.975079 2025-10-24T20:05:40.977Z,1761336340.977 [DAT](INFO): DAT read: Bearing 339.8, 2.9 (Local) 2025-10-24T20:05:40.978Z,1761336340.978 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 2.9 (Local) 2025-10-24T20:05:40.981Z,1761336340.981 [DAT](INFO): DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed 0.4 2025-10-24T20:05:40.990Z,1761336340.990 [DAT](INFO): DAT read: 20:05:39.9984 LVL= 24880, 32753, 14770, 32755, AGC= 53, IDX= 505,-0.28, 1.876, 0.708, 2.637, 1.965, PHS=-0.001,-1.210, 0.669, RAW= 170.6, 6.6, CAL= 170.2, -2.9, ROT= 339.8, 2.9 2025-10-24T20:05:40.991Z,1761336340.991 [DAT](INFO): got valid direction response: 20:05:39.9984 LVL= 24880, 32753, 14770, 32755, AGC= 53, IDX= 505,-0.28, 1.876, 0.708, 2.637, 1.965, PHS=-0.001,-1.210, 0.669, RAW= 170.6, 6.6, CAL= 170.2, -2.9, ROT= 339.8, 2.9 2025-10-24T20:05:40.996Z,1761336340.996 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-24T20:05:40.997Z,1761336340.997 [DAT](INFO): direction in FSK: [0.937291,-0.344856,-0.050593] 2025-10-24T20:05:40.997Z,1761336340.997 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:41.006Z,1761336341.006 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.015465 2025-10-24T20:05:41.141Z,1761336341.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193146,-0.948702,0.250319],[0.975859,0.212252,0.051454],[-0.101945,0.234338,0.966795]] 2025-10-24T20:05:41.228Z,1761336341.228 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=59.236298 2025-10-24T20:05:41.257Z,1761336341.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.505420 s, deltaX: -0.400000 m, approachRate: -0.791421 m/s, rangeRepo size: 4 2025-10-24T20:05:41.259Z,1761336341.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.568808 m, bearing: 59.428736 deg, lat: 36.779641 deg, lon: -121.859527 deg, deltaT: 8.822619 s, deltaX: -4.275259 m, approachRate: -0.484579 m/s, posRepo size: 4 2025-10-24T20:05:41.272Z,1761336341.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.84 m. 2025-10-24T20:05:41.275Z,1761336341.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 5.725243 m, bearing: 79.827813 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 85.251109 deg, new cmd heading: 86.333164 deg. 2025-10-24T20:05:41.280Z,1761336341.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506798 target range: 9.844067 and range: 5.60 m. 2025-10-24T20:05:41.478Z,1761336341.478 [DAT](INFO): DAT read: Rx Time:20:05:40.4983 2025-10-24T20:05:41.479Z,1761336341.479 [DAT](INFO): Rx dataTimestamp_ set to:1761336341.478498 2025-10-24T20:05:41.480Z,1761336341.480 [DAT](INFO): DAT read: Bearing 334.5, 2.2 (Local) 2025-10-24T20:05:41.481Z,1761336341.481 [DAT](INFO): Local bearing/azimuth received: Bearing 334.5, 2.2 (Local) 2025-10-24T20:05:41.483Z,1761336341.483 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.5 2025-10-24T20:05:41.488Z,1761336341.488 [DAT](INFO): DAT read: 20:05:40.4983 LVL= 25840, 32753, 17586, 32755, AGC= 52, IDX= 504,-0.12,-2.653, 2.641,-1.759,-2.447, PHS=-0.118,-1.149, 0.685, RAW= 175.9, 7.4, CAL= 175.5, -2.2, ROT= 334.5, 2.2 2025-10-24T20:05:41.489Z,1761336341.489 [DAT](INFO): got valid direction response: 20:05:40.4983 LVL= 25840, 32753, 17586, 32755, AGC= 52, IDX= 504,-0.12,-2.653, 2.641,-1.759,-2.447, PHS=-0.118,-1.149, 0.685, RAW= 175.9, 7.4, CAL= 175.5, -2.2, ROT= 334.5, 2.2 2025-10-24T20:05:41.489Z,1761336341.489 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-24T20:05:41.490Z,1761336341.490 [DAT](INFO): direction in FSK: [0.901920,-0.430194,-0.038388] 2025-10-24T20:05:41.490Z,1761336341.490 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:41.494Z,1761336341.494 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.503094 2025-10-24T20:05:41.609Z,1761336341.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.174570,-0.952661,0.248920],[0.979310,0.194265,0.056686],[-0.102359,0.233874,0.966864]] 2025-10-24T20:05:41.729Z,1761336341.729 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.738018 2025-10-24T20:05:41.761Z,1761336341.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503419 s, deltaX: -0.200000 m, approachRate: -0.397283 m/s, rangeRepo size: 4 2025-10-24T20:05:41.763Z,1761336341.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.369922 m, bearing: 55.033830 deg, lat: 36.779641 deg, lon: -121.859527 deg, deltaT: 9.326038 s, deltaX: -4.474144 m, approachRate: -0.479748 m/s, posRepo size: 4 2025-10-24T20:05:41.768Z,1761336341.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.84 m. 2025-10-24T20:05:41.776Z,1761336341.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 5.398150 m, bearing: 79.141340 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 86.333161 deg, new cmd heading: 87.638584 deg. 2025-10-24T20:05:41.780Z,1761336341.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529582 target range: 9.844067 and range: 5.40 m. 2025-10-24T20:05:41.981Z,1761336341.981 [DAT](INFO): DAT read: Rx Time:20:05:40.9981 2025-10-24T20:05:41.982Z,1761336341.982 [DAT](INFO): Rx dataTimestamp_ set to:1761336341.981671 2025-10-24T20:05:41.983Z,1761336341.983 [DAT](INFO): DAT read: Bearing 331.6, 3.2 (Local) 2025-10-24T20:05:41.984Z,1761336341.984 [DAT](INFO): Local bearing/azimuth received: Bearing 331.6, 3.2 (Local) 2025-10-24T20:05:41.986Z,1761336341.986 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4 2025-10-24T20:05:41.991Z,1761336341.991 [DAT](INFO): DAT read: 20:05:40.9981 LVL= 24384, 32753, 15570, 32755, AGC= 50, IDX= 501, 0.12,-2.429, 2.870,-1.396,-2.200, PHS=-0.141,-1.166, 0.801, RAW= 178.6, 6.0, CAL= 178.4, -3.2, ROT= 331.6, 3.2 2025-10-24T20:05:41.993Z,1761336341.993 [DAT](INFO): got valid direction response: 20:05:40.9981 LVL= 24384, 32753, 15570, 32755, AGC= 50, IDX= 501, 0.12,-2.429, 2.870,-1.396,-2.200, PHS=-0.141,-1.166, 0.801, RAW= 178.6, 6.0, CAL= 178.4, -3.2, ROT= 331.6, 3.2 2025-10-24T20:05:41.993Z,1761336341.993 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-24T20:05:41.994Z,1761336341.994 [DAT](INFO): direction in FSK: [0.878277,-0.474883,-0.055822] 2025-10-24T20:05:41.994Z,1761336341.994 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:42.002Z,1761336342.002 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:05:42.002Z,1761336342.002 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:05:42.002Z,1761336342.002 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:05:42.029Z,1761336342.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156101,-0.956383,0.246908],[0.982362,0.176375,0.062104],[-0.102944,0.232859,0.967047]] 2025-10-24T20:05:42.079Z,1761336342.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.503173 s, deltaX: -0.300000 m, approachRate: -0.596217 m/s, rangeRepo size: 4 2025-10-24T20:05:42.089Z,1761336342.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.071593 m, bearing: 53.328462 deg, lat: 36.779642 deg, lon: -121.859527 deg, deltaT: 9.829211 s, deltaX: -4.772474 m, approachRate: -0.485540 m/s, posRepo size: 4 2025-10-24T20:05:42.090Z,1761336342.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.84 m. 2025-10-24T20:05:42.097Z,1761336342.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 5.193425 m, bearing: 78.621837 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 87.638588 deg, new cmd heading: 88.440269 deg. 2025-10-24T20:05:42.098Z,1761336342.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543574 target range: 9.844067 and range: 5.10 m. 2025-10-24T20:05:42.235Z,1761336342.235 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:42.456Z,1761336342.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.139838,-0.960201,0.241784],[0.984719,0.160454,0.067693],[-0.103794,0.228624,0.967966]] 2025-10-24T20:05:42.486Z,1761336342.486 [DAT](INFO): DAT read: Rx Time:20:05:41.4981 2025-10-24T20:05:42.486Z,1761336342.486 [DAT](INFO): Rx dataTimestamp_ set to:1761336342.485781 2025-10-24T20:05:42.487Z,1761336342.487 [DAT](INFO): DAT read: Bearing 328.3, 3.1 (Local) 2025-10-24T20:05:42.488Z,1761336342.488 [DAT](INFO): Local bearing/azimuth received: Bearing 328.3, 3.1 (Local) 2025-10-24T20:05:42.493Z,1761336342.493 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed 0.4 2025-10-24T20:05:42.498Z,1761336342.498 [DAT](INFO): DAT read: 20:05:41.4981 LVL= 21808, 32529, 9890, 29427, AGC= 47, IDX= 500, 0.39,-2.008,-2.947,-0.819,-1.705, PHS=-0.215,-1.195, 0.883, RAW= 181.9, 5.9, CAL= 181.7, -3.1, ROT= 328.3, 3.1 2025-10-24T20:05:42.499Z,1761336342.499 [DAT](INFO): got valid direction response: 20:05:41.4981 LVL= 21808, 32529, 9890, 29427, AGC= 47, IDX= 500, 0.39,-2.008,-2.947,-0.819,-1.705, PHS=-0.215,-1.195, 0.883, RAW= 181.9, 5.9, CAL= 181.7, -3.1, ROT= 328.3, 3.1 2025-10-24T20:05:42.499Z,1761336342.499 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:05:42.502Z,1761336342.502 [DAT](INFO): direction in FSK: [0.849566,-0.524703,-0.054079] 2025-10-24T20:05:42.503Z,1761336342.503 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:42.509Z,1761336342.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:42.509Z,1761336342.509 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:05:42.667Z,1761336342.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504110 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:42.681Z,1761336342.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.071878 m, bearing: 50.850794 deg, lat: 36.779642 deg, lon: -121.859527 deg, deltaT: 10.333321 s, deltaX: -4.772189 m, approachRate: -0.461825 m/s, posRepo size: 4 2025-10-24T20:05:42.682Z,1761336342.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.84 m. 2025-10-24T20:05:42.693Z,1761336342.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 4.841224 m, bearing: 77.626078 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 88.440267 deg, new cmd heading: 89.926135 deg. 2025-10-24T20:05:42.694Z,1761336342.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569507 target range: 9.844067 and range: 5.10 m. 2025-10-24T20:05:42.737Z,1761336342.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:42.990Z,1761336342.990 [DAT](INFO): DAT read: Rx Time:20:05:41.9978 2025-10-24T20:05:42.990Z,1761336342.990 [DAT](INFO): Rx dataTimestamp_ set to:1761336342.989705 2025-10-24T20:05:42.991Z,1761336342.991 [DAT](INFO): DAT read: Bearing 323.7, 3.7 (Local) 2025-10-24T20:05:42.992Z,1761336342.992 [DAT](INFO): Local bearing/azimuth received: Bearing 323.7, 3.7 (Local) 2025-10-24T20:05:42.994Z,1761336342.994 [DAT](INFO): DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 2025-10-24T20:05:42.999Z,1761336342.999 [DAT](INFO): DAT read: 20:05:41.9978 LVL= 23840, 29841, 13730, 31811, AGC= 44, IDX= 498,-0.24, 1.187, 0.352, 2.567, 1.565, PHS=-0.290,-1.166, 0.998, RAW= 186.3, 4.9, CAL= 186.3, -3.723.7, 3.7 2025-10-24T20:05:43.000Z,1761336343.000 [DAT](INFO): unknown deviceResponse_: 20:05:41.9978 LVL= 23840, 29841, 13730, 31811, AGC= 44, IDX= 498,-0.24, 1.187, 0.352, 2.567, 1.565, PHS=-0.290,-1.166, 0.998, RAW= 186.3, 4.9, CAL= 186.3, -3.723.7, 3.7 2025-10-24T20:05:43.001Z,1761336343.001 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:05:43.001Z,1761336343.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:43.002Z,1761336343.002 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:05:43.097Z,1761336343.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:43.099Z,1761336343.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503924 s, deltaX: -0.400000 m, approachRate: -0.793771 m/s, rangeRepo size: 4 2025-10-24T20:05:43.113Z,1761336343.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:43.115Z,1761336343.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 4.579753 m, bearing: 76.784329 deg, approach rate: -0.604863 m/s, LOS rate: -2.058319 deg/s, cmd heading: 89.926134 deg, new cmd heading: 87.258740 deg. 2025-10-24T20:05:43.133Z,1761336343.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.522952 target range: 9.844067 and range: 4.70 m. 2025-10-24T20:05:43.244Z,1761336343.244 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:43.422Z,1761336343.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.094981,-0.970334,0.222331],[0.989757,0.115962,0.083272],[-0.106584,0.212144,0.971409]] 2025-10-24T20:05:43.496Z,1761336343.496 [DAT](INFO): DAT read: Rx Time:20:05:42.4977 2025-10-24T20:05:43.497Z,1761336343.497 [DAT](INFO): Rx dataTimestamp_ set to:1761336343.496341 2025-10-24T20:05:43.499Z,1761336343.499 [DAT](INFO): DAT read: Bearing 319.2, 3.2 (Local) 2025-10-24T20:05:43.500Z,1761336343.500 [DAT](INFO): Local bearing/azimuth received: Bearing 319.2, 3.2 (Local) 2025-10-24T20:05:43.502Z,1761336343.502 [DAT](INFO): DAT read: Range 10 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 2025-10-24T20:05:43.512Z,1761336343.512 [DAT](INFO): DAT read: 20:05:42.4977 LVL= 23760, 21793, 13234, 28835, AGC= 44, IDX= 497, 0.05,-2.528, 3.061,-0.989,-2.034, PHS=-0.406,-1.141, 1.042, RAW= 190.7, 5.3, CAL= 190.8, -3.2, ROT= 319.2, 3.2 2025-10-24T20:05:43.513Z,1761336343.513 [DAT](INFO): got valid direction response: 20:05:42.4977 LVL= 23760, 21793, 13234, 28835, AGC= 44, IDX= 497, 0.05,-2.528, 3.061,-0.989,-2.034, PHS=-0.406,-1.141, 1.042, RAW= 190.7, 5.3, CAL= 190.8, -3.2, ROT= 319.2, 3.2 2025-10-24T20:05:43.514Z,1761336343.514 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:05:43.515Z,1761336343.515 [DAT](INFO): direction in FSK: [0.755815,-0.652402,-0.055822] 2025-10-24T20:05:43.515Z,1761336343.515 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:43.538Z,1761336343.538 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:43.539Z,1761336343.539 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:05:43.602Z,1761336343.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.506636 s, deltaX: -0.200000 m, approachRate: -0.394760 m/s, rangeRepo size: 4 2025-10-24T20:05:43.611Z,1761336343.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.475355 m, bearing: 43.961606 deg, lat: 36.779643 deg, lon: -121.859527 deg, deltaT: 11.343881 s, deltaX: -5.368711 m, approachRate: -0.473269 m/s, posRepo size: 4 2025-10-24T20:05:43.617Z,1761336343.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.84 m. 2025-10-24T20:05:43.619Z,1761336343.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 4.297293 m, bearing: 75.528884 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 87.258740 deg, new cmd heading: 88.514445 deg. 2025-10-24T20:05:43.624Z,1761336343.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544868 target range: 9.844067 and range: 4.50 m. 2025-10-24T20:05:43.745Z,1761336343.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:43.875Z,1761336343.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.080660,-0.972731,0.217459],[0.990974,0.101698,0.087341],[-0.107074,0.208451,0.972154]] 2025-10-24T20:05:43.974Z,1761336343.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:43.980Z,1761336343.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 4.077238 m, bearing: 74.370492 deg, approach rate: -0.583273 m/s, LOS rate: -3.235897 deg/s, cmd heading: 88.514443 deg, new cmd heading: 84.856931 deg. 2025-10-24T20:05:43.981Z,1761336343.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481033 target range: 9.844067 and range: 4.50 m. 2025-10-24T20:05:43.998Z,1761336343.998 [DAT](INFO): DAT read: Rx Time:20:05:42.9975 2025-10-24T20:05:43.998Z,1761336343.998 [DAT](INFO): Rx dataTimestamp_ set to:1761336343.997851 2025-10-24T20:05:43.999Z,1761336343.999 [DAT](INFO): DAT read: Bearing 314.8, 1.5 (Local) 2025-10-24T20:05:44.001Z,1761336344.001 [DAT](INFO): Local bearing/azimuth received: Bearing 314.8, 1.5 (Local) 2025-10-24T20:05:44.003Z,1761336344.003 [DAT](INFO): DAT read: Range 10 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4 2025-10-24T20:05:44.008Z,1761336344.008 [DAT](INFO): DAT read: 20:05:42.9975 LVL= 24528, 18625, 8898, 28387, AGC= 41, IDX= 511,-0.24,-1.965,-2.507,-0.322,-1.330, PHS=-0.546,-1.130, 1.005, RAW= 194.7, 7.1, CAL= 195.2, -1.5, ROT= 314.8, 1.5 2025-10-24T20:05:44.010Z,1761336344.010 [DAT](INFO): got valid direction response: 20:05:42.9975 LVL= 24528, 18625, 8898, 28387, AGC= 41, IDX= 511,-0.24,-1.965,-2.507,-0.322,-1.330, PHS=-0.546,-1.130, 1.005, RAW= 194.7, 7.1, CAL= 195.2, -1.5, ROT= 314.8, 1.5 2025-10-24T20:05:44.010Z,1761336344.010 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:05:44.011Z,1761336344.011 [DAT](INFO): direction in FSK: [0.704392,-0.709328,-0.026177] 2025-10-24T20:05:44.011Z,1761336344.011 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:44.015Z,1761336344.015 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:44.015Z,1761336344.015 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:05:44.251Z,1761336344.251 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:05:44.291Z,1761336344.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.067292,-0.974887,0.212292],[0.991878,0.088382,0.091465],[-0.107931,0.204413,0.972916]] 2025-10-24T20:05:44.379Z,1761336344.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.501510 s, deltaX: -0.300000 m, approachRate: -0.598194 m/s, rangeRepo size: 4 2025-10-24T20:05:44.385Z,1761336344.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.176998 m, bearing: 40.825469 deg, lat: 36.779643 deg, lon: -121.859527 deg, deltaT: 11.845391 s, deltaX: -5.667068 m, approachRate: -0.478420 m/s, posRepo size: 4 2025-10-24T20:05:44.386Z,1761336344.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.84 m. 2025-10-24T20:05:44.394Z,1761336344.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 3.860957 m, bearing: 73.094129 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 84.856932 deg, new cmd heading: 85.880463 deg. 2025-10-24T20:05:44.395Z,1761336344.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498897 target range: 9.844067 and range: 4.20 m. 2025-10-24T20:05:44.502Z,1761336344.502 [DAT](INFO): DAT read: user:255> 2025-10-24T20:05:44.503Z,1761336344.503 [DAT](INFO): DAT read: Tx time:20:05:43.8931 2025-10-24T20:05:44.503Z,1761336344.503 [DAT](INFO): Ping request sent. 2025-10-24T20:05:44.503Z,1761336344.503 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:05:44.504Z,1761336344.504 [DAT](INFO): publishing transmit ping time 2025-10-24T20:05:44.505Z,1761336344.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002031 2025-10-24T20:05:44.679Z,1761336344.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.053392,-0.976478,0.208901],[0.992702,0.074556,0.094782],[-0.108127,0.202316,0.973333]] 2025-10-24T20:05:44.726Z,1761336344.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:44.733Z,1761336344.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 3.667467 m, bearing: 71.761555 deg, approach rate: -0.556931 m/s, LOS rate: -4.037613 deg/s, cmd heading: 85.880463 deg, new cmd heading: 81.679751 deg. 2025-10-24T20:05:44.734Z,1761336344.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425581 target range: 9.844067 and range: 4.20 m. 2025-10-24T20:05:44.753Z,1761336344.753 [DAT](INFO): DAT read: TxSync time:20:05:43.8923 2025-10-24T20:05:44.755Z,1761336344.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251190 2025-10-24T20:05:45.005Z,1761336345.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501963 2025-10-24T20:05:45.083Z,1761336345.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039623,-0.977820,0.205666],[0.993359,0.060798,0.097681],[-0.108018,0.200430,0.973735]] 2025-10-24T20:05:45.115Z,1761336345.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:45.128Z,1761336345.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:45.131Z,1761336345.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 3.457586 m, bearing: 70.067207 deg, approach rate: -0.527703 m/s, LOS rate: -4.518013 deg/s, cmd heading: 81.679753 deg, new cmd heading: 76.304769 deg. 2025-10-24T20:05:45.131Z,1761336345.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331769 target range: 9.844067 and range: 4.20 m. 2025-10-24T20:05:45.261Z,1761336345.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756365 2025-10-24T20:05:45.487Z,1761336345.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.027545,-0.978842,0.202757],[0.993761,0.048744,0.100314],[-0.108075,0.198729,0.974077]] 2025-10-24T20:05:45.509Z,1761336345.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005679 2025-10-24T20:05:45.591Z,1761336345.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:45.600Z,1761336345.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 3.223900 m, bearing: 67.878896 deg, approach rate: -0.500483 m/s, LOS rate: -5.025190 deg/s, cmd heading: 76.304770 deg, new cmd heading: 69.300782 deg. 2025-10-24T20:05:45.602Z,1761336345.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209527 target range: 9.844067 and range: 4.20 m. 2025-10-24T20:05:45.761Z,1761336345.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258077 2025-10-24T20:05:45.899Z,1761336345.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018558,-0.980985,0.193194],[0.993963,0.038999,0.102548],[-0.108132,0.190125,0.975787]] 2025-10-24T20:05:45.942Z,1761336345.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:45.951Z,1761336345.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 3.053264 m, bearing: 65.992354 deg, approach rate: -0.485653 m/s, LOS rate: -5.668399 deg/s, cmd heading: 69.300780 deg, new cmd heading: 63.347453 deg. 2025-10-24T20:05:45.958Z,1761336345.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105622 target range: 9.844067 and range: 4.20 m. 2025-10-24T20:05:46.013Z,1761336346.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509758 2025-10-24T20:05:46.269Z,1761336346.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764801 2025-10-24T20:05:46.325Z,1761336346.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.009495,-0.983289,0.181803],[0.993928,0.029211,0.106079],[-0.109617,0.179691,0.977597]] 2025-10-24T20:05:46.439Z,1761336346.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:46.465Z,1761336346.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 2.824166 m, bearing: 62.868708 deg, approach rate: -0.460821 m/s, LOS rate: -6.789389 deg/s, cmd heading: 63.347450 deg, new cmd heading: 53.324851 deg. 2025-10-24T20:05:46.466Z,1761336346.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.930694 target range: 9.844067 and range: 4.20 m. 2025-10-24T20:05:46.517Z,1761336346.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013586 2025-10-24T20:05:46.699Z,1761336346.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.004591,-0.985530,0.169439],[0.993653,0.023540,0.109996],[-0.112393,0.167859,0.979383]] 2025-10-24T20:05:46.762Z,1761336346.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-24T20:05:46.769Z,1761336346.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265545 2025-10-24T20:05:46.773Z,1761336346.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 2.690160 m, bearing: 60.699963 deg, approach rate: -0.415709 m/s, LOS rate: -7.061286 deg/s, cmd heading: 53.324851 deg, new cmd heading: 46.528209 deg. 2025-10-24T20:05:46.773Z,1761336346.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.812070 target range: 9.844067 and range: 4.20 m. 2025-10-24T20:05:47.022Z,1761336347.022 [DAT](INFO): DAT read: Rx Time:20:05:46.0264 2025-10-24T20:05:47.023Z,1761336347.023 [DAT](INFO): Rx dataTimestamp_ set to:1761336347.022540 2025-10-24T20:05:47.024Z,1761336347.024 [DAT](INFO): DAT read: Bearing 290.6, -10.8 (Local) 2025-10-24T20:05:47.025Z,1761336347.025 [DAT](INFO): Local bearing/azimuth received: Bearing 290.6, -10.8 (Local) 2025-10-24T20:05:47.027Z,1761336347.027 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed 0.0 2025-10-24T20:05:47.032Z,1761336347.032 [DAT](INFO): DAT read: 20:05:46.0264 LVL= 14864, 20881, 10306, 18835, AGC= 32, IDX= 262, 0.40,-2.375,-2.137, 0.003,-1.049, PHS=-1.238,-1.041, 1.049, RAW= 214.5, 11.2, CAL= 219.4, 10.8, ROT= 290.6, -10.8 2025-10-24T20:05:47.033Z,1761336347.033 [DAT](INFO): got valid direction response: 20:05:46.0264 LVL= 14864, 20881, 10306, 18835, AGC= 32, IDX= 262, 0.40,-2.375,-2.137, 0.003,-1.049, PHS=-1.238,-1.041, 1.049, RAW= 214.5, 11.2, CAL= 219.4, 10.8, ROT= 290.6, -10.8 2025-10-24T20:05:47.033Z,1761336347.033 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:05:47.034Z,1761336347.034 [DAT](INFO): direction in FSK: [0.345610,-0.919479,0.187381] 2025-10-24T20:05:47.034Z,1761336347.034 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:47.039Z,1761336347.039 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.535376 2025-10-24T20:05:47.115Z,1761336347.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000866,-0.987376,0.158389],[0.993297,0.019157,0.113991],[-0.115586,0.157228,0.980775]] 2025-10-24T20:05:47.174Z,1761336347.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 3.024689 s, deltaX: -1.000000 m, approachRate: -0.330612 m/s, rangeRepo size: 4 2025-10-24T20:05:47.184Z,1761336347.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.182627 m, bearing: 20.306274 deg, lat: 36.779642 deg, lon: -121.859527 deg, deltaT: 14.870080 s, deltaX: -6.661439 m, approachRate: -0.447976 m/s, posRepo size: 4 2025-10-24T20:05:47.185Z,1761336347.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.84 m. 2025-10-24T20:05:47.192Z,1761336347.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844067 m, nav range: 2.514143 m, bearing: 57.343244 deg, approach rate: 0.000000 m/s, LOS rate: 0.841943 deg/s, cmd heading: 46.528208 deg, new cmd heading: 47.568049 deg. 2025-10-24T20:05:47.193Z,1761336347.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.830219 target range: 9.844067 and range: 3.20 m. 2025-10-24T20:05:47.277Z,1761336347.277 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.772254 2025-10-24T20:05:47.514Z,1761336347.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.000749,-0.989623,0.143687],[0.992831,0.017910,0.118179],[-0.119527,0.142568,0.982541]] 2025-10-24T20:05:47.525Z,1761336347.525 [DAT](INFO): DAT read: Rx Time:20:05:46.5263 2025-10-24T20:05:47.525Z,1761336347.525 [DAT](INFO): Rx dataTimestamp_ set to:1761336347.525222 2025-10-24T20:05:47.527Z,1761336347.527 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 2025-10-24T20:05:47.527Z,1761336347.527 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-24T20:05:47.528Z,1761336347.528 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.025009 2025-10-24T20:05:47.602Z,1761336347.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:47.616Z,1761336347.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.502682 s, deltaX: -0.200000 m, approachRate: -0.397866 m/s, rangeRepo size: 4 2025-10-24T20:05:47.617Z,1761336347.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m. 2025-10-24T20:05:47.617Z,1761336347.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-24T20:05:47.777Z,1761336347.777 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273637 2025-10-24T20:05:47.975Z,1761336347.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.002502,-0.991716,0.128423],[0.992305,0.018360,0.122453],[-0.123796,0.127128,0.984131]] 2025-10-24T20:05:48.032Z,1761336348.032 [DAT](INFO): DAT read: Rx Time:20:05:47.0262 2025-10-24T20:05:48.032Z,1761336348.032 [DAT](INFO): Rx dataTimestamp_ set to:1761336348.032177 2025-10-24T20:05:48.034Z,1761336348.034 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 2025-10-24T20:05:48.034Z,1761336348.034 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-24T20:05:48.035Z,1761336348.035 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.531870 2025-10-24T20:05:48.069Z,1761336348.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.506955 s, deltaX: -0.100000 m, approachRate: -0.197256 m/s, rangeRepo size: 4 2025-10-24T20:05:48.287Z,1761336348.287 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.783047 2025-10-24T20:05:48.351Z,1761336348.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.005382,-0.993400,0.114576],[0.991794,0.019939,0.126283],[-0.127734,0.112956,0.985355]] 2025-10-24T20:05:48.533Z,1761336348.533 [DAT](INFO): DAT read: Rx Time:20:05:47.5263 2025-10-24T20:05:48.534Z,1761336348.534 [DAT](INFO): Rx dataTimestamp_ set to:1761336348.533319 2025-10-24T20:05:48.535Z,1761336348.535 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed 0.0 2025-10-24T20:05:48.535Z,1761336348.535 [DAT](ERROR): #Rx 4: Read range message, but no direction. 2025-10-24T20:05:48.536Z,1761336348.536 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.033131 2025-10-24T20:05:48.729Z,1761336348.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.010949,-0.994621,0.103000],[0.991169,0.024408,0.130342],[-0.132155,0.100664,0.986104]] 2025-10-24T20:05:48.785Z,1761336348.785 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281631 2025-10-24T20:05:48.786Z,1761336348.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.501142 s, deltaX: 0.100000 m, approachRate: 0.199544 m/s, rangeRepo size: 4 2025-10-24T20:05:48.786Z,1761336348.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m. 2025-10-24T20:05:49.038Z,1761336349.038 [DAT](INFO): DAT read: Rx Time:20:05:48.0262 2025-10-24T20:05:49.039Z,1761336349.039 [DAT](INFO): Rx dataTimestamp_ set to:1761336349.038499 2025-10-24T20:05:49.040Z,1761336349.040 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.0 2025-10-24T20:05:49.041Z,1761336349.041 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-24T20:05:49.042Z,1761336349.042 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.538658 2025-10-24T20:05:49.125Z,1761336349.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018233,-0.995601,0.091906],[0.990451,0.030549,0.134442],[-0.136658,0.088578,0.986650]] 2025-10-24T20:05:49.168Z,1761336349.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.505180 s, deltaX: -0.100000 m, approachRate: -0.197949 m/s, rangeRepo size: 4 2025-10-24T20:05:49.289Z,1761336349.289 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785764 2025-10-24T20:05:49.533Z,1761336349.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.028493,-0.996144,0.082976],[0.989480,0.039886,0.139061],[-0.141835,0.078141,0.986801]] 2025-10-24T20:05:49.541Z,1761336349.541 [DAT](INFO): DAT read: Rx Time:20:05:48.5263 2025-10-24T20:05:49.542Z,1761336349.542 [DAT](INFO): Rx dataTimestamp_ set to:1761336349.541232 2025-10-24T20:05:49.543Z,1761336349.543 [DAT](INFO): DAT read: Range 10 to 50 : 3.0 m (trip time 2.0 ms) speed -0.1 2025-10-24T20:05:49.543Z,1761336349.543 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-24T20:05:49.544Z,1761336349.544 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.041053 2025-10-24T20:05:49.649Z,1761336349.649 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:49.651Z,1761336349.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.502733 s, deltaX: 0.100000 m, approachRate: 0.198913 m/s, rangeRepo size: 4 2025-10-24T20:05:49.653Z,1761336349.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m. 2025-10-24T20:05:49.793Z,1761336349.793 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289627 2025-10-24T20:05:49.950Z,1761336349.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.039632,-0.996270,0.076648],[0.988399,0.050343,0.143293],[-0.146617,0.070080,0.986708]] 2025-10-24T20:05:50.045Z,1761336350.045 [DAT](INFO): DAT read: Rx Time:20:05:49.0264 2025-10-24T20:05:50.046Z,1761336350.046 [DAT](INFO): Rx dataTimestamp_ set to:1761336350.045343 2025-10-24T20:05:50.047Z,1761336350.047 [DAT](INFO): DAT read: Range 10 to 50 : 3.2 m (trip time 2.1 ms) speed -0.1 2025-10-24T20:05:50.047Z,1761336350.047 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-10-24T20:05:50.053Z,1761336350.053 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.549901 2025-10-24T20:05:50.146Z,1761336350.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.504111 s, deltaX: 0.200000 m, approachRate: 0.396738 m/s, rangeRepo size: 4 2025-10-24T20:05:50.146Z,1761336350.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.20 m. 2025-10-24T20:05:50.300Z,1761336350.300 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795684 2025-10-24T20:05:50.450Z,1761336350.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.063640,-0.995716,0.067081],[0.985875,0.073161,0.150657],[-0.154920,0.056546,0.986308]] 2025-10-24T20:05:50.551Z,1761336350.551 [DAT](INFO): DAT read: Rx Time:20:05:49.5266 2025-10-24T20:05:50.558Z,1761336350.558 [DAT](INFO): Rx dataTimestamp_ set to:1761336350.557431 2025-10-24T20:05:50.559Z,1761336350.559 [DAT](INFO): DAT read: Range 10 to 50 : 3.5 m (trip time 2.3 ms) speed -0.2 2025-10-24T20:05:50.560Z,1761336350.560 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-24T20:05:50.561Z,1761336350.561 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.057365 2025-10-24T20:05:50.602Z,1761336350.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.512088 s, deltaX: 0.300000 m, approachRate: 0.585837 m/s, rangeRepo size: 4 2025-10-24T20:05:50.603Z,1761336350.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m. 2025-10-24T20:05:50.805Z,1761336350.805 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.302131 2025-10-24T20:05:50.899Z,1761336350.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.076655,-0.994875,0.065943],[0.984375,0.086029,0.153637],[-0.158523,0.053135,0.985924]] 2025-10-24T20:05:51.057Z,1761336351.057 [DAT](INFO): DAT read: Rx Time:20:05:50.0265 2025-10-24T20:05:51.057Z,1761336351.057 [DAT](INFO): Rx dataTimestamp_ set to:1761336351.057182 2025-10-24T20:05:51.059Z,1761336351.059 [DAT](INFO): DAT read: Range 10 to 50 : 3.3 m (trip time 2.2 ms) speed -0.2 2025-10-24T20:05:51.059Z,1761336351.059 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-24T20:05:51.060Z,1761336351.060 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.557077 2025-10-24T20:05:51.312Z,1761336351.312 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.808302 2025-10-24T20:05:51.411Z,1761336351.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089181,-0.993666,0.068366],[0.982797,0.098936,0.155955],[-0.161731,0.053282,0.985395]] 2025-10-24T20:05:51.489Z,1761336351.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.499751 s, deltaX: -0.200000 m, approachRate: -0.400199 m/s, rangeRepo size: 4 2025-10-24T20:05:51.561Z,1761336351.561 [DAT](INFO): DAT read: Rx Time:20:05:50.5267 2025-10-24T20:05:51.562Z,1761336351.562 [DAT](INFO): Rx dataTimestamp_ set to:1761336351.561324 2025-10-24T20:05:51.563Z,1761336351.563 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.2 2025-10-24T20:05:51.563Z,1761336351.563 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-24T20:05:51.565Z,1761336351.565 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.061758 2025-10-24T20:05:51.813Z,1761336351.813 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.309702 2025-10-24T20:05:51.869Z,1761336351.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.101201,-0.992475,0.068939],[0.981184,0.111022,0.157964],[-0.164429,0.051656,0.985035]] 2025-10-24T20:05:51.936Z,1761336351.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:51.948Z,1761336351.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.504142 s, deltaX: 0.300000 m, approachRate: 0.595070 m/s, rangeRepo size: 4 2025-10-24T20:05:52.065Z,1761336352.065 [DAT](INFO): DAT read: Rx Time:20:05:51.0267 2025-10-24T20:05:52.065Z,1761336352.065 [DAT](INFO): Rx dataTimestamp_ set to:1761336352.065183 2025-10-24T20:05:52.067Z,1761336352.067 [DAT](INFO): DAT read: Range 10 to 50 : 3.6 m (trip time 2.4 ms) speed -0.2 2025-10-24T20:05:52.067Z,1761336352.067 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-24T20:05:52.068Z,1761336352.068 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.565046 2025-10-24T20:05:52.317Z,1761336352.317 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.813673 2025-10-24T20:05:52.323Z,1761336352.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.113303,-0.991104,0.069825],[0.979411,0.123231,0.159899],[-0.167081,0.050271,0.984661]] 2025-10-24T20:05:52.449Z,1761336352.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.503859 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:52.450Z,1761336352.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m. 2025-10-24T20:05:52.569Z,1761336352.569 [DAT](INFO): DAT read: Rx Time:20:05:51.5268 2025-10-24T20:05:52.570Z,1761336352.570 [DAT](INFO): Rx dataTimestamp_ set to:1761336352.569251 2025-10-24T20:05:52.572Z,1761336352.572 [DAT](INFO): DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed -0.3 2025-10-24T20:05:52.573Z,1761336352.573 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-24T20:05:52.574Z,1761336352.574 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.070399 2025-10-24T20:05:52.728Z,1761336352.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.124597,-0.989345,0.075319],[0.977681,0.135361,0.160677],[-0.169160,0.053618,0.984129]] 2025-10-24T20:05:52.812Z,1761336352.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504068 s, deltaX: 0.200000 m, approachRate: 0.396772 m/s, rangeRepo size: 4 2025-10-24T20:05:52.813Z,1761336352.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.80 m. 2025-10-24T20:05:52.822Z,1761336352.822 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.318348 2025-10-24T20:05:53.073Z,1761336353.073 [DAT](INFO): DAT read: Rx Time:20:05:52.0268 2025-10-24T20:05:53.074Z,1761336353.074 [DAT](INFO): Rx dataTimestamp_ set to:1761336353.073454 2025-10-24T20:05:53.075Z,1761336353.075 [DAT](INFO): DAT read: Range 10 to 50 : 3.8 m (trip time 2.5 ms) speed -0.3 2025-10-24T20:05:53.076Z,1761336353.076 [DAT](ERROR): #Rx 13: Read range message, but no direction. 2025-10-24T20:05:53.077Z,1761336353.077 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.573312 2025-10-24T20:05:53.143Z,1761336353.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.136218,-0.987555,0.078611],[0.975764,0.147462,0.161677],[-0.171257,0.054682,0.983708]] 2025-10-24T20:05:53.190Z,1761336353.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504203 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:53.325Z,1761336353.325 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.821461 2025-10-24T20:05:53.528Z,1761336353.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147619,-0.985698,0.081292],[0.973765,0.159238,0.162557],[-0.173176,0.055163,0.983345]] 2025-10-24T20:05:53.577Z,1761336353.577 [DAT](INFO): DAT read: Rx Time:20:05:52.5270 2025-10-24T20:05:53.578Z,1761336353.578 [DAT](INFO): Rx dataTimestamp_ set to:1761336353.577285 2025-10-24T20:05:53.579Z,1761336353.579 [DAT](INFO): DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.3 2025-10-24T20:05:53.579Z,1761336353.579 [DAT](ERROR): #Rx 14: Read range message, but no direction. 2025-10-24T20:05:53.580Z,1761336353.580 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.077141 2025-10-24T20:05:53.637Z,1761336353.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503831 s, deltaX: 0.300000 m, approachRate: 0.595438 m/s, rangeRepo size: 4 2025-10-24T20:05:53.829Z,1761336353.829 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.325561 2025-10-24T20:05:53.953Z,1761336353.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.159419,-0.983619,0.084133],[0.971608,0.171421,0.163073],[-0.174824,0.055747,0.983020]] 2025-10-24T20:05:53.971Z,1761336353.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:54.081Z,1761336354.081 [DAT](INFO): DAT read: Rx Time:20:05:53.0270 2025-10-24T20:05:54.082Z,1761336354.082 [DAT](INFO): Rx dataTimestamp_ set to:1761336354.081383 2025-10-24T20:05:54.083Z,1761336354.083 [DAT](INFO): DAT read: Range 10 to 50 : 4.1 m (trip time 2.7 ms) speed -0.3 2025-10-24T20:05:54.084Z,1761336354.084 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-10-24T20:05:54.084Z,1761336354.084 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.581221 2025-10-24T20:05:54.333Z,1761336354.333 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.829685 2025-10-24T20:05:54.342Z,1761336354.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.170151,-0.981429,0.088571],[0.969524,0.182808,0.163111],[-0.176274,0.058118,0.982624]] 2025-10-24T20:05:54.485Z,1761336354.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:54.587Z,1761336354.587 [DAT](INFO): DAT read: Rx Time:20:05:53.5272 2025-10-24T20:05:54.588Z,1761336354.588 [DAT](INFO): Rx dataTimestamp_ set to:1761336354.587152 2025-10-24T20:05:54.589Z,1761336354.589 [DAT](INFO): DAT read: Bearing 232.8, -8.0 (Local) 2025-10-24T20:05:54.589Z,1761336354.589 [DAT](INFO): Local bearing/azimuth received: Bearing 232.8, -8.0 (Local) 2025-10-24T20:05:54.593Z,1761336354.593 [DAT](INFO): DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed -0.3 2025-10-24T20:05:54.599Z,1761336354.599 [DAT](INFO): DAT read: 20:05:53.5272 LVL= 17648, 12145, 8610, 17251, AGC= 33, IDX= 510,-0.10, 2.512,-1.436,-1.515,-1.976, PHS=-1.707, 0.587, 0.459, RAW= 272.9, 6.0, CAL= 277.2, 8.0, ROT= 232.8, -8.0 2025-10-24T20:05:54.601Z,1761336354.601 [DAT](INFO): got valid direction response: 20:05:53.5272 LVL= 17648, 12145, 8610, 17251, AGC= 33, IDX= 510,-0.10, 2.512,-1.436,-1.515,-1.976, PHS=-1.707, 0.587, 0.459, RAW= 272.9, 6.0, CAL= 277.2, 8.0, ROT= 232.8, -8.0 2025-10-24T20:05:54.602Z,1761336354.602 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-24T20:05:54.603Z,1761336354.603 [DAT](INFO): direction in FSK: [-0.598715,-0.788778,0.139173] 2025-10-24T20:05:54.605Z,1761336354.605 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:54.609Z,1761336354.609 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.105517 2025-10-24T20:05:54.780Z,1761336354.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193061,-0.977012,0.090411],[0.964673,0.205839,0.164425],[-0.179256,0.055473,0.982237]] 2025-10-24T20:05:54.837Z,1761336354.837 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333573 2025-10-24T20:05:54.869Z,1761336354.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.505769 s, deltaX: 0.300000 m, approachRate: 0.593157 m/s, rangeRepo size: 4 2025-10-24T20:05:54.876Z,1761336354.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.376407 m, bearing: 312.956703 deg, lat: 36.779642 deg, lon: -121.859527 deg, deltaT: 22.434692 s, deltaX: -5.467659 m, approachRate: -0.243714 m/s, posRepo size: 4 2025-10-24T20:05:55.089Z,1761336355.089 [DAT](INFO): DAT read: Rx Time:20:05:54.0272 2025-10-24T20:05:55.090Z,1761336355.090 [DAT](INFO): Rx dataTimestamp_ set to:1761336355.089482 2025-10-24T20:05:55.091Z,1761336355.091 [DAT](INFO): DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed -0.3 2025-10-24T20:05:55.092Z,1761336355.092 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-24T20:05:55.093Z,1761336355.093 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.589353 2025-10-24T20:05:55.231Z,1761336355.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.502330 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:55.341Z,1761336355.341 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.837628 2025-10-24T20:05:55.593Z,1761336355.593 [DAT](INFO): DAT read: Rx Time:20:05:54.5275 2025-10-24T20:05:55.594Z,1761336355.594 [DAT](INFO): Rx dataTimestamp_ set to:1761336355.593295 2025-10-24T20:05:55.595Z,1761336355.595 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 2025-10-24T20:05:55.595Z,1761336355.595 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-24T20:05:55.597Z,1761336355.597 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.094000 2025-10-24T20:05:55.658Z,1761336355.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.503813 s, deltaX: 0.400000 m, approachRate: 0.793946 m/s, rangeRepo size: 4 2025-10-24T20:05:55.845Z,1761336355.845 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.341655 2025-10-24T20:05:55.977Z,1761336355.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.228529,-0.968901,0.094898],[0.956096,0.241735,0.165666],[-0.183454,0.052872,0.981605]] 2025-10-24T20:05:55.995Z,1761336355.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:56.099Z,1761336356.099 [DAT](INFO): DAT read: Rx Time:20:05:55.0275 2025-10-24T20:05:56.101Z,1761336356.101 [DAT](INFO): Rx dataTimestamp_ set to:1761336356.099718 2025-10-24T20:05:56.103Z,1761336356.103 [DAT](INFO): DAT read: Range 10 to 50 : 4.8 m (trip time 3.2 ms) speed -0.4 2025-10-24T20:05:56.104Z,1761336356.104 [DAT](ERROR): #Rx 19: Read range message, but no direction. 2025-10-24T20:05:56.106Z,1761336356.106 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.602558 2025-10-24T20:05:56.349Z,1761336356.349 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.845354 2025-10-24T20:05:56.383Z,1761336356.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241186,-0.965565,0.097538],[0.952723,0.254712,0.165651],[-0.184791,0.052974,0.981349]] 2025-10-24T20:05:56.476Z,1761336356.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.506423 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:56.601Z,1761336356.601 [DAT](INFO): DAT read: Rx Time:20:05:55.5276 2025-10-24T20:05:56.601Z,1761336356.601 [DAT](INFO): Rx dataTimestamp_ set to:1761336356.601221 2025-10-24T20:05:56.603Z,1761336356.603 [DAT](INFO): DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed -0.4 2025-10-24T20:05:56.603Z,1761336356.603 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-24T20:05:56.605Z,1761336356.605 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.102116 2025-10-24T20:05:56.786Z,1761336356.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.252639,-0.962397,0.099831],[0.949511,0.266439,0.165650],[-0.186020,0.052941,0.981119]] 2025-10-24T20:05:56.846Z,1761336356.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.501503 s, deltaX: 0.200000 m, approachRate: 0.398801 m/s, rangeRepo size: 4 2025-10-24T20:05:56.853Z,1761336356.853 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.349824 2025-10-24T20:05:57.109Z,1761336357.109 [DAT](INFO): DAT read: Rx Time:20:05:56.0277 2025-10-24T20:05:57.110Z,1761336357.110 [DAT](INFO): Rx dataTimestamp_ set to:1761336357.109985 2025-10-24T20:05:57.111Z,1761336357.111 [DAT](INFO): DAT read: Range 10 to 50 : 5.1 m (trip time 3.4 ms) speed -0.4 2025-10-24T20:05:57.112Z,1761336357.112 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-24T20:05:57.113Z,1761336357.113 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.609872 2025-10-24T20:05:57.188Z,1761336357.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265073,-0.958750,0.102637],[0.945935,0.279203,0.165086],[-0.186933,0.053328,0.980924]] 2025-10-24T20:05:57.208Z,1761336357.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.508764 s, deltaX: 0.100000 m, approachRate: 0.196555 m/s, rangeRepo size: 4 2025-10-24T20:05:57.357Z,1761336357.357 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.853492 2025-10-24T20:05:57.605Z,1761336357.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276728,-0.954934,0.107342],[0.942369,0.291538,0.164152],[-0.188049,0.055730,0.980577]] 2025-10-24T20:05:57.610Z,1761336357.610 [DAT](INFO): DAT read: Rx Time:20:05:56.5280 2025-10-24T20:05:57.610Z,1761336357.610 [DAT](INFO): Rx dataTimestamp_ set to:1761336357.610126 2025-10-24T20:05:57.612Z,1761336357.612 [DAT](INFO): DAT read: Bearing 226.6, -7.7 (Local) 2025-10-24T20:05:57.612Z,1761336357.612 [DAT](INFO): Local bearing/azimuth received: Bearing 226.6, -7.7 (Local) 2025-10-24T20:05:57.614Z,1761336357.614 [DAT](INFO): DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed -0.4 2025-10-24T20:05:57.619Z,1761336357.619 [DAT](INFO): DAT read: 20:05:56.5280 LVL= 27616, 17489, 10930, 26867, AGC= 38, IDX= 500, 0.50, 0.386, 2.851, 2.471, 2.152, PHS=-1.678, 0.746, 0.316, RAW= 279.6, 5.6, CAL= 283.4, 7.7, ROT= 226.6, -7.7 2025-10-24T20:05:57.620Z,1761336357.620 [DAT](INFO): got valid direction response: 20:05:56.5280 LVL= 27616, 17489, 10930, 26867, AGC= 38, IDX= 500, 0.50, 0.386, 2.851, 2.471, 2.152, PHS=-1.678, 0.746, 0.316, RAW= 279.6, 5.6, CAL= 283.4, 7.7, ROT= 226.6, -7.7 2025-10-24T20:05:57.621Z,1761336357.621 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-24T20:05:57.622Z,1761336357.622 [DAT](INFO): direction in FSK: [-0.680892,-0.720023,0.133986] 2025-10-24T20:05:57.622Z,1761336357.622 [DAT](INFO): publishing direction and range info 2025-10-24T20:05:57.626Z,1761336357.626 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.122656 2025-10-24T20:05:57.664Z,1761336357.664 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:05:57.753Z,1761336357.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.500141 s, deltaX: 0.500000 m, approachRate: 0.999718 m/s, rangeRepo size: 4 2025-10-24T20:05:57.755Z,1761336357.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.570013 m, bearing: 301.759048 deg, lat: 36.779639 deg, lon: -121.859529 deg, deltaT: 3.022974 s, deltaX: 1.193606 m, approachRate: 0.394845 m/s, posRepo size: 4 2025-10-24T20:05:57.862Z,1761336357.862 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.358394 2025-10-24T20:05:58.014Z,1761336358.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288580,-0.951168,0.109546],[0.938647,0.303620,0.163575],[-0.188848,0.055621,0.980430]] 2025-10-24T20:05:58.031Z,1761336358.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:05:58.113Z,1761336358.113 [DAT](INFO): DAT read: Rx Time:20:05:57.0280 2025-10-24T20:05:58.114Z,1761336358.114 [DAT](INFO): Rx dataTimestamp_ set to:1761336358.113578 2025-10-24T20:05:58.115Z,1761336358.115 [DAT](INFO): DAT read: Range 10 to 50 : 5.6 m (trip time 3.7 ms) speed -0.4 2025-10-24T20:05:58.116Z,1761336358.116 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-10-24T20:05:58.117Z,1761336358.117 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.613461 2025-10-24T20:05:58.366Z,1761336358.366 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.862462 2025-10-24T20:05:58.483Z,1761336358.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300476,-0.947142,0.112414],[0.934681,0.315877,0.163070],[-0.189960,0.056073,0.980189]] 2025-10-24T20:05:58.533Z,1761336358.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503452 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:58.618Z,1761336358.618 [DAT](INFO): DAT read: Rx Time:20:05:57.5283 2025-10-24T20:05:58.619Z,1761336358.619 [DAT](INFO): Rx dataTimestamp_ set to:1761336358.618376 2025-10-24T20:05:58.620Z,1761336358.620 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-24T20:05:58.621Z,1761336358.621 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-24T20:05:58.622Z,1761336358.622 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.118919 2025-10-24T20:05:58.827Z,1761336358.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313071,-0.942925,0.113487],[0.930382,0.328492,0.162735],[-0.190727,0.054638,0.980121]] 2025-10-24T20:05:58.869Z,1761336358.869 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.365642 2025-10-24T20:05:58.874Z,1761336358.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504798 s, deltaX: 0.400000 m, approachRate: 0.792396 m/s, rangeRepo size: 4 2025-10-24T20:05:59.122Z,1761336359.122 [DAT](INFO): DAT read: Rx Time:20:05:58.0283 2025-10-24T20:05:59.122Z,1761336359.122 [DAT](INFO): Rx dataTimestamp_ set to:1761336359.121756 2025-10-24T20:05:59.123Z,1761336359.123 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-24T20:05:59.124Z,1761336359.124 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-24T20:05:59.125Z,1761336359.125 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.621609 2025-10-24T20:05:59.306Z,1761336359.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325283,-0.938405,0.116563],[0.926022,0.341077,0.161707],[-0.191504,0.055339,0.979931]] 2025-10-24T20:05:59.348Z,1761336359.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503380 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:05:59.373Z,1761336359.373 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.869610 2025-10-24T20:05:59.625Z,1761336359.625 [DAT](INFO): DAT read: Rx Time:20:05:58.5285 2025-10-24T20:05:59.625Z,1761336359.625 [DAT](INFO): Rx dataTimestamp_ set to:1761336359.625111 2025-10-24T20:05:59.627Z,1761336359.627 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-24T20:05:59.627Z,1761336359.627 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-24T20:05:59.628Z,1761336359.628 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.124975 2025-10-24T20:05:59.847Z,1761336359.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503355 s, deltaX: 0.200000 m, approachRate: 0.397334 m/s, rangeRepo size: 4 2025-10-24T20:05:59.878Z,1761336359.878 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.374898 2025-10-24T20:06:00.129Z,1761336360.129 [DAT](INFO): DAT read: Rx Time:20:05:59.0285 2025-10-24T20:06:00.129Z,1761336360.129 [DAT](INFO): Rx dataTimestamp_ set to:1761336360.129131 2025-10-24T20:06:00.131Z,1761336360.131 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-24T20:06:00.131Z,1761336360.131 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-24T20:06:00.133Z,1761336360.133 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.629612 2025-10-24T20:06:00.268Z,1761336360.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349873,-0.928740,0.122602],[0.916745,0.366372,0.159215],[-0.192788,0.056690,0.979602]] 2025-10-24T20:06:00.287Z,1761336360.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:00.291Z,1761336360.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504020 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:00.381Z,1761336360.381 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.877511 2025-10-24T20:06:00.634Z,1761336360.634 [DAT](INFO): DAT read: Rx Time:20:05:59.5288 2025-10-24T20:06:00.635Z,1761336360.635 [DAT](INFO): Rx dataTimestamp_ set to:1761336360.634108 2025-10-24T20:06:00.637Z,1761336360.637 [DAT](INFO): DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-24T20:06:00.638Z,1761336360.638 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-24T20:06:00.639Z,1761336360.639 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.135757 2025-10-24T20:06:00.691Z,1761336360.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375076,-0.918190,0.127461],[0.906864,0.391944,0.154844],[-0.192133,0.057511,0.979682]] 2025-10-24T20:06:00.763Z,1761336360.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504977 s, deltaX: 0.400000 m, approachRate: 0.792115 m/s, rangeRepo size: 4 2025-10-24T20:06:00.886Z,1761336360.886 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.382738 2025-10-24T20:06:01.138Z,1761336361.138 [DAT](INFO): DAT read: Rx Time:20:06:00.0288 2025-10-24T20:06:01.139Z,1761336361.139 [DAT](INFO): Rx dataTimestamp_ set to:1761336361.138209 2025-10-24T20:06:01.140Z,1761336361.140 [DAT](INFO): DAT read: Range 10 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-24T20:06:01.141Z,1761336361.141 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-24T20:06:01.142Z,1761336361.142 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.638374 2025-10-24T20:06:01.149Z,1761336361.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:01.390Z,1761336361.390 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.886482 2025-10-24T20:06:01.547Z,1761336361.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401017,-0.906625,0.131214],[0.895953,0.418019,0.150095],[-0.190929,0.057371,0.979926]] 2025-10-24T20:06:01.641Z,1761336361.641 [DAT](INFO): DAT read: Rx Time:20:06:00.5291 2025-10-24T20:06:01.642Z,1761336361.642 [DAT](INFO): Rx dataTimestamp_ set to:1761336361.641274 2025-10-24T20:06:01.643Z,1761336361.643 [DAT](INFO): DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-24T20:06:01.643Z,1761336361.643 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-24T20:06:01.645Z,1761336361.645 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.141293 2025-10-24T20:06:01.894Z,1761336361.894 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.390388 2025-10-24T20:06:01.911Z,1761336361.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414417,-0.900254,0.133423],[0.889998,0.431524,0.147277],[-0.190162,0.057712,0.980055]] 2025-10-24T20:06:01.978Z,1761336361.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503065 s, deltaX: 0.500000 m, approachRate: 0.993907 m/s, rangeRepo size: 4 2025-10-24T20:06:02.145Z,1761336362.145 [DAT](INFO): DAT read: Rx Time:20:06:01.0291 2025-10-24T20:06:02.146Z,1761336362.145 [DAT](INFO): Rx dataTimestamp_ set to:1761336362.145206 2025-10-24T20:06:02.147Z,1761336362.147 [DAT](INFO): DAT read: Range 10 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-24T20:06:02.147Z,1761336362.147 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-24T20:06:02.148Z,1761336362.148 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.645159 2025-10-24T20:06:02.301Z,1761336362.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428229,-0.893077,0.137963],[0.883601,0.445807,0.143200],[-0.189393,0.060581,0.980031]] 2025-10-24T20:06:02.323Z,1761336362.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:02.326Z,1761336362.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503932 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:02.398Z,1761336362.398 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.893988 2025-10-24T20:06:02.649Z,1761336362.649 [DAT](INFO): DAT read: Rx Time:20:06:01.5293 2025-10-24T20:06:02.650Z,1761336362.650 [DAT](INFO): Rx dataTimestamp_ set to:1761336362.649357 2025-10-24T20:06:02.651Z,1761336362.651 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 2025-10-24T20:06:02.652Z,1761336362.652 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-24T20:06:02.652Z,1761336362.652 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.149216 2025-10-24T20:06:02.719Z,1761336362.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441688,-0.885668,0.143194],[0.877046,0.459860,0.138994],[-0.188951,0.064196,0.979886]] 2025-10-24T20:06:02.769Z,1761336362.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.504151 s, deltaX: 0.400000 m, approachRate: 0.793413 m/s, rangeRepo size: 4 2025-10-24T20:06:02.901Z,1761336362.901 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.397867 2025-10-24T20:06:03.109Z,1761336363.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455714,-0.878383,0.144112],[0.869972,0.473777,0.136694],[-0.188347,0.063080,0.980075]] 2025-10-24T20:06:03.161Z,1761336363.161 [DAT](INFO): DAT read: Rx Time:20:06:02.0294 2025-10-24T20:06:03.162Z,1761336363.162 [DAT](INFO): Rx dataTimestamp_ set to:1761336363.161355 2025-10-24T20:06:03.164Z,1761336363.164 [DAT](INFO): DAT read: Range 10 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 2025-10-24T20:06:03.165Z,1761336363.165 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-24T20:06:03.166Z,1761336363.166 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.662563 2025-10-24T20:06:03.413Z,1761336363.413 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.909830 2025-10-24T20:06:03.533Z,1761336363.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469449,-0.871119,0.144112],[0.862744,0.487276,0.135036],[-0.187855,0.060939,0.980304]] 2025-10-24T20:06:03.665Z,1761336363.665 [DAT](INFO): DAT read: Rx Time:20:06:02.5295 2025-10-24T20:06:03.666Z,1761336363.666 [DAT](INFO): Rx dataTimestamp_ set to:1761336363.665448 2025-10-24T20:06:03.667Z,1761336363.667 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed -0.3 2025-10-24T20:06:03.668Z,1761336363.668 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-24T20:06:03.669Z,1761336363.669 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.165297 2025-10-24T20:06:03.727Z,1761336363.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 1.016091 s, deltaX: 0.300000 m, approachRate: 0.295249 m/s, rangeRepo size: 4 2025-10-24T20:06:03.918Z,1761336363.918 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.414080 2025-10-24T20:06:04.027Z,1761336364.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483681,-0.863178,0.144832],[0.854943,0.501382,0.132999],[-0.187418,0.059494,0.980477]] 2025-10-24T20:06:04.169Z,1761336364.169 [DAT](INFO): DAT read: Rx Time:20:06:03.0295 2025-10-24T20:06:04.170Z,1761336364.170 [DAT](INFO): Rx dataTimestamp_ set to:1761336364.169237 2025-10-24T20:06:04.171Z,1761336364.171 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed -0.3 2025-10-24T20:06:04.172Z,1761336364.172 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-24T20:06:04.173Z,1761336364.173 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.669786 2025-10-24T20:06:04.424Z,1761336364.424 [DAT](INFO): DAT read: Rx Time:20:06:03.5297 2025-10-24T20:06:04.425Z,1761336364.425 [DAT](INFO): Rx dataTimestamp_ set to:1761336364.424440 2025-10-24T20:06:04.427Z,1761336364.427 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.923248 2025-10-24T20:06:04.438Z,1761336364.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498261,-0.854086,0.149243],[0.846518,0.516431,0.129254],[-0.187467,0.061935,0.980316]] 2025-10-24T20:06:04.546Z,1761336364.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:04.581Z,1761336364.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503789 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:04.675Z,1761336364.675 [DAT](INFO): DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed -0.3 2025-10-24T20:06:04.676Z,1761336364.676 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-24T20:06:04.677Z,1761336364.677 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.173754 2025-10-24T20:06:04.850Z,1761336364.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511918,-0.845595,0.151357],[0.838472,0.530167,0.126047],[-0.186829,0.062383,0.980410]] 2025-10-24T20:06:04.929Z,1761336364.929 [DAT](INFO): DAT read: Rx Time:20:06:04.0297 2025-10-24T20:06:04.930Z,1761336364.930 [DAT](INFO): Rx dataTimestamp_ set to:1761336364.929064 2025-10-24T20:06:04.933Z,1761336364.933 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.428139 2025-10-24T20:06:05.006Z,1761336365.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503481 s, deltaX: 0.300000 m, approachRate: 0.595852 m/s, rangeRepo size: 4 2025-10-24T20:06:05.177Z,1761336365.177 [DAT](INFO): DAT read: Range 10 to 50 : 8.1 m (trip time 5.4 ms) speed -0.2 2025-10-24T20:06:05.178Z,1761336365.178 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-24T20:06:05.179Z,1761336365.179 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.675756 2025-10-24T20:06:05.286Z,1761336365.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526070,-0.836713,0.152190],[0.829667,0.544247,0.124288],[-0.186822,0.060883,0.980505]] 2025-10-24T20:06:05.350Z,1761336365.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503507 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:05.435Z,1761336365.435 [DAT](INFO): DAT read: Rx Time:20:06:04.5299 2025-10-24T20:06:05.437Z,1761336365.437 [DAT](INFO): Rx dataTimestamp_ set to:1761336365.435147 2025-10-24T20:06:05.439Z,1761336365.439 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed -0.2 2025-10-24T20:06:05.441Z,1761336365.441 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-24T20:06:05.443Z,1761336365.443 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.939213 2025-10-24T20:06:05.681Z,1761336365.681 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.177509 2025-10-24T20:06:05.689Z,1761336365.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540021,-0.827052,0.156087],[0.820668,0.558576,0.120405],[-0.186768,0.063075,0.980377]] 2025-10-24T20:06:05.790Z,1761336365.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.258922 s, deltaX: 0.299999 m, approachRate: 1.158647 m/s, rangeRepo size: 4 2025-10-24T20:06:05.935Z,1761336365.935 [DAT](INFO): DAT read: Rx Time:20:06:05.0298 2025-10-24T20:06:05.936Z,1761336365.936 [DAT](INFO): Rx dataTimestamp_ set to:1761336365.935401 2025-10-24T20:06:05.937Z,1761336365.937 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed -0.2 2025-10-24T20:06:05.939Z,1761336365.939 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-24T20:06:05.940Z,1761336365.940 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.436653 2025-10-24T20:06:06.188Z,1761336366.188 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.685051 2025-10-24T20:06:06.214Z,1761336366.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566857,-0.807295,0.164159],[0.802689,0.586082,0.110447],[-0.185374,0.069161,0.980231]] 2025-10-24T20:06:06.281Z,1761336366.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.500254 s, deltaX: -0.099999 m, approachRate: -0.199897 m/s, rangeRepo size: 4 2025-10-24T20:06:06.438Z,1761336366.438 [DAT](INFO): DAT read: Rx Time:20:06:05.5300 2025-10-24T20:06:06.438Z,1761336366.438 [DAT](INFO): Rx dataTimestamp_ set to:1761336366.438149 2025-10-24T20:06:06.440Z,1761336366.440 [DAT](INFO): DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed -0.2 2025-10-24T20:06:06.440Z,1761336366.440 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-24T20:06:06.441Z,1761336366.441 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.938086 2025-10-24T20:06:06.625Z,1761336366.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581258,-0.796768,0.165230],[0.792599,0.600339,0.106677],[-0.184191,0.068955,0.980469]] 2025-10-24T20:06:06.690Z,1761336366.690 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.186651 2025-10-24T20:06:06.706Z,1761336366.706 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:06.717Z,1761336366.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.502748 s, deltaX: 0.300000 m, approachRate: 0.596721 m/s, rangeRepo size: 4 2025-10-24T20:06:06.941Z,1761336366.941 [DAT](INFO): DAT read: Rx Time:20:06:06.0300 2025-10-24T20:06:06.941Z,1761336366.941 [DAT](INFO): Rx dataTimestamp_ set to:1761336366.941070 2025-10-24T20:06:06.943Z,1761336366.943 [DAT](INFO): DAT read: Range 10 to 50 : 8.6 m (trip time 5.7 ms) speed -0.2 2025-10-24T20:06:06.943Z,1761336366.943 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-24T20:06:06.944Z,1761336366.944 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.440929 2025-10-24T20:06:07.062Z,1761336367.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.502921 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:07.193Z,1761336367.193 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.689676 2025-10-24T20:06:07.434Z,1761336367.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606934,-0.777382,0.165254],[0.773813,0.625443,0.100177],[-0.181233,0.067075,0.981150]] 2025-10-24T20:06:07.445Z,1761336367.445 [DAT](INFO): DAT read: Rx Time:20:06:06.5301 2025-10-24T20:06:07.446Z,1761336367.446 [DAT](INFO): Rx dataTimestamp_ set to:1761336367.445314 2025-10-24T20:06:07.447Z,1761336367.447 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.2 2025-10-24T20:06:07.447Z,1761336367.447 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-24T20:06:07.448Z,1761336367.448 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.945187 2025-10-24T20:06:07.467Z,1761336367.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504244 s, deltaX: 0.099999 m, approachRate: 0.198316 m/s, rangeRepo size: 4 2025-10-24T20:06:07.468Z,1761336367.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 8.70 m. 2025-10-24T20:06:07.697Z,1761336367.697 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.193447 2025-10-24T20:06:07.879Z,1761336367.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.70 m. 2025-10-24T20:06:07.953Z,1761336367.953 [DAT](INFO): DAT read: Rx Time:20:06:07.0301 2025-10-24T20:06:07.954Z,1761336367.954 [DAT](INFO): Rx dataTimestamp_ set to:1761336367.953448 2025-10-24T20:06:07.956Z,1761336367.956 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed -0.2 2025-10-24T20:06:07.962Z,1761336367.962 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-24T20:06:07.963Z,1761336367.963 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.459976 2025-10-24T20:06:08.201Z,1761336368.201 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.697552 2025-10-24T20:06:08.227Z,1761336368.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631234,-0.758720,0.160897],[0.755003,0.648592,0.096433],[-0.177522,0.060606,0.982249]] 2025-10-24T20:06:08.271Z,1761336368.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.508134 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:08.272Z,1761336368.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 8.70 m. 2025-10-24T20:06:08.453Z,1761336368.453 [DAT](INFO): DAT read: Rx Time:20:06:07.5303 2025-10-24T20:06:08.454Z,1761336368.454 [DAT](INFO): Rx dataTimestamp_ set to:1761336368.453162 2025-10-24T20:06:08.456Z,1761336368.456 [DAT](INFO): DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed -0.2 2025-10-24T20:06:08.456Z,1761336368.456 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-24T20:06:08.457Z,1761336368.457 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.954021 2025-10-24T20:06:08.650Z,1761336368.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642234,-0.749220,0.161879],[0.746099,0.659444,0.092032],[-0.175702,0.061672,0.982510]] 2025-10-24T20:06:08.664Z,1761336368.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:06:08.705Z,1761336368.705 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.202007 2025-10-24T20:06:08.734Z,1761336368.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:08.741Z,1761336368.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.499714 s, deltaX: 0.300000 m, approachRate: 0.600344 m/s, rangeRepo size: 4 2025-10-24T20:06:08.741Z,1761336368.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 9.00 m. 2025-10-24T20:06:08.959Z,1761336368.959 [DAT](INFO): DAT read: Rx Time:20:06:08.0303 2025-10-24T20:06:08.960Z,1761336368.960 [DAT](INFO): Rx dataTimestamp_ set to:1761336368.959018 2025-10-24T20:06:08.962Z,1761336368.962 [DAT](INFO): DAT read: Range 10 to 50 : 9.0 m (trip time 6.0 ms) speed -0.3 2025-10-24T20:06:08.963Z,1761336368.963 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-24T20:06:08.964Z,1761336368.964 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.460903 2025-10-24T20:06:09.061Z,1761336369.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651928,-0.740562,0.162964],[0.738179,0.668973,0.086988],[-0.173438,0.063587,0.982790]] 2025-10-24T20:06:09.082Z,1761336369.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.505856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:09.083Z,1761336369.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 9.00 m. 2025-10-24T20:06:09.209Z,1761336369.209 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.705563 2025-10-24T20:06:09.449Z,1761336369.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661031,-0.732301,0.163622],[0.730579,0.677856,0.082258],[-0.171150,0.065164,0.983088]] 2025-10-24T20:06:09.461Z,1761336369.461 [DAT](INFO): DAT read: Rx Time:20:06:08.5305 2025-10-24T20:06:09.462Z,1761336369.462 [DAT](INFO): Rx dataTimestamp_ set to:1761336369.461245 2025-10-24T20:06:09.463Z,1761336369.463 [DAT](INFO): DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed -0.3 2025-10-24T20:06:09.463Z,1761336369.463 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-24T20:06:09.464Z,1761336369.464 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.961134 2025-10-24T20:06:09.477Z,1761336369.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.502227 s, deltaX: 0.300000 m, approachRate: 0.597340 m/s, rangeRepo size: 4 2025-10-24T20:06:09.477Z,1761336369.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 9.30 m. 2025-10-24T20:06:09.673Z,1761336369.673 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:06:09.714Z,1761336369.714 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.211145 2025-10-24T20:06:09.843Z,1761336369.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667787,-0.725506,0.166435],[0.724976,0.684622,0.075515],[-0.168732,0.070234,0.983156]] 2025-10-24T20:06:09.965Z,1761336369.965 [DAT](INFO): DAT read: Rx Time:20:06:09.0306 2025-10-24T20:06:09.965Z,1761336369.965 [DAT](INFO): Rx dataTimestamp_ set to:1761336369.965194 2025-10-24T20:06:09.967Z,1761336369.967 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed -0.3 2025-10-24T20:06:09.967Z,1761336369.967 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-24T20:06:09.969Z,1761336369.969 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.465668 2025-10-24T20:06:10.217Z,1761336370.217 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.713520 2025-10-24T20:06:10.247Z,1761336370.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674740,-0.718675,0.168024],[0.719138,0.691395,0.069378],[-0.166031,0.074020,0.983339]] 2025-10-24T20:06:10.291Z,1761336370.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503949 s, deltaX: 0.200000 m, approachRate: 0.396865 m/s, rangeRepo size: 4 2025-10-24T20:06:10.471Z,1761336370.471 [DAT](INFO): DAT read: Rx Time:20:06:09.5308 2025-10-24T20:06:10.471Z,1761336370.471 [DAT](INFO): Rx dataTimestamp_ set to:1761336370.471006 2025-10-24T20:06:10.473Z,1761336370.473 [DAT](INFO): DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed -0.3 2025-10-24T20:06:10.473Z,1761336370.473 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-24T20:06:10.474Z,1761336370.474 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.970882 2025-10-24T20:06:10.709Z,1761336370.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679725,-0.714157,0.167194],[0.715148,0.695928,0.065178],[-0.162903,0.075265,0.983767]] 2025-10-24T20:06:10.722Z,1761336370.722 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.218275 2025-10-24T20:06:10.749Z,1761336370.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:10.780Z,1761336370.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.505812 s, deltaX: 0.300000 m, approachRate: 0.593106 m/s, rangeRepo size: 4 2025-10-24T20:06:10.973Z,1761336370.973 [DAT](INFO): DAT read: Rx Time:20:06:10.0308 2025-10-24T20:06:10.974Z,1761336370.974 [DAT](INFO): Rx dataTimestamp_ set to:1761336370.973346 2025-10-24T20:06:10.975Z,1761336370.975 [DAT](INFO): DAT read: Range 10 to 50 : 9.8 m (trip time 6.5 ms) speed -0.3 2025-10-24T20:06:10.975Z,1761336370.975 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-24T20:06:10.976Z,1761336370.976 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.473211 2025-10-24T20:06:11.107Z,1761336371.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683828,-0.710471,0.166163],[0.711922,0.699573,0.061358],[-0.159836,0.076337,0.984188]] 2025-10-24T20:06:11.141Z,1761336371.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.502340 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:11.225Z,1761336371.225 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.721672 2025-10-24T20:06:11.478Z,1761336371.478 [DAT](INFO): DAT read: Rx Time:20:06:10.5309 2025-10-24T20:06:11.478Z,1761336371.478 [DAT](INFO): Rx dataTimestamp_ set to:1761336371.477776 2025-10-24T20:06:11.480Z,1761336371.480 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.3 2025-10-24T20:06:11.481Z,1761336371.481 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-24T20:06:11.482Z,1761336371.482 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.978966 2025-10-24T20:06:11.525Z,1761336371.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686687,-0.707776,0.165872],[0.709975,0.701983,0.056164],[-0.156191,0.079197,0.984547]] 2025-10-24T20:06:11.585Z,1761336371.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504430 s, deltaX: 0.099999 m, approachRate: 0.198242 m/s, rangeRepo size: 4 2025-10-24T20:06:11.730Z,1761336371.730 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.226225 2025-10-24T20:06:11.940Z,1761336371.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687928,-0.706686,0.165377],[0.709734,0.702670,0.050318],[-0.151765,0.082759,0.984946]] 2025-10-24T20:06:11.981Z,1761336371.981 [DAT](INFO): DAT read: Rx Time:20:06:11.0309 2025-10-24T20:06:11.982Z,1761336371.982 [DAT](INFO): Rx dataTimestamp_ set to:1761336371.981338 2025-10-24T20:06:11.983Z,1761336371.983 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4 2025-10-24T20:06:11.983Z,1761336371.983 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-24T20:06:11.984Z,1761336371.984 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.481190 2025-10-24T20:06:12.019Z,1761336372.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503562 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:12.233Z,1761336372.233 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.729486 2025-10-24T20:06:12.325Z,1761336372.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688805,-0.705940,0.164912],[0.709920,0.702919,0.043797],[-0.146838,0.086907,0.985335]] 2025-10-24T20:06:12.345Z,1761336372.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 9.90 m. 2025-10-24T20:06:12.486Z,1761336372.486 [DAT](INFO): DAT read: Rx Time:20:06:11.5311 2025-10-24T20:06:12.487Z,1761336372.487 [DAT](INFO): Rx dataTimestamp_ set to:1761336372.486611 2025-10-24T20:06:12.489Z,1761336372.489 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 2025-10-24T20:06:12.490Z,1761336372.490 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-24T20:06:12.492Z,1761336372.492 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.988091 2025-10-24T20:06:12.727Z,1761336372.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688796,-0.705802,0.165542],[0.710877,0.702358,0.036706],[-0.142177,0.092397,0.985519]] 2025-10-24T20:06:12.738Z,1761336372.738 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.234009 2025-10-24T20:06:12.769Z,1761336372.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:12.790Z,1761336372.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.505273 s, deltaX: 0.300000 m, approachRate: 0.593739 m/s, rangeRepo size: 4 2025-10-24T20:06:12.791Z,1761336372.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.20 m. 2025-10-24T20:06:12.991Z,1761336372.991 [DAT](INFO): DAT read: Rx Time:20:06:12.0311 2025-10-24T20:06:12.993Z,1761336372.993 [DAT](INFO): Rx dataTimestamp_ set to:1761336372.991252 2025-10-24T20:06:12.995Z,1761336372.995 [DAT](INFO): DAT read: Range 10 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4 2025-10-24T20:06:12.996Z,1761336372.996 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-24T20:06:12.996Z,1761336372.996 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.493202 2025-10-24T20:06:13.127Z,1761336373.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687934,-0.706653,0.165493],[0.712750,0.700795,0.029571],[-0.136873,0.097612,0.985768]] 2025-10-24T20:06:13.162Z,1761336373.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504641 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:13.162Z,1761336373.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 10.20 m. 2025-10-24T20:06:13.241Z,1761336373.241 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.737745 2025-10-24T20:06:13.493Z,1761336373.493 [DAT](INFO): DAT read: Rx Time:20:06:12.5314 2025-10-24T20:06:13.493Z,1761336373.493 [DAT](INFO): Rx dataTimestamp_ set to:1761336373.493151 2025-10-24T20:06:13.495Z,1761336373.495 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4 2025-10-24T20:06:13.495Z,1761336373.495 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-24T20:06:13.496Z,1761336373.496 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.993027 2025-10-24T20:06:13.540Z,1761336373.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687119,-0.707459,0.165435],[0.714507,0.699261,0.022652],[-0.131708,0.102639,0.985961]] 2025-10-24T20:06:13.581Z,1761336373.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.501899 s, deltaX: 0.500000 m, approachRate: 0.996216 m/s, rangeRepo size: 4 2025-10-24T20:06:13.582Z,1761336373.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 10.70 m. 2025-10-24T20:06:13.745Z,1761336373.745 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.241568 2025-10-24T20:06:13.999Z,1761336373.999 [DAT](INFO): DAT read: Rx Time:20:06:13.0314 2025-10-24T20:06:13.000Z,1761336374.000 [DAT](INFO): Rx dataTimestamp_ set to:1761336373.999231 2025-10-24T20:06:14.001Z,1761336374.001 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4 2025-10-24T20:06:14.001Z,1761336374.001 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-24T20:06:14.002Z,1761336374.002 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.499077 2025-10-24T20:06:14.063Z,1761336374.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.506080 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:14.249Z,1761336374.249 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.745501 2025-10-24T20:06:14.377Z,1761336374.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684120,-0.710805,0.163512],[0.719249,0.694672,0.010543],[-0.121081,0.110394,0.986485]] 2025-10-24T20:06:14.502Z,1761336374.502 [DAT](INFO): DAT read: Rx Time:20:06:13.5317 2025-10-24T20:06:14.503Z,1761336374.503 [DAT](INFO): Rx dataTimestamp_ set to:1761336374.502050 2025-10-24T20:06:14.505Z,1761336374.505 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4 2025-10-24T20:06:14.506Z,1761336374.506 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-24T20:06:14.507Z,1761336374.507 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.003813 2025-10-24T20:06:14.754Z,1761336374.754 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.250008 2025-10-24T20:06:14.779Z,1761336374.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681776,-0.713255,0.162630],[0.722299,0.691563,0.005009],[-0.116041,0.114052,0.986674]] 2025-10-24T20:06:14.837Z,1761336374.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:14.840Z,1761336374.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.502819 s, deltaX: 0.400001 m, approachRate: 0.795516 m/s, rangeRepo size: 4 2025-10-24T20:06:15.007Z,1761336375.007 [DAT](INFO): DAT read: Rx Time:20:06:14.0317 2025-10-24T20:06:15.008Z,1761336375.008 [DAT](INFO): Rx dataTimestamp_ set to:1761336375.007125 2025-10-24T20:06:15.010Z,1761336375.010 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed -0.4 2025-10-24T20:06:15.012Z,1761336375.012 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-24T20:06:15.015Z,1761336375.015 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.511036 2025-10-24T20:06:15.183Z,1761336375.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679734,-0.715377,0.161857],[0.725016,0.688732,-0.000708],[-0.110970,0.117830,0.986814]] 2025-10-24T20:06:15.210Z,1761336375.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.505075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:15.257Z,1761336375.257 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.753761 2025-10-24T20:06:15.509Z,1761336375.509 [DAT](INFO): DAT read: Rx Time:20:06:14.5319 2025-10-24T20:06:15.510Z,1761336375.510 [DAT](INFO): Rx dataTimestamp_ set to:1761336375.509198 2025-10-24T20:06:15.511Z,1761336375.511 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-24T20:06:15.511Z,1761336375.511 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-24T20:06:15.512Z,1761336375.512 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.009125 2025-10-24T20:06:15.587Z,1761336375.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677106,-0.718106,0.160784],[0.728167,0.685378,-0.005429],[-0.106299,0.120753,0.986975]] 2025-10-24T20:06:15.608Z,1761336375.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.502073 s, deltaX: 0.299999 m, approachRate: 0.597521 m/s, rangeRepo size: 4 2025-10-24T20:06:15.761Z,1761336375.761 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.257631 2025-10-24T20:06:15.991Z,1761336375.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674547,-0.721012,0.158519],[0.731216,0.682085,-0.009135],[-0.101537,0.122073,0.987314]] 2025-10-24T20:06:16.013Z,1761336376.013 [DAT](INFO): DAT read: Rx Time:20:06:15.0320 2025-10-24T20:06:16.013Z,1761336376.013 [DAT](INFO): Rx dataTimestamp_ set to:1761336376.013189 2025-10-24T20:06:16.015Z,1761336376.015 [DAT](INFO): DAT read: Range 10 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4 2025-10-24T20:06:16.015Z,1761336376.015 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-24T20:06:16.016Z,1761336376.016 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.513098 2025-10-24T20:06:16.091Z,1761336376.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503991 s, deltaX: 0.200001 m, approachRate: 0.396834 m/s, rangeRepo size: 4 2025-10-24T20:06:16.265Z,1761336376.265 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.761463 2025-10-24T20:06:16.406Z,1761336376.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672432,-0.723460,0.156334],[0.733730,0.679331,-0.012249],[-0.097341,0.122943,0.987628]] 2025-10-24T20:06:16.518Z,1761336376.518 [DAT](INFO): DAT read: Rx Time:20:06:15.5323 2025-10-24T20:06:16.519Z,1761336376.519 [DAT](INFO): Rx dataTimestamp_ set to:1761336376.518554 2025-10-24T20:06:16.521Z,1761336376.521 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 2025-10-24T20:06:16.522Z,1761336376.522 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-24T20:06:16.523Z,1761336376.523 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.020145 2025-10-24T20:06:16.769Z,1761336376.769 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.265446 2025-10-24T20:06:16.800Z,1761336376.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670531,-0.725854,0.153372],[0.736023,0.676795,-0.014814],[-0.093049,0.122819,0.988057]] 2025-10-24T20:06:16.874Z,1761336376.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:16.883Z,1761336376.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.505365 s, deltaX: 0.400000 m, approachRate: 0.791506 m/s, rangeRepo size: 4 2025-10-24T20:06:17.021Z,1761336377.021 [DAT](INFO): DAT read: Rx Time:20:06:16.0323 2025-10-24T20:06:17.021Z,1761336377.021 [DAT](INFO): Rx dataTimestamp_ set to:1761336377.021107 2025-10-24T20:06:17.023Z,1761336377.023 [DAT](INFO): DAT read: Range 10 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 2025-10-24T20:06:17.023Z,1761336377.023 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-10-24T20:06:17.024Z,1761336377.024 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.520947 2025-10-24T20:06:17.202Z,1761336377.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668674,-0.727973,0.151424],[0.738171,0.674385,-0.017575],[-0.089324,0.123529,0.988313]] 2025-10-24T20:06:17.273Z,1761336377.273 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.769665 2025-10-24T20:06:17.389Z,1761336377.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.502553 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:17.526Z,1761336377.526 [DAT](INFO): DAT read: Rx Time:20:06:16.5326 2025-10-24T20:06:17.527Z,1761336377.527 [DAT](INFO): Rx dataTimestamp_ set to:1761336377.526627 2025-10-24T20:06:17.529Z,1761336377.529 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-24T20:06:17.530Z,1761336377.530 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-24T20:06:17.532Z,1761336377.532 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.028797 2025-10-24T20:06:17.781Z,1761336377.781 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.276752 2025-10-24T20:06:17.884Z,1761336377.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.505520 s, deltaX: 0.500000 m, approachRate: 0.989081 m/s, rangeRepo size: 4 2025-10-24T20:06:18.031Z,1761336378.031 [DAT](INFO): DAT read: Rx Time:20:06:17.0326 2025-10-24T20:06:18.031Z,1761336378.031 [DAT](INFO): Rx dataTimestamp_ set to:1761336378.030802 2025-10-24T20:06:18.032Z,1761336378.032 [DAT](INFO): DAT read: Range 10 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4 2025-10-24T20:06:18.033Z,1761336378.033 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-24T20:06:18.034Z,1761336378.034 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.530693 2025-10-24T20:06:18.160Z,1761336378.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663467,-0.734539,0.142352],[0.744065,0.667733,-0.022387],[-0.078609,0.120773,0.989563]] 2025-10-24T20:06:18.242Z,1761336378.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.504175 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:18.281Z,1761336378.281 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.777729 2025-10-24T20:06:18.533Z,1761336378.533 [DAT](INFO): DAT read: Rx Time:20:06:17.5329 2025-10-24T20:06:18.533Z,1761336378.533 [DAT](INFO): Rx dataTimestamp_ set to:1761336378.533149 2025-10-24T20:06:18.535Z,1761336378.535 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 2025-10-24T20:06:18.535Z,1761336378.535 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-24T20:06:18.536Z,1761336378.536 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.033020 2025-10-24T20:06:18.590Z,1761336378.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662722,-0.735811,0.139218],[0.745056,0.666584,-0.023599],[-0.075436,0.119365,0.989981]] 2025-10-24T20:06:18.642Z,1761336378.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.502347 s, deltaX: 0.300000 m, approachRate: 0.597197 m/s, rangeRepo size: 4 2025-10-24T20:06:18.786Z,1761336378.786 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.282684 2025-10-24T20:06:19.034Z,1761336379.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:19.037Z,1761336379.037 [DAT](INFO): DAT read: Rx Time:20:06:18.0329 2025-10-24T20:06:19.038Z,1761336379.038 [DAT](INFO): Rx dataTimestamp_ set to:1761336379.037241 2025-10-24T20:06:19.039Z,1761336379.039 [DAT](INFO): DAT read: Range 10 to 50 : 12.8 m (trip time 8.5 ms) speed -0.4 2025-10-24T20:06:19.039Z,1761336379.039 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-10-24T20:06:19.040Z,1761336379.040 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.537109 2025-10-24T20:06:19.042Z,1761336379.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504092 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:19.289Z,1761336379.289 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.785915 2025-10-24T20:06:19.372Z,1761336379.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660327,-0.738962,0.133802],[0.747756,0.663460,-0.026096],[-0.069488,0.117283,0.990664]] 2025-10-24T20:06:19.541Z,1761336379.541 [DAT](INFO): DAT read: Rx Time:20:06:18.5332 2025-10-24T20:06:19.541Z,1761336379.541 [DAT](INFO): Rx dataTimestamp_ set to:1761336379.541214 2025-10-24T20:06:19.543Z,1761336379.543 [DAT](INFO): DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 2025-10-24T20:06:19.543Z,1761336379.543 [DAT](ERROR): #Rx 66: Read range message, but no direction. 2025-10-24T20:06:19.544Z,1761336379.544 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.041077 2025-10-24T20:06:19.796Z,1761336379.796 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.292133 2025-10-24T20:06:19.884Z,1761336379.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.503973 s, deltaX: 0.400000 m, approachRate: 0.793693 m/s, rangeRepo size: 4 2025-10-24T20:06:20.047Z,1761336380.047 [DAT](INFO): DAT read: Rx Time:20:06:19.0332 2025-10-24T20:06:20.048Z,1761336380.048 [DAT](INFO): Rx dataTimestamp_ set to:1761336380.047595 2025-10-24T20:06:20.049Z,1761336380.049 [DAT](INFO): DAT read: Range 10 to 50 : 13.2 m (trip time 8.8 ms) speed -0.4 2025-10-24T20:06:20.050Z,1761336380.050 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-24T20:06:20.051Z,1761336380.051 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.547344 2025-10-24T20:06:20.188Z,1761336380.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658815,-0.741008,0.129885],[0.749540,0.661326,-0.028953],[-0.064442,0.116429,0.991106]] 2025-10-24T20:06:20.231Z,1761336380.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.506381 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:20.298Z,1761336380.298 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.794109 2025-10-24T20:06:20.549Z,1761336380.549 [DAT](INFO): DAT read: Rx Time:20:06:19.5334 2025-10-24T20:06:20.549Z,1761336380.549 [DAT](INFO): Rx dataTimestamp_ set to:1761336380.549158 2025-10-24T20:06:20.551Z,1761336380.551 [DAT](INFO): DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 2025-10-24T20:06:20.551Z,1761336380.551 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-10-24T20:06:20.552Z,1761336380.552 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.049004 2025-10-24T20:06:20.593Z,1761336380.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658166,-0.741980,0.127605],[0.750303,0.660422,-0.029814],[-0.062152,0.115365,0.991377]] 2025-10-24T20:06:20.659Z,1761336380.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.501563 s, deltaX: 0.500000 m, approachRate: 0.996884 m/s, rangeRepo size: 4 2025-10-24T20:06:20.805Z,1761336380.805 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.300755 2025-10-24T20:06:21.053Z,1761336381.053 [DAT](INFO): DAT read: Rx Time:20:06:20.0334 2025-10-24T20:06:21.053Z,1761336381.053 [DAT](INFO): Rx dataTimestamp_ set to:1761336381.053193 2025-10-24T20:06:21.055Z,1761336381.055 [DAT](INFO): DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 2025-10-24T20:06:21.055Z,1761336381.055 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-24T20:06:21.056Z,1761336381.056 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.553047 2025-10-24T20:06:21.082Z,1761336381.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:21.089Z,1761336381.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504035 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:21.306Z,1761336381.306 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.802204 2025-10-24T20:06:21.558Z,1761336381.558 [DAT](INFO): DAT read: Rx Time:20:06:20.5335 2025-10-24T20:06:21.558Z,1761336381.558 [DAT](INFO): Rx dataTimestamp_ set to:1761336381.557996 2025-10-24T20:06:21.559Z,1761336381.559 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed -0.4 2025-10-24T20:06:21.560Z,1761336381.560 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-24T20:06:21.561Z,1761336381.561 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.057846 2025-10-24T20:06:21.812Z,1761336381.812 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.308334 2025-10-24T20:06:21.855Z,1761336381.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656175,-0.744592,0.122542],[0.752547,0.657691,-0.033389],[-0.055733,0.114127,0.991902]] 2025-10-24T20:06:21.953Z,1761336381.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.504803 s, deltaX: 0.100000 m, approachRate: 0.198098 m/s, rangeRepo size: 4 2025-10-24T20:06:22.061Z,1761336382.061 [DAT](INFO): DAT read: Rx Time:20:06:21.0336 2025-10-24T20:06:22.061Z,1761336382.061 [DAT](INFO): Rx dataTimestamp_ set to:1761336382.061201 2025-10-24T20:06:22.063Z,1761336382.063 [DAT](INFO): DAT read: Range 10 to 50 : 14.0 m (trip time 9.3 ms) speed -0.4 2025-10-24T20:06:22.064Z,1761336382.064 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-24T20:06:22.065Z,1761336382.065 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.562004 2025-10-24T20:06:22.251Z,1761336382.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656218,-0.744759,0.121289],[0.752629,0.657543,-0.034443],[-0.054101,0.113887,0.992019]] 2025-10-24T20:06:22.275Z,1761336382.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.503205 s, deltaX: 0.200000 m, approachRate: 0.397452 m/s, rangeRepo size: 4 2025-10-24T20:06:22.313Z,1761336382.313 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.809658 2025-10-24T20:06:22.566Z,1761336382.566 [DAT](INFO): DAT read: Rx Time:20:06:21.5338 2025-10-24T20:06:22.566Z,1761336382.566 [DAT](INFO): Rx dataTimestamp_ set to:1761336382.565856 2025-10-24T20:06:22.568Z,1761336382.568 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 2025-10-24T20:06:22.569Z,1761336382.569 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-24T20:06:22.570Z,1761336382.570 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.066357 2025-10-24T20:06:22.643Z,1761336382.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655720,-0.745437,0.119810],[0.753183,0.656864,-0.035274],[-0.052404,0.113369,0.992170]] 2025-10-24T20:06:22.690Z,1761336382.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504655 s, deltaX: 0.300000 m, approachRate: 0.594466 m/s, rangeRepo size: 4 2025-10-24T20:06:22.821Z,1761336382.821 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.316879 2025-10-24T20:06:23.045Z,1761336383.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655675,-0.745810,0.117720],[0.753352,0.656637,-0.035912],[-0.050515,0.112231,0.992397]] 2025-10-24T20:06:23.069Z,1761336383.069 [DAT](INFO): DAT read: Rx Time:20:06:22.0339 2025-10-24T20:06:23.069Z,1761336383.069 [DAT](INFO): Rx dataTimestamp_ set to:1761336383.069194 2025-10-24T20:06:23.072Z,1761336383.072 [DAT](INFO): DAT read: Range 10 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4 2025-10-24T20:06:23.073Z,1761336383.073 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-24T20:06:23.074Z,1761336383.074 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.570332 2025-10-24T20:06:23.143Z,1761336383.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:23.151Z,1761336383.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503338 s, deltaX: 0.099999 m, approachRate: 0.198673 m/s, rangeRepo size: 4 2025-10-24T20:06:23.322Z,1761336383.322 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.818504 2025-10-24T20:06:23.497Z,1761336383.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654989,-0.746539,0.116910],[0.754061,0.655742,-0.037333],[-0.048792,0.112610,0.992441]] 2025-10-24T20:06:23.588Z,1761336383.588 [DAT](INFO): DAT read: Rx Time:20:06:22.5341 2025-10-24T20:06:23.589Z,1761336383.589 [DAT](INFO): Rx dataTimestamp_ set to:1761336383.588360 2025-10-24T20:06:23.591Z,1761336383.591 [DAT](INFO): DAT read: Bearing 203.1, -1.0 (Local) 2025-10-24T20:06:23.591Z,1761336383.591 [DAT](INFO): Local bearing/azimuth received: Bearing 203.1, -1.0 (Local) 2025-10-24T20:06:23.594Z,1761336383.594 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed -0.4 2025-10-24T20:06:23.602Z,1761336383.602 [DAT](INFO): DAT read: 20:06:22.5341 LVL= 32576, 24465, 14130, 32755, AGC= 56, IDX= 514,-0.23, 2.021,-1.816,-3.115,-2.992, PHS=-1.182, 1.223,-0.126, RAW= 304.0, 0.8, CAL= 306.9, 1.0, ROT= 203.1, -1.0 2025-10-24T20:06:23.603Z,1761336383.603 [DAT](INFO): got valid direction response: 20:06:22.5341 LVL= 32576, 24465, 14130, 32755, AGC= 56, IDX= 514,-0.23, 2.021,-1.816,-3.115,-2.992, PHS=-1.182, 1.223,-0.126, RAW= 304.0, 0.8, CAL= 306.9, 1.0, ROT= 203.1, -1.0 2025-10-24T20:06:23.605Z,1761336383.605 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-24T20:06:23.606Z,1761336383.606 [DAT](INFO): direction in FSK: [-0.919681,-0.392277,0.017452] 2025-10-24T20:06:23.607Z,1761336383.607 [DAT](INFO): publishing direction and range info 2025-10-24T20:06:23.628Z,1761336383.628 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.120358 2025-10-24T20:06:23.828Z,1761336383.828 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.323975 2025-10-24T20:06:23.891Z,1761336383.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654257,-0.747416,0.115397],[0.754808,0.654834,-0.038174],[-0.047034,0.112078,0.992586]] 2025-10-24T20:06:23.985Z,1761336383.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.519166 s, deltaX: 0.300000 m, approachRate: 0.577850 m/s, rangeRepo size: 4 2025-10-24T20:06:23.992Z,1761336383.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.622960 m, bearing: 252.149039 deg, lat: 36.779636 deg, lon: -121.859530 deg, deltaT: 25.978234 s, deltaX: 9.052947 m, approachRate: 0.348482 m/s, posRepo size: 4 2025-10-24T20:06:24.077Z,1761336384.077 [DAT](INFO): DAT read: Rx Time:20:06:23.0343 2025-10-24T20:06:24.078Z,1761336384.078 [DAT](INFO): Rx dataTimestamp_ set to:1761336384.077357 2025-10-24T20:06:24.079Z,1761336384.079 [DAT](INFO): DAT read: Range 10 to 50 : 15.0 m (trip time 10.0 ms) speed -0.4 2025-10-24T20:06:24.081Z,1761336384.081 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-24T20:06:24.082Z,1761336384.082 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.578659 2025-10-24T20:06:24.255Z,1761336384.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654158,-0.747823,0.113302],[0.754983,0.654629,-0.038230],[-0.045581,0.110550,0.992825]] 2025-10-24T20:06:24.329Z,1761336384.329 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.825569 2025-10-24T20:06:24.330Z,1761336384.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.488997 s, deltaX: 0.300000 m, approachRate: 0.613501 m/s, rangeRepo size: 4 2025-10-24T20:06:24.581Z,1761336384.581 [DAT](INFO): DAT read: Rx Time:20:06:23.5345 2025-10-24T20:06:24.582Z,1761336384.582 [DAT](INFO): Rx dataTimestamp_ set to:1761336384.581327 2025-10-24T20:06:24.584Z,1761336384.584 [DAT](INFO): DAT read: Range 10 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4 2025-10-24T20:06:24.585Z,1761336384.585 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-24T20:06:24.586Z,1761336384.586 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.082703 2025-10-24T20:06:24.659Z,1761336384.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653402,-0.748708,0.111815],[0.755726,0.653741,-0.038746],[-0.044089,0.109818,0.992973]] 2025-10-24T20:06:24.679Z,1761336384.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503970 s, deltaX: 0.300000 m, approachRate: 0.595274 m/s, rangeRepo size: 4 2025-10-24T20:06:24.838Z,1761336384.838 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.332058 2025-10-24T20:06:25.063Z,1761336385.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653916,-0.748480,0.110320],[0.755369,0.654104,-0.039560],[-0.042551,0.109201,0.993109]] 2025-10-24T20:06:25.085Z,1761336385.085 [DAT](INFO): DAT read: Rx Time:20:06:24.0346 2025-10-24T20:06:25.085Z,1761336385.085 [DAT](INFO): Rx dataTimestamp_ set to:1761336385.085179 2025-10-24T20:06:25.087Z,1761336385.087 [DAT](INFO): DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed -0.4 2025-10-24T20:06:25.088Z,1761336385.088 [DAT](ERROR): #Rx 77: Read range message, but no direction. 2025-10-24T20:06:25.089Z,1761336385.089 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.585773 2025-10-24T20:06:25.119Z,1761336385.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503852 s, deltaX: 0.200000 m, approachRate: 0.396942 m/s, rangeRepo size: 4 2025-10-24T20:06:25.160Z,1761336385.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 15.50 m. Rolling out. 2025-10-24T20:06:25.160Z,1761336385.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-24T20:06:25.197Z,1761336385.197 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T20:06:25.338Z,1761336385.338 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.834015 2025-10-24T20:06:25.467Z,1761336385.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653606,-0.748911,0.109238],[0.755700,0.653694,-0.040018],[-0.041438,0.108707,0.993210]] 2025-10-24T20:06:25.485Z,1761336385.485 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-24T20:06:25.485Z,1761336385.485 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T20:06:25.485Z,1761336385.485 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-24T20:06:25.496Z,1761336385.496 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 15.500000 m (mode 5.000000 count ). 2025-10-24T20:06:25.496Z,1761336385.496 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-24T20:06:25.496Z,1761336385.496 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-24T20:06:25.497Z,1761336385.497 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-24T20:06:25.497Z,1761336385.497 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T20:06:25.497Z,1761336385.497 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-24T20:06:25.558Z,1761336385.558 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 15.500000 m (mode 5.000000 count ). 2025-10-24T20:06:25.558Z,1761336385.558 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-24T20:06:25.558Z,1761336385.558 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-24T20:06:25.559Z,1761336385.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:06:25.569Z,1761336385.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:25.576Z,1761336385.576 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-24T20:06:25.576Z,1761336385.576 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-24T20:06:25.576Z,1761336385.576 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-24T20:06:25.576Z,1761336385.576 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-24T20:06:25.589Z,1761336385.589 [DAT](INFO): DAT read: Rx Time:20:06:24.5348 2025-10-24T20:06:25.590Z,1761336385.590 [DAT](INFO): Rx dataTimestamp_ set to:1761336385.589271 2025-10-24T20:06:25.591Z,1761336385.591 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed -0.4 2025-10-24T20:06:25.591Z,1761336385.591 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-24T20:06:25.593Z,1761336385.593 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.089493 2025-10-24T20:06:25.844Z,1761336385.844 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.339996 2025-10-24T20:06:25.963Z,1761336385.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656691,-0.746439,0.107642],[0.753069,0.656701,-0.040383],[-0.040545,0.107581,0.993369]] 2025-10-24T20:06:26.011Z,1761336386.011 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-24T20:06:26.011Z,1761336386.011 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-24T20:06:26.012Z,1761336386.012 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-24T20:06:26.012Z,1761336386.012 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-24T20:06:26.015Z,1761336386.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504092 s, deltaX: 0.300000 m, approachRate: 0.595130 m/s, rangeRepo size: 4 2025-10-24T20:06:26.015Z,1761336386.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:26.094Z,1761336386.094 [DAT](INFO): DAT read: Rx Time:20:06:25.0348 2025-10-24T20:06:26.094Z,1761336386.094 [DAT](INFO): Rx dataTimestamp_ set to:1761336386.093691 2025-10-24T20:06:26.095Z,1761336386.095 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed -0.4 2025-10-24T20:06:26.096Z,1761336386.096 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-10-24T20:06:26.097Z,1761336386.097 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.593800 2025-10-24T20:06:26.345Z,1761336386.345 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.841679 2025-10-24T20:06:26.371Z,1761336386.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657364,-0.745466,0.110241],[0.752587,0.656921,-0.045466],[-0.038526,0.112854,0.992864]] 2025-10-24T20:06:26.389Z,1761336386.389 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-24T20:06:26.389Z,1761336386.389 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-24T20:06:26.390Z,1761336386.390 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-24T20:06:26.390Z,1761336386.390 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-24T20:06:26.393Z,1761336386.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504420 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:26.393Z,1761336386.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:26.598Z,1761336386.598 [DAT](INFO): DAT read: Rx Time:20:06:25.5351 2025-10-24T20:06:26.598Z,1761336386.598 [DAT](INFO): Rx dataTimestamp_ set to:1761336386.598067 2025-10-24T20:06:26.600Z,1761336386.600 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -3.3 2025-10-24T20:06:26.601Z,1761336386.601 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-24T20:06:26.603Z,1761336386.603 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.099426 2025-10-24T20:06:26.775Z,1761336386.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658021,-0.743947,0.116414],[0.752096,0.656902,-0.053208],[-0.036889,0.122567,0.991774]] 2025-10-24T20:06:26.810Z,1761336386.810 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-24T20:06:26.810Z,1761336386.810 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T20:06:26.810Z,1761336386.810 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-24T20:06:26.810Z,1761336386.810 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-24T20:06:26.811Z,1761336386.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-24T20:06:26.811Z,1761336386.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T20:06:26.811Z,1761336386.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-24T20:06:26.811Z,1761336386.811 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-24T20:06:26.815Z,1761336386.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504376 s, deltaX: 0.400001 m, approachRate: 0.793060 m/s, rangeRepo size: 4 2025-10-24T20:06:26.815Z,1761336386.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:26.852Z,1761336386.852 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.348095 2025-10-24T20:06:27.101Z,1761336387.101 [DAT](INFO): DAT read: Rx Time:20:06:26.0351 2025-10-24T20:06:27.101Z,1761336387.101 [DAT](INFO): Rx dataTimestamp_ set to:1761336387.101158 2025-10-24T20:06:27.106Z,1761336387.106 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 2025-10-24T20:06:27.108Z,1761336387.108 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-24T20:06:27.109Z,1761336387.109 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.605782 2025-10-24T20:06:27.190Z,1761336387.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658922,-0.742456,0.120749],[0.751354,0.657296,-0.058550],[-0.035897,0.129305,0.990955]] 2025-10-24T20:06:27.249Z,1761336387.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503091 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:27.249Z,1761336387.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:27.353Z,1761336387.353 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.849518 2025-10-24T20:06:27.609Z,1761336387.609 [DAT](INFO): DAT read: Rx Time:20:06:26.5353 2025-10-24T20:06:27.609Z,1761336387.609 [DAT](INFO): Rx dataTimestamp_ set to:1761336387.608757 2025-10-24T20:06:27.610Z,1761336387.610 [DAT](INFO): DAT read: Range 10 to 50 : 16.5 m (trip time 11.0 ms) speed -0.4 2025-10-24T20:06:27.611Z,1761336387.611 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-24T20:06:27.612Z,1761336387.612 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.108639 2025-10-24T20:06:27.698Z,1761336387.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660205,-0.740800,0.123876],[0.750244,0.658238,-0.062095],[-0.035540,0.133932,0.990353]] 2025-10-24T20:06:27.743Z,1761336387.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.507599 s, deltaX: 0.299999 m, approachRate: 0.591016 m/s, rangeRepo size: 4 2025-10-24T20:06:27.748Z,1761336387.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:27.858Z,1761336387.858 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.354202 2025-10-24T20:06:28.063Z,1761336388.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661226,-0.739492,0.126223],[0.749356,0.658996,-0.064737],[-0.035308,0.137392,0.989887]] 2025-10-24T20:06:28.103Z,1761336388.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:28.117Z,1761336388.117 [DAT](INFO): DAT read: Rx Time:20:06:27.0354 2025-10-24T20:06:28.118Z,1761336388.118 [DAT](INFO): Rx dataTimestamp_ set to:1761336388.117393 2025-10-24T20:06:28.119Z,1761336388.119 [DAT](INFO): DAT read: Range 10 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 2025-10-24T20:06:28.120Z,1761336388.120 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-24T20:06:28.122Z,1761336388.122 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.618313 2025-10-24T20:06:28.369Z,1761336388.369 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.865459 2025-10-24T20:06:28.459Z,1761336388.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663293,-0.737307,0.128145],[0.747521,0.660869,-0.066815],[-0.035424,0.140109,0.989502]] 2025-10-24T20:06:28.495Z,1761336388.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.508636 s, deltaX: 0.200001 m, approachRate: 0.393210 m/s, rangeRepo size: 4 2025-10-24T20:06:28.495Z,1761336388.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:28.622Z,1761336388.622 [DAT](INFO): DAT read: Rx Time:20:06:27.5356 2025-10-24T20:06:28.622Z,1761336388.622 [DAT](INFO): Rx dataTimestamp_ set to:1761336388.622088 2025-10-24T20:06:28.624Z,1761336388.624 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -0.2 2025-10-24T20:06:28.624Z,1761336388.624 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-24T20:06:28.625Z,1761336388.625 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.121971 2025-10-24T20:06:28.876Z,1761336388.876 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.371960 2025-10-24T20:06:28.878Z,1761336388.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664337,-0.736049,0.129953],[0.746596,0.661715,-0.068764],[-0.035378,0.142705,0.989133]] 2025-10-24T20:06:28.958Z,1761336388.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504695 s, deltaX: 0.299999 m, approachRate: 0.594417 m/s, rangeRepo size: 4 2025-10-24T20:06:28.958Z,1761336388.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:29.125Z,1761336389.125 [DAT](INFO): DAT read: Rx Time:20:06:28.0356 2025-10-24T20:06:29.125Z,1761336389.125 [DAT](INFO): Rx dataTimestamp_ set to:1761336389.125223 2025-10-24T20:06:29.127Z,1761336389.127 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed -3.4 2025-10-24T20:06:29.127Z,1761336389.127 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-24T20:06:29.128Z,1761336389.128 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.625118 2025-10-24T20:06:29.330Z,1761336389.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665617,-0.734605,0.131565],[0.745453,0.662821,-0.070487],[-0.035424,0.144993,0.988798]] 2025-10-24T20:06:29.377Z,1761336389.377 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.873642 2025-10-24T20:06:29.413Z,1761336389.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503135 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:29.413Z,1761336389.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:29.630Z,1761336389.630 [DAT](INFO): DAT read: Rx Time:20:06:28.5357 2025-10-24T20:06:29.630Z,1761336389.630 [DAT](INFO): Rx dataTimestamp_ set to:1761336389.629895 2025-10-24T20:06:29.632Z,1761336389.632 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.2 2025-10-24T20:06:29.633Z,1761336389.633 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-24T20:06:29.635Z,1761336389.635 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.131130 2025-10-24T20:06:29.811Z,1761336389.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666703,-0.733595,0.131704],[0.744486,0.663851,-0.071015],[-0.035335,0.145398,0.988742]] 2025-10-24T20:06:29.842Z,1761336389.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504672 s, deltaX: 0.100000 m, approachRate: 0.198149 m/s, rangeRepo size: 4 2025-10-24T20:06:29.842Z,1761336389.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:29.883Z,1761336389.883 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.379524 2025-10-24T20:06:30.133Z,1761336390.133 [DAT](INFO): DAT read: Rx Time:20:06:29.0357 2025-10-24T20:06:30.133Z,1761336390.133 [DAT](INFO): Rx dataTimestamp_ set to:1761336390.133147 2025-10-24T20:06:30.135Z,1761336390.135 [DAT](INFO): DAT read: Range 10 to 50 : 17.1 m (trip time 11.4 ms) speed -0.3 2025-10-24T20:06:30.135Z,1761336390.135 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-24T20:06:30.136Z,1761336390.136 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.633053 2025-10-24T20:06:30.215Z,1761336390.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667785,-0.732509,0.132265],[0.743498,0.664923,-0.071331],[-0.035695,0.145972,0.988645]] 2025-10-24T20:06:30.255Z,1761336390.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.503252 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:30.272Z,1761336390.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:30.387Z,1761336390.387 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.883175 2025-10-24T20:06:30.637Z,1761336390.637 [DAT](INFO): DAT read: Rx Time:20:06:29.5359 2025-10-24T20:06:30.639Z,1761336390.639 [DAT](INFO): Rx dataTimestamp_ set to:1761336390.637846 2025-10-24T20:06:30.640Z,1761336390.640 [DAT](INFO): DAT read: Range 10 to 50 : 17.4 m (trip time 11.6 ms) speed -0.3 2025-10-24T20:06:30.641Z,1761336390.641 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-24T20:06:30.642Z,1761336390.642 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.138355 2025-10-24T20:06:30.667Z,1761336390.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669354,-0.730577,0.134989],[0.742083,0.666193,-0.074158],[-0.035751,0.149812,0.988068]] 2025-10-24T20:06:30.805Z,1761336390.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504699 s, deltaX: 0.299999 m, approachRate: 0.594412 m/s, rangeRepo size: 4 2025-10-24T20:06:30.806Z,1761336390.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:30.889Z,1761336390.889 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.386036 2025-10-24T20:06:31.141Z,1761336391.141 [DAT](INFO): DAT read: Rx Time:20:06:30.0360 2025-10-24T20:06:31.142Z,1761336391.142 [DAT](INFO): Rx dataTimestamp_ set to:1761336391.141755 2025-10-24T20:06:31.144Z,1761336391.144 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed -0.4 2025-10-24T20:06:31.145Z,1761336391.145 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-24T20:06:31.146Z,1761336391.146 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.642982 2025-10-24T20:06:31.198Z,1761336391.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669606,-0.730101,0.136309],[0.741849,0.666333,-0.075241],[-0.035894,0.151502,0.987805]] 2025-10-24T20:06:31.373Z,1761336391.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503909 s, deltaX: 0.200001 m, approachRate: 0.396899 m/s, rangeRepo size: 4 2025-10-24T20:06:31.373Z,1761336391.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:31.395Z,1761336391.395 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.890957 2025-10-24T20:06:31.645Z,1761336391.645 [DAT](INFO): DAT read: Rx Time:20:06:30.5362 2025-10-24T20:06:31.646Z,1761336391.646 [DAT](INFO): Rx dataTimestamp_ set to:1761336391.645245 2025-10-24T20:06:31.647Z,1761336391.647 [DAT](INFO): DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 2025-10-24T20:06:31.647Z,1761336391.647 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-24T20:06:31.649Z,1761336391.649 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.145248 2025-10-24T20:06:31.669Z,1761336391.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669725,-0.729890,0.136855],[0.741749,0.666361,-0.075974],[-0.035742,0.152394,0.987673]] 2025-10-24T20:06:31.749Z,1761336391.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503490 s, deltaX: 0.299999 m, approachRate: 0.595840 m/s, rangeRepo size: 4 2025-10-24T20:06:31.749Z,1761336391.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:31.897Z,1761336391.897 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.394138 2025-10-24T20:06:32.057Z,1761336392.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669664,-0.729801,0.137627],[0.741797,0.666251,-0.076469],[-0.035887,0.153299,0.987528]] 2025-10-24T20:06:32.149Z,1761336392.149 [DAT](INFO): DAT read: Rx Time:20:06:31.0362 2025-10-24T20:06:32.149Z,1761336392.149 [DAT](INFO): Rx dataTimestamp_ set to:1761336392.149202 2025-10-24T20:06:32.151Z,1761336392.151 [DAT](INFO): DAT read: Range 10 to 50 : 17.9 m (trip time 11.9 ms) speed -0.4 2025-10-24T20:06:32.151Z,1761336392.151 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-24T20:06:32.153Z,1761336392.153 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.649372 2025-10-24T20:06:32.164Z,1761336392.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503957 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:32.164Z,1761336392.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:32.403Z,1761336392.403 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.899101 2025-10-24T20:06:32.470Z,1761336392.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669186,-0.730093,0.138401],[0.742232,0.665688,-0.077146],[-0.035808,0.154351,0.987367]] 2025-10-24T20:06:32.513Z,1761336392.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:32.653Z,1761336392.653 [DAT](INFO): DAT read: Rx Time:20:06:31.5365 2025-10-24T20:06:32.654Z,1761336392.654 [DAT](INFO): Rx dataTimestamp_ set to:1761336392.653581 2025-10-24T20:06:32.656Z,1761336392.656 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 2025-10-24T20:06:32.657Z,1761336392.657 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-24T20:06:32.658Z,1761336392.658 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.154350 2025-10-24T20:06:32.872Z,1761336392.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668473,-0.730343,0.140511],[0.742860,0.664833,-0.078466],[-0.036109,0.156832,0.986965]] 2025-10-24T20:06:32.906Z,1761336392.906 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=48.402576 2025-10-24T20:06:32.922Z,1761336392.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504379 s, deltaX: 0.400000 m, approachRate: 0.793054 m/s, rangeRepo size: 4 2025-10-24T20:06:32.922Z,1761336392.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:33.157Z,1761336393.157 [DAT](INFO): DAT read: Rx Time:20:06:32.0365 2025-10-24T20:06:33.158Z,1761336393.158 [DAT](INFO): Rx dataTimestamp_ set to:1761336393.157230 2025-10-24T20:06:33.159Z,1761336393.159 [DAT](INFO): DAT read: Range 10 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4 2025-10-24T20:06:33.160Z,1761336393.160 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-24T20:06:33.162Z,1761336393.162 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.658245 2025-10-24T20:06:33.350Z,1761336393.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667470,-0.730990,0.141904],[0.743776,0.663639,-0.079878],[-0.035783,0.158861,0.986652]] 2025-10-24T20:06:33.397Z,1761336393.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503649 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:33.397Z,1761336393.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:33.409Z,1761336393.409 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.905617 2025-10-24T20:06:33.661Z,1761336393.661 [DAT](INFO): DAT read: Rx Time:20:06:32.5367 2025-10-24T20:06:33.661Z,1761336393.661 [DAT](INFO): Rx dataTimestamp_ set to:1761336393.661053 2025-10-24T20:06:33.663Z,1761336393.663 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed -0.4 2025-10-24T20:06:33.663Z,1761336393.663 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-24T20:06:33.664Z,1761336393.664 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.160938 2025-10-24T20:06:33.751Z,1761336393.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666596,-0.731562,0.143061],[0.744560,0.662664,-0.080666],[-0.035789,0.160289,0.986421]] 2025-10-24T20:06:33.830Z,1761336393.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503823 s, deltaX: 0.300001 m, approachRate: 0.595450 m/s, rangeRepo size: 4 2025-10-24T20:06:33.830Z,1761336393.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:33.914Z,1761336393.914 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=49.410385 2025-10-24T20:06:34.156Z,1761336394.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666086,-0.731867,0.143877],[0.745026,0.662036,-0.081519],[-0.035591,0.161490,0.986232]] 2025-10-24T20:06:34.165Z,1761336394.165 [DAT](INFO): DAT read: Rx Time:20:06:33.0367 2025-10-24T20:06:34.165Z,1761336394.165 [DAT](INFO): Rx dataTimestamp_ set to:1761336394.164979 2025-10-24T20:06:34.166Z,1761336394.166 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed -0.4 2025-10-24T20:06:34.167Z,1761336394.167 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-24T20:06:34.168Z,1761336394.168 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.664852 2025-10-24T20:06:34.242Z,1761336394.242 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, +0.5 2025-10-24T20:06:34.260Z,1761336394.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503926 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:34.261Z,1761336394.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:34.417Z,1761336394.417 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.913532 2025-10-24T20:06:34.559Z,1761336394.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665306,-0.732430,0.144616],[0.745734,0.661140,-0.082308],[-0.035326,0.162605,0.986059]] 2025-10-24T20:06:34.578Z,1761336394.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:34.669Z,1761336394.669 [DAT](INFO): DAT read: Rx Time:20:06:33.5370 2025-10-24T20:06:34.669Z,1761336394.669 [DAT](INFO): Rx dataTimestamp_ set to:1761336394.669158 2025-10-24T20:06:34.671Z,1761336394.671 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.4 2025-10-24T20:06:34.672Z,1761336394.672 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-24T20:06:34.673Z,1761336394.673 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.169613 2025-10-24T20:06:34.922Z,1761336394.922 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=50.418240 2025-10-24T20:06:35.091Z,1761336395.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504179 s, deltaX: 0.299999 m, approachRate: 0.595025 m/s, rangeRepo size: 4 2025-10-24T20:06:35.091Z,1761336395.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:35.174Z,1761336395.174 [DAT](INFO): DAT read: Rx Time:20:06:34.0370 2025-10-24T20:06:35.175Z,1761336395.175 [DAT](INFO): Rx dataTimestamp_ set to:1761336395.173959 2025-10-24T20:06:35.176Z,1761336395.176 [DAT](INFO): DAT read: Range 10 to 50 : 18.9 m (trip time 12.6 ms) speed -0.4 2025-10-24T20:06:35.177Z,1761336395.177 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-24T20:06:35.179Z,1761336395.179 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.675175 2025-10-24T20:06:35.411Z,1761336395.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504801 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:35.411Z,1761336395.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:35.425Z,1761336395.425 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.921669 2025-10-24T20:06:35.677Z,1761336395.677 [DAT](INFO): DAT read: Rx Time:20:06:34.5372 2025-10-24T20:06:35.678Z,1761336395.678 [DAT](INFO): Rx dataTimestamp_ set to:1761336395.677270 2025-10-24T20:06:35.679Z,1761336395.679 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed -3.4 2025-10-24T20:06:35.679Z,1761336395.679 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-24T20:06:35.681Z,1761336395.681 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.177528 2025-10-24T20:06:35.847Z,1761336395.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664355,-0.732940,0.146396],[0.746631,0.659783,-0.085019],[-0.034276,0.165787,0.985566]] 2025-10-24T20:06:35.903Z,1761336395.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.503311 s, deltaX: 0.300001 m, approachRate: 0.596055 m/s, rangeRepo size: 4 2025-10-24T20:06:35.908Z,1761336395.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:35.934Z,1761336395.934 [DAT](INFO): DAT read: Rx Time:20:06:35.0372 2025-10-24T20:06:35.936Z,1761336395.936 [DAT](INFO): Rx dataTimestamp_ set to:1761336395.934466 2025-10-24T20:06:35.938Z,1761336395.938 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=51.434193 2025-10-24T20:06:36.186Z,1761336396.186 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed -0.4 2025-10-24T20:06:36.187Z,1761336396.187 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-24T20:06:36.188Z,1761336396.188 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.685146 2025-10-24T20:06:36.249Z,1761336396.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663469,-0.733611,0.147048],[0.747451,0.658688,-0.086300],[-0.033548,0.167168,0.985357]] 2025-10-24T20:06:36.318Z,1761336396.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.502943 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:36.318Z,1761336396.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:06:36.438Z,1761336396.438 [DAT](INFO): DAT read: Rx Time:20:06:35.5375 2025-10-24T20:06:36.441Z,1761336396.441 [DAT](INFO): Rx dataTimestamp_ set to:1761336396.438611 2025-10-24T20:06:36.444Z,1761336396.444 [DAT](INFO): DAT read: Bearing 342.6, -41.9 (Local) 2025-10-24T20:06:36.445Z,1761336396.445 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, -41.9 (Local) 2025-10-24T20:06:36.447Z,1761336396.447 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.943485 2025-10-24T20:06:36.690Z,1761336396.690 [DAT](INFO): DAT read: Range 10 to 50 : 19.7 m (trip time 13.1 ms) speed -0.3 2025-10-24T20:06:36.711Z,1761336396.711 [DAT](INFO): DAT read: 20:06:35.5375 LVL= 24016, 19953, 13714, 28227, AGC= 60, IDX= 513, 0.05, 0.096,-1.267, 0.541, 0.852, PHS=-0.667,-2.071,-0.313, RAW= 161.0, 33.8, CAL= 167.4, 41.9, ROT= 342.6, -41.9 2025-10-24T20:06:36.721Z,1761336396.721 [DAT](INFO): got valid direction response: 20:06:35.5375 LVL= 24016, 19953, 13714, 28227, AGC= 60, IDX= 513, 0.05, 0.096,-1.267, 0.541, 0.852, PHS=-0.667,-2.071,-0.313, RAW= 161.0, 33.8, CAL= 167.4, 41.9, ROT= 342.6, -41.9 2025-10-24T20:06:36.722Z,1761336396.722 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-24T20:06:36.723Z,1761336396.723 [DAT](INFO): direction in FSK: [0.710252,-0.222580,0.667833] 2025-10-24T20:06:36.723Z,1761336396.723 [DAT](INFO): publishing direction and range info 2025-10-24T20:06:36.727Z,1761336396.727 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=52.223759 2025-10-24T20:06:36.758Z,1761336396.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504784 s, deltaX: 0.500000 m, approachRate: 0.990523 m/s, rangeRepo size: 4 2025-10-24T20:06:36.765Z,1761336396.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.599789 m, bearing: 24.026487 deg, lat: 36.779636 deg, lon: -121.859530 deg, deltaT: 13.096637 s, deltaX: 4.976829 m, approachRate: 0.380008 m/s, posRepo size: 4 2025-10-24T20:06:36.765Z,1761336396.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.60 m. 2025-10-24T20:06:36.948Z,1761336396.948 [DAT](INFO): DAT read: Rx Time:20:06:36.0375 2025-10-24T20:06:36.950Z,1761336396.950 [DAT](INFO): Rx dataTimestamp_ set to:1761336396.949259 2025-10-24T20:06:36.955Z,1761336396.955 [DAT](INFO): DAT read: Bearing 345.1, -45.1 (Local) 2025-10-24T20:06:36.957Z,1761336396.957 [DAT](INFO): Local bearing/azimuth received: Bearing 345.1, -45.1 (Local) 2025-10-24T20:06:36.988Z,1761336396.988 [DAT](INFO): DAT read: Range 10 to 50 : 19.8 m (trip time 13.2 ms) speed -0.3 2025-10-24T20:06:37.042Z,1761336397.042 [DAT](INFO): DAT read: 20:06:36.0375 LVL= 23280, 17953, 15858, 26611, AGC= 58, IDX= 513, 0.08, 0.197,-1.036, 0.506, 0.937, PHS=-0.652,-1.926,-0.434, RAW= 157.8, 37.3, CAL= 164.9, 45.1, ROT= 345.1, -45.1 2025-10-24T20:06:37.051Z,1761336397.051 [DAT](INFO): got valid direction response: 20:06:36.0375 LVL= 23280, 17953, 15858, 26611, AGC= 58, IDX= 513, 0.08, 0.197,-1.036, 0.506, 0.937, PHS=-0.652,-1.926,-0.434, RAW= 157.8, 37.3, CAL= 164.9, 45.1, ROT= 345.1, -45.1 2025-10-24T20:06:37.056Z,1761336397.056 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-24T20:06:37.057Z,1761336397.057 [DAT](INFO): direction in FSK: [0.682137,-0.181503,0.708340] 2025-10-24T20:06:37.057Z,1761336397.057 [DAT](INFO): publishing direction and range info 2025-10-24T20:06:37.069Z,1761336397.069 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.565628 2025-10-24T20:06:37.189Z,1761336397.189 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.685783 2025-10-24T20:06:37.261Z,1761336397.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.264262 s, deltaX: 0.099998 m, approachRate: 0.378407 m/s, rangeRepo size: 4 2025-10-24T20:06:37.263Z,1761336397.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.699566 m, bearing: 25.508160 deg, lat: 36.779636 deg, lon: -121.859530 deg, deltaT: 0.264262 s, deltaX: 0.099777 m, approachRate: 0.377569 m/s, posRepo size: 4 2025-10-24T20:06:37.263Z,1761336397.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:37.443Z,1761336397.443 [DAT](INFO): DAT read: Rx Time:20:06:36.5376 2025-10-24T20:06:37.444Z,1761336397.444 [DAT](INFO): Rx dataTimestamp_ set to:1761336397.443863 2025-10-24T20:06:37.445Z,1761336397.445 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed -0.3 2025-10-24T20:06:37.446Z,1761336397.446 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-24T20:06:37.447Z,1761336397.447 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.943871 2025-10-24T20:06:37.556Z,1761336397.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663472,-0.733360,0.148283],[0.747538,0.658081,-0.090094],[-0.031511,0.170622,0.984832]] 2025-10-24T20:06:37.610Z,1761336397.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.494604 s, deltaX: 0.200001 m, approachRate: 0.404365 m/s, rangeRepo size: 4 2025-10-24T20:06:37.610Z,1761336397.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:37.695Z,1761336397.695 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=53.191631 2025-10-24T20:06:37.949Z,1761336397.949 [DAT](INFO): DAT read: Rx Time:20:06:37.0376 2025-10-24T20:06:37.949Z,1761336397.949 [DAT](INFO): Rx dataTimestamp_ set to:1761336397.949198 2025-10-24T20:06:37.951Z,1761336397.951 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2 2025-10-24T20:06:37.951Z,1761336397.951 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-24T20:06:37.952Z,1761336397.952 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.449200 2025-10-24T20:06:38.107Z,1761336398.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.505335 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:38.107Z,1761336398.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:38.202Z,1761336398.202 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.698460 2025-10-24T20:06:38.360Z,1761336398.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664692,-0.732247,0.148319],[0.746479,0.659111,-0.091335],[-0.030879,0.171427,0.984713]] 2025-10-24T20:06:38.425Z,1761336398.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:38.453Z,1761336398.453 [DAT](INFO): DAT read: Rx Time:20:06:37.5377 2025-10-24T20:06:38.454Z,1761336398.454 [DAT](INFO): Rx dataTimestamp_ set to:1761336398.453315 2025-10-24T20:06:38.455Z,1761336398.455 [DAT](INFO): DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 2025-10-24T20:06:38.455Z,1761336398.455 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-24T20:06:38.456Z,1761336398.456 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.953178 2025-10-24T20:06:38.705Z,1761336398.705 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=54.201843 2025-10-24T20:06:38.774Z,1761336398.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665966,-0.730984,0.148832],[0.745343,0.660276,-0.092195],[-0.030877,0.172330,0.984555]] 2025-10-24T20:06:38.795Z,1761336398.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504117 s, deltaX: 0.100000 m, approachRate: 0.198367 m/s, rangeRepo size: 4 2025-10-24T20:06:38.795Z,1761336398.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:38.958Z,1761336398.958 [DAT](INFO): DAT read: Rx Time:20:06:38.0377 2025-10-24T20:06:38.959Z,1761336398.959 [DAT](INFO): Rx dataTimestamp_ set to:1761336398.958290 2025-10-24T20:06:38.961Z,1761336398.961 [DAT](INFO): DAT read: Range 10 to 50 : 20.1 m (trip time 13.4 ms) speed -0.1 2025-10-24T20:06:38.962Z,1761336398.962 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-24T20:06:38.963Z,1761336398.963 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.459900 2025-10-24T20:06:39.190Z,1761336399.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667063,-0.729679,0.150320],[0.744366,0.661117,-0.094041],[-0.030760,0.174624,0.984155]] 2025-10-24T20:06:39.209Z,1761336399.209 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.705673 2025-10-24T20:06:39.240Z,1761336399.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.100000 m, deltaT: 0.504975 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:39.241Z,1761336399.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:39.462Z,1761336399.462 [DAT](INFO): DAT read: Rx Time:20:06:38.5378 2025-10-24T20:06:39.463Z,1761336399.463 [DAT](INFO): Rx dataTimestamp_ set to:1761336399.462320 2025-10-24T20:06:39.464Z,1761336399.464 [DAT](INFO): DAT read: Range 10 to 50 : 20.3 m (trip time 13.5 ms) speed 0.0 2025-10-24T20:06:39.465Z,1761336399.465 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-24T20:06:39.465Z,1761336399.465 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.962200 2025-10-24T20:06:39.592Z,1761336399.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668444,-0.728402,0.150377],[0.743124,0.662451,-0.094471],[-0.030804,0.174898,0.984105]] 2025-10-24T20:06:39.638Z,1761336399.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.504030 s, deltaX: 0.199999 m, approachRate: 0.396800 m/s, rangeRepo size: 4 2025-10-24T20:06:39.639Z,1761336399.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:39.713Z,1761336399.713 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=55.209560 2025-10-24T20:06:39.792Z,1761336399.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:06:39.965Z,1761336399.965 [DAT](INFO): DAT read: Rx Time:20:06:39.0378 2025-10-24T20:06:39.965Z,1761336399.965 [DAT](INFO): Rx dataTimestamp_ set to:1761336399.965218 2025-10-24T20:06:39.967Z,1761336399.967 [DAT](INFO): DAT read: Range 10 to 50 : 20.3 m (trip time 13.5 ms) speed 0.0 2025-10-24T20:06:39.967Z,1761336399.967 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-24T20:06:39.969Z,1761336399.969 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.465675 2025-10-24T20:06:40.017Z,1761336400.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669484,-0.727368,0.150755],[0.742184,0.663423,-0.095042],[-0.030884,0.175517,0.983992]] 2025-10-24T20:06:40.117Z,1761336400.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.502898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:40.117Z,1761336400.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:40.218Z,1761336400.218 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.715179 2025-10-24T20:06:40.399Z,1761336400.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671241,-0.725766,0.150659],[0.740588,0.665170,-0.095282],[-0.031062,0.175534,0.983983]] 2025-10-24T20:06:40.469Z,1761336400.469 [DAT](INFO): DAT read: Rx Time:20:06:39.5379 2025-10-24T20:06:40.469Z,1761336400.469 [DAT](INFO): Rx dataTimestamp_ set to:1761336400.469026 2025-10-24T20:06:40.471Z,1761336400.471 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed 0.0 2025-10-24T20:06:40.471Z,1761336400.471 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-24T20:06:40.473Z,1761336400.473 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.969311 2025-10-24T20:06:40.489Z,1761336400.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503808 s, deltaX: 0.100000 m, approachRate: 0.198489 m/s, rangeRepo size: 4 2025-10-24T20:06:40.490Z,1761336400.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:40.722Z,1761336400.722 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=56.218323 2025-10-24T20:06:40.796Z,1761336400.796 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:06:40.847Z,1761336400.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:40.974Z,1761336400.974 [DAT](INFO): DAT read: Rx Time:20:06:40.0379 2025-10-24T20:06:40.974Z,1761336400.974 [DAT](INFO): Rx dataTimestamp_ set to:1761336400.974016 2025-10-24T20:06:40.976Z,1761336400.976 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed -0.1 2025-10-24T20:06:40.976Z,1761336400.976 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-24T20:06:40.977Z,1761336400.977 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.473938 2025-10-24T20:06:41.221Z,1761336401.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673656,-0.723407,0.151228],[0.738374,0.667524,-0.095999],[-0.031502,0.176333,0.983826]] 2025-10-24T20:06:41.226Z,1761336401.226 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.722027 2025-10-24T20:06:41.280Z,1761336401.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.504990 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:41.280Z,1761336401.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:41.480Z,1761336401.480 [DAT](INFO): DAT read: Rx Time:20:06:40.5379 2025-10-24T20:06:41.480Z,1761336401.480 [DAT](INFO): Rx dataTimestamp_ set to:1761336401.479984 2025-10-24T20:06:41.481Z,1761336401.481 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed 0.0 2025-10-24T20:06:41.482Z,1761336401.482 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-24T20:06:41.483Z,1761336401.483 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.979706 2025-10-24T20:06:41.616Z,1761336401.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674449,-0.722534,0.151864],[0.737634,0.668288,-0.096374],[-0.031856,0.177019,0.983692]] 2025-10-24T20:06:41.642Z,1761336401.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.505968 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:41.642Z,1761336401.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:41.730Z,1761336401.730 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=57.226334 2025-10-24T20:06:41.981Z,1761336401.981 [DAT](INFO): DAT read: Rx Time:20:06:41.0378 2025-10-24T20:06:41.982Z,1761336401.982 [DAT](INFO): Rx dataTimestamp_ set to:1761336401.981415 2025-10-24T20:06:41.983Z,1761336401.983 [DAT](INFO): DAT read: Range 10 to 50 : 20.3 m (trip time 13.5 ms) speed 0.0 2025-10-24T20:06:41.984Z,1761336401.984 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-24T20:06:41.985Z,1761336401.985 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.481281 2025-10-24T20:06:42.016Z,1761336402.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675815,-0.721172,0.152268],[0.736368,0.669628,-0.096748],[-0.032191,0.177509,0.983593]] 2025-10-24T20:06:42.088Z,1761336402.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.501431 s, deltaX: -0.100000 m, approachRate: -0.199430 m/s, rangeRepo size: 4 2025-10-24T20:06:42.090Z,1761336402.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:42.233Z,1761336402.233 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.729839 2025-10-24T20:06:42.485Z,1761336402.485 [DAT](INFO): DAT read: Rx Time:20:06:41.5380 2025-10-24T20:06:42.486Z,1761336402.486 [DAT](INFO): Rx dataTimestamp_ set to:1761336402.485440 2025-10-24T20:06:42.487Z,1761336402.487 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.0 2025-10-24T20:06:42.488Z,1761336402.488 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-24T20:06:42.489Z,1761336402.489 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.985298 2025-10-24T20:06:42.549Z,1761336402.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504025 s, deltaX: 0.300001 m, approachRate: 0.595211 m/s, rangeRepo size: 4 2025-10-24T20:06:42.549Z,1761336402.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:42.737Z,1761336402.737 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=58.234032 2025-10-24T20:06:42.824Z,1761336402.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677164,-0.719560,0.153889],[0.735116,0.670770,-0.098346],[-0.032458,0.179722,0.983182]] 2025-10-24T20:06:42.860Z,1761336402.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:42.989Z,1761336402.989 [DAT](INFO): DAT read: Rx Time:20:06:42.0380 2025-10-24T20:06:42.990Z,1761336402.990 [DAT](INFO): Rx dataTimestamp_ set to:1761336402.989548 2025-10-24T20:06:42.991Z,1761336402.991 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.0 2025-10-24T20:06:42.992Z,1761336402.992 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-24T20:06:42.993Z,1761336402.993 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.489464 2025-10-24T20:06:43.229Z,1761336403.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677892,-0.718696,0.154720],[0.734436,0.671403,-0.099102],[-0.032656,0.180812,0.982975]] 2025-10-24T20:06:43.241Z,1761336403.241 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.737804 2025-10-24T20:06:43.285Z,1761336403.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:43.286Z,1761336403.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:43.494Z,1761336403.494 [DAT](INFO): DAT read: Rx Time:20:06:42.5381 2025-10-24T20:06:43.494Z,1761336403.494 [DAT](INFO): Rx dataTimestamp_ set to:1761336403.493853 2025-10-24T20:06:43.495Z,1761336403.495 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed 0.0 2025-10-24T20:06:43.496Z,1761336403.496 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-24T20:06:43.497Z,1761336403.497 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.993717 2025-10-24T20:06:43.670Z,1761336403.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504305 s, deltaX: 0.100000 m, approachRate: 0.198293 m/s, rangeRepo size: 4 2025-10-24T20:06:43.671Z,1761336403.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:43.746Z,1761336403.746 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=59.242409 2025-10-24T20:06:43.997Z,1761336403.997 [DAT](INFO): DAT read: Rx Time:20:06:43.0381 2025-10-24T20:06:43.997Z,1761336403.997 [DAT](INFO): Rx dataTimestamp_ set to:1761336403.997024 2025-10-24T20:06:43.999Z,1761336403.999 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed -0.1 2025-10-24T20:06:43.999Z,1761336403.999 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-24T20:06:44.000Z,1761336404.000 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.496941 2025-10-24T20:06:44.041Z,1761336404.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679747,-0.716733,0.155684],[0.732717,0.673063,-0.100558],[-0.032712,0.182427,0.982675]] 2025-10-24T20:06:44.240Z,1761336404.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:44.241Z,1761336404.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:44.249Z,1761336404.249 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.745823 2025-10-24T20:06:44.469Z,1761336404.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680766,-0.715743,0.155788],[0.731768,0.674042,-0.100917],[-0.032777,0.182701,0.982622]] 2025-10-24T20:06:44.501Z,1761336404.501 [DAT](INFO): DAT read: Rx Time:20:06:43.5381 2025-10-24T20:06:44.502Z,1761336404.502 [DAT](INFO): Rx dataTimestamp_ set to:1761336404.501296 2025-10-24T20:06:44.503Z,1761336404.503 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed -0.1 2025-10-24T20:06:44.503Z,1761336404.503 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-24T20:06:44.505Z,1761336404.505 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.001877 2025-10-24T20:06:44.546Z,1761336404.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.504272 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:06:44.546Z,1761336404.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:44.755Z,1761336404.755 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=60.251312 2025-10-24T20:06:44.973Z,1761336404.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682088,-0.714341,0.156439],[0.730554,0.675109,-0.102562],[-0.032349,0.184244,0.982348]] 2025-10-24T20:06:45.005Z,1761336405.005 [DAT](INFO): DAT read: Rx Time:20:06:44.0380 2025-10-24T20:06:45.006Z,1761336405.006 [DAT](INFO): Rx dataTimestamp_ set to:1761336405.005591 2025-10-24T20:06:45.007Z,1761336405.007 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.0 2025-10-24T20:06:45.008Z,1761336405.008 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-24T20:06:45.009Z,1761336405.009 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.505619 2025-10-24T20:06:45.192Z,1761336405.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.504295 s, deltaX: -0.100000 m, approachRate: -0.198297 m/s, rangeRepo size: 4 2025-10-24T20:06:45.192Z,1761336405.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:45.258Z,1761336405.258 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.754498 2025-10-24T20:06:45.511Z,1761336405.511 [DAT](INFO): DAT read: Rx Time:20:06:44.5384 2025-10-24T20:06:45.512Z,1761336405.512 [DAT](INFO): Rx dataTimestamp_ set to:1761336405.511165 2025-10-24T20:06:45.515Z,1761336405.515 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.0 2025-10-24T20:06:45.516Z,1761336405.516 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-24T20:06:45.517Z,1761336405.517 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.013599 2025-10-24T20:06:45.611Z,1761336405.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.505574 s, deltaX: 0.600000 m, approachRate: 1.186771 m/s, rangeRepo size: 4 2025-10-24T20:06:45.617Z,1761336405.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:45.761Z,1761336405.761 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=61.257614 2025-10-24T20:06:45.875Z,1761336405.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683903,-0.712614,0.156387],[0.728881,0.676702,-0.103950],[-0.031752,0.185079,0.982210]] 2025-10-24T20:06:45.947Z,1761336405.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:46.014Z,1761336406.014 [DAT](INFO): DAT read: Rx Time:20:06:45.0381 2025-10-24T20:06:46.015Z,1761336406.015 [DAT](INFO): Rx dataTimestamp_ set to:1761336406.014529 2025-10-24T20:06:46.017Z,1761336406.017 [DAT](INFO): DAT read: Range 10 to 50 : 20.7 m (trip time 13.8 ms) speed 0.0 2025-10-24T20:06:46.018Z,1761336406.018 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-24T20:06:46.019Z,1761336406.019 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.515720 2025-10-24T20:06:46.265Z,1761336406.265 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.761559 2025-10-24T20:06:46.277Z,1761336406.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684705,-0.711821,0.156493],[0.728141,0.677378,-0.104731],[-0.031456,0.185659,0.982111]] 2025-10-24T20:06:46.347Z,1761336406.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503364 s, deltaX: -0.500000 m, approachRate: -0.993317 m/s, rangeRepo size: 4 2025-10-24T20:06:46.348Z,1761336406.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:46.517Z,1761336406.517 [DAT](INFO): DAT read: Rx Time:20:06:45.5382 2025-10-24T20:06:46.518Z,1761336406.518 [DAT](INFO): Rx dataTimestamp_ set to:1761336406.517255 2025-10-24T20:06:46.519Z,1761336406.519 [DAT](INFO): DAT read: Range 10 to 50 : 20.9 m (trip time 13.9 ms) speed -0.1 2025-10-24T20:06:46.519Z,1761336406.519 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-24T20:06:46.521Z,1761336406.521 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:06:46.521Z,1761336406.521 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:06:46.522Z,1761336406.522 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:06:46.681Z,1761336406.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684837,-0.711601,0.156911],[0.728035,0.677334,-0.105750],[-0.031030,0.186658,0.981935]] 2025-10-24T20:06:46.702Z,1761336406.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.502726 s, deltaX: 0.199999 m, approachRate: 0.397829 m/s, rangeRepo size: 4 2025-10-24T20:06:46.702Z,1761336406.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:46.769Z,1761336406.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:47.021Z,1761336407.021 [DAT](INFO): DAT read: user:256> 2025-10-24T20:06:47.022Z,1761336407.022 [DAT](INFO): DAT read: Command 'l' not found 2025-10-24T20:06:47.022Z,1761336407.022 [DAT](INFO): unknown deviceResponse_: Command 'l' not found 2025-10-24T20:06:47.023Z,1761336407.023 [DAT](INFO): DAT read: Error 2025-10-24T20:06:47.023Z,1761336407.023 [DAT](INFO): unknown deviceResponse_: Error 2025-10-24T20:06:47.023Z,1761336407.023 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:47.089Z,1761336407.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685638,-0.710884,0.156668],[0.727304,0.677994,-0.106548],[-0.030477,0.186998,0.981887]] 2025-10-24T20:06:47.108Z,1761336407.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:47.273Z,1761336407.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:47.490Z,1761336407.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685468,-0.710988,0.156937],[0.727491,0.677624,-0.107618],[-0.029829,0.187939,0.981728]] 2025-10-24T20:06:47.525Z,1761336407.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:47.568Z,1761336407.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:47.777Z,1761336407.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:47.901Z,1761336407.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686144,-0.710409,0.156607],[0.726877,0.678172,-0.108318],[-0.029256,0.188156,0.981703]] 2025-10-24T20:06:47.944Z,1761336407.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:48.029Z,1761336408.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:48.280Z,1761336408.280 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:48.299Z,1761336408.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686122,-0.710423,0.156640],[0.726920,0.678006,-0.109065],[-0.028721,0.188696,0.981615]] 2025-10-24T20:06:48.379Z,1761336408.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:48.533Z,1761336408.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:48.698Z,1761336408.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686530,-0.710186,0.155922],[0.726567,0.678282,-0.109693],[-0.027857,0.188596,0.981660]] 2025-10-24T20:06:48.730Z,1761336408.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:48.785Z,1761336408.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:49.037Z,1761336409.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:49.110Z,1761336409.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686264,-0.710432,0.155973],[0.726840,0.677877,-0.110393],[-0.027304,0.189126,0.981573]] 2025-10-24T20:06:49.147Z,1761336409.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:49.289Z,1761336409.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:49.551Z,1761336409.551 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:49.581Z,1761336409.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:49.805Z,1761336409.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:49.919Z,1761336409.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685723,-0.710906,0.156197],[0.727398,0.676990,-0.112147],[-0.026018,0.190519,0.981339]] 2025-10-24T20:06:49.940Z,1761336409.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:50.056Z,1761336410.056 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:50.309Z,1761336410.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:50.313Z,1761336410.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685185,-0.711356,0.156503],[0.727926,0.676267,-0.113079],[-0.025399,0.191402,0.981183]] 2025-10-24T20:06:50.413Z,1761336410.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:50.561Z,1761336410.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:50.721Z,1761336410.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685377,-0.711210,0.156330],[0.727761,0.676356,-0.113606],[-0.024937,0.191634,0.981150]] 2025-10-24T20:06:50.740Z,1761336410.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:50.813Z,1761336410.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:51.064Z,1761336411.064 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:51.126Z,1761336411.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685106,-0.711483,0.156276],[0.728034,0.675974,-0.114129],[-0.024437,0.191965,0.981098]] 2025-10-24T20:06:51.146Z,1761336411.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:51.317Z,1761336411.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:51.569Z,1761336411.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:51.610Z,1761336411.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:51.821Z,1761336411.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:51.929Z,1761336411.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685004,-0.711627,0.156068],[0.728153,0.675728,-0.114828],[-0.023745,0.192298,0.981049]] 2025-10-24T20:06:51.951Z,1761336411.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:52.073Z,1761336412.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:52.325Z,1761336412.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:52.335Z,1761336412.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684625,-0.711937,0.156318],[0.728519,0.675246,-0.115341],[-0.023438,0.192846,0.980949]] 2025-10-24T20:06:52.398Z,1761336412.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:52.577Z,1761336412.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:52.742Z,1761336412.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683927,-0.712460,0.156985],[0.729174,0.674473,-0.115722],[-0.023435,0.193615,0.980798]] 2025-10-24T20:06:52.775Z,1761336412.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:52.829Z,1761336412.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:53.084Z,1761336413.084 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:53.140Z,1761336413.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683928,-0.712449,0.157030],[0.729176,0.674444,-0.115882],[-0.023348,0.193757,0.980772]] 2025-10-24T20:06:53.164Z,1761336413.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:53.333Z,1761336413.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:53.546Z,1761336413.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683812,-0.712536,0.157139],[0.729281,0.674345,-0.115795],[-0.023458,0.193780,0.980764]] 2025-10-24T20:06:53.610Z,1761336413.610 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:53.637Z,1761336413.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:53.860Z,1761336413.860 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:53.955Z,1761336413.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684387,-0.712066,0.156770],[0.728734,0.675011,-0.115354],[-0.023682,0.193191,0.980875]] 2025-10-24T20:06:53.975Z,1761336413.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:54.113Z,1761336414.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:54.357Z,1761336414.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684119,-0.712232,0.157183],[0.728976,0.674766,-0.115259],[-0.023970,0.193433,0.980821]] 2025-10-24T20:06:54.367Z,1761336414.367 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:54.405Z,1761336414.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:54.621Z,1761336414.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:54.763Z,1761336414.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684502,-0.711785,0.157540],[0.728598,0.675218,-0.115000],[-0.024519,0.193501,0.980794]] 2025-10-24T20:06:54.799Z,1761336414.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:54.873Z,1761336414.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:55.125Z,1761336415.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:55.162Z,1761336415.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684296,-0.711835,0.158208],[0.728775,0.675046,-0.114893],[-0.025013,0.193919,0.980699]] 2025-10-24T20:06:55.182Z,1761336415.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:55.377Z,1761336415.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:55.573Z,1761336415.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685265,-0.710883,0.158291],[0.727839,0.676143,-0.114371],[-0.025723,0.193585,0.980746]] 2025-10-24T20:06:55.628Z,1761336415.628 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:55.642Z,1761336415.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:55.882Z,1761336415.882 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:55.967Z,1761336415.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685149,-0.710853,0.158927],[0.727929,0.676072,-0.114217],[-0.026255,0.193944,0.980661]] 2025-10-24T20:06:56.001Z,1761336416.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:56.133Z,1761336416.133 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:56.385Z,1761336416.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:56.430Z,1761336416.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:56.637Z,1761336416.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:56.780Z,1761336416.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686493,-0.709413,0.159562],[0.726608,0.677642,-0.113329],[-0.027729,0.193739,0.980661]] 2025-10-24T20:06:56.803Z,1761336416.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:56.890Z,1761336416.890 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:57.141Z,1761336417.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:57.181Z,1761336417.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687087,-0.708705,0.160153],[0.726023,0.678272,-0.113305],[-0.028327,0.194126,0.980568]] 2025-10-24T20:06:57.213Z,1761336417.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:57.394Z,1761336417.394 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:57.585Z,1761336417.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687644,-0.708042,0.160691],[0.725466,0.678910,-0.113050],[-0.029050,0.194314,0.980509]] 2025-10-24T20:06:57.645Z,1761336417.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:57.648Z,1761336417.648 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:06:57.723Z,1761336417.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:57.897Z,1761336417.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:58.013Z,1761336418.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687781,-0.707715,0.161547],[0.725314,0.679053,-0.113164],[-0.029611,0.195004,0.980355]] 2025-10-24T20:06:58.074Z,1761336418.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:58.149Z,1761336418.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:58.401Z,1761336418.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:58.402Z,1761336418.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688511,-0.706918,0.161925],[0.724593,0.679872,-0.112867],[-0.030300,0.195040,0.980327]] 2025-10-24T20:06:58.471Z,1761336418.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:58.653Z,1761336418.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:58.906Z,1761336418.906 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:58.933Z,1761336418.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:59.157Z,1761336419.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:59.200Z,1761336419.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689480,-0.705808,0.162641],[0.723624,0.680977,-0.112425],[-0.031405,0.195206,0.980259]] 2025-10-24T20:06:59.266Z,1761336419.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:59.409Z,1761336419.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:59.609Z,1761336419.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690325,-0.704933,0.162853],[0.722785,0.681947,-0.111936],[-0.032149,0.194980,0.980280]] 2025-10-24T20:06:59.661Z,1761336419.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:06:59.679Z,1761336419.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:06:59.913Z,1761336419.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:00.008Z,1761336420.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690840,-0.704391,0.163012],[0.722274,0.682521,-0.111739],[-0.032551,0.194933,0.980276]] 2025-10-24T20:07:00.039Z,1761336420.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:00.165Z,1761336420.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:00.417Z,1761336420.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:00.476Z,1761336420.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:00.669Z,1761336420.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:00.819Z,1761336420.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690791,-0.704190,0.164087],[0.722293,0.682471,-0.111920],[-0.033172,0.195832,0.980076]] 2025-10-24T20:07:00.841Z,1761336420.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:00.921Z,1761336420.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:01.173Z,1761336421.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:01.223Z,1761336421.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690904,-0.704055,0.164189],[0.722178,0.682603,-0.111855],[-0.033324,0.195855,0.980067]] 2025-10-24T20:07:01.242Z,1761336421.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:01.425Z,1761336421.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:01.631Z,1761336421.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691067,-0.703928,0.164047],[0.722021,0.682789,-0.111741],[-0.033352,0.195666,0.980103]] 2025-10-24T20:07:01.671Z,1761336421.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:01.677Z,1761336421.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:01.929Z,1761336421.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:02.027Z,1761336422.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690019,-0.704868,0.164420],[0.723033,0.681669,-0.112028],[-0.033115,0.196183,0.980008]] 2025-10-24T20:07:02.062Z,1761336422.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:02.181Z,1761336422.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:02.436Z,1761336422.436 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:02.455Z,1761336422.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689395,-0.705414,0.164697],[0.723640,0.680964,-0.112401],[-0.032864,0.196670,0.979919]] 2025-10-24T20:07:02.502Z,1761336422.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:02.685Z,1761336422.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:02.835Z,1761336422.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688065,-0.706659,0.164921],[0.724911,0.679624,-0.112317],[-0.032714,0.196835,0.979891]] 2025-10-24T20:07:02.862Z,1761336422.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:02.938Z,1761336422.938 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:03.188Z,1761336423.188 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:03.275Z,1761336423.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686772,-0.708146,0.163930],[0.726151,0.678464,-0.111321],[-0.032389,0.195490,0.980171]] 2025-10-24T20:07:03.311Z,1761336423.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:03.443Z,1761336423.443 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:03.692Z,1761336423.692 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:03.734Z,1761336423.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:03.946Z,1761336423.946 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:04.081Z,1761336424.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683629,-0.711271,0.163538],[0.729148,0.675303,-0.110944],[-0.031527,0.195088,0.980279]] 2025-10-24T20:07:04.100Z,1761336424.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:04.197Z,1761336424.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:04.451Z,1761336424.451 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:04.493Z,1761336424.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682333,-0.712451,0.163813],[0.730383,0.673888,-0.111421],[-0.031009,0.195672,0.980179]] 2025-10-24T20:07:04.532Z,1761336424.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:04.701Z,1761336424.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:04.930Z,1761336424.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:04.953Z,1761336424.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:05.205Z,1761336425.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:05.297Z,1761336425.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678988,-0.715528,0.164302],[0.733526,0.670425,-0.111669],[-0.030250,0.196342,0.980069]] 2025-10-24T20:07:05.317Z,1761336425.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:05.459Z,1761336425.459 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:05.709Z,1761336425.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:05.761Z,1761336425.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:05.961Z,1761336425.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:06.102Z,1761336426.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675832,-0.718437,0.164621],[0.736469,0.667147,-0.111931],[-0.029411,0.196885,0.979985]] 2025-10-24T20:07:06.128Z,1761336426.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:06.213Z,1761336426.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:06.467Z,1761336426.467 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:06.517Z,1761336426.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673798,-0.720280,0.164905],[0.738340,0.665097,-0.111803],[-0.029148,0.197089,0.979952]] 2025-10-24T20:07:06.565Z,1761336426.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:06.717Z,1761336426.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:06.919Z,1761336426.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672505,-0.721489,0.164895],[0.739521,0.663851,-0.111405],[-0.029088,0.196863,0.979999]] 2025-10-24T20:07:06.975Z,1761336426.975 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:06.984Z,1761336426.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:07.225Z,1761336427.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:07.318Z,1761336427.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671037,-0.722813,0.165075],[0.740850,0.662445,-0.110941],[-0.029164,0.196741,0.980022]] 2025-10-24T20:07:07.341Z,1761336427.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:07.479Z,1761336427.479 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:07.721Z,1761336427.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669488,-0.724196,0.165305],[0.742253,0.660911,-0.110708],[-0.029078,0.196816,0.980009]] 2025-10-24T20:07:07.731Z,1761336427.731 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:07.797Z,1761336427.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:07.986Z,1761336427.986 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:08.123Z,1761336428.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667854,-0.725557,0.165945],[0.743709,0.659353,-0.110225],[-0.029441,0.197029,0.979956]] 2025-10-24T20:07:08.143Z,1761336428.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:08.238Z,1761336428.238 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:08.491Z,1761336428.491 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:08.548Z,1761336428.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666756,-0.726457,0.166426],[0.744676,0.658355,-0.109664],[-0.029901,0.197053,0.979937]] 2025-10-24T20:07:08.601Z,1761336428.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:08.741Z,1761336428.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:08.993Z,1761336428.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:08.994Z,1761336428.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665262,-0.727584,0.167473],[0.745951,0.657157,-0.108174],[-0.031351,0.196891,0.979924]] 2025-10-24T20:07:09.044Z,1761336429.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:09.245Z,1761336429.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:09.403Z,1761336429.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665323,-0.727420,0.167947],[0.745850,0.657436,-0.107168],[-0.032459,0.196565,0.979953]] 2025-10-24T20:07:09.431Z,1761336429.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:09.499Z,1761336429.499 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:09.749Z,1761336429.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:09.799Z,1761336429.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664746,-0.727696,0.169031],[0.746318,0.657002,-0.106574],[-0.033500,0.196996,0.979832]] 2025-10-24T20:07:09.860Z,1761336429.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:10.003Z,1761336430.003 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:10.251Z,1761336430.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664912,-0.727341,0.169907],[0.746118,0.657336,-0.105910],[-0.034654,0.197191,0.979752]] 2025-10-24T20:07:10.253Z,1761336430.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:10.294Z,1761336430.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:10.509Z,1761336430.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:10.757Z,1761336430.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:10.763Z,1761336430.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:10.929Z,1761336430.929 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:07:11.009Z,1761336431.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:11.089Z,1761336431.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666004,-0.725926,0.171670],[0.745009,0.658854,-0.104274],[-0.037411,0.197342,0.979621]] 2025-10-24T20:07:11.178Z,1761336431.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:11.261Z,1761336431.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:11.516Z,1761336431.516 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:11.582Z,1761336431.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667253,-0.724668,0.172135],[0.743818,0.660356,-0.103268],[-0.038835,0.196943,0.979645]] 2025-10-24T20:07:11.690Z,1761336431.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:11.765Z,1761336431.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:11.933Z,1761336431.933 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:07:12.018Z,1761336432.018 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:12.109Z,1761336432.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668806,-0.723135,0.172551],[0.742344,0.662165,-0.102289],[-0.040288,0.196504,0.979675]] 2025-10-24T20:07:12.269Z,1761336432.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:12.271Z,1761336432.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:12.522Z,1761336432.522 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:12.551Z,1761336432.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671019,-0.720864,0.173464],[0.740220,0.664739,-0.100975],[-0.042519,0.196157,0.979650]] 2025-10-24T20:07:12.661Z,1761336432.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:12.773Z,1761336432.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:13.025Z,1761336433.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:13.061Z,1761336433.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671955,-0.719860,0.174004],[0.739314,0.665814,-0.100530],[-0.043486,0.196195,0.979600]] 2025-10-24T20:07:13.116Z,1761336433.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:13.277Z,1761336433.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:13.531Z,1761336433.531 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:13.592Z,1761336433.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:13.781Z,1761336433.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:13.986Z,1761336433.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672375,-0.719150,0.175312],[0.738878,0.666274,-0.100691],[-0.044394,0.197236,0.979350]] 2025-10-24T20:07:14.033Z,1761336434.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:14.050Z,1761336434.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:14.285Z,1761336434.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:14.455Z,1761336434.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672373,-0.719073,0.175637],[0.738877,0.666237,-0.100938],[-0.044434,0.197642,0.979267]] 2025-10-24T20:07:14.480Z,1761336434.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:14.539Z,1761336434.539 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:14.789Z,1761336434.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:14.852Z,1761336434.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673138,-0.718543,0.174874],[0.738198,0.666994,-0.100907],[-0.044134,0.197016,0.979406]] 2025-10-24T20:07:14.941Z,1761336434.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:15.045Z,1761336435.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:15.256Z,1761336435.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672967,-0.718981,0.173728],[0.738405,0.666765,-0.100909],[-0.043284,0.196190,0.979610]] 2025-10-24T20:07:15.293Z,1761336435.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:15.301Z,1761336435.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:15.545Z,1761336435.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:15.727Z,1761336435.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:15.797Z,1761336435.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:16.052Z,1761336436.052 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:16.107Z,1761336436.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670632,-0.721414,0.172669],[0.740678,0.663973,-0.102645],[-0.040598,0.196729,0.979617]] 2025-10-24T20:07:16.155Z,1761336436.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:16.301Z,1761336436.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:16.512Z,1761336436.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669299,-0.722874,0.171731],[0.741955,0.662478,-0.103082],[-0.039253,0.196409,0.979736]] 2025-10-24T20:07:16.548Z,1761336436.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:16.553Z,1761336436.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:16.805Z,1761336436.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:16.925Z,1761336436.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667356,-0.724941,0.170579],[0.743793,0.660328,-0.103627],[-0.037514,0.196032,0.979880]] 2025-10-24T20:07:16.989Z,1761336436.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:17.057Z,1761336437.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:17.310Z,1761336437.310 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:17.376Z,1761336437.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665171,-0.727179,0.169584],[0.745833,0.657928,-0.104226],[-0.035783,0.195809,0.979989]] 2025-10-24T20:07:17.395Z,1761336437.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:17.561Z,1761336437.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:17.772Z,1761336437.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662719,-0.729474,0.169327],[0.748089,0.655192,-0.105288],[-0.034137,0.196448,0.979920]] 2025-10-24T20:07:17.813Z,1761336437.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:17.826Z,1761336437.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:18.065Z,1761336438.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:18.215Z,1761336438.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:18.317Z,1761336438.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:18.568Z,1761336438.568 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:18.582Z,1761336438.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657252,-0.734949,0.166943],[0.753061,0.649317,-0.106239],[-0.030319,0.195544,0.980226]] 2025-10-24T20:07:18.606Z,1761336438.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:18.821Z,1761336438.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:18.986Z,1761336438.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654963,-0.737259,0.165749],[0.755121,0.646848,-0.106676],[-0.028567,0.195029,0.980381]] 2025-10-24T20:07:19.027Z,1761336439.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:19.074Z,1761336439.074 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:19.325Z,1761336439.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:19.419Z,1761336439.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652045,-0.739969,0.165174],[0.757706,0.643685,-0.107471],[-0.026795,0.195230,0.980391]] 2025-10-24T20:07:19.439Z,1761336439.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:19.577Z,1761336439.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:19.822Z,1761336439.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650110,-0.741764,0.164753],[0.759412,0.641570,-0.108083],[-0.025528,0.195381,0.980395]] 2025-10-24T20:07:19.829Z,1761336439.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:19.881Z,1761336439.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:20.082Z,1761336440.082 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:20.223Z,1761336440.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648234,-0.743381,0.164857],[0.761051,0.639468,-0.109005],[-0.024388,0.196125,0.980276]] 2025-10-24T20:07:20.251Z,1761336440.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:20.333Z,1761336440.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:20.585Z,1761336440.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:20.633Z,1761336440.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646612,-0.744782,0.164904],[0.762463,0.637629,-0.109904],[-0.023293,0.196798,0.980167]] 2025-10-24T20:07:20.719Z,1761336440.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:20.838Z,1761336440.838 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:21.034Z,1761336441.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644913,-0.746197,0.165161],[0.763928,0.635740,-0.110678],[-0.022411,0.197549,0.980037]] 2025-10-24T20:07:21.090Z,1761336441.090 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:21.107Z,1761336441.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:21.341Z,1761336441.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:21.442Z,1761336441.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643361,-0.747542,0.165129],[0.765260,0.634032,-0.111268],[-0.021519,0.197952,0.979976]] 2025-10-24T20:07:21.461Z,1761336441.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:21.598Z,1761336441.598 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:21.839Z,1761336441.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643114,-0.748099,0.163563],[0.765485,0.633871,-0.110633],[-0.020913,0.196355,0.980310]] 2025-10-24T20:07:21.845Z,1761336441.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:21.925Z,1761336441.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:22.097Z,1761336442.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:22.245Z,1761336442.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643096,-0.748239,0.162992],[0.765512,0.633825,-0.110714],[-0.020468,0.195973,0.980396]] 2025-10-24T20:07:22.294Z,1761336442.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:22.349Z,1761336442.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:22.601Z,1761336442.601 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:22.649Z,1761336442.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643577,-0.747894,0.162675],[0.765110,0.634312,-0.110706],[-0.020390,0.195712,0.980449]] 2025-10-24T20:07:22.677Z,1761336442.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:22.853Z,1761336442.853 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:23.059Z,1761336443.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643627,-0.747511,0.164229],[0.765068,0.634122,-0.112071],[-0.020367,0.197778,0.980035]] 2025-10-24T20:07:23.099Z,1761336443.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:23.105Z,1761336443.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:23.357Z,1761336443.357 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:23.511Z,1761336443.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:23.610Z,1761336443.610 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:23.861Z,1761336443.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:23.922Z,1761336443.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644872,-0.746151,0.165529],[0.764008,0.635227,-0.113043],[-0.020801,0.199364,0.979705]] 2025-10-24T20:07:23.982Z,1761336443.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:24.113Z,1761336444.113 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:24.327Z,1761336444.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646023,-0.745245,0.165120],[0.763025,0.636482,-0.112621],[-0.021166,0.198746,0.979822]] 2025-10-24T20:07:24.351Z,1761336444.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:24.365Z,1761336444.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:24.617Z,1761336444.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:24.849Z,1761336444.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:24.869Z,1761336444.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:25.121Z,1761336445.121 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:25.143Z,1761336445.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648383,-0.743440,0.164002],[0.760988,0.639197,-0.111018],[-0.022294,0.196786,0.980193]] 2025-10-24T20:07:25.256Z,1761336445.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:25.373Z,1761336445.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:25.541Z,1761336445.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649224,-0.742448,0.165165],[0.760258,0.639938,-0.111746],[-0.022730,0.198116,0.979915]] 2025-10-24T20:07:25.598Z,1761336445.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:07:25.604Z,1761336445.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:25.625Z,1761336445.625 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:25.877Z,1761336445.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:25.993Z,1761336445.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649989,-0.741574,0.166079],[0.759597,0.640594,-0.112484],[-0.022973,0.199266,0.979676]] 2025-10-24T20:07:26.119Z,1761336446.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:26.129Z,1761336446.129 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:26.381Z,1761336446.381 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:26.413Z,1761336446.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650376,-0.741193,0.166267],[0.759259,0.640987,-0.112520],[-0.023176,0.199420,0.979640]] 2025-10-24T20:07:26.466Z,1761336446.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:26.633Z,1761336446.633 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:26.820Z,1761336446.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650580,-0.741009,0.166288],[0.759080,0.641216,-0.112425],[-0.023318,0.199367,0.979647]] 2025-10-24T20:07:26.886Z,1761336446.886 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:26.891Z,1761336446.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:27.137Z,1761336447.137 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:27.278Z,1761336447.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650948,-0.740914,0.165267],[0.758759,0.641764,-0.111462],[-0.023478,0.197954,0.979930]] 2025-10-24T20:07:27.346Z,1761336447.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:27.389Z,1761336447.389 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:27.641Z,1761336447.641 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:27.710Z,1761336447.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651296,-0.740695,0.164878],[0.758461,0.642151,-0.111262],[-0.023465,0.197518,0.980018]] 2025-10-24T20:07:27.733Z,1761336447.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:27.900Z,1761336447.900 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:28.112Z,1761336448.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650994,-0.740965,0.164856],[0.758724,0.641833,-0.111301],[-0.023340,0.197537,0.980018]] 2025-10-24T20:07:28.149Z,1761336448.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:28.162Z,1761336448.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:28.401Z,1761336448.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:28.525Z,1761336448.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651212,-0.740837,0.164569],[0.758542,0.642042,-0.111340],[-0.023176,0.197338,0.980062]] 2025-10-24T20:07:28.580Z,1761336448.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:28.653Z,1761336448.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:28.905Z,1761336448.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:28.962Z,1761336448.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650433,-0.741446,0.164906],[0.759218,0.641173,-0.111735],[-0.022888,0.197876,0.979960]] 2025-10-24T20:07:29.027Z,1761336449.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:29.157Z,1761336449.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:29.409Z,1761336449.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:29.411Z,1761336449.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649984,-0.741767,0.165235],[0.759608,0.640647,-0.112098],[-0.022707,0.198376,0.979863]] 2025-10-24T20:07:29.444Z,1761336449.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:29.661Z,1761336449.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:29.873Z,1761336449.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649369,-0.742498,0.164369],[0.760157,0.639993,-0.112119],[-0.021947,0.197753,0.980006]] 2025-10-24T20:07:29.913Z,1761336449.913 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:29.933Z,1761336449.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:30.164Z,1761336450.164 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:30.277Z,1761336450.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:30.417Z,1761336450.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:30.634Z,1761336450.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648880,-0.743036,0.163868],[0.760589,0.639474,-0.112151],[-0.021457,0.197409,0.980087]] 2025-10-24T20:07:30.673Z,1761336450.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:30.691Z,1761336450.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:30.929Z,1761336450.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:31.068Z,1761336451.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647736,-0.744223,0.163001],[0.761593,0.638221,-0.112471],[-0.020327,0.196993,0.980194]] 2025-10-24T20:07:31.117Z,1761336451.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:31.181Z,1761336451.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:31.433Z,1761336451.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:31.469Z,1761336451.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646137,-0.745544,0.163309],[0.762970,0.636453,-0.113157],[-0.019574,0.197715,0.980064]] 2025-10-24T20:07:31.489Z,1761336451.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:31.685Z,1761336451.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:31.938Z,1761336451.938 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:31.964Z,1761336451.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:32.189Z,1761336452.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:32.375Z,1761336452.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644158,-0.747149,0.163794],[0.764667,0.634228,-0.114189],[-0.018566,0.198803,0.979864]] 2025-10-24T20:07:32.441Z,1761336452.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:32.474Z,1761336452.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:32.693Z,1761336452.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:32.771Z,1761336452.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643881,-0.747499,0.163284],[0.764919,0.633842,-0.114647],[-0.017798,0.198718,0.979895]] 2025-10-24T20:07:32.791Z,1761336452.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:32.945Z,1761336452.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:33.180Z,1761336453.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643183,-0.748144,0.163083],[0.765520,0.633041,-0.115059],[-0.017158,0.198847,0.979880]] 2025-10-24T20:07:33.197Z,1761336453.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:33.222Z,1761336453.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:33.449Z,1761336453.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:33.580Z,1761336453.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642700,-0.748628,0.162765],[0.765942,0.632436,-0.115573],[-0.016417,0.198947,0.979873]] 2025-10-24T20:07:33.613Z,1761336453.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:33.701Z,1761336453.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:33.952Z,1761336453.952 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:34.048Z,1761336454.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:34.208Z,1761336454.208 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:34.395Z,1761336454.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642105,-0.749314,0.161954],[0.766468,0.631647,-0.116398],[-0.015079,0.198873,0.979909]] 2025-10-24T20:07:34.415Z,1761336454.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:34.458Z,1761336454.458 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:34.708Z,1761336454.708 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:34.791Z,1761336454.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641876,-0.749597,0.161551],[0.766670,0.631356,-0.116647],[-0.014557,0.198729,0.979946]] 2025-10-24T20:07:34.818Z,1761336454.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:34.961Z,1761336454.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:35.196Z,1761336455.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641155,-0.750295,0.161174],[0.767290,0.630487,-0.117270],[-0.013631,0.198856,0.979934]] 2025-10-24T20:07:35.213Z,1761336455.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:35.247Z,1761336455.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:35.466Z,1761336455.466 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:35.599Z,1761336455.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640719,-0.750741,0.160831],[0.767665,0.629970,-0.117596],[-0.013035,0.198810,0.979951]] 2025-10-24T20:07:35.618Z,1761336455.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:35.716Z,1761336455.716 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:35.969Z,1761336455.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:36.013Z,1761336456.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639661,-0.751672,0.160694],[0.768562,0.628747,-0.118281],[-0.012127,0.199163,0.979891]] 2025-10-24T20:07:36.074Z,1761336456.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:36.221Z,1761336456.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:36.409Z,1761336456.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639487,-0.751928,0.160189],[0.768716,0.628495,-0.118613],[-0.011489,0.198991,0.979934]] 2025-10-24T20:07:36.439Z,1761336456.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:36.473Z,1761336456.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:36.725Z,1761336456.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:36.813Z,1761336456.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638363,-0.752899,0.160114],[0.769660,0.627248,-0.119089],[-0.010769,0.199256,0.979888]] 2025-10-24T20:07:36.849Z,1761336456.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:36.977Z,1761336456.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:37.222Z,1761336457.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638286,-0.753087,0.159532],[0.769731,0.627130,-0.119257],[-0.010236,0.198917,0.979963]] 2025-10-24T20:07:37.229Z,1761336457.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:37.276Z,1761336457.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:37.481Z,1761336457.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:37.625Z,1761336457.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637328,-0.753959,0.159244],[0.770535,0.626066,-0.119656],[-0.009482,0.198963,0.979961]] 2025-10-24T20:07:37.645Z,1761336457.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:37.737Z,1761336457.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:37.989Z,1761336457.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:38.059Z,1761336458.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637122,-0.754252,0.158681],[0.770711,0.625813,-0.119846],[-0.008911,0.198653,0.980029]] 2025-10-24T20:07:38.110Z,1761336458.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:38.241Z,1761336458.241 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:38.434Z,1761336458.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636208,-0.755048,0.158563],[0.771473,0.624805,-0.120199],[-0.008314,0.198799,0.980005]] 2025-10-24T20:07:38.467Z,1761336458.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:38.493Z,1761336458.493 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:38.745Z,1761336458.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:38.835Z,1761336458.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636198,-0.755059,0.158548],[0.771483,0.624760,-0.120371],[-0.008167,0.198897,0.979986]] 2025-10-24T20:07:38.997Z,1761336458.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:39.006Z,1761336459.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:39.249Z,1761336459.249 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:39.502Z,1761336459.502 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:39.530Z,1761336459.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:39.753Z,1761336459.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:39.786Z,1761336459.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635447,-0.755716,0.158433],[0.772108,0.623889,-0.120879],[-0.007495,0.199139,0.979943]] 2025-10-24T20:07:39.863Z,1761336459.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:40.005Z,1761336460.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:40.179Z,1761336460.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635576,-0.755610,0.158423],[0.772003,0.624006,-0.120946],[-0.007469,0.199174,0.979936]] 2025-10-24T20:07:40.257Z,1761336460.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:40.263Z,1761336460.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:40.509Z,1761336460.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:40.583Z,1761336460.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636471,-0.754964,0.157903],[0.771264,0.624961,-0.120731],[-0.007535,0.198626,0.980046]] 2025-10-24T20:07:40.628Z,1761336460.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:40.761Z,1761336460.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:41.015Z,1761336461.015 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:41.038Z,1761336461.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636459,-0.754975,0.157900],[0.771274,0.624943,-0.120754],[-0.007512,0.198640,0.980044]] 2025-10-24T20:07:41.094Z,1761336461.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:41.265Z,1761336461.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:41.431Z,1761336461.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:41.517Z,1761336461.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:41.769Z,1761336461.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:41.823Z,1761336461.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637565,-0.754048,0.157872],[0.770357,0.626080,-0.120720],[-0.007812,0.198585,0.980053]] 2025-10-24T20:07:41.867Z,1761336461.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:42.021Z,1761336462.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:42.056Z,1761336462.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:07:42.223Z,1761336462.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638143,-0.753515,0.158082],[0.769877,0.626633,-0.120912],[-0.007951,0.198863,0.979995]] 2025-10-24T20:07:42.271Z,1761336462.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:42.273Z,1761336462.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:42.526Z,1761336462.526 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:42.661Z,1761336462.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638490,-0.753148,0.158424],[0.769587,0.626961,-0.121063],[-0.008148,0.199219,0.979921]] 2025-10-24T20:07:42.680Z,1761336462.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:42.777Z,1761336462.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:43.046Z,1761336463.046 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:43.060Z,1761336463.060 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:07:43.107Z,1761336463.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639423,-0.752394,0.158246],[0.768812,0.627882,-0.121211],[-0.008161,0.199167,0.979932]] 2025-10-24T20:07:43.150Z,1761336463.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:43.297Z,1761336463.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:43.521Z,1761336463.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640766,-0.751399,0.157539],[0.767693,0.629262,-0.121147],[-0.008104,0.198569,0.980053]] 2025-10-24T20:07:43.549Z,1761336463.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:43.559Z,1761336463.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:43.801Z,1761336463.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:43.994Z,1761336463.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641554,-0.750753,0.157411],[0.767036,0.630010,-0.121422],[-0.008013,0.198638,0.980040]] 2025-10-24T20:07:44.053Z,1761336464.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:44.097Z,1761336464.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:44.309Z,1761336464.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:44.417Z,1761336464.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:44.558Z,1761336464.558 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:44.775Z,1761336464.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643012,-0.749521,0.157332],[0.765816,0.631351,-0.122153],[-0.007776,0.199033,0.979962]] 2025-10-24T20:07:44.809Z,1761336464.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:44.833Z,1761336464.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:45.063Z,1761336465.063 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:45.179Z,1761336465.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643862,-0.748823,0.157180],[0.765104,0.632125,-0.122608],[-0.007546,0.199202,0.979929]] 2025-10-24T20:07:45.292Z,1761336465.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:45.313Z,1761336465.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:45.565Z,1761336465.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:45.665Z,1761336465.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644863,-0.748059,0.156717],[0.764269,0.632948,-0.123575],[-0.006753,0.199463,0.979882]] 2025-10-24T20:07:45.704Z,1761336465.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:45.817Z,1761336465.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:46.071Z,1761336466.071 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:46.158Z,1761336466.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:46.321Z,1761336466.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:46.551Z,1761336466.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646015,-0.747310,0.155538],[0.763303,0.633988,-0.124213],[-0.005784,0.198966,0.979989]] 2025-10-24T20:07:46.573Z,1761336466.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:46.574Z,1761336466.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:46.825Z,1761336466.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:46.972Z,1761336466.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645876,-0.747489,0.155253],[0.763425,0.633730,-0.124772],[-0.005122,0.199111,0.979963]] 2025-10-24T20:07:46.995Z,1761336466.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:47.079Z,1761336467.079 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:47.329Z,1761336467.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:47.375Z,1761336467.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645602,-0.747756,0.155110],[0.763661,0.633320,-0.125411],[-0.004457,0.199417,0.979904]] 2025-10-24T20:07:47.574Z,1761336467.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:47.581Z,1761336467.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:47.833Z,1761336467.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:47.847Z,1761336467.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645549,-0.747927,0.154504],[0.763710,0.633180,-0.125820],[-0.003724,0.199219,0.979948]] 2025-10-24T20:07:47.883Z,1761336467.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:48.087Z,1761336468.087 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:48.275Z,1761336468.275 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412091101,35.0, +11.6, 0.0,1495.5,A 94.23, 73.48, 83.69, 83.01 2025-10-24T20:07:48.292Z,1761336468.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:48.337Z,1761336468.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:48.590Z,1761336468.590 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:48.657Z,1761336468.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644999,-0.748626,0.153413],[0.764180,0.632444,-0.126662],[-0.002203,0.198932,0.980011]] 2025-10-24T20:07:48.675Z,1761336468.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:48.841Z,1761336468.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:49.095Z,1761336469.095 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:49.183Z,1761336469.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:49.345Z,1761336469.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:49.460Z,1761336469.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644304,-0.749425,0.152427],[0.764769,0.631604,-0.127301],[-0.000871,0.198592,0.980082]] 2025-10-24T20:07:49.499Z,1761336469.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:49.603Z,1761336469.603 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:49.848Z,1761336469.848 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:49.864Z,1761336469.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643397,-0.750202,0.152436],[0.765533,0.630588,-0.127746],[-0.000289,0.198886,0.980023]] 2025-10-24T20:07:49.905Z,1761336469.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:50.103Z,1761336470.103 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:50.291Z,1761336470.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643542,-0.750207,0.151804],[0.765411,0.630702,-0.127911],[0.000217,0.198508,0.980099]] 2025-10-24T20:07:50.343Z,1761336470.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:50.353Z,1761336470.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:50.606Z,1761336470.606 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:50.695Z,1761336470.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642888,-0.750768,0.151798],[0.765960,0.629957,-0.128294],[0.000693,0.198750,0.980050]] 2025-10-24T20:07:50.715Z,1761336470.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:50.857Z,1761336470.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:51.115Z,1761336471.115 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:51.169Z,1761336471.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642853,-0.750832,0.151629],[0.765988,0.629854,-0.128628],[0.001073,0.198835,0.980032]] 2025-10-24T20:07:51.225Z,1761336471.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:51.365Z,1761336471.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:51.543Z,1761336471.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:51.617Z,1761336471.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:51.869Z,1761336471.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:51.910Z,1761336471.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642241,-0.751349,0.151662],[0.766500,0.628997,-0.129771],[0.002109,0.199593,0.979877]] 2025-10-24T20:07:51.947Z,1761336471.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:52.123Z,1761336472.123 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:52.339Z,1761336472.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642086,-0.751481,0.151665],[0.766628,0.628724,-0.130338],[0.002591,0.199959,0.979801]] 2025-10-24T20:07:52.373Z,1761336472.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:52.475Z,1761336472.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:52.625Z,1761336472.625 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:52.792Z,1761336472.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:52.877Z,1761336472.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:53.131Z,1761336473.131 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:53.330Z,1761336473.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:53.381Z,1761336473.381 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:53.633Z,1761336473.633 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:53.648Z,1761336473.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:53.885Z,1761336473.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:53.991Z,1761336473.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647148,-0.748018,0.147202],[0.762347,0.633629,-0.131687],[0.005232,0.197440,0.980301]] 2025-10-24T20:07:54.042Z,1761336474.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:54.139Z,1761336474.139 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:54.389Z,1761336474.389 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:54.406Z,1761336474.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647970,-0.747405,0.146699],[0.761642,0.634290,-0.132580],[0.006041,0.197640,0.980256]] 2025-10-24T20:07:54.477Z,1761336474.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:54.641Z,1761336474.641 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:54.872Z,1761336474.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647795,-0.747530,0.146833],[0.761784,0.633897,-0.133644],[0.006826,0.198429,0.980092]] 2025-10-24T20:07:54.893Z,1761336474.893 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:54.928Z,1761336474.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:55.145Z,1761336475.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:55.280Z,1761336475.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648474,-0.746991,0.146580],[0.761200,0.634415,-0.134508],[0.007483,0.198801,0.980011]] 2025-10-24T20:07:55.324Z,1761336475.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:55.398Z,1761336475.398 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:55.649Z,1761336475.649 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:55.678Z,1761336475.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648509,-0.746997,0.146397],[0.761161,0.634250,-0.135499],[0.008365,0.199304,0.979902]] 2025-10-24T20:07:55.727Z,1761336475.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:55.901Z,1761336475.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:56.090Z,1761336476.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649710,-0.746138,0.145450],[0.760127,0.635356,-0.136121],[0.009152,0.199000,0.979957]] 2025-10-24T20:07:56.132Z,1761336476.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:56.153Z,1761336476.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:56.405Z,1761336476.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:56.525Z,1761336476.525 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,0,1072.88 2025-10-24T20:07:56.553Z,1761336476.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:56.657Z,1761336476.657 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:56.909Z,1761336476.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:56.925Z,1761336476.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651893,-0.744623,0.143431],[0.758236,0.637397,-0.137125],[0.010684,0.198146,0.980114]] 2025-10-24T20:07:56.980Z,1761336476.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:57.161Z,1761336477.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:57.303Z,1761336477.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652102,-0.744531,0.142957],[0.758044,0.637462,-0.137884],[0.011529,0.198282,0.980077]] 2025-10-24T20:07:57.384Z,1761336477.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:57.417Z,1761336477.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:57.669Z,1761336477.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:57.706Z,1761336477.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653057,-0.743777,0.142523],[0.757213,0.638307,-0.138536],[0.012067,0.198392,0.980048]] 2025-10-24T20:07:57.753Z,1761336477.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:57.922Z,1761336477.922 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:58.125Z,1761336478.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653332,-0.743565,0.142370],[0.756965,0.638430,-0.139325],[0.012704,0.198794,0.979959]] 2025-10-24T20:07:58.164Z,1761336478.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:58.173Z,1761336478.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:58.425Z,1761336478.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:58.516Z,1761336478.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654174,-0.742905,0.141946],[0.756228,0.639157,-0.139990],[0.013274,0.198922,0.979926]] 2025-10-24T20:07:58.573Z,1761336478.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:58.681Z,1761336478.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:58.929Z,1761336478.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:58.938Z,1761336478.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655065,-0.742226,0.141385],[0.755448,0.640000,-0.140348],[0.013684,0.198746,0.979956]] 2025-10-24T20:07:58.977Z,1761336478.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:59.180Z,1761336479.180 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:59.340Z,1761336479.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656222,-0.741330,0.140720],[0.754436,0.641120,-0.140682],[0.014073,0.198483,0.980003]] 2025-10-24T20:07:59.399Z,1761336479.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:59.433Z,1761336479.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:59.685Z,1761336479.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:07:59.751Z,1761336479.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657243,-0.740523,0.140204],[0.753543,0.642134,-0.140842],[0.014267,0.198217,0.980054]] 2025-10-24T20:07:59.769Z,1761336479.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:07:59.938Z,1761336479.938 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:00.174Z,1761336480.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657999,-0.739907,0.139909],[0.752878,0.642826,-0.141243],[0.014570,0.198272,0.980039]] 2025-10-24T20:08:00.189Z,1761336480.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:00.194Z,1761336480.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:00.441Z,1761336480.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:00.693Z,1761336480.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:00.704Z,1761336480.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:00.945Z,1761336480.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:01.073Z,1761336481.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661310,-0.737005,0.139614],[0.749977,0.646103,-0.141725],[0.014247,0.198431,0.980011]] 2025-10-24T20:08:01.092Z,1761336481.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:01.197Z,1761336481.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:01.449Z,1761336481.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:01.479Z,1761336481.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662486,-0.736004,0.139322],[0.748941,0.647300,-0.141740],[0.014138,0.198244,0.980051]] 2025-10-24T20:08:01.538Z,1761336481.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:01.701Z,1761336481.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:01.877Z,1761336481.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664254,-0.734469,0.139002],[0.747380,0.649123,-0.141643],[0.013803,0.197974,0.980110]] 2025-10-24T20:08:01.920Z,1761336481.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:01.953Z,1761336481.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:02.205Z,1761336482.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:02.318Z,1761336482.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665321,-0.733525,0.138883],[0.746432,0.650181,-0.141791],[0.013708,0.198003,0.980106]] 2025-10-24T20:08:02.378Z,1761336482.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:02.457Z,1761336482.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:02.709Z,1761336482.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:02.762Z,1761336482.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666894,-0.732104,0.138836],[0.745031,0.651742,-0.141991],[0.013467,0.198130,0.980083]] 2025-10-24T20:08:02.791Z,1761336482.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:02.961Z,1761336482.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:03.164Z,1761336483.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668339,-0.730794,0.138794],[0.743739,0.653180,-0.142153],[0.013227,0.198233,0.980066]] 2025-10-24T20:08:03.205Z,1761336483.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:03.213Z,1761336483.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:03.465Z,1761336483.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:03.567Z,1761336483.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669370,-0.729839,0.138850],[0.742810,0.654117,-0.142705],[0.013327,0.198662,0.979977]] 2025-10-24T20:08:03.638Z,1761336483.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:03.717Z,1761336483.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:03.969Z,1761336483.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:04.026Z,1761336484.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671481,-0.728001,0.138300],[0.740905,0.656268,-0.142730],[0.013146,0.198308,0.980052]] 2025-10-24T20:08:04.046Z,1761336484.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:04.221Z,1761336484.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:04.425Z,1761336484.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672672,-0.726971,0.137933],[0.739819,0.657388,-0.143209],[0.013433,0.198378,0.980034]] 2025-10-24T20:08:04.473Z,1761336484.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:04.478Z,1761336484.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:04.726Z,1761336484.726 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:04.827Z,1761336484.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674592,-0.725320,0.137247],[0.738067,0.659323,-0.143350],[0.013485,0.198000,0.980109]] 2025-10-24T20:08:04.863Z,1761336484.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:04.978Z,1761336484.978 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:05.228Z,1761336485.228 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:05.234Z,1761336485.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675763,-0.724267,0.137048],[0.736991,0.660393,-0.143964],[0.013763,0.198288,0.980047]] 2025-10-24T20:08:05.254Z,1761336485.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:05.480Z,1761336485.480 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:05.690Z,1761336485.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:05.733Z,1761336485.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:05.986Z,1761336485.986 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:06.079Z,1761336486.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677606,-0.722640,0.136534],[0.735275,0.661936,-0.145640],[0.014868,0.199077,0.979871]] 2025-10-24T20:08:06.198Z,1761336486.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:06.237Z,1761336486.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:06.489Z,1761336486.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:06.591Z,1761336486.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680129,-0.720547,0.135041],[0.732915,0.664276,-0.146878],[0.016128,0.198870,0.979893]] 2025-10-24T20:08:06.741Z,1761336486.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:06.748Z,1761336486.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:06.993Z,1761336486.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:07.021Z,1761336487.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681530,-0.719438,0.133883],[0.731592,0.665591,-0.147517],[0.017018,0.198485,0.979956]] 2025-10-24T20:08:07.098Z,1761336487.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:07.245Z,1761336487.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:07.426Z,1761336487.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682948,-0.718338,0.132562],[0.730246,0.666944,-0.148074],[0.017956,0.197929,0.980052]] 2025-10-24T20:08:07.497Z,1761336487.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:07.499Z,1761336487.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:07.749Z,1761336487.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:07.811Z,1761336487.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683819,-0.717665,0.131712],[0.729404,0.667655,-0.149021],[0.019009,0.197975,0.980023]] 2025-10-24T20:08:07.850Z,1761336487.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:08.001Z,1761336488.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:08.216Z,1761336488.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684793,-0.716868,0.130991],[0.728467,0.668491,-0.149850],[0.019856,0.198039,0.979993]] 2025-10-24T20:08:08.253Z,1761336488.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:08.261Z,1761336488.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:08.505Z,1761336488.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:08.620Z,1761336488.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686049,-0.715869,0.129875],[0.727252,0.669599,-0.150800],[0.020989,0.197908,0.979996]] 2025-10-24T20:08:08.686Z,1761336488.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:08.757Z,1761336488.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:09.008Z,1761336489.008 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:09.064Z,1761336489.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686545,-0.715501,0.129281],[0.726751,0.669883,-0.151956],[0.022121,0.198280,0.979896]] 2025-10-24T20:08:09.094Z,1761336489.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:09.261Z,1761336489.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:09.468Z,1761336489.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688167,-0.714183,0.127940],[0.725181,0.671401,-0.152752],[0.023194,0.197898,0.979948]] 2025-10-24T20:08:09.513Z,1761336489.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:09.522Z,1761336489.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:09.765Z,1761336489.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:09.872Z,1761336489.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689067,-0.713497,0.126917],[0.724285,0.672124,-0.153821],[0.024447,0.197917,0.979914]] 2025-10-24T20:08:09.920Z,1761336489.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:10.018Z,1761336490.018 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:10.269Z,1761336490.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:10.295Z,1761336490.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690197,-0.712578,0.125941],[0.723172,0.673103,-0.154771],[0.025515,0.197899,0.979890]] 2025-10-24T20:08:10.334Z,1761336490.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:10.523Z,1761336490.523 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:10.679Z,1761336490.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691015,-0.711940,0.125058],[0.722344,0.673716,-0.155969],[0.026787,0.198111,0.979813]] 2025-10-24T20:08:10.734Z,1761336490.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:10.773Z,1761336490.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:11.025Z,1761336491.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:11.126Z,1761336491.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691915,-0.711208,0.124247],[0.721438,0.674422,-0.157104],[0.027938,0.198339,0.979735]] 2025-10-24T20:08:11.150Z,1761336491.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:11.277Z,1761336491.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:11.529Z,1761336491.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:11.531Z,1761336491.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692716,-0.710575,0.123401],[0.720620,0.675019,-0.158289],[0.029179,0.198575,0.979651]] 2025-10-24T20:08:11.571Z,1761336491.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:11.781Z,1761336491.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:11.959Z,1761336491.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694315,-0.709240,0.122084],[0.719033,0.676504,-0.159164],[0.030295,0.198293,0.979675]] 2025-10-24T20:08:11.986Z,1761336491.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:12.033Z,1761336492.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:12.285Z,1761336492.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:12.365Z,1761336492.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695395,-0.708322,0.121265],[0.717945,0.677418,-0.160191],[0.031320,0.198457,0.979609]] 2025-10-24T20:08:12.391Z,1761336492.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:12.539Z,1761336492.539 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:12.789Z,1761336492.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:12.805Z,1761336492.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697105,-0.706858,0.119991],[0.716238,0.679014,-0.161069],[0.032377,0.198224,0.979622]] 2025-10-24T20:08:12.858Z,1761336492.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:13.042Z,1761336493.042 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:13.200Z,1761336493.200 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:08:13.238Z,1761336493.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698192,-0.705922,0.119175],[0.715130,0.679929,-0.162126],[0.033418,0.198421,0.979547]] 2025-10-24T20:08:13.274Z,1761336493.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:13.293Z,1761336493.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:13.545Z,1761336493.545 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:13.641Z,1761336493.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700003,-0.704330,0.117958],[0.713311,0.681633,-0.162982],[0.034390,0.198229,0.979552]] 2025-10-24T20:08:13.750Z,1761336493.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:13.797Z,1761336493.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:14.049Z,1761336494.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:14.108Z,1761336494.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:14.209Z,1761336494.209 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:08:14.301Z,1761336494.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:14.553Z,1761336494.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:14.566Z,1761336494.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:14.806Z,1761336494.806 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:14.928Z,1761336494.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706880,-0.698146,0.113637],[0.706325,0.688128,-0.166085],[0.037755,0.197667,0.979542]] 2025-10-24T20:08:14.948Z,1761336494.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:15.058Z,1761336495.058 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:15.308Z,1761336495.308 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:15.325Z,1761336495.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708788,-0.696352,0.112751],[0.704383,0.689974,-0.166674],[0.038268,0.197556,0.979544]] 2025-10-24T20:08:15.357Z,1761336495.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:15.561Z,1761336495.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:15.729Z,1761336495.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709963,-0.695243,0.112206],[0.703149,0.690950,-0.167837],[0.039159,0.198055,0.979408]] 2025-10-24T20:08:15.779Z,1761336495.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:15.813Z,1761336495.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:16.065Z,1761336496.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:16.153Z,1761336496.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711932,-0.693385,0.111218],[0.701116,0.692822,-0.168626],[0.039869,0.198027,0.979385]] 2025-10-24T20:08:16.211Z,1761336496.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:16.317Z,1761336496.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:16.568Z,1761336496.568 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:16.617Z,1761336496.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:16.821Z,1761336496.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:16.963Z,1761336496.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715443,-0.689993,0.109779],[0.697467,0.696114,-0.170192],[0.041013,0.198330,0.979277]] 2025-10-24T20:08:16.983Z,1761336496.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:17.074Z,1761336497.074 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:17.325Z,1761336497.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:17.363Z,1761336497.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717073,-0.688404,0.109117],[0.695761,0.697648,-0.170893],[0.041518,0.198462,0.979229]] 2025-10-24T20:08:17.395Z,1761336497.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:17.577Z,1761336497.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:17.768Z,1761336497.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719354,-0.686200,0.107977],[0.693370,0.699901,-0.171394],[0.042037,0.198161,0.979268]] 2025-10-24T20:08:17.819Z,1761336497.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:17.829Z,1761336497.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:18.081Z,1761336498.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:18.191Z,1761336498.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721286,-0.684290,0.107212],[0.691340,0.701787,-0.171886],[0.042380,0.198099,0.979265]] 2025-10-24T20:08:18.243Z,1761336498.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:18.333Z,1761336498.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:18.577Z,1761336498.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723455,-0.682155,0.106194],[0.689041,0.703920,-0.172392],[0.042846,0.197890,0.979287]] 2025-10-24T20:08:18.585Z,1761336498.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:18.639Z,1761336498.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:18.838Z,1761336498.838 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:18.985Z,1761336498.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724777,-0.680791,0.105932],[0.687626,0.705103,-0.173206],[0.043224,0.198377,0.979172]] 2025-10-24T20:08:19.006Z,1761336499.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:19.089Z,1761336499.089 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:19.341Z,1761336499.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:19.383Z,1761336499.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726604,-0.678952,0.105218],[0.685665,0.706839,-0.173901],[0.043699,0.198502,0.979126]] 2025-10-24T20:08:19.419Z,1761336499.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:19.593Z,1761336499.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:19.788Z,1761336499.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728196,-0.677344,0.104578],[0.683945,0.708342,-0.174558],[0.044159,0.198638,0.979078]] 2025-10-24T20:08:19.845Z,1761336499.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:19.916Z,1761336499.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:20.097Z,1761336500.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:20.203Z,1761336500.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729765,-0.675752,0.103931],[0.682240,0.709823,-0.175217],[0.044630,0.198773,0.979029]] 2025-10-24T20:08:20.231Z,1761336500.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:20.348Z,1761336500.348 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:20.601Z,1761336500.601 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:20.626Z,1761336500.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731444,-0.674057,0.103132],[0.680415,0.711475,-0.175608],[0.044995,0.198620,0.979043]] 2025-10-24T20:08:20.792Z,1761336500.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:20.854Z,1761336500.854 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:21.032Z,1761336501.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732997,-0.672462,0.102520],[0.678717,0.712956,-0.176173],[0.045378,0.198717,0.979006]] 2025-10-24T20:08:21.090Z,1761336501.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:21.105Z,1761336501.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:21.356Z,1761336501.356 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:21.431Z,1761336501.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734603,-0.670821,0.101773],[0.676956,0.714540,-0.176530],[0.045699,0.198575,0.979020]] 2025-10-24T20:08:21.462Z,1761336501.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:21.611Z,1761336501.611 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:21.861Z,1761336501.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:21.925Z,1761336501.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:22.116Z,1761336502.116 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:22.241Z,1761336502.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736899,-0.668424,0.100941],[0.674417,0.716709,-0.177451],[0.046267,0.198840,0.978939]] 2025-10-24T20:08:22.261Z,1761336502.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:22.366Z,1761336502.366 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:22.617Z,1761336502.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:22.647Z,1761336502.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737574,-0.667713,0.100717],[0.673662,0.717314,-0.177876],[0.046524,0.199046,0.978885]] 2025-10-24T20:08:22.715Z,1761336502.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:22.870Z,1761336502.870 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:23.101Z,1761336503.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738715,-0.666542,0.100109],[0.672395,0.718464,-0.178029],[0.046739,0.198825,0.978920]] 2025-10-24T20:08:23.121Z,1761336503.121 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:23.134Z,1761336503.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:23.373Z,1761336503.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:23.549Z,1761336503.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:23.627Z,1761336503.627 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:23.877Z,1761336503.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:23.911Z,1761336503.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740389,-0.664811,0.099250],[0.670526,0.720125,-0.178367],[0.047108,0.198610,0.978946]] 2025-10-24T20:08:23.965Z,1761336503.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:24.128Z,1761336504.128 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:24.315Z,1761336504.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740585,-0.664578,0.099350],[0.670303,0.720250,-0.178703],[0.047206,0.198939,0.978874]] 2025-10-24T20:08:24.363Z,1761336504.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:24.381Z,1761336504.381 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:24.635Z,1761336504.635 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:24.713Z,1761336504.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741334,-0.663787,0.099047],[0.669466,0.720986,-0.178869],[0.047319,0.198910,0.978875]] 2025-10-24T20:08:24.781Z,1761336504.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:24.885Z,1761336504.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:25.122Z,1761336505.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742135,-0.662916,0.098884],[0.668588,0.721810,-0.178829],[0.047173,0.198828,0.978898]] 2025-10-24T20:08:25.138Z,1761336505.138 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:25.147Z,1761336505.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:25.389Z,1761336505.389 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:25.525Z,1761336505.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743565,-0.661358,0.098575],[0.667011,0.723263,-0.178851],[0.046989,0.198738,0.978926]] 2025-10-24T20:08:25.555Z,1761336505.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:25.644Z,1761336505.644 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:25.893Z,1761336505.893 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:25.933Z,1761336505.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743881,-0.660994,0.098627],[0.666656,0.723531,-0.179089],[0.047017,0.198972,0.978877]] 2025-10-24T20:08:25.996Z,1761336505.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:08:25.998Z,1761336505.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:26.145Z,1761336506.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:26.334Z,1761336506.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745079,-0.659683,0.098360],[0.665344,0.724820,-0.178755],[0.046628,0.198630,0.978965]] 2025-10-24T20:08:26.372Z,1761336506.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:26.396Z,1761336506.396 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:26.651Z,1761336506.651 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:26.731Z,1761336506.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745646,-0.659032,0.098434],[0.664725,0.725387,-0.178758],[0.046405,0.198721,0.978957]] 2025-10-24T20:08:26.783Z,1761336506.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:26.901Z,1761336506.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:27.135Z,1761336507.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746603,-0.657957,0.098368],[0.663670,0.726372,-0.178676],[0.046109,0.198684,0.978978]] 2025-10-24T20:08:27.154Z,1761336507.154 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:27.157Z,1761336507.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:27.405Z,1761336507.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:27.539Z,1761336507.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747451,-0.656989,0.098398],[0.662739,0.727247,-0.178575],[0.045763,0.198688,0.978994]] 2025-10-24T20:08:27.564Z,1761336507.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:27.660Z,1761336507.660 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:27.909Z,1761336507.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:27.999Z,1761336507.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:28.161Z,1761336508.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:28.357Z,1761336508.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749267,-0.654906,0.098475],[0.660732,0.729100,-0.178455],[0.045073,0.198776,0.979008]] 2025-10-24T20:08:28.380Z,1761336508.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:28.413Z,1761336508.413 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:28.667Z,1761336508.667 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:28.752Z,1761336508.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750008,-0.654011,0.098785],[0.659920,0.729823,-0.178504],[0.044648,0.199070,0.978968]] 2025-10-24T20:08:28.799Z,1761336508.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:28.916Z,1761336508.916 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:29.157Z,1761336509.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751203,-0.652627,0.098854],[0.658601,0.731086,-0.178207],[0.044032,0.198975,0.979015]] 2025-10-24T20:08:29.169Z,1761336509.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:29.179Z,1761336509.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:29.422Z,1761336509.422 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:29.598Z,1761336509.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:29.675Z,1761336509.675 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:29.925Z,1761336509.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:29.965Z,1761336509.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753298,-0.650158,0.099179],[0.656264,0.733191,-0.178182],[0.043129,0.199312,0.978987]] 2025-10-24T20:08:30.018Z,1761336510.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:30.177Z,1761336510.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:30.425Z,1761336510.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754070,-0.649197,0.099608],[0.655407,0.733921,-0.178331],[0.042667,0.199758,0.978916]] 2025-10-24T20:08:30.430Z,1761336510.430 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:30.506Z,1761336510.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:30.683Z,1761336510.683 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:30.926Z,1761336510.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:30.933Z,1761336510.933 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:31.185Z,1761336511.185 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:31.240Z,1761336511.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757073,-0.645726,0.099389],[0.651998,0.737028,-0.178012],[0.041694,0.199569,0.978996]] 2025-10-24T20:08:31.264Z,1761336511.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:31.438Z,1761336511.438 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:31.638Z,1761336511.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758877,-0.643662,0.099022],[0.649926,0.738913,-0.177771],[0.041256,0.199263,0.979077]] 2025-10-24T20:08:31.658Z,1761336511.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:31.694Z,1761336511.694 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:31.944Z,1761336511.944 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:32.039Z,1761336512.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759943,-0.642418,0.098924],[0.648691,0.739975,-0.177868],[0.041064,0.199340,0.979070]] 2025-10-24T20:08:32.090Z,1761336512.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:32.197Z,1761336512.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:32.449Z,1761336512.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:32.489Z,1761336512.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761277,-0.640838,0.098913],[0.647150,0.741319,-0.177884],[0.040669,0.199431,0.979068]] 2025-10-24T20:08:32.508Z,1761336512.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:32.711Z,1761336512.711 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:32.901Z,1761336512.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762524,-0.639376,0.098774],[0.645701,0.742594,-0.177835],[0.040355,0.199382,0.979091]] 2025-10-24T20:08:32.961Z,1761336512.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:32.964Z,1761336512.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:33.212Z,1761336513.212 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:33.279Z,1761336513.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763125,-0.638631,0.098952],[0.644994,0.743114,-0.178224],[0.040287,0.199830,0.979002]] 2025-10-24T20:08:33.393Z,1761336513.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:33.466Z,1761336513.466 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:33.683Z,1761336513.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764348,-0.637219,0.098609],[0.643550,0.744357,-0.178258],[0.040189,0.199711,0.979030]] 2025-10-24T20:08:33.719Z,1761336513.719 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:33.883Z,1761336513.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:33.974Z,1761336513.974 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:34.123Z,1761336514.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764581,-0.636932,0.098657],[0.643257,0.744477,-0.178814],[0.040444,0.200179,0.978924]] 2025-10-24T20:08:34.225Z,1761336514.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:34.235Z,1761336514.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:34.477Z,1761336514.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:34.540Z,1761336514.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765903,-0.635424,0.098130],[0.641690,0.745864,-0.178663],[0.040335,0.199808,0.979005]] 2025-10-24T20:08:34.615Z,1761336514.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:34.730Z,1761336514.730 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:34.938Z,1761336514.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766364,-0.634893,0.097964],[0.641122,0.746248,-0.179098],[0.040603,0.200062,0.978942]] 2025-10-24T20:08:34.981Z,1761336514.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:35.018Z,1761336515.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:35.233Z,1761336515.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:35.344Z,1761336515.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767093,-0.634118,0.097278],[0.640219,0.746955,-0.179382],[0.041087,0.199882,0.978958]] 2025-10-24T20:08:35.420Z,1761336515.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:35.485Z,1761336515.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:35.739Z,1761336515.739 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:35.915Z,1761336515.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:35.989Z,1761336515.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:36.238Z,1761336516.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768084,-0.633107,0.096036],[0.638938,0.747772,-0.180543],[0.042490,0.200033,0.978867]] 2025-10-24T20:08:36.241Z,1761336516.241 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:36.283Z,1761336516.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:36.492Z,1761336516.492 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:36.631Z,1761336516.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768740,-0.632418,0.095325],[0.638117,0.748423,-0.180750],[0.042966,0.199778,0.978899]] 2025-10-24T20:08:36.651Z,1761336516.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:36.745Z,1761336516.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:36.997Z,1761336516.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:37.040Z,1761336517.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768380,-0.632905,0.094990],[0.638492,0.747927,-0.181474],[0.043810,0.200092,0.978797]] 2025-10-24T20:08:37.099Z,1761336517.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:37.251Z,1761336517.251 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:37.498Z,1761336517.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768819,-0.632503,0.094116],[0.637912,0.748344,-0.181796],[0.044555,0.199806,0.978822]] 2025-10-24T20:08:37.501Z,1761336517.501 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:37.522Z,1761336517.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:37.756Z,1761336517.756 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:37.912Z,1761336517.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768667,-0.632734,0.093800],[0.638051,0.748100,-0.182314],[0.045184,0.199988,0.978756]] 2025-10-24T20:08:37.951Z,1761336517.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:38.005Z,1761336518.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:38.257Z,1761336518.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:38.340Z,1761336518.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:38.509Z,1761336518.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:38.707Z,1761336518.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768817,-0.632715,0.092695],[0.637780,0.748156,-0.183028],[0.046455,0.199834,0.978728]] 2025-10-24T20:08:38.727Z,1761336518.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:38.761Z,1761336518.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:39.013Z,1761336519.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:39.116Z,1761336519.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768704,-0.632937,0.092114],[0.637860,0.747986,-0.183444],[0.047209,0.199770,0.978705]] 2025-10-24T20:08:39.177Z,1761336519.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:39.265Z,1761336519.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:39.517Z,1761336519.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:39.551Z,1761336519.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767937,-0.633920,0.091751],[0.638718,0.747119,-0.183991],[0.048087,0.199896,0.978636]] 2025-10-24T20:08:39.575Z,1761336519.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:39.769Z,1761336519.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:39.957Z,1761336519.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767978,-0.633945,0.091237],[0.638639,0.747183,-0.184003],[0.048477,0.199578,0.978682]] 2025-10-24T20:08:40.014Z,1761336520.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:40.021Z,1761336520.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:40.273Z,1761336520.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:40.359Z,1761336520.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768087,-0.633903,0.090601],[0.638465,0.747291,-0.184170],[0.049040,0.199304,0.978710]] 2025-10-24T20:08:40.379Z,1761336520.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:40.526Z,1761336520.526 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:40.760Z,1761336520.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767241,-0.634925,0.090616],[0.639427,0.746299,-0.184854],[0.049741,0.199770,0.978580]] 2025-10-24T20:08:40.777Z,1761336520.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:40.804Z,1761336520.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:41.028Z,1761336521.028 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:41.163Z,1761336521.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767306,-0.634880,0.090384],[0.639334,0.746366,-0.184906],[0.049934,0.199665,0.978591]] 2025-10-24T20:08:41.228Z,1761336521.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:41.281Z,1761336521.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:41.533Z,1761336521.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:41.601Z,1761336521.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767341,-0.634879,0.090094],[0.639264,0.746368,-0.185138],[0.050297,0.199658,0.978574]] 2025-10-24T20:08:41.645Z,1761336521.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:41.785Z,1761336521.785 [DAT](INFO): DAT read: user:257>Rx Time:20:08:40.7198 2025-10-24T20:08:41.786Z,1761336521.786 [DAT](INFO): Rx dataTimestamp_ set to:1761336521.785298 2025-10-24T20:08:41.786Z,1761336521.786 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:41.000Z,1761336522.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767478,-0.634729,0.089983],[0.639094,0.746503,-0.185180],[0.050367,0.199629,0.978576]] 2025-10-24T20:08:42.037Z,1761336522.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:42.050Z,1761336522.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:42.289Z,1761336522.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:08:42.403Z,1761336522.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767558,-0.634660,0.089782],[0.638974,0.746543,-0.185434],[0.050662,0.199699,0.978547]] 2025-10-24T20:08:42.424Z,1761336522.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:42.542Z,1761336522.542 [DAT](INFO): DAT read: bearing request 2025-10-24T20:08:42.543Z,1761336522.543 [DAT](INFO): received a bearing request message 2025-10-24T20:08:42.544Z,1761336522.544 [DAT](INFO): DAT read: Tx time:20:08:42.3226 2025-10-24T20:08:42.545Z,1761336522.545 [DAT](INFO): Ping request sent. 2025-10-24T20:08:42.545Z,1761336522.545 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:08:42.545Z,1761336522.545 [DAT](INFO): publishing transmit ping time 2025-10-24T20:08:42.546Z,1761336522.546 [DAT](INFO): publishing range request flag 2025-10-24T20:08:42.547Z,1761336522.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002280 2025-10-24T20:08:42.793Z,1761336522.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247709 2025-10-24T20:08:42.815Z,1761336522.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767905,-0.634273,0.089557],[0.638555,0.746912,-0.185394],[0.050699,0.199552,0.978575]] 2025-10-24T20:08:42.839Z,1761336522.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:43.045Z,1761336523.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499730 2025-10-24T20:08:43.293Z,1761336523.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:43.297Z,1761336523.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751874 2025-10-24T20:08:43.549Z,1761336523.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003705 2025-10-24T20:08:43.618Z,1761336523.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768194,-0.633748,0.090783],[0.638132,0.746521,-0.188400],[0.051627,0.202660,0.977887]] 2025-10-24T20:08:43.655Z,1761336523.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:43.801Z,1761336523.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255727 2025-10-24T20:08:44.021Z,1761336524.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768272,-0.633884,0.089153],[0.637921,0.746625,-0.188698],[0.053049,0.201844,0.977980]] 2025-10-24T20:08:44.054Z,1761336524.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509379 2025-10-24T20:08:44.087Z,1761336524.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:44.305Z,1761336524.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759995 2025-10-24T20:08:44.332Z,1761336524.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:08:44.425Z,1761336524.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770309,-0.631548,0.088159],[0.635496,0.748900,-0.187865],[0.052624,0.200739,0.978230]] 2025-10-24T20:08:44.444Z,1761336524.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:44.557Z,1761336524.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012402 2025-10-24T20:08:44.809Z,1761336524.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263730 2025-10-24T20:08:44.827Z,1761336524.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770921,-0.630775,0.088332],[0.634803,0.749595,-0.187439],[0.052019,0.200575,0.978296]] 2025-10-24T20:08:44.881Z,1761336524.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:45.061Z,1761336525.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515810 2025-10-24T20:08:45.301Z,1761336525.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:45.314Z,1761336525.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768783 2025-10-24T20:08:45.337Z,1761336525.337 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:08:45.565Z,1761336525.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019951 2025-10-24T20:08:45.747Z,1761336525.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:45.817Z,1761336525.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271832 2025-10-24T20:08:46.069Z,1761336526.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523702 2025-10-24T20:08:46.091Z,1761336526.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773840,-0.627267,0.087790],[0.631296,0.752611,-0.187194],[0.051349,0.200279,0.978392]] 2025-10-24T20:08:46.143Z,1761336526.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:46.321Z,1761336526.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775928 2025-10-24T20:08:46.496Z,1761336526.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774671,-0.626287,0.087465],[0.630268,0.753426,-0.187380],[0.051455,0.200284,0.978386]] 2025-10-24T20:08:46.515Z,1761336526.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:46.574Z,1761336526.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028430 2025-10-24T20:08:46.825Z,1761336526.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279641 2025-10-24T20:08:47.077Z,1761336527.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531816 2025-10-24T20:08:47.085Z,1761336527.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:47.329Z,1761336527.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783857 2025-10-24T20:08:47.358Z,1761336527.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776017,-0.624712,0.086791],[0.628578,0.754722,-0.187842],[0.051844,0.200323,0.978357]] 2025-10-24T20:08:47.386Z,1761336527.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:47.581Z,1761336527.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.035645 2025-10-24T20:08:47.755Z,1761336527.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776797,-0.623808,0.086314],[0.627601,0.755526,-0.187876],[0.051986,0.200112,0.978393]] 2025-10-24T20:08:47.833Z,1761336527.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288021 2025-10-24T20:08:47.886Z,1761336527.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:48.086Z,1761336528.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540369 2025-10-24T20:08:48.154Z,1761336528.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776927,-0.623678,0.086081],[0.627400,0.755558,-0.188419],[0.052473,0.200395,0.978309]] 2025-10-24T20:08:48.258Z,1761336528.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:48.338Z,1761336528.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792573 2025-10-24T20:08:48.557Z,1761336528.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777848,-0.622611,0.085486],[0.626247,0.756529,-0.188356],[0.052600,0.200048,0.978373]] 2025-10-24T20:08:48.589Z,1761336528.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043819 2025-10-24T20:08:48.630Z,1761336528.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:48.841Z,1761336528.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295880 2025-10-24T20:08:49.010Z,1761336529.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778012,-0.622448,0.085181],[0.626006,0.756626,-0.188768],[0.053048,0.200188,0.978320]] 2025-10-24T20:08:49.082Z,1761336529.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:49.093Z,1761336529.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548025 2025-10-24T20:08:49.345Z,1761336529.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.799666 2025-10-24T20:08:49.365Z,1761336529.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778611,-0.621781,0.084577],[0.625231,0.757240,-0.188875],[0.053394,0.199941,0.978352]] 2025-10-24T20:08:49.401Z,1761336529.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:49.599Z,1761336529.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054140 2025-10-24T20:08:49.781Z,1761336529.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778391,-0.622038,0.084713],[0.625481,0.756909,-0.189373],[0.053677,0.200392,0.978244]] 2025-10-24T20:08:49.799Z,1761336529.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:49.849Z,1761336529.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.303708 2025-10-24T20:08:50.101Z,1761336530.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.555919 2025-10-24T20:08:50.218Z,1761336530.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:50.354Z,1761336530.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809166 2025-10-24T20:08:50.575Z,1761336530.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778801,-0.621625,0.083976],[0.624901,0.757248,-0.189929],[0.054474,0.200394,0.978200]] 2025-10-24T20:08:50.605Z,1761336530.605 [DAT](INFO): DAT read: Rx Time:20:08:49.4190 2025-10-24T20:08:50.605Z,1761336530.605 [DAT](INFO): Rx dataTimestamp_ set to:1761336530.605222 2025-10-24T20:08:50.606Z,1761336530.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061004 2025-10-24T20:08:50.620Z,1761336530.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:50.857Z,1761336530.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311755 2025-10-24T20:08:51.041Z,1761336531.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779452,-0.620880,0.083441],[0.624075,0.757948,-0.189856],[0.054634,0.200057,0.978260]] 2025-10-24T20:08:51.109Z,1761336531.109 [DAT](INFO): DAT read: range request 2025-10-24T20:08:51.109Z,1761336531.109 [DAT](INFO): received a range request message 2025-10-24T20:08:51.110Z,1761336531.110 [DAT](INFO): DAT read: Tx time:20:08:51.0218 2025-10-24T20:08:51.110Z,1761336531.110 [DAT](INFO): Ping request sent. 2025-10-24T20:08:51.110Z,1761336531.110 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:08:51.110Z,1761336531.110 [DAT](INFO): publishing transmit ping time 2025-10-24T20:08:51.111Z,1761336531.111 [DAT](INFO): publishing range request flag 2025-10-24T20:08:51.111Z,1761336531.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001079 2025-10-24T20:08:51.125Z,1761336531.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:51.361Z,1761336531.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250500 2025-10-24T20:08:51.383Z,1761336531.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779320,-0.621051,0.083407],[0.624218,0.757757,-0.190150],[0.054891,0.200252,0.978206]] 2025-10-24T20:08:51.421Z,1761336531.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:51.613Z,1761336531.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502625 2025-10-24T20:08:51.786Z,1761336531.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779476,-0.620890,0.083144],[0.623997,0.757884,-0.190366],[0.055183,0.200268,0.978186]] 2025-10-24T20:08:51.839Z,1761336531.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:51.865Z,1761336531.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754543 2025-10-24T20:08:52.117Z,1761336532.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006668 2025-10-24T20:08:52.191Z,1761336532.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779111,-0.621387,0.082848],[0.624400,0.757457,-0.190746],[0.055773,0.200343,0.978137]] 2025-10-24T20:08:52.238Z,1761336532.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:52.370Z,1761336532.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259022 2025-10-24T20:08:52.595Z,1761336532.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777378,-0.623960,0.079737],[0.626445,0.756444,-0.188037],[0.057011,0.196127,0.978920]] 2025-10-24T20:08:52.621Z,1761336532.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-24T20:08:52.635Z,1761336532.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:52.875Z,1761336532.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765103 2025-10-24T20:08:53.014Z,1761336533.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776088,-0.625459,0.080555],[0.627979,0.754810,-0.189486],[0.057712,0.197645,0.978573]] 2025-10-24T20:08:53.130Z,1761336533.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019466 2025-10-24T20:08:53.141Z,1761336533.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:53.381Z,1761336533.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270604 2025-10-24T20:08:53.412Z,1761336533.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775782,-0.625655,0.081966],[0.628414,0.754303,-0.190060],[0.057085,0.198954,0.978345]] 2025-10-24T20:08:53.450Z,1761336533.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:53.633Z,1761336533.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522537 2025-10-24T20:08:53.810Z,1761336533.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776335,-0.624882,0.082618],[0.627791,0.754818,-0.190074],[0.056412,0.199428,0.978287]] 2025-10-24T20:08:53.845Z,1761336533.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:53.899Z,1761336533.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.789053 2025-10-24T20:08:54.149Z,1761336534.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038539 2025-10-24T20:08:54.212Z,1761336534.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776285,-0.624867,0.083206],[0.627881,0.754695,-0.190264],[0.056095,0.199942,0.978201]] 2025-10-24T20:08:54.281Z,1761336534.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:54.401Z,1761336534.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290900 2025-10-24T20:08:54.618Z,1761336534.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776666,-0.624355,0.083488],[0.627443,0.755071,-0.190219],[0.055724,0.200121,0.978185]] 2025-10-24T20:08:54.638Z,1761336534.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:54.654Z,1761336534.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.543926 2025-10-24T20:08:54.905Z,1761336534.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795011 2025-10-24T20:08:55.031Z,1761336535.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776387,-0.624664,0.083770],[0.627791,0.754744,-0.190370],[0.055693,0.200391,0.978132]] 2025-10-24T20:08:55.114Z,1761336535.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:55.159Z,1761336535.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.048320 2025-10-24T20:08:55.409Z,1761336535.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298499 2025-10-24T20:08:55.482Z,1761336535.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:55.661Z,1761336535.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550853 2025-10-24T20:08:55.874Z,1761336535.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:55.916Z,1761336535.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.805494 2025-10-24T20:08:56.170Z,1761336536.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.059542 2025-10-24T20:08:56.234Z,1761336536.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776435,-0.624542,0.084234],[0.627787,0.754847,-0.189974],[0.055063,0.200383,0.978169]] 2025-10-24T20:08:56.274Z,1761336536.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:56.421Z,1761336536.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310778 2025-10-24T20:08:56.635Z,1761336536.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776690,-0.624225,0.084240],[0.627499,0.755174,-0.189625],[0.054752,0.200141,0.978236]] 2025-10-24T20:08:56.673Z,1761336536.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.562700 2025-10-24T20:08:56.677Z,1761336536.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:56.925Z,1761336536.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.814599 2025-10-24T20:08:57.043Z,1761336537.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776123,-0.624827,0.084994],[0.628233,0.754556,-0.189652],[0.054367,0.200589,0.978166]] 2025-10-24T20:08:57.126Z,1761336537.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:57.177Z,1761336537.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.066710 2025-10-24T20:08:57.429Z,1761336537.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.318430 2025-10-24T20:08:57.485Z,1761336537.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776479,-0.624371,0.085096],[0.627837,0.755006,-0.189172],[0.053866,0.200314,0.978250]] 2025-10-24T20:08:57.674Z,1761336537.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:57.681Z,1761336537.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.570879 2025-10-24T20:08:57.918Z,1761336537.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776186,-0.624636,0.085821],[0.628269,0.754784,-0.188627],[0.053047,0.200328,0.978292]] 2025-10-24T20:08:57.933Z,1761336537.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.822671 2025-10-24T20:08:57.940Z,1761336537.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:58.185Z,1761336538.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.074545 2025-10-24T20:08:58.307Z,1761336538.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775909,-0.624912,0.086313],[0.628650,0.754535,-0.188352],[0.052577,0.200404,0.978301]] 2025-10-24T20:08:58.365Z,1761336538.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:58.438Z,1761336538.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.327400 2025-10-24T20:08:58.689Z,1761336538.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578652 2025-10-24T20:08:58.713Z,1761336538.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775995,-0.624778,0.086510],[0.628577,0.754681,-0.188008],[0.052176,0.200272,0.978350]] 2025-10-24T20:08:58.734Z,1761336538.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:58.942Z,1761336538.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.831860 2025-10-24T20:08:59.164Z,1761336539.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775963,-0.624753,0.086971],[0.628667,0.754708,-0.187599],[0.051565,0.200246,0.978388]] 2025-10-24T20:08:59.193Z,1761336539.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.082647 2025-10-24T20:08:59.206Z,1761336539.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:59.445Z,1761336539.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334746 2025-10-24T20:08:59.519Z,1761336539.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775959,-0.624689,0.087472],[0.628719,0.754737,-0.187309],[0.050991,0.200339,0.978399]] 2025-10-24T20:08:59.548Z,1761336539.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:08:59.697Z,1761336539.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586485 2025-10-24T20:08:59.925Z,1761336539.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776383,-0.624129,0.087707],[0.628248,0.755259,-0.186782],[0.050334,0.200116,0.978478]] 2025-10-24T20:08:59.954Z,1761336539.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.843626 2025-10-24T20:08:59.980Z,1761336539.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:00.208Z,1761336540.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.097613 2025-10-24T20:09:00.329Z,1761336540.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776105,-0.624391,0.088302],[0.628619,0.754938,-0.186833],[0.049995,0.200510,0.978415]] 2025-10-24T20:09:00.401Z,1761336540.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:00.461Z,1761336540.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.350949 2025-10-24T20:09:00.713Z,1761336540.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.602495 2025-10-24T20:09:00.739Z,1761336540.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776893,-0.623392,0.088427],[0.627702,0.755847,-0.186242],[0.049264,0.200196,0.978517]] 2025-10-24T20:09:00.851Z,1761336540.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:00.966Z,1761336540.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.855843 2025-10-24T20:09:01.195Z,1761336541.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776875,-0.623337,0.088970],[0.627759,0.755809,-0.186205],[0.048824,0.200510,0.978474]] 2025-10-24T20:09:01.216Z,1761336541.216 [DAT](INFO): Reached modem response timeout 2025-10-24T20:09:01.338Z,1761336541.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:01.579Z,1761336541.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777481,-0.622573,0.089025],[0.627038,0.756466,-0.185962],[0.048430,0.200404,0.978516]] 2025-10-24T20:09:01.658Z,1761336541.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:01.989Z,1761336541.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777676,-0.622290,0.089298],[0.626825,0.756677,-0.185824],[0.048066,0.200485,0.978517]] 2025-10-24T20:09:02.047Z,1761336542.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:02.384Z,1761336542.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778504,-0.621274,0.089166],[0.625824,0.757580,-0.185517],[0.047707,0.200228,0.978587]] 2025-10-24T20:09:02.483Z,1761336542.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:02.789Z,1761336542.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778647,-0.621034,0.089591],[0.625673,0.757696,-0.185554],[0.047353,0.200535,0.978541]] 2025-10-24T20:09:02.830Z,1761336542.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:03.240Z,1761336543.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779367,-0.620152,0.089440],[0.624783,0.758420,-0.185595],[0.047264,0.200527,0.978547]] 2025-10-24T20:09:03.357Z,1761336543.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:03.605Z,1761336543.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779884,-0.619483,0.089569],[0.624155,0.758921,-0.185661],[0.047038,0.200699,0.978523]] 2025-10-24T20:09:03.670Z,1761336543.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:04.031Z,1761336544.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780751,-0.618429,0.089288],[0.623064,0.759770,-0.185851],[0.047098,0.200736,0.978513]] 2025-10-24T20:09:04.050Z,1761336544.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:04.436Z,1761336544.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781753,-0.617240,0.088749],[0.621796,0.760793,-0.185912],[0.047232,0.200521,0.978550]] 2025-10-24T20:09:04.493Z,1761336544.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:04.872Z,1761336544.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:05.333Z,1761336545.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:05.639Z,1761336545.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783462,-0.615242,0.087552],[0.619557,0.762338,-0.187054],[0.048340,0.200793,0.978440]] 2025-10-24T20:09:05.661Z,1761336545.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:06.057Z,1761336546.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784049,-0.614576,0.086971],[0.618778,0.762896,-0.187360],[0.048797,0.200716,0.978433]] 2025-10-24T20:09:06.076Z,1761336546.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:06.455Z,1761336546.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783947,-0.614745,0.086692],[0.618854,0.762672,-0.188020],[0.049467,0.201048,0.978332]] 2025-10-24T20:09:06.500Z,1761336546.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:06.883Z,1761336546.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784473,-0.614216,0.085675],[0.618124,0.763208,-0.188245],[0.050236,0.200631,0.978378]] 2025-10-24T20:09:06.949Z,1761336546.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:07.014Z,1761336547.014 [DAT](INFO): DAT read: Rx Time:20:09:05.7683 2025-10-24T20:09:07.015Z,1761336547.015 [DAT](INFO): Rx dataTimestamp_ set to:1761336547.014408 2025-10-24T20:09:07.283Z,1761336547.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784210,-0.614602,0.085324],[0.618402,0.762851,-0.188780],[0.050935,0.200807,0.978306]] 2025-10-24T20:09:07.329Z,1761336547.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:07.517Z,1761336547.517 [DAT](INFO): DAT read: range request 2025-10-24T20:09:07.517Z,1761336547.517 [DAT](INFO): received a range request message 2025-10-24T20:09:07.518Z,1761336547.518 [DAT](INFO): DAT read: Tx time:20:09:07.3711 2025-10-24T20:09:07.518Z,1761336547.518 [DAT](INFO): Ping request sent. 2025-10-24T20:09:07.518Z,1761336547.518 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:09:07.518Z,1761336547.518 [DAT](INFO): publishing transmit ping time 2025-10-24T20:09:07.518Z,1761336547.518 [DAT](INFO): publishing range request flag 2025-10-24T20:09:07.520Z,1761336547.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001459 2025-10-24T20:09:07.669Z,1761336547.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784227,-0.614664,0.084715],[0.618318,0.762810,-0.189219],[0.051685,0.200771,0.978274]] 2025-10-24T20:09:07.689Z,1761336547.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:07.770Z,1761336547.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251952 2025-10-24T20:09:08.021Z,1761336548.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502794 2025-10-24T20:09:08.082Z,1761336548.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783897,-0.615170,0.084091],[0.618663,0.762425,-0.189642],[0.052549,0.200683,0.978246]] 2025-10-24T20:09:08.110Z,1761336548.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:08.277Z,1761336548.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757672 2025-10-24T20:09:08.490Z,1761336548.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783311,-0.615987,0.083568],[0.619324,0.761755,-0.190174],[0.053486,0.200721,0.978187]] 2025-10-24T20:09:08.525Z,1761336548.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006951 2025-10-24T20:09:08.585Z,1761336548.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:08.777Z,1761336548.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258901 2025-10-24T20:09:08.943Z,1761336548.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:09.029Z,1761336549.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511095 2025-10-24T20:09:09.284Z,1761336549.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765181 2025-10-24T20:09:09.318Z,1761336549.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780436,-0.619836,0.081992],[0.622707,0.758786,-0.190997],[0.056172,0.200118,0.978160]] 2025-10-24T20:09:09.372Z,1761336549.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:09.533Z,1761336549.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014804 2025-10-24T20:09:09.689Z,1761336549.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779878,-0.620653,0.081115],[0.623302,0.758191,-0.191418],[0.057303,0.199842,0.978151]] 2025-10-24T20:09:09.715Z,1761336549.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:09.790Z,1761336549.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272502 2025-10-24T20:09:10.043Z,1761336550.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524437 2025-10-24T20:09:10.130Z,1761336550.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:10.295Z,1761336550.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776718 2025-10-24T20:09:10.545Z,1761336550.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026804 2025-10-24T20:09:10.565Z,1761336550.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:10.799Z,1761336550.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280934 2025-10-24T20:09:10.895Z,1761336550.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778380,-0.622414,0.082011],[0.625179,0.756587,-0.191644],[0.057233,0.200444,0.978032]] 2025-10-24T20:09:10.933Z,1761336550.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:11.053Z,1761336551.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534801 2025-10-24T20:09:11.309Z,1761336551.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790740 2025-10-24T20:09:11.414Z,1761336551.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:11.557Z,1761336551.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038877 2025-10-24T20:09:11.733Z,1761336551.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:11.810Z,1761336551.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291971 2025-10-24T20:09:12.061Z,1761336552.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.542857 2025-10-24T20:09:12.117Z,1761336552.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777628,-0.623338,0.082129],[0.626133,0.755937,-0.191096],[0.057034,0.200025,0.978129]] 2025-10-24T20:09:12.143Z,1761336552.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:12.317Z,1761336552.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.798454 2025-10-24T20:09:12.509Z,1761336552.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777767,-0.623143,0.082291],[0.625992,0.756125,-0.190810],[0.056680,0.199919,0.978172]] 2025-10-24T20:09:12.557Z,1761336552.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:12.565Z,1761336552.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.046938 2025-10-24T20:09:12.817Z,1761336552.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.298841 2025-10-24T20:09:12.916Z,1761336552.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778084,-0.622695,0.082684],[0.625658,0.756505,-0.190403],[0.056012,0.199881,0.978218]] 2025-10-24T20:09:12.936Z,1761336552.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:13.069Z,1761336553.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550872 2025-10-24T20:09:13.323Z,1761336553.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.804662 2025-10-24T20:09:13.363Z,1761336553.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778077,-0.622613,0.083363],[0.625719,0.756477,-0.190312],[0.055429,0.200238,0.978178]] 2025-10-24T20:09:13.456Z,1761336553.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:13.573Z,1761336553.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055088 2025-10-24T20:09:13.724Z,1761336553.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778717,-0.621744,0.083868],[0.625003,0.757193,-0.189817],[0.054513,0.200232,0.978231]] 2025-10-24T20:09:13.758Z,1761336553.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:13.825Z,1761336553.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307153 2025-10-24T20:09:14.077Z,1761336554.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.558858 2025-10-24T20:09:14.124Z,1761336554.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778955,-0.621367,0.084456],[0.624763,0.757441,-0.189614],[0.053849,0.200465,0.978220]] 2025-10-24T20:09:14.222Z,1761336554.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:14.331Z,1761336554.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.812831 2025-10-24T20:09:14.526Z,1761336554.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779937,-0.620085,0.084814],[0.623621,0.758530,-0.189020],[0.052875,0.200315,0.978304]] 2025-10-24T20:09:14.581Z,1761336554.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.062868 2025-10-24T20:09:14.629Z,1761336554.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:14.833Z,1761336554.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314870 2025-10-24T20:09:15.048Z,1761336555.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:15.086Z,1761336555.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567328 2025-10-24T20:09:15.339Z,1761336555.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820860 2025-10-24T20:09:15.383Z,1761336555.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781770,-0.617632,0.085828],[0.621479,0.760482,-0.188232],[0.050987,0.200494,0.978367]] 2025-10-24T20:09:15.456Z,1761336555.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:09:15.489Z,1761336555.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:15.589Z,1761336555.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.070764 2025-10-24T20:09:15.841Z,1761336555.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322960 2025-10-24T20:09:15.844Z,1761336555.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782445,-0.616677,0.086547],[0.620703,0.761163,-0.188040],[0.050084,0.200851,0.978341]] 2025-10-24T20:09:15.901Z,1761336555.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:16.094Z,1761336556.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576180 2025-10-24T20:09:16.245Z,1761336556.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783810,-0.614915,0.086724],[0.619042,0.762597,-0.187704],[0.049286,0.200810,0.978390]] 2025-10-24T20:09:16.293Z,1761336556.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:16.346Z,1761336556.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.827431 2025-10-24T20:09:16.460Z,1761336556.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:09:16.597Z,1761336556.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.078833 2025-10-24T20:09:16.655Z,1761336556.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785053,-0.613296,0.086942],[0.617525,0.763900,-0.187399],[0.048517,0.200807,0.978429]] 2025-10-24T20:09:16.710Z,1761336556.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:16.851Z,1761336556.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333233 2025-10-24T20:09:17.055Z,1761336557.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786180,-0.611830,0.087093],[0.616133,0.765044,-0.187317],[0.047977,0.200926,0.978431]] 2025-10-24T20:09:17.083Z,1761336557.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:17.106Z,1761336557.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.587651 2025-10-24T20:09:17.360Z,1761336557.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.842213 2025-10-24T20:09:17.484Z,1761336557.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787403,-0.610253,0.087104],[0.614612,0.766326,-0.187074],[0.047412,0.200838,0.978476]] 2025-10-24T20:09:17.526Z,1761336557.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:17.967Z,1761336557.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:18.307Z,1761336558.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789365,-0.607756,0.086801],[0.612120,0.768312,-0.187096],[0.047019,0.200820,0.978499]] 2025-10-24T20:09:18.339Z,1761336558.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:18.772Z,1761336558.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:19.115Z,1761336559.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790390,-0.606473,0.086454],[0.610788,0.769299,-0.187395],[0.047141,0.200920,0.978473]] 2025-10-24T20:09:19.134Z,1761336559.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:19.597Z,1761336559.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:19.925Z,1761336559.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790282,-0.606652,0.086183],[0.610878,0.769078,-0.188007],[0.047773,0.201226,0.978379]] 2025-10-24T20:09:19.973Z,1761336559.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:20.387Z,1761336560.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789737,-0.607422,0.085763],[0.611530,0.768496,-0.188269],[0.048450,0.201129,0.978366]] 2025-10-24T20:09:20.486Z,1761336560.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:20.794Z,1761336560.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789047,-0.608473,0.084650],[0.612317,0.767801,-0.188548],[0.049732,0.200606,0.978409]] 2025-10-24T20:09:20.833Z,1761336560.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:21.197Z,1761336561.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788566,-0.609144,0.084301],[0.612888,0.767284,-0.188798],[0.050322,0.200547,0.978391]] 2025-10-24T20:09:21.224Z,1761336561.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:21.592Z,1761336561.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787939,-0.610012,0.083887],[0.613639,0.766636,-0.188988],[0.050975,0.200388,0.978390]] 2025-10-24T20:09:21.646Z,1761336561.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:21.997Z,1761336561.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787040,-0.611160,0.083972],[0.614753,0.765650,-0.189362],[0.051437,0.200658,0.978310]] 2025-10-24T20:09:22.017Z,1761336562.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:22.405Z,1761336562.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786510,-0.611892,0.083612],[0.615391,0.765126,-0.189410],[0.051925,0.200427,0.978332]] 2025-10-24T20:09:22.424Z,1761336562.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:22.808Z,1761336562.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785401,-0.613309,0.083650],[0.616760,0.763942,-0.189737],[0.052463,0.200612,0.978265]] 2025-10-24T20:09:22.861Z,1761336562.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:23.214Z,1761336563.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785209,-0.613605,0.083285],[0.616988,0.763817,-0.189499],[0.052663,0.200182,0.978342]] 2025-10-24T20:09:23.235Z,1761336563.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:23.684Z,1761336563.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:24.015Z,1761336564.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783599,-0.615636,0.083451],[0.618989,0.762161,-0.189639],[0.053145,0.200256,0.978301]] 2025-10-24T20:09:24.041Z,1761336564.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:24.422Z,1761336564.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782896,-0.616503,0.083649],[0.619873,0.761447,-0.189623],[0.053208,0.200307,0.978287]] 2025-10-24T20:09:24.463Z,1761336564.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:24.825Z,1761336564.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782561,-0.616903,0.083843],[0.620303,0.761111,-0.189562],[0.053127,0.200351,0.978283]] 2025-10-24T20:09:24.897Z,1761336564.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:25.233Z,1761336565.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782288,-0.617197,0.084220],[0.620673,0.760846,-0.189417],[0.052829,0.200452,0.978278]] 2025-10-24T20:09:25.263Z,1761336565.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:25.632Z,1761336565.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782202,-0.617255,0.084593],[0.620809,0.760760,-0.189317],[0.052502,0.200601,0.978265]] 2025-10-24T20:09:25.682Z,1761336565.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:26.037Z,1761336566.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782750,-0.616544,0.084707],[0.620159,0.761378,-0.188961],[0.052008,0.200441,0.978324]] 2025-10-24T20:09:26.055Z,1761336566.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:09:26.057Z,1761336566.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:26.177Z,1761336566.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:09:26.177Z,1761336566.177 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:09:26.429Z,1761336566.429 [DAT](INFO): DAT read: 2025-10-24T20:09:26.430Z,1761336566.430 [DAT](INFO): DAT read: Tx time:20:09:25.6959 2025-10-24T20:09:26.430Z,1761336566.430 [DAT](INFO): Ping request sent. 2025-10-24T20:09:26.430Z,1761336566.430 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:09:26.431Z,1761336566.431 [DAT](INFO): DAT read: TxSync time:20:09:25.6952 2025-10-24T20:09:26.431Z,1761336566.431 [DAT](INFO): publishing transmit ping time 2025-10-24T20:09:26.432Z,1761336566.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001574 2025-10-24T20:09:26.500Z,1761336566.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782867,-0.616346,0.085070],[0.620041,0.761485,-0.188917],[0.051659,0.200644,0.978301]] 2025-10-24T20:09:26.587Z,1761336566.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:26.682Z,1761336566.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251864 2025-10-24T20:09:26.845Z,1761336566.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783125,-0.616077,0.084645],[0.619680,0.761712,-0.189188],[0.052079,0.200611,0.978286]] 2025-10-24T20:09:26.904Z,1761336566.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:26.933Z,1761336566.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502648 2025-10-24T20:09:27.186Z,1761336567.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755109 2025-10-24T20:09:27.252Z,1761336567.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783558,-0.615696,0.083400],[0.619096,0.762344,-0.188553],[0.052512,0.199374,0.978515]] 2025-10-24T20:09:27.274Z,1761336567.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:27.441Z,1761336567.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011024 2025-10-24T20:09:27.654Z,1761336567.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783821,-0.615296,0.083882],[0.618745,0.762365,-0.189615],[0.052720,0.200525,0.978269]] 2025-10-24T20:09:27.693Z,1761336567.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262672 2025-10-24T20:09:27.776Z,1761336567.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:27.945Z,1761336567.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514712 2025-10-24T20:09:28.056Z,1761336568.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785173,-0.613456,0.084710],[0.617131,0.763719,-0.189426],[0.051510,0.201009,0.978234]] 2025-10-24T20:09:28.150Z,1761336568.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:28.198Z,1761336568.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768019 2025-10-24T20:09:28.449Z,1761336568.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018746 2025-10-24T20:09:28.462Z,1761336568.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786587,-0.611572,0.085211],[0.615425,0.765218,-0.188928],[0.050338,0.201049,0.978287]] 2025-10-24T20:09:28.665Z,1761336568.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:28.701Z,1761336568.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271001 2025-10-24T20:09:28.913Z,1761336568.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787683,-0.610101,0.085628],[0.614093,0.766366,-0.188605],[0.049446,0.201145,0.978313]] 2025-10-24T20:09:28.954Z,1761336568.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523840 2025-10-24T20:09:29.008Z,1761336569.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:29.206Z,1761336569.206 [DAT](INFO): DAT read: Rx Time:20:09:28.1173 2025-10-24T20:09:29.207Z,1761336569.207 [DAT](INFO): Rx dataTimestamp_ set to:1761336569.206075 2025-10-24T20:09:29.208Z,1761336569.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777383 2025-10-24T20:09:29.305Z,1761336569.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788734,-0.608736,0.085669],[0.612776,0.767429,-0.188568],[0.049043,0.201226,0.978316]] 2025-10-24T20:09:29.347Z,1761336569.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:29.458Z,1761336569.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027119 2025-10-24T20:09:29.712Z,1761336569.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281459 2025-10-24T20:09:29.806Z,1761336569.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:29.962Z,1761336569.962 [DAT](INFO): DAT read: Range 10 to 50 : 12.9 m (Round-trip 17.2 ms) speed 0.2 m/s 2025-10-24T20:09:29.962Z,1761336569.962 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:09:30.172Z,1761336570.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790505,-0.606450,0.085556],[0.610526,0.769207,-0.188623],[0.048581,0.201341,0.978316]] 2025-10-24T20:09:30.194Z,1761336570.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 163.442966 s, deltaX: -8.000000 m, approachRate: -0.048947 m/s, rangeRepo size: 4 2025-10-24T20:09:30.194Z,1761336570.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:30.613Z,1761336570.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791551,-0.605155,0.085057],[0.609172,0.770310,-0.188500],[0.048552,0.201022,0.978383]] 2025-10-24T20:09:30.687Z,1761336570.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:30.983Z,1761336570.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791775,-0.604882,0.084911],[0.608858,0.770465,-0.188882],[0.048831,0.201251,0.978322]] 2025-10-24T20:09:31.005Z,1761336571.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:31.384Z,1761336571.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792535,-0.603960,0.084387],[0.607853,0.771246,-0.188928],[0.049022,0.201027,0.978358]] 2025-10-24T20:09:31.406Z,1761336571.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:31.789Z,1761336571.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792462,-0.604084,0.084183],[0.607915,0.771111,-0.189282],[0.049428,0.201175,0.978307]] 2025-10-24T20:09:31.842Z,1761336571.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:32.191Z,1761336572.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793066,-0.603406,0.083345],[0.607091,0.771771,-0.189235],[0.049862,0.200674,0.978388]] 2025-10-24T20:09:32.211Z,1761336572.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:32.664Z,1761336572.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792971,-0.603636,0.082591],[0.607128,0.771572,-0.189927],[0.050922,0.200749,0.978318]] 2025-10-24T20:09:32.677Z,1761336572.677 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768V 2025-10-24T20:09:32.722Z,1761336572.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:33.042Z,1761336573.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:33.420Z,1761336573.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792519,-0.604309,0.081999],[0.607623,0.770988,-0.190714],[0.052029,0.200969,0.978215]] 2025-10-24T20:09:33.455Z,1761336573.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:33.822Z,1761336573.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792292,-0.604688,0.081397],[0.607855,0.770727,-0.191030],[0.052778,0.200829,0.978204]] 2025-10-24T20:09:33.874Z,1761336573.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:34.225Z,1761336574.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791817,-0.605341,0.081165],[0.608418,0.770164,-0.191506],[0.053416,0.201020,0.978130]] 2025-10-24T20:09:34.243Z,1761336574.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:34.650Z,1761336574.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792031,-0.605136,0.080610],[0.608112,0.770424,-0.191434],[0.053740,0.200642,0.978190]] 2025-10-24T20:09:34.710Z,1761336574.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:35.032Z,1761336575.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791212,-0.606210,0.080585],[0.609120,0.769491,-0.191981],[0.054371,0.200983,0.978085]] 2025-10-24T20:09:35.083Z,1761336575.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:35.437Z,1761336575.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791287,-0.606181,0.080065],[0.608989,0.769596,-0.191974],[0.054754,0.200665,0.978129]] 2025-10-24T20:09:35.468Z,1761336575.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:35.912Z,1761336575.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:36.245Z,1761336576.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790715,-0.606964,0.079780],[0.609680,0.768989,-0.192216],[0.055318,0.200628,0.978104]] 2025-10-24T20:09:36.266Z,1761336576.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:36.651Z,1761336576.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790166,-0.607678,0.079779],[0.610361,0.768389,-0.192453],[0.055649,0.200764,0.978058]] 2025-10-24T20:09:36.757Z,1761336576.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:37.051Z,1761336577.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789742,-0.608236,0.079734],[0.610882,0.767920,-0.192670],[0.055960,0.200868,0.978019]] 2025-10-24T20:09:37.121Z,1761336577.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:37.484Z,1761336577.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789864,-0.608116,0.079429],[0.610716,0.768102,-0.192471],[0.056036,0.200534,0.978083]] 2025-10-24T20:09:37.531Z,1761336577.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:37.959Z,1761336577.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:38.330Z,1761336578.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:38.730Z,1761336578.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788922,-0.609277,0.079894],[0.611933,0.767115,-0.192542],[0.056024,0.200791,0.978031]] 2025-10-24T20:09:38.795Z,1761336578.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:39.101Z,1761336579.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789158,-0.608988,0.079770],[0.611643,0.767412,-0.192280],[0.055880,0.200530,0.978093]] 2025-10-24T20:09:39.122Z,1761336579.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:39.582Z,1761336579.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:39.916Z,1761336579.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789342,-0.608698,0.080165],[0.611442,0.767581,-0.192244],[0.055486,0.200762,0.978067]] 2025-10-24T20:09:39.958Z,1761336579.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:40.313Z,1761336580.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789186,-0.608846,0.080570],[0.611659,0.767371,-0.192394],[0.055311,0.201116,0.978005]] 2025-10-24T20:09:40.350Z,1761336580.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:40.725Z,1761336580.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789856,-0.608007,0.080341],[0.610813,0.768115,-0.192110],[0.055093,0.200813,0.978079]] 2025-10-24T20:09:40.812Z,1761336580.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:41.122Z,1761336581.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789832,-0.607997,0.080653],[0.610864,0.768067,-0.192139],[0.054873,0.201026,0.978048]] 2025-10-24T20:09:41.198Z,1761336581.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:41.548Z,1761336581.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790303,-0.607398,0.080553],[0.610270,0.768580,-0.191977],[0.054695,0.200879,0.978088]] 2025-10-24T20:09:41.793Z,1761336581.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:42.178Z,1761336582.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790557,-0.607061,0.080600],[0.609948,0.768819,-0.192043],[0.054615,0.200982,0.978071]] 2025-10-24T20:09:42.314Z,1761336582.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:42.577Z,1761336582.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790977,-0.606557,0.080275],[0.609397,0.769271,-0.191984],[0.054697,0.200774,0.978109]] 2025-10-24T20:09:42.643Z,1761336582.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:42.984Z,1761336582.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790743,-0.606835,0.080474],[0.609689,0.768962,-0.192294],[0.054810,0.201119,0.978032]] 2025-10-24T20:09:43.073Z,1761336583.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:43.385Z,1761336583.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791426,-0.606015,0.079943],[0.608791,0.769698,-0.192194],[0.054940,0.200776,0.978095]] 2025-10-24T20:09:43.438Z,1761336583.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:43.910Z,1761336583.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:44.278Z,1761336584.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792086,-0.605230,0.079348],[0.607888,0.770320,-0.192560],[0.055420,0.200759,0.978072]] 2025-10-24T20:09:44.297Z,1761336584.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:44.682Z,1761336584.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792394,-0.604873,0.078990],[0.607461,0.770618,-0.192717],[0.055698,0.200691,0.978070]] 2025-10-24T20:09:44.706Z,1761336584.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:45.083Z,1761336585.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792814,-0.604408,0.078338],[0.606857,0.771002,-0.193083],[0.056302,0.200619,0.978050]] 2025-10-24T20:09:45.131Z,1761336585.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:45.487Z,1761336585.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793052,-0.604175,0.077727],[0.606487,0.771200,-0.193453],[0.056936,0.200559,0.978026]] 2025-10-24T20:09:45.507Z,1761336585.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:45.958Z,1761336585.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:46.314Z,1761336586.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793488,-0.603726,0.076755],[0.605809,0.771525,-0.194280],[0.058073,0.200658,0.977939]] 2025-10-24T20:09:46.333Z,1761336586.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:46.588Z,1761336586.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:09:46.719Z,1761336586.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793401,-0.603886,0.076389],[0.605859,0.771349,-0.194821],[0.058727,0.200853,0.977860]] 2025-10-24T20:09:46.751Z,1761336586.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:47.174Z,1761336587.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:47.526Z,1761336587.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793343,-0.604055,0.075660],[0.605825,0.771159,-0.195678],[0.059854,0.201076,0.977745]] 2025-10-24T20:09:47.549Z,1761336587.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:47.592Z,1761336587.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:09:47.929Z,1761336587.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793628,-0.603763,0.075005],[0.605395,0.771433,-0.195928],[0.060433,0.200901,0.977746]] 2025-10-24T20:09:47.967Z,1761336587.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:48.402Z,1761336588.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793335,-0.604206,0.074526],[0.605700,0.771072,-0.196403],[0.061203,0.200954,0.977687]] 2025-10-24T20:09:48.427Z,1761336588.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:48.791Z,1761336588.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793177,-0.604468,0.074090],[0.605845,0.770867,-0.196762],[0.061823,0.200954,0.977648]] 2025-10-24T20:09:48.826Z,1761336588.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:49.202Z,1761336589.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793087,-0.604653,0.073541],[0.605907,0.770785,-0.196894],[0.062369,0.200713,0.977663]] 2025-10-24T20:09:49.257Z,1761336589.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:49.611Z,1761336589.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792595,-0.605401,0.072680],[0.606432,0.770247,-0.197382],[0.063513,0.200520,0.977629]] 2025-10-24T20:09:49.631Z,1761336589.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:50.005Z,1761336590.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791988,-0.606194,0.072685],[0.607171,0.769538,-0.197876],[0.064018,0.200847,0.977529]] 2025-10-24T20:09:50.055Z,1761336590.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:50.408Z,1761336590.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791767,-0.606525,0.072332],[0.607415,0.769318,-0.197979],[0.064433,0.200689,0.977534]] 2025-10-24T20:09:50.427Z,1761336590.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:50.817Z,1761336590.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791500,-0.606900,0.072111],[0.607725,0.769034,-0.198134],[0.064792,0.200647,0.977519]] 2025-10-24T20:09:50.838Z,1761336590.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:51.215Z,1761336591.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791158,-0.607356,0.072023],[0.608152,0.768701,-0.198118],[0.064964,0.200544,0.977528]] 2025-10-24T20:09:51.262Z,1761336591.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:51.621Z,1761336591.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790407,-0.608324,0.072102],[0.609088,0.767881,-0.198419],[0.065337,0.200748,0.977462]] 2025-10-24T20:09:51.662Z,1761336591.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:52.071Z,1761336592.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790370,-0.608398,0.071882],[0.609135,0.767918,-0.198133],[0.065344,0.200384,0.977536]] 2025-10-24T20:09:52.133Z,1761336592.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:52.524Z,1761336592.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789655,-0.609296,0.072130],[0.610053,0.767174,-0.198189],[0.065420,0.200505,0.977506]] 2025-10-24T20:09:52.554Z,1761336592.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:52.986Z,1761336592.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789757,-0.609155,0.072208],[0.609961,0.767363,-0.197742],[0.065046,0.200212,0.977591]] 2025-10-24T20:09:53.097Z,1761336593.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:53.559Z,1761336593.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788993,-0.610066,0.072869],[0.610992,0.766597,-0.197530],[0.064645,0.200372,0.977585]] 2025-10-24T20:09:53.584Z,1761336593.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:53.973Z,1761336593.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788956,-0.610081,0.073137],[0.611079,0.766601,-0.197244],[0.064268,0.200310,0.977622]] 2025-10-24T20:09:54.043Z,1761336594.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:54.355Z,1761336594.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789041,-0.609946,0.073351],[0.610997,0.766694,-0.197138],[0.064006,0.200367,0.977628]] 2025-10-24T20:09:54.394Z,1761336594.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:54.764Z,1761336594.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789436,-0.609402,0.073621],[0.610546,0.767146,-0.196776],[0.063438,0.200291,0.977681]] 2025-10-24T20:09:54.783Z,1761336594.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:55.171Z,1761336595.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789516,-0.609242,0.074085],[0.610475,0.767173,-0.196890],[0.063117,0.200675,0.977622]] 2025-10-24T20:09:55.281Z,1761336595.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:55.650Z,1761336595.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789832,-0.608818,0.074206],[0.610097,0.767511,-0.196742],[0.062826,0.200667,0.977643]] 2025-10-24T20:09:55.778Z,1761336595.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:56.039Z,1761336596.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790193,-0.608344,0.074245],[0.609644,0.767869,-0.196752],[0.062682,0.200735,0.977638]] 2025-10-24T20:09:56.141Z,1761336596.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:56.444Z,1761336596.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791009,-0.607289,0.074195],[0.608629,0.768756,-0.196430],[0.062252,0.200535,0.977707]] 2025-10-24T20:09:56.494Z,1761336596.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:56.850Z,1761336596.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791247,-0.606954,0.074398],[0.608337,0.768960,-0.196534],[0.062078,0.200766,0.977670]] 2025-10-24T20:09:56.911Z,1761336596.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:57.253Z,1761336597.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791994,-0.605983,0.074364],[0.607389,0.769718,-0.196503],[0.061838,0.200797,0.977679]] 2025-10-24T20:09:57.307Z,1761336597.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:57.655Z,1761336597.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792249,-0.605658,0.074297],[0.607045,0.769931,-0.196730],[0.061948,0.200961,0.977639]] 2025-10-24T20:09:57.679Z,1761336597.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:58.059Z,1761336598.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792942,-0.604785,0.074010],[0.606134,0.770625,-0.196819],[0.061999,0.200926,0.977642]] 2025-10-24T20:09:58.107Z,1761336598.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:58.466Z,1761336598.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793613,-0.603962,0.073542],[0.605237,0.771314,-0.196882],[0.062186,0.200758,0.977665]] 2025-10-24T20:09:58.487Z,1761336598.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:58.867Z,1761336598.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793674,-0.603891,0.073471],[0.605123,0.771282,-0.197359],[0.062516,0.201097,0.977574]] 2025-10-24T20:09:58.913Z,1761336598.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:59.320Z,1761336599.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:09:59.683Z,1761336599.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794394,-0.603087,0.072287],[0.604066,0.771957,-0.197954],[0.063581,0.200919,0.977542]] 2025-10-24T20:09:59.724Z,1761336599.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:00.093Z,1761336600.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795176,-0.602147,0.071508],[0.603004,0.772812,-0.197859],[0.063878,0.200452,0.977619]] 2025-10-24T20:10:00.151Z,1761336600.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:00.513Z,1761336600.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794672,-0.602846,0.071226],[0.603572,0.772155,-0.198689],[0.064781,0.200883,0.977471]] 2025-10-24T20:10:00.533Z,1761336600.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:00.925Z,1761336600.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794750,-0.602828,0.070510],[0.603383,0.772192,-0.199118],[0.065586,0.200794,0.977436]] 2025-10-24T20:10:00.943Z,1761336600.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:01.324Z,1761336601.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.794300,-0.603460,0.070162],[0.603894,0.771661,-0.199628],[0.066327,0.200935,0.977357]] 2025-10-24T20:10:01.363Z,1761336601.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:01.811Z,1761336601.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:02.181Z,1761336602.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793497,-0.604671,0.068821],[0.604746,0.770783,-0.200438],[0.068152,0.200666,0.977286]] 2025-10-24T20:10:02.242Z,1761336602.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:02.637Z,1761336602.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792558,-0.606033,0.067647],[0.605795,0.769808,-0.201017],[0.069747,0.200298,0.977249]] 2025-10-24T20:10:02.656Z,1761336602.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:03.031Z,1761336603.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.791947,-0.606870,0.067295],[0.606520,0.769173,-0.201264],[0.070380,0.200206,0.977223]] 2025-10-24T20:10:03.130Z,1761336603.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:03.531Z,1761336603.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790478,-0.608775,0.067356],[0.608329,0.767548,-0.202004],[0.071276,0.200655,0.977066]] 2025-10-24T20:10:03.600Z,1761336603.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:03.931Z,1761336603.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789916,-0.609562,0.066840],[0.608979,0.766993,-0.202156],[0.071961,0.200391,0.977070]] 2025-10-24T20:10:03.954Z,1761336603.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:04.335Z,1761336604.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789062,-0.610679,0.066726],[0.610024,0.766103,-0.202379],[0.072470,0.200394,0.977031]] 2025-10-24T20:10:04.384Z,1761336604.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:04.774Z,1761336604.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:05.155Z,1761336605.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787947,-0.612170,0.066238],[0.611342,0.764937,-0.202810],[0.073486,0.200298,0.976975]] 2025-10-24T20:10:05.200Z,1761336605.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:05.551Z,1761336605.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786958,-0.613425,0.066382],[0.612552,0.763838,-0.203300],[0.074004,0.200651,0.976864]] 2025-10-24T20:10:05.571Z,1761336605.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:05.961Z,1761336605.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786967,-0.613448,0.066068],[0.612518,0.763888,-0.203217],[0.074194,0.200393,0.976902]] 2025-10-24T20:10:05.981Z,1761336605.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:06.355Z,1761336606.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786285,-0.614315,0.066129],[0.613346,0.763133,-0.203555],[0.074582,0.200612,0.976828]] 2025-10-24T20:10:06.403Z,1761336606.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:06.759Z,1761336606.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786667,-0.613885,0.065574],[0.612829,0.763585,-0.203417],[0.074803,0.200207,0.976894]] 2025-10-24T20:10:06.782Z,1761336606.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:07.182Z,1761336607.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786060,-0.614637,0.065811],[0.613565,0.762852,-0.203946],[0.075149,0.200693,0.976768]] 2025-10-24T20:10:07.235Z,1761336607.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:07.580Z,1761336607.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786599,-0.614002,0.065302],[0.612855,0.763448,-0.203851],[0.075310,0.200370,0.976822]] 2025-10-24T20:10:07.653Z,1761336607.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:07.975Z,1761336607.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786396,-0.614253,0.065378],[0.613086,0.763167,-0.204209],[0.075542,0.200671,0.976742]] 2025-10-24T20:10:08.009Z,1761336608.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:08.375Z,1761336608.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786889,-0.613667,0.064953],[0.612428,0.763678,-0.204276],[0.075755,0.200522,0.976756]] 2025-10-24T20:10:08.394Z,1761336608.394 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -78, -137, 2025-10-24T20:10:08.435Z,1761336608.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:08.782Z,1761336608.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786922,-0.613637,0.064835],[0.612352,0.763660,-0.204572],[0.076021,0.200684,0.976702]] 2025-10-24T20:10:08.952Z,1761336608.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:09.249Z,1761336609.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787114,-0.613410,0.064648],[0.612071,0.763804,-0.204872],[0.076293,0.200826,0.976651]] 2025-10-24T20:10:09.358Z,1761336609.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:09.655Z,1761336609.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787510,-0.612937,0.064312],[0.611543,0.764218,-0.204905],[0.076446,0.200695,0.976667]] 2025-10-24T20:10:09.707Z,1761336609.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:10.058Z,1761336610.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787698,-0.612731,0.063972],[0.611253,0.764376,-0.205180],[0.076821,0.200723,0.976631]] 2025-10-24T20:10:10.078Z,1761336610.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:10.462Z,1761336610.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788235,-0.612077,0.063627],[0.610555,0.764953,-0.205111],[0.076872,0.200523,0.976668]] 2025-10-24T20:10:10.541Z,1761336610.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:10.863Z,1761336610.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788342,-0.611953,0.063483],[0.610378,0.764999,-0.205464],[0.077170,0.200725,0.976603]] 2025-10-24T20:10:10.901Z,1761336610.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:11.268Z,1761336611.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788854,-0.611342,0.063018],[0.609687,0.765531,-0.205533],[0.077408,0.200557,0.976619]] 2025-10-24T20:10:11.320Z,1761336611.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:11.683Z,1761336611.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788797,-0.611400,0.063161],[0.609744,0.765391,-0.205886],[0.077536,0.200914,0.976535]] 2025-10-24T20:10:11.732Z,1761336611.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:12.087Z,1761336612.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789428,-0.610649,0.062539],[0.608890,0.766066,-0.205901],[0.077824,0.200624,0.976572]] 2025-10-24T20:10:12.111Z,1761336612.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:12.493Z,1761336612.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789991,-0.609950,0.062258],[0.608140,0.766611,-0.206091],[0.077978,0.200672,0.976550]] 2025-10-24T20:10:12.543Z,1761336612.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:12.913Z,1761336612.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790070,-0.609855,0.062178],[0.608030,0.766691,-0.206120],[0.078032,0.200656,0.976549]] 2025-10-24T20:10:12.947Z,1761336612.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:13.311Z,1761336613.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790055,-0.609866,0.062255],[0.608048,0.766649,-0.206219],[0.078039,0.200779,0.976523]] 2025-10-24T20:10:13.374Z,1761336613.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:13.723Z,1761336613.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790206,-0.609657,0.062389],[0.607885,0.766824,-0.206051],[0.077779,0.200749,0.976550]] 2025-10-24T20:10:13.744Z,1761336613.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:14.118Z,1761336614.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790114,-0.609752,0.062626],[0.608024,0.766712,-0.206057],[0.077628,0.200886,0.976534]] 2025-10-24T20:10:14.154Z,1761336614.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:14.525Z,1761336614.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790143,-0.609688,0.062882],[0.608037,0.766781,-0.205761],[0.077233,0.200816,0.976580]] 2025-10-24T20:10:14.589Z,1761336614.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:14.958Z,1761336614.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789757,-0.610119,0.063544],[0.608596,0.766367,-0.205653],[0.076775,0.201088,0.976560]] 2025-10-24T20:10:14.979Z,1761336614.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:15.362Z,1761336615.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790190,-0.609539,0.063734],[0.608131,0.766944,-0.204876],[0.076000,0.200649,0.976711]] 2025-10-24T20:10:15.400Z,1761336615.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:15.765Z,1761336615.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789909,-0.609822,0.064500],[0.608583,0.766668,-0.204566],[0.075299,0.200842,0.976725]] 2025-10-24T20:10:15.813Z,1761336615.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:16.170Z,1761336616.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790182,-0.609423,0.064924],[0.608332,0.767045,-0.203897],[0.074460,0.200612,0.976837]] 2025-10-24T20:10:16.213Z,1761336616.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:16.588Z,1761336616.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789940,-0.609621,0.066005],[0.608775,0.766820,-0.203420],[0.073395,0.200872,0.976864]] 2025-10-24T20:10:16.648Z,1761336616.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:16.978Z,1761336616.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789902,-0.609587,0.066772],[0.608935,0.766832,-0.202896],[0.072480,0.200928,0.976921]] 2025-10-24T20:10:17.006Z,1761336617.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:17.381Z,1761336617.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789835,-0.609578,0.067642],[0.609157,0.766861,-0.202117],[0.071334,0.200843,0.977023]] 2025-10-24T20:10:17.438Z,1761336617.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:17.748Z,1761336617.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:10:17.793Z,1761336617.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789427,-0.609973,0.068830],[0.609815,0.766474,-0.201602],[0.070216,0.201124,0.977046]] 2025-10-24T20:10:17.813Z,1761336617.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:18.202Z,1761336618.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789582,-0.609682,0.069630],[0.609770,0.766795,-0.200514],[0.068858,0.200780,0.977213]] 2025-10-24T20:10:18.225Z,1761336618.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:18.592Z,1761336618.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789072,-0.610201,0.070858],[0.610561,0.766324,-0.199907],[0.067683,0.201004,0.977249]] 2025-10-24T20:10:18.639Z,1761336618.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:18.755Z,1761336618.755 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:10:18.996Z,1761336618.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.789105,-0.610038,0.071874],[0.610679,0.766506,-0.198847],[0.066212,0.200803,0.977391]] 2025-10-24T20:10:19.035Z,1761336619.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:19.400Z,1761336619.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788467,-0.610705,0.073208],[0.611632,0.765898,-0.198258],[0.065007,0.201096,0.977412]] 2025-10-24T20:10:19.458Z,1761336619.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:19.806Z,1761336619.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788462,-0.610593,0.074183],[0.611783,0.766030,-0.197283],[0.063633,0.200934,0.977536]] 2025-10-24T20:10:19.825Z,1761336619.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:20.207Z,1761336620.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787734,-0.611366,0.075539],[0.612845,0.765340,-0.196663],[0.062420,0.201211,0.977557]] 2025-10-24T20:10:20.237Z,1761336620.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:20.612Z,1761336620.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787651,-0.611358,0.076473],[0.613085,0.765399,-0.195680],[0.061098,0.201012,0.977682]] 2025-10-24T20:10:20.660Z,1761336620.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:21.016Z,1761336621.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787261,-0.611723,0.077550],[0.613708,0.765117,-0.194831],[0.059848,0.200976,0.977766]] 2025-10-24T20:10:21.041Z,1761336621.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:21.422Z,1761336621.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787232,-0.611660,0.078346],[0.613860,0.765222,-0.193936],[0.058671,0.200765,0.977881]] 2025-10-24T20:10:21.460Z,1761336621.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:21.857Z,1761336621.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:22.233Z,1761336622.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786506,-0.612316,0.080481],[0.614994,0.764610,-0.192755],[0.056490,0.201098,0.977941]] 2025-10-24T20:10:22.390Z,1761336622.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:22.649Z,1761336622.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786145,-0.612650,0.081461],[0.615544,0.764301,-0.192222],[0.055504,0.201258,0.977965]] 2025-10-24T20:10:22.801Z,1761336622.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:23.051Z,1761336623.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786198,-0.612507,0.082029],[0.615549,0.764430,-0.191695],[0.054709,0.201203,0.978021]] 2025-10-24T20:10:23.123Z,1761336623.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:23.459Z,1761336623.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786431,-0.612180,0.082227],[0.615304,0.764776,-0.191100],[0.054102,0.200882,0.978120]] 2025-10-24T20:10:23.536Z,1761336623.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:23.860Z,1761336623.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786337,-0.612234,0.082729],[0.615474,0.764718,-0.190781],[0.053538,0.200936,0.978140]] 2025-10-24T20:10:23.899Z,1761336623.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:24.266Z,1761336624.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786390,-0.612128,0.083007],[0.615446,0.764831,-0.190419],[0.053074,0.200830,0.978187]] 2025-10-24T20:10:24.302Z,1761336624.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:24.668Z,1761336624.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785722,-0.612910,0.083558],[0.616307,0.764091,-0.190609],[0.052980,0.201262,0.978104]] 2025-10-24T20:10:24.733Z,1761336624.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:25.074Z,1761336625.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785615,-0.613015,0.083802],[0.616459,0.763978,-0.190566],[0.052797,0.201372,0.978091]] 2025-10-24T20:10:25.094Z,1761336625.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:25.475Z,1761336625.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785479,-0.613191,0.083777],[0.616630,0.763857,-0.190499],[0.052819,0.201293,0.978106]] 2025-10-24T20:10:25.525Z,1761336625.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:25.883Z,1761336625.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784896,-0.613939,0.083766],[0.617330,0.763178,-0.190954],[0.053306,0.201591,0.978018]] 2025-10-24T20:10:25.937Z,1761336625.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:26.292Z,1761336626.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784838,-0.614095,0.083159],[0.617354,0.763127,-0.191080],[0.053880,0.201305,0.978046]] 2025-10-24T20:10:26.330Z,1761336626.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:10:26.332Z,1761336626.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:26.439Z,1761336626.439 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:10:26.440Z,1761336626.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:10:26.689Z,1761336626.689 [DAT](INFO): DAT read: user:258> 2025-10-24T20:10:26.690Z,1761336626.690 [DAT](INFO): DAT read: Tx time:20:10:25.9967 2025-10-24T20:10:26.690Z,1761336626.690 [DAT](INFO): Ping request sent. 2025-10-24T20:10:26.690Z,1761336626.690 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:10:26.690Z,1761336626.690 [DAT](INFO): publishing transmit ping time 2025-10-24T20:10:26.691Z,1761336626.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-24T20:10:26.699Z,1761336626.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784590,-0.614462,0.082796],[0.617617,0.762820,-0.191453],[0.054483,0.201348,0.978003]] 2025-10-24T20:10:26.813Z,1761336626.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:26.941Z,1761336626.941 [DAT](INFO): DAT read: TxSync time:20:10:25.9959 2025-10-24T20:10:26.942Z,1761336626.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252130 2025-10-24T20:10:27.100Z,1761336627.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784065,-0.615376,0.080956],[0.618072,0.762163,-0.192598],[0.056819,0.201046,0.977933]] 2025-10-24T20:10:27.120Z,1761336627.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:27.194Z,1761336627.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504036 2025-10-24T20:10:27.447Z,1761336627.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757024 2025-10-24T20:10:27.597Z,1761336627.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:27.698Z,1761336627.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007749 2025-10-24T20:10:27.913Z,1761336627.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781895,-0.618544,0.077746],[0.620399,0.759798,-0.194456],[0.061209,0.200278,0.977825]] 2025-10-24T20:10:27.944Z,1761336627.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:27.949Z,1761336627.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258912 2025-10-24T20:10:28.201Z,1761336628.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510727 2025-10-24T20:10:28.307Z,1761336628.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782014,-0.618378,0.077868],[0.620248,0.759865,-0.194674],[0.061213,0.200535,0.977772]] 2025-10-24T20:10:28.332Z,1761336628.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:28.457Z,1761336628.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766333 2025-10-24T20:10:28.705Z,1761336628.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014906 2025-10-24T20:10:28.709Z,1761336628.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781600,-0.618899,0.077880],[0.620729,0.759360,-0.195109],[0.061614,0.200840,0.977684]] 2025-10-24T20:10:28.790Z,1761336628.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:28.958Z,1761336628.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267820 2025-10-24T20:10:29.111Z,1761336629.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782010,-0.618509,0.076853],[0.620139,0.759813,-0.195221],[0.062353,0.200325,0.977743]] 2025-10-24T20:10:29.130Z,1761336629.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:29.210Z,1761336629.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519682 2025-10-24T20:10:29.464Z,1761336629.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773897 2025-10-24T20:10:29.525Z,1761336629.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781125,-0.619673,0.076484],[0.621136,0.758760,-0.196144],[0.063513,0.200720,0.977588]] 2025-10-24T20:10:29.580Z,1761336629.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:29.713Z,1761336629.713 [DAT](INFO): DAT read: Rx Time:20:10:28.4108 2025-10-24T20:10:29.713Z,1761336629.713 [DAT](INFO): Rx dataTimestamp_ set to:1761336629.713051 2025-10-24T20:10:29.714Z,1761336629.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023854 2025-10-24T20:10:29.921Z,1761336629.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780915,-0.620039,0.075648],[0.621283,0.758473,-0.196789],[0.064640,0.200674,0.977523]] 2025-10-24T20:10:29.947Z,1761336629.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m. 2025-10-24T20:10:29.967Z,1761336629.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277256 2025-10-24T20:10:30.223Z,1761336630.223 [DAT](INFO): DAT read: 20:10:28.4109 LVL= 17392, 14321, 8738, 18771, AGC= 39, IDX= 369, 0.14, 2.462,-1.602,-1.572,-1.986, PHS=-1.748, 0.430, 0.411, RAW= 270.4, 8.4, CAL= 276.0, 11.7, ROT= 234.0, -11.7 2025-10-24T20:10:30.224Z,1761336630.224 [DAT](INFO): got valid direction response: 20:10:28.4109 LVL= 17392, 14321, 8738, 18771, AGC= 39, IDX= 369, 0.14, 2.462,-1.602,-1.572,-1.986, PHS=-1.748, 0.430, 0.411, RAW= 270.4, 8.4, CAL= 276.0, 11.7, ROT= 234.0, -11.7 2025-10-24T20:10:30.225Z,1761336630.225 [DAT](INFO): DAT read: Bearing 234.0, -11.7 (Local) 2025-10-24T20:10:30.225Z,1761336630.225 [DAT](INFO): Local bearing/azimuth received: Bearing 234.0, -11.7 (Local) 2025-10-24T20:10:30.226Z,1761336630.226 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (Round-trip 9.9 ms) speed 0.0 m/s 2025-10-24T20:10:30.227Z,1761336630.227 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:10:30.228Z,1761336630.228 [DAT](INFO): direction in FSK: [-0.575573,-0.792208,0.202787] 2025-10-24T20:10:30.229Z,1761336630.229 [DAT](INFO): publishing direction and range info 2025-10-24T20:10:30.323Z,1761336630.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780355,-0.620826,0.074973],[0.621856,0.757781,-0.197645],[0.065890,0.200856,0.977402]] 2025-10-24T20:10:30.373Z,1761336630.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 60.256060 s, deltaX: -5.500000 m, approachRate: -0.091277 m/s, rangeRepo size: 4 2025-10-24T20:10:30.375Z,1761336630.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.359216 m, bearing: 273.317910 deg, lat: 36.779636 deg, lon: -121.859512 deg, deltaT: 233.267022 s, deltaX: -12.340349 m, approachRate: -0.052902 m/s, posRepo size: 4 2025-10-24T20:10:30.380Z,1761336630.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:30.788Z,1761336630.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:31.131Z,1761336631.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779851,-0.621650,0.073372],[0.622241,0.757100,-0.199037],[0.068182,0.200874,0.977241]] 2025-10-24T20:10:31.152Z,1761336631.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:31.604Z,1761336631.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:31.939Z,1761336631.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779629,-0.622159,0.071393],[0.622260,0.756784,-0.200176],[0.070512,0.200488,0.977155]] 2025-10-24T20:10:31.967Z,1761336631.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:32.348Z,1761336632.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779182,-0.622779,0.070862],[0.622695,0.756206,-0.201007],[0.071596,0.200747,0.977023]] 2025-10-24T20:10:32.406Z,1761336632.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:32.753Z,1761336632.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779485,-0.622494,0.070026],[0.622219,0.756479,-0.201452],[0.072429,0.200600,0.976992]] 2025-10-24T20:10:32.806Z,1761336632.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:33.153Z,1761336633.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779383,-0.622639,0.069879],[0.622287,0.756268,-0.202034],[0.072947,0.200947,0.976882]] 2025-10-24T20:10:33.222Z,1761336633.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:33.575Z,1761336633.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780061,-0.621892,0.068958],[0.621364,0.756974,-0.202232],[0.073567,0.200601,0.976907]] 2025-10-24T20:10:33.630Z,1761336633.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:33.961Z,1761336633.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780046,-0.621958,0.068535],[0.621294,0.756858,-0.202878],[0.074310,0.200835,0.976803]] 2025-10-24T20:10:33.994Z,1761336633.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:34.362Z,1761336634.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780492,-0.621470,0.067880],[0.620674,0.757310,-0.203088],[0.074806,0.200640,0.976805]] 2025-10-24T20:10:34.382Z,1761336634.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:34.779Z,1761336634.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780567,-0.621402,0.067643],[0.620526,0.757309,-0.203547],[0.075258,0.200856,0.976726]] 2025-10-24T20:10:34.841Z,1761336634.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:35.176Z,1761336635.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780654,-0.621322,0.067368],[0.620376,0.757370,-0.203775],[0.075587,0.200871,0.976697]] 2025-10-24T20:10:35.206Z,1761336635.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:35.599Z,1761336635.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780654,-0.621314,0.067434],[0.620360,0.757307,-0.204059],[0.075717,0.201133,0.976633]] 2025-10-24T20:10:35.731Z,1761336635.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:35.994Z,1761336635.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780951,-0.620953,0.067328],[0.620001,0.757646,-0.203892],[0.075597,0.200973,0.976675]] 2025-10-24T20:10:36.112Z,1761336636.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:36.483Z,1761336636.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:36.799Z,1761336636.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780949,-0.620925,0.067612],[0.620040,0.757647,-0.203770],[0.075300,0.201057,0.976681]] 2025-10-24T20:10:36.899Z,1761336636.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:37.204Z,1761336637.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780855,-0.621017,0.067848],[0.620190,0.757573,-0.203586],[0.075030,0.201050,0.976703]] 2025-10-24T20:10:37.250Z,1761336637.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:37.630Z,1761336637.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781164,-0.620626,0.067873],[0.619853,0.757982,-0.203088],[0.074595,0.200716,0.976805]] 2025-10-24T20:10:37.676Z,1761336637.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:38.018Z,1761336638.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780784,-0.621024,0.068604],[0.620401,0.757589,-0.202882],[0.074021,0.200970,0.976797]] 2025-10-24T20:10:38.038Z,1761336638.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:38.422Z,1761336638.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781037,-0.620665,0.068964],[0.620173,0.757946,-0.202246],[0.073257,0.200731,0.976903]] 2025-10-24T20:10:38.455Z,1761336638.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:38.882Z,1761336638.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:39.225Z,1761336639.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780499,-0.621156,0.070619],[0.621062,0.757515,-0.201130],[0.071438,0.200841,0.977016]] 2025-10-24T20:10:39.244Z,1761336639.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:39.659Z,1761336639.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779668,-0.622084,0.071619],[0.622189,0.756688,-0.200760],[0.070696,0.201087,0.977019]] 2025-10-24T20:10:39.711Z,1761336639.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:40.082Z,1761336640.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779553,-0.622143,0.072352],[0.622462,0.756717,-0.199800],[0.069554,0.200791,0.977162]] 2025-10-24T20:10:40.125Z,1761336640.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:40.538Z,1761336640.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:40.914Z,1761336640.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778099,-0.623578,0.075578],[0.624672,0.755553,-0.197291],[0.065923,0.200723,0.977427]] 2025-10-24T20:10:40.966Z,1761336640.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:41.349Z,1761336641.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:41.792Z,1761336641.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:41.800Z,1761336641.800 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-24T20:00:41.4Z 2025-10-24T20:10:41.801Z,1761336641.801 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T20:10:41.801Z,1761336641.801 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:10:41.801Z,1761336641.801 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T20:10:41.801Z,1761336641.801 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:10:41.802Z,1761336641.802 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-24T20:10:42.115Z,1761336642.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776904,-0.624554,0.079703],[0.626605,0.754591,-0.194833],[0.061541,0.201308,0.977593]] 2025-10-24T20:10:42.134Z,1761336642.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:42.139Z,1761336642.139 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T20:10:42.139Z,1761336642.139 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T20:10:42.139Z,1761336642.139 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T20:10:42.139Z,1761336642.139 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:10:42.139Z,1761336642.139 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T20:10:42.605Z,1761336642.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776997,-0.624314,0.080666],[0.626628,0.754838,-0.193794],[0.060098,0.201125,0.977720]] 2025-10-24T20:10:42.716Z,1761336642.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:43.111Z,1761336643.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776742,-0.624443,0.082112],[0.627100,0.754686,-0.192858],[0.058460,0.201294,0.977785]] 2025-10-24T20:10:43.151Z,1761336643.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:43.513Z,1761336643.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777206,-0.623757,0.082935],[0.626666,0.755345,-0.191687],[0.056922,0.200952,0.977946]] 2025-10-24T20:10:43.543Z,1761336643.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:43.922Z,1761336643.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776941,-0.623880,0.084477],[0.627140,0.755153,-0.190889],[0.055299,0.201288,0.977970]] 2025-10-24T20:10:43.973Z,1761336643.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:44.320Z,1761336644.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777422,-0.623150,0.085439],[0.626676,0.755782,-0.189923],[0.053777,0.201193,0.978074]] 2025-10-24T20:10:44.339Z,1761336644.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:44.729Z,1761336644.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777637,-0.622715,0.086645],[0.626539,0.756097,-0.189120],[0.052256,0.201353,0.978124]] 2025-10-24T20:10:44.803Z,1761336644.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:45.127Z,1761336645.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777943,-0.622187,0.087683],[0.626266,0.756480,-0.188492],[0.050947,0.201549,0.978153]] 2025-10-24T20:10:45.155Z,1761336645.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:45.550Z,1761336645.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778389,-0.621500,0.088589],[0.625823,0.757056,-0.187646],[0.049555,0.201503,0.978233]] 2025-10-24T20:10:45.595Z,1761336645.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:45.941Z,1761336645.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778675,-0.621017,0.089458],[0.625556,0.757417,-0.187081],[0.048423,0.201637,0.978263]] 2025-10-24T20:10:45.981Z,1761336645.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:46.339Z,1761336646.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779219,-0.620285,0.089800],[0.624949,0.758103,-0.186328],[0.047499,0.201311,0.978375]] 2025-10-24T20:10:46.374Z,1761336646.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:46.754Z,1761336646.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779300,-0.620095,0.090406],[0.624904,0.758232,-0.185955],[0.046761,0.201410,0.978390]] 2025-10-24T20:10:46.806Z,1761336646.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:47.147Z,1761336647.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779436,-0.619864,0.090820],[0.624774,0.758402,-0.185699],[0.046230,0.201483,0.978401]] 2025-10-24T20:10:47.167Z,1761336647.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:47.551Z,1761336647.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.779160,-0.620143,0.091281],[0.625143,0.758127,-0.185579],[0.045883,0.201659,0.978380]] 2025-10-24T20:10:47.578Z,1761336647.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:47.955Z,1761336647.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778985,-0.620355,0.091333],[0.625361,0.757950,-0.185569],[0.045893,0.201672,0.978377]] 2025-10-24T20:10:48.007Z,1761336648.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:48.360Z,1761336648.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778595,-0.620827,0.091448],[0.625841,0.757540,-0.185626],[0.045966,0.201760,0.978356]] 2025-10-24T20:10:48.379Z,1761336648.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:48.783Z,1761336648.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778467,-0.621010,0.091299],[0.625984,0.757400,-0.185711],[0.046178,0.201722,0.978354]] 2025-10-24T20:10:48.872Z,1761336648.872 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:10:48.937Z,1761336648.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:49.178Z,1761336649.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778205,-0.621401,0.090877],[0.626277,0.757142,-0.185777],[0.046635,0.201486,0.978381]] 2025-10-24T20:10:49.211Z,1761336649.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:49.577Z,1761336649.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777522,-0.622269,0.090781],[0.627082,0.756374,-0.186190],[0.047196,0.201693,0.978311]] 2025-10-24T20:10:49.705Z,1761336649.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:49.877Z,1761336649.877 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:10:50.160Z,1761336650.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:50.467Z,1761336650.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775353,-0.625181,0.089317],[0.629576,0.754075,-0.187097],[0.049618,0.201298,0.978273]] 2025-10-24T20:10:50.511Z,1761336650.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:50.871Z,1761336650.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774028,-0.626849,0.089117],[0.631130,0.752634,-0.187662],[0.050563,0.201501,0.978182]] 2025-10-24T20:10:50.939Z,1761336650.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:51.275Z,1761336651.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773213,-0.627953,0.088412],[0.632043,0.751776,-0.188029],[0.051608,0.201267,0.978176]] 2025-10-24T20:10:51.305Z,1761336651.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:51.679Z,1761336651.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771840,-0.629680,0.088124],[0.633637,0.750302,-0.188554],[0.052609,0.201372,0.978101]] 2025-10-24T20:10:51.720Z,1761336651.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:52.088Z,1761336652.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770900,-0.630918,0.087498],[0.634692,0.749304,-0.188970],[0.053662,0.201212,0.978077]] 2025-10-24T20:10:52.139Z,1761336652.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:52.493Z,1761336652.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769479,-0.632663,0.087401],[0.636337,0.747764,-0.189534],[0.054556,0.201459,0.977976]] 2025-10-24T20:10:52.512Z,1761336652.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:52.907Z,1761336652.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768625,-0.633769,0.086905],[0.637291,0.746851,-0.189931],[0.055467,0.201369,0.977944]] 2025-10-24T20:10:52.967Z,1761336652.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:53.300Z,1761336653.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767828,-0.634802,0.086405],[0.638179,0.746024,-0.190201],[0.056280,0.201183,0.977935]] 2025-10-24T20:10:53.327Z,1761336653.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:53.704Z,1761336653.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766927,-0.635936,0.086073],[0.639188,0.745046,-0.190643],[0.057109,0.201226,0.977879]] 2025-10-24T20:10:53.751Z,1761336653.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:54.107Z,1761336654.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766526,-0.636487,0.085572],[0.639619,0.744656,-0.190722],[0.057671,0.200927,0.977907]] 2025-10-24T20:10:54.162Z,1761336654.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:54.511Z,1761336654.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765443,-0.637800,0.085488],[0.640843,0.743452,-0.191311],[0.058462,0.201222,0.977800]] 2025-10-24T20:10:54.531Z,1761336654.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:54.925Z,1761336654.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765301,-0.638035,0.085008],[0.640972,0.743329,-0.191354],[0.058902,0.200931,0.977833]] 2025-10-24T20:10:54.985Z,1761336654.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:55.322Z,1761336655.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764892,-0.638519,0.085048],[0.641438,0.742876,-0.191553],[0.059130,0.201071,0.977791]] 2025-10-24T20:10:55.343Z,1761336655.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:55.724Z,1761336655.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764907,-0.638539,0.084761],[0.641389,0.742868,-0.191747],[0.059472,0.201033,0.977777]] 2025-10-24T20:10:55.754Z,1761336655.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:56.134Z,1761336656.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764808,-0.638667,0.084700],[0.641494,0.742749,-0.191858],[0.059622,0.201069,0.977761]] 2025-10-24T20:10:56.191Z,1761336656.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:56.534Z,1761336656.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765194,-0.638228,0.084520],[0.641033,0.743153,-0.191833],[0.059621,0.200970,0.977781]] 2025-10-24T20:10:56.555Z,1761336656.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:56.940Z,1761336656.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765171,-0.638254,0.084527],[0.641056,0.743115,-0.191906],[0.059671,0.201028,0.977766]] 2025-10-24T20:10:56.992Z,1761336656.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:57.340Z,1761336657.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765692,-0.637645,0.084405],[0.640445,0.743662,-0.191824],[0.059547,0.200935,0.977793]] 2025-10-24T20:10:57.381Z,1761336657.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:57.745Z,1761336657.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765556,-0.637786,0.084575],[0.640600,0.743463,-0.192079],[0.059627,0.201226,0.977728]] 2025-10-24T20:10:57.766Z,1761336657.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:58.150Z,1761336658.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766248,-0.637005,0.084194],[0.639768,0.744189,-0.192040],[0.059674,0.201015,0.977769]] 2025-10-24T20:10:58.248Z,1761336658.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:58.553Z,1761336658.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766605,-0.636568,0.084249],[0.639352,0.744537,-0.192077],[0.059544,0.201112,0.977757]] 2025-10-24T20:10:58.584Z,1761336658.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:58.963Z,1761336658.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766755,-0.636357,0.084481],[0.639180,0.744628,-0.192296],[0.059462,0.201442,0.977694]] 2025-10-24T20:10:59.070Z,1761336659.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:59.361Z,1761336659.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767795,-0.635172,0.083956],[0.637939,0.745754,-0.192055],[0.059377,0.201018,0.977786]] 2025-10-24T20:10:59.381Z,1761336659.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:10:59.767Z,1761336659.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767975,-0.634919,0.084216],[0.637728,0.745861,-0.192339],[0.059306,0.201418,0.977708]] 2025-10-24T20:10:59.791Z,1761336659.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:00.167Z,1761336660.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768767,-0.634000,0.083916],[0.636778,0.746684,-0.192293],[0.059254,0.201264,0.977743]] 2025-10-24T20:11:00.222Z,1761336660.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:00.573Z,1761336660.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769223,-0.633458,0.083834],[0.636241,0.747165,-0.192202],[0.059114,0.201185,0.977768]] 2025-10-24T20:11:00.593Z,1761336660.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:00.987Z,1761336660.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769432,-0.633202,0.083841],[0.635985,0.747347,-0.192342],[0.059133,0.201316,0.977740]] 2025-10-24T20:11:01.053Z,1761336661.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:01.379Z,1761336661.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769688,-0.632880,0.083924],[0.635695,0.747620,-0.192240],[0.058921,0.201315,0.977753]] 2025-10-24T20:11:01.410Z,1761336661.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:01.785Z,1761336661.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769583,-0.632998,0.084003],[0.635820,0.747489,-0.192339],[0.058958,0.201431,0.977727]] 2025-10-24T20:11:01.826Z,1761336661.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:02.196Z,1761336662.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769991,-0.632526,0.083812],[0.635345,0.747984,-0.191983],[0.058744,0.201075,0.977813]] 2025-10-24T20:11:02.322Z,1761336662.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:02.593Z,1761336662.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769473,-0.633087,0.084331],[0.635992,0.747427,-0.192010],[0.058527,0.201380,0.977763]] 2025-10-24T20:11:02.666Z,1761336662.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:03.001Z,1761336663.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769782,-0.632727,0.084209],[0.635645,0.747836,-0.191565],[0.058233,0.200990,0.977861]] 2025-10-24T20:11:03.160Z,1761336663.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:03.407Z,1761336663.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769222,-0.633337,0.084748],[0.636350,0.747263,-0.191458],[0.057929,0.201203,0.977835]] 2025-10-24T20:11:03.481Z,1761336663.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:03.809Z,1761336663.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768585,-0.633954,0.085905],[0.637221,0.746695,-0.190776],[0.056798,0.201368,0.977868]] 2025-10-24T20:11:03.855Z,1761336663.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:04.217Z,1761336664.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768663,-0.633830,0.086124],[0.637178,0.746879,-0.190201],[0.056231,0.201077,0.977960]] 2025-10-24T20:11:04.288Z,1761336664.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:04.612Z,1761336664.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768089,-0.634423,0.086868],[0.637922,0.746326,-0.189874],[0.055628,0.201255,0.977958]] 2025-10-24T20:11:04.642Z,1761336664.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:05.093Z,1761336665.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:05.422Z,1761336665.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767459,-0.635013,0.088114],[0.638801,0.745830,-0.188868],[0.054216,0.201236,0.978041]] 2025-10-24T20:11:05.441Z,1761336665.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:05.823Z,1761336665.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767145,-0.635307,0.088734],[0.639235,0.745572,-0.188419],[0.053547,0.201267,0.978072]] 2025-10-24T20:11:05.853Z,1761336665.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:06.227Z,1761336666.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.767213,-0.635174,0.089092],[0.639209,0.745740,-0.187839],[0.052871,0.201061,0.978151]] 2025-10-24T20:11:06.282Z,1761336666.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:06.631Z,1761336666.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766390,-0.636028,0.090075],[0.640248,0.744904,-0.187620],[0.052234,0.201460,0.978103]] 2025-10-24T20:11:06.650Z,1761336666.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:07.113Z,1761336667.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:07.440Z,1761336667.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765885,-0.636481,0.091172],[0.640952,0.744512,-0.186768],[0.050996,0.201480,0.978164]] 2025-10-24T20:11:07.467Z,1761336667.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:07.843Z,1761336667.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765891,-0.636451,0.091331],[0.640981,0.744615,-0.186258],[0.050537,0.201195,0.978247]] 2025-10-24T20:11:07.881Z,1761336667.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:08.253Z,1761336668.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764952,-0.637494,0.091925],[0.642118,0.743654,-0.186182],[0.050329,0.201447,0.978206]] 2025-10-24T20:11:08.311Z,1761336668.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:08.653Z,1761336668.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764840,-0.637635,0.091874],[0.642265,0.743623,-0.185794],[0.050149,0.201111,0.978284]] 2025-10-24T20:11:08.680Z,1761336668.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:09.082Z,1761336669.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764172,-0.638367,0.092352],[0.643082,0.742966,-0.185598],[0.049865,0.201219,0.978276]] 2025-10-24T20:11:09.146Z,1761336669.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:09.459Z,1761336669.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763613,-0.639012,0.092510],[0.643740,0.742391,-0.185617],[0.049933,0.201293,0.978258]] 2025-10-24T20:11:09.479Z,1761336669.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:09.866Z,1761336669.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762943,-0.639799,0.092599],[0.644525,0.741721,-0.185573],[0.050047,0.201265,0.978258]] 2025-10-24T20:11:09.891Z,1761336669.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:10.267Z,1761336670.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762375,-0.640471,0.092640],[0.645181,0.741123,-0.185683],[0.050267,0.201329,0.978233]] 2025-10-24T20:11:10.313Z,1761336670.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:10.671Z,1761336670.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761973,-0.640965,0.092522],[0.645640,0.740735,-0.185633],[0.050450,0.201184,0.978254]] 2025-10-24T20:11:10.721Z,1761336670.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:11.109Z,1761336671.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761151,-0.641916,0.092705],[0.646586,0.739838,-0.185922],[0.050760,0.201457,0.978181]] 2025-10-24T20:11:11.175Z,1761336671.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:11.481Z,1761336671.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760949,-0.642217,0.092267],[0.646796,0.739677,-0.185830],[0.051095,0.201085,0.978240]] 2025-10-24T20:11:11.500Z,1761336671.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:11.894Z,1761336671.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760291,-0.643021,0.092094],[0.647531,0.738978,-0.186051],[0.051580,0.201086,0.978215]] 2025-10-24T20:11:11.923Z,1761336671.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:12.289Z,1761336672.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760104,-0.643297,0.091716],[0.647727,0.738820,-0.186000],[0.051891,0.200786,0.978260]] 2025-10-24T20:11:12.310Z,1761336672.310 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3276,-32768,V 2025-10-24T20:11:12.326Z,1761336672.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:12.692Z,1761336672.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759086,-0.644479,0.091848],[0.648883,0.737716,-0.186348],[0.052340,0.201052,0.978181]] 2025-10-24T20:11:12.714Z,1761336672.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:13.137Z,1761336673.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758893,-0.644764,0.091434],[0.649081,0.737554,-0.186303],[0.052684,0.200732,0.978229]] 2025-10-24T20:11:13.189Z,1761336673.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:13.500Z,1761336673.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757891,-0.645918,0.091601],[0.650212,0.736448,-0.186730],[0.053153,0.201081,0.978131]] 2025-10-24T20:11:13.529Z,1761336673.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:13.915Z,1761336673.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757643,-0.646260,0.091241],[0.650466,0.736197,-0.186837],[0.053574,0.200905,0.978145]] 2025-10-24T20:11:13.947Z,1761336673.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:14.307Z,1761336674.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757060,-0.646913,0.091450],[0.651134,0.735564,-0.187003],[0.053707,0.201119,0.978093]] 2025-10-24T20:11:14.363Z,1761336674.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:14.715Z,1761336674.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757017,-0.646991,0.091261],[0.651166,0.735509,-0.187109],[0.053935,0.201070,0.978091]] 2025-10-24T20:11:14.737Z,1761336674.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:15.164Z,1761336675.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757041,-0.646978,0.091147],[0.651133,0.735550,-0.187060],[0.053981,0.200961,0.978111]] 2025-10-24T20:11:15.251Z,1761336675.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:15.525Z,1761336675.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756795,-0.647264,0.091165],[0.651400,0.735244,-0.187336],[0.054228,0.201160,0.978056]] 2025-10-24T20:11:15.571Z,1761336675.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:15.930Z,1761336675.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757422,-0.646568,0.090895],[0.650684,0.735942,-0.187082],[0.054068,0.200844,0.978130]] 2025-10-24T20:11:16.026Z,1761336676.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:16.341Z,1761336676.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757159,-0.646842,0.091139],[0.650981,0.735602,-0.187385],[0.054167,0.201210,0.978049]] 2025-10-24T20:11:16.495Z,1761336676.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:16.734Z,1761336676.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757967,-0.645942,0.090804],[0.650048,0.736462,-0.187248],[0.054077,0.200955,0.978107]] 2025-10-24T20:11:16.786Z,1761336676.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:17.183Z,1761336677.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758097,-0.645779,0.090873],[0.649888,0.736532,-0.187526],[0.054170,0.201221,0.978047]] 2025-10-24T20:11:17.277Z,1761336677.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:17.632Z,1761336677.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:17.954Z,1761336677.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758986,-0.644754,0.090731],[0.648854,0.737401,-0.187692],[0.054110,0.201327,0.978028]] 2025-10-24T20:11:17.973Z,1761336677.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:18.348Z,1761336678.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759458,-0.644214,0.090623],[0.648302,0.737860,-0.187794],[0.054112,0.201373,0.978019]] 2025-10-24T20:11:18.397Z,1761336678.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:18.753Z,1761336678.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760325,-0.643246,0.090218],[0.647292,0.738795,-0.187603],[0.054023,0.201036,0.978093]] 2025-10-24T20:11:18.791Z,1761336678.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:19.185Z,1761336679.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759992,-0.643607,0.090455],[0.647665,0.738354,-0.188050],[0.054243,0.201501,0.977985]] 2025-10-24T20:11:19.287Z,1761336679.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:19.641Z,1761336679.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:20.005Z,1761336680.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:20.012Z,1761336680.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:11:20.403Z,1761336680.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760202,-0.643539,0.089165],[0.647291,0.738455,-0.188941],[0.055746,0.201349,0.977932]] 2025-10-24T20:11:20.449Z,1761336680.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:20.804Z,1761336680.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760295,-0.643487,0.088749],[0.647144,0.738528,-0.189156],[0.056175,0.201248,0.977928]] 2025-10-24T20:11:20.854Z,1761336680.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:21.016Z,1761336681.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:11:21.255Z,1761336681.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760081,-0.643787,0.088399],[0.647353,0.738287,-0.189384],[0.056660,0.201173,0.977916]] 2025-10-24T20:11:21.325Z,1761336681.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:21.615Z,1761336681.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760009,-0.643944,0.087877],[0.647385,0.738189,-0.189655],[0.057257,0.201030,0.977910]] 2025-10-24T20:11:21.635Z,1761336681.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:22.049Z,1761336682.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:22.483Z,1761336682.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:22.824Z,1761336682.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758519,-0.645768,0.087365],[0.649007,0.736556,-0.190461],[0.058644,0.201168,0.977800]] 2025-10-24T20:11:22.850Z,1761336682.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:23.297Z,1761336683.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757927,-0.646474,0.087281],[0.649662,0.735920,-0.190687],[0.059043,0.201230,0.977763]] 2025-10-24T20:11:23.371Z,1761336683.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:23.632Z,1761336683.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757400,-0.647127,0.087014],[0.650245,0.735414,-0.190651],[0.059384,0.200980,0.977794]] 2025-10-24T20:11:23.673Z,1761336683.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:24.037Z,1761336684.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756292,-0.648376,0.087354],[0.651511,0.734231,-0.190889],[0.059629,0.201280,0.977717]] 2025-10-24T20:11:24.058Z,1761336684.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:24.440Z,1761336684.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756107,-0.648612,0.087205],[0.651730,0.734121,-0.190564],[0.059583,0.200921,0.977794]] 2025-10-24T20:11:24.505Z,1761336684.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:24.846Z,1761336684.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755162,-0.649643,0.087725],[0.652825,0.733106,-0.190724],[0.059591,0.201297,0.977716]] 2025-10-24T20:11:24.865Z,1761336684.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:25.277Z,1761336685.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755027,-0.649817,0.087591],[0.652990,0.733054,-0.190357],[0.059488,0.200921,0.977800]] 2025-10-24T20:11:25.337Z,1761336685.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:25.339Z,1761336685.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 7.40 m and bearing: 338.171308 deg. Not drifting fast enough. 2025-10-24T20:11:25.652Z,1761336685.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754264,-0.650588,0.088432],[0.653915,0.732265,-0.190217],[0.058997,0.201301,0.977751]] 2025-10-24T20:11:25.700Z,1761336685.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:25.703Z,1761336685.703 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-24T20:11:25.703Z,1761336685.703 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-24T20:11:25.703Z,1761336685.703 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-24T20:11:25.703Z,1761336685.703 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-24T20:11:26.056Z,1761336686.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753996,-0.650839,0.088869],[0.654266,0.732040,-0.189879],[0.058525,0.201312,0.977777]] 2025-10-24T20:11:26.075Z,1761336686.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:26.524Z,1761336686.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:11:26.526Z,1761336686.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:26.717Z,1761336686.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:11:26.718Z,1761336686.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:11:26.893Z,1761336686.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753523,-0.651250,0.089865],[0.654922,0.731703,-0.188912],[0.057274,0.201204,0.977874]] 2025-10-24T20:11:26.936Z,1761336686.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:26.973Z,1761336686.973 [DAT](INFO): DAT read: user:259> 2025-10-24T20:11:26.974Z,1761336686.974 [DAT](INFO): DAT read: Tx time:20:11:26.2475 2025-10-24T20:11:26.975Z,1761336686.975 [DAT](INFO): Ping request sent. 2025-10-24T20:11:26.975Z,1761336686.975 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:11:26.975Z,1761336686.975 [DAT](INFO): DAT read: TxSync time:20:11:26.2467 2025-10-24T20:11:26.976Z,1761336686.976 [DAT](INFO): publishing transmit ping time 2025-10-24T20:11:26.977Z,1761336686.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002130 2025-10-24T20:11:27.225Z,1761336687.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250248 2025-10-24T20:11:27.356Z,1761336687.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753285,-0.651442,0.090476],[0.655260,0.731536,-0.188386],[0.056536,0.201194,0.977919]] 2025-10-24T20:11:27.380Z,1761336687.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:27.477Z,1761336687.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502029 2025-10-24T20:11:27.722Z,1761336687.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751038,-0.654890,0.084026],[0.657723,0.730926,-0.182065],[0.057816,0.192004,0.979690]] 2025-10-24T20:11:27.729Z,1761336687.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754100 2025-10-24T20:11:27.743Z,1761336687.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:27.981Z,1761336687.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006551 2025-10-24T20:11:28.124Z,1761336688.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749937,-0.655775,0.086906],[0.659068,0.729418,-0.183248],[0.056778,0.194702,0.979218]] 2025-10-24T20:11:28.153Z,1761336688.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:28.233Z,1761336688.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258080 2025-10-24T20:11:28.245Z,1761336688.245 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:11:28.486Z,1761336688.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511098 2025-10-24T20:11:28.578Z,1761336688.578 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, 0.00 2025-10-24T20:11:28.594Z,1761336688.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:28.738Z,1761336688.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763379 2025-10-24T20:11:28.989Z,1761336688.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014056 2025-10-24T20:11:29.053Z,1761336689.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:29.242Z,1761336689.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266849 2025-10-24T20:11:29.439Z,1761336689.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749940,-0.655511,0.088858],[0.659581,0.730738,-0.175998],[0.050437,0.190597,0.980372]] 2025-10-24T20:11:29.466Z,1761336689.466 [BPC1](ERROR): Battery stick #7 (s/n: 02BB) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-24T20:11:29.467Z,1761336689.467 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6. 2025-10-24T20:11:29.470Z,1761336689.470 [BPC1](INFO): Received data from all battery sticks. 2025-10-24T20:11:29.493Z,1761336689.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518153 2025-10-24T20:11:29.543Z,1761336689.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:29.745Z,1761336689.745 [DAT](INFO): DAT read: Rx Time:20:11:28.6617 2025-10-24T20:11:29.745Z,1761336689.745 [DAT](INFO): Rx dataTimestamp_ set to:1761336689.744993 2025-10-24T20:11:29.746Z,1761336689.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771057 2025-10-24T20:11:29.835Z,1761336689.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751318,-0.654382,0.085472],[0.658188,0.733581,-0.169254],[0.048056,0.183420,0.981859]] 2025-10-24T20:11:29.913Z,1761336689.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:29.998Z,1761336689.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022906 2025-10-24T20:11:30.252Z,1761336690.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276199 2025-10-24T20:11:30.327Z,1761336690.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-24T20:11:30.508Z,1761336690.508 [DAT](INFO): DAT read: 20:11:28.6617 LVL= 32752, 32753, 19634, 32755, AGC= 42, IDX= 435, 0.23, 2.930, 3.022,-1.279,-2.196, PHS=-1.069,-1.018, 0.914, RAW= 211.3, 12.0, CAL= 215.1, 11.5, ROT= 294.9, -11.5 2025-10-24T20:11:30.510Z,1761336690.510 [DAT](INFO): got valid direction response: 20:11:28.6617 LVL= 32752, 32753, 19634, 32755, AGC= 42, IDX= 435, 0.23, 2.930, 3.022,-1.279,-2.196, PHS=-1.069,-1.018, 0.914, RAW= 211.3, 12.0, CAL= 215.1, 11.5, ROT= 294.9, -11.5 2025-10-24T20:11:30.511Z,1761336690.511 [DAT](INFO): DAT read: Bearing 294.9, -11.5 (Local) 2025-10-24T20:11:30.512Z,1761336690.512 [DAT](INFO): Local bearing/azimuth received: Bearing 294.9, -11.5 (Local) 2025-10-24T20:11:30.514Z,1761336690.514 [DAT](INFO): DAT read: Range 10 to 50 : 7.5 m (Round-trip 10.0 ms) speed 0.0 m/s 2025-10-24T20:11:30.514Z,1761336690.514 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:11:30.515Z,1761336690.515 [DAT](INFO): direction in FSK: [0.412583,-0.888835,0.199368] 2025-10-24T20:11:30.515Z,1761336690.515 [DAT](INFO): publishing direction and range info 2025-10-24T20:11:30.671Z,1761336690.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754490,-0.651641,0.078160],[0.654910,0.739742,-0.154514],[0.042869,0.167767,0.984894]] 2025-10-24T20:11:30.738Z,1761336690.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 60.283875 s, deltaX: 0.100000 m, approachRate: 0.001659 m/s, rangeRepo size: 4 2025-10-24T20:11:30.740Z,1761336690.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.458769 m, bearing: 335.229006 deg, lat: 36.779631 deg, lon: -121.859512 deg, deltaT: 60.283875 s, deltaX: 0.099553 m, approachRate: 0.001651 m/s, posRepo size: 4 2025-10-24T20:11:30.741Z,1761336690.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:31.077Z,1761336691.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754530,-0.651196,0.081414],[0.654898,0.739136,-0.157438],[0.042347,0.172110,0.984167]] 2025-10-24T20:11:31.097Z,1761336691.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:31.474Z,1761336691.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754070,-0.651311,0.084686],[0.655426,0.737903,-0.160982],[0.042359,0.176897,0.983317]] 2025-10-24T20:11:31.561Z,1761336691.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:31.965Z,1761336691.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752623,-0.652730,0.086613],[0.657085,0.736066,-0.162621],[0.042394,0.179305,0.982880]] 2025-10-24T20:11:31.990Z,1761336691.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:32.445Z,1761336692.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751197,-0.654475,0.085822],[0.658706,0.734897,-0.161343],[0.042525,0.177732,0.983160]] 2025-10-24T20:11:32.555Z,1761336692.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:32.838Z,1761336692.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.749080,-0.656994,0.085080],[0.661117,0.733115,-0.159585],[0.042473,0.175789,0.983511]] 2025-10-24T20:11:32.865Z,1761336692.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:33.284Z,1761336693.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746923,-0.659343,0.085865],[0.663567,0.730968,-0.159260],[0.042242,0.175932,0.983496]] 2025-10-24T20:11:33.305Z,1761336693.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:33.710Z,1761336693.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:34.094Z,1761336694.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739583,-0.666934,0.090646],[0.671741,0.722956,-0.161554],[0.042213,0.180373,0.982692]] 2025-10-24T20:11:34.130Z,1761336694.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:34.499Z,1761336694.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735351,-0.671310,0.092744],[0.676384,0.718548,-0.161845],[0.042007,0.181744,0.982448]] 2025-10-24T20:11:34.571Z,1761336694.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:34.910Z,1761336694.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730250,-0.676531,0.095077],[0.681903,0.713290,-0.161941],[0.041741,0.183091,0.982210]] 2025-10-24T20:11:34.930Z,1761336694.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:35.317Z,1761336695.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724875,-0.681930,0.097608],[0.687640,0.707771,-0.161903],[0.041322,0.184478,0.981968]] 2025-10-24T20:11:35.338Z,1761336695.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:35.780Z,1761336695.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:36.189Z,1761336696.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703411,-0.702448,0.108532],[0.709681,0.685588,-0.162241],[0.039558,0.191145,0.980764]] 2025-10-24T20:11:36.208Z,1761336696.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:36.585Z,1761336696.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694493,-0.710458,0.113702],[0.718455,0.676263,-0.162758],[0.038740,0.194724,0.980093]] 2025-10-24T20:11:36.660Z,1761336696.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:36.980Z,1761336696.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685320,-0.718424,0.119180],[0.727276,0.666757,-0.162802],[0.037497,0.198248,0.979434]] 2025-10-24T20:11:36.000Z,1761336697.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:37.386Z,1761336697.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674421,-0.727623,0.125384],[0.737441,0.655400,-0.163191],[0.036565,0.202522,0.978595]] 2025-10-24T20:11:37.411Z,1761336697.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:37.787Z,1761336697.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663526,-0.736493,0.131573],[0.747324,0.644181,-0.162905],[0.035222,0.206420,0.977829]] 2025-10-24T20:11:37.836Z,1761336697.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:38.329Z,1761336698.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:38.675Z,1761336698.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637827,-0.756427,0.144898],[0.769494,0.617943,-0.161323],[0.032491,0.214394,0.976207]] 2025-10-24T20:11:38.713Z,1761336698.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:39.129Z,1761336699.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:39.528Z,1761336699.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608002,-0.777813,0.159186],[0.793417,0.588020,-0.157232],[0.028693,0.221899,0.974647]] 2025-10-24T20:11:39.597Z,1761336699.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:39.905Z,1761336699.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592028,-0.788528,0.166513],[0.805492,0.572232,-0.154056],[0.026193,0.225330,0.973930]] 2025-10-24T20:11:39.942Z,1761336699.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:40.303Z,1761336700.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574129,-0.799941,0.174558],[0.818425,0.554551,-0.150512],[0.023600,0.229276,0.973075]] 2025-10-24T20:11:40.323Z,1761336700.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:40.786Z,1761336700.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:41.152Z,1761336701.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536661,-0.822344,0.189062],[0.843619,0.518294,-0.140279],[0.017368,0.234778,0.971894]] 2025-10-24T20:11:41.171Z,1761336701.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:41.573Z,1761336701.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516754,-0.833223,0.196735],[0.856028,0.499238,-0.134083],[0.013503,0.237698,0.971245]] 2025-10-24T20:11:41.628Z,1761336701.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:41.978Z,1761336701.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495224,-0.844317,0.204651],[0.868716,0.478759,-0.126972],[0.009226,0.240664,0.970565]] 2025-10-24T20:11:41.998Z,1761336701.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:42.379Z,1761336702.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472904,-0.855050,0.212724],[0.881101,0.457606,-0.119409],[0.004756,0.243900,0.969789]] 2025-10-24T20:11:42.402Z,1761336702.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:42.783Z,1761336702.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450451,-0.865144,0.220500],[0.892801,0.436613,-0.110793],[-0.000421,0.246769,0.969074]] 2025-10-24T20:11:42.829Z,1761336702.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:43.188Z,1761336703.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426318,-0.875254,0.228435],[0.904557,0.414020,-0.101808],[-0.005469,0.250035,0.968221]] 2025-10-24T20:11:43.207Z,1761336703.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:43.599Z,1761336703.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402652,-0.884384,0.236084],[0.915286,0.392118,-0.092165],[-0.011064,0.253195,0.967352]] 2025-10-24T20:11:43.659Z,1761336703.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:43.998Z,1761336703.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377951,-0.893362,0.243015],[0.925678,0.369331,-0.081946],[-0.016546,0.255925,0.966555]] 2025-10-24T20:11:44.017Z,1761336704.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:44.400Z,1761336704.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.353118,-0.901787,0.249176],[0.935318,0.346553,-0.071279],[-0.022074,0.258229,0.965832]] 2025-10-24T20:11:44.429Z,1761336704.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:44.805Z,1761336704.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.327539,-0.909685,0.255324],[0.944430,0.323155,-0.060193],[-0.027752,0.260852,0.964980]] 2025-10-24T20:11:44.856Z,1761336704.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:45.209Z,1761336705.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.301345,-0.917160,0.260787],[0.952952,0.299086,-0.049303],[-0.032779,0.263374,0.964137]] 2025-10-24T20:11:45.228Z,1761336705.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:45.639Z,1761336705.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.275496,-0.923846,0.265725],[0.960548,0.275498,-0.038042],[-0.038062,0.265723,0.963298]] 2025-10-24T20:11:45.699Z,1761336705.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:46.028Z,1761336706.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.249507,-0.929882,0.270306],[0.967408,0.251808,-0.026723],[-0.043216,0.268164,0.962404]] 2025-10-24T20:11:46.057Z,1761336706.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:46.419Z,1761336706.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223640,-0.935412,0.273843],[0.973469,0.228320,-0.015094],[-0.048405,0.269954,0.961656]] 2025-10-24T20:11:46.457Z,1761336706.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:46.830Z,1761336706.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.171044,-0.944404,0.280795],[0.983558,0.180426,0.007707],[-0.057941,0.274860,0.959737]] 2025-10-24T20:11:46.881Z,1761336706.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:47.233Z,1761336707.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.144712,-0.948205,0.282782],[0.987502,0.156434,0.019197],[-0.062439,0.276470,0.958992]] 2025-10-24T20:11:47.254Z,1761336707.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:47.662Z,1761336707.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118801,-0.951354,0.284274],[0.990673,0.132811,0.030454],[-0.066727,0.278005,0.958259]] 2025-10-24T20:11:47.721Z,1761336707.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:48.038Z,1761336708.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.093096,-0.954149,0.284486],[0.993127,0.109346,0.041749],[-0.070942,0.278644,0.957771]] 2025-10-24T20:11:48.079Z,1761336708.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:48.442Z,1761336708.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.066468,-0.956145,0.285254],[0.994982,0.084942,0.052872],[-0.074783,0.280308,0.956993]] 2025-10-24T20:11:48.461Z,1761336708.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:48.843Z,1761336708.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040416,-0.957537,0.285462],[0.996085,0.061091,0.063896],[-0.078622,0.281762,0.956258]] 2025-10-24T20:11:48.899Z,1761336708.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:49.248Z,1761336709.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014504,-0.958307,0.285372],[0.996491,0.037383,0.074892],[-0.082438,0.283284,0.955486]] 2025-10-24T20:11:49.294Z,1761336709.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:49.683Z,1761336709.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.011859,-0.958849,0.283667],[0.996213,0.013106,0.085948],[-0.086129,0.283612,0.955063]] 2025-10-24T20:11:49.751Z,1761336709.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:50.072Z,1761336710.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038341,-0.959272,0.279871],[0.995230,-0.011516,0.096873],[-0.089704,0.282250,0.955138]] 2025-10-24T20:11:50.091Z,1761336710.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:50.463Z,1761336710.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.064775,-0.958826,0.276507],[0.993533,-0.036071,0.107666],[-0.093259,0.281692,0.954962]] 2025-10-24T20:11:50.491Z,1761336710.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:50.867Z,1761336710.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.091648,-0.957304,0.274172],[0.991108,-0.061020,0.118243],[-0.096465,0.282571,0.954384]] 2025-10-24T20:11:50.926Z,1761336710.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:51.140Z,1761336711.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:11:51.283Z,1761336711.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.118516,-0.954778,0.272678],[0.987964,-0.085894,0.128647],[-0.099408,0.284643,0.953466]] 2025-10-24T20:11:51.308Z,1761336711.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:51.712Z,1761336711.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145584,-0.951625,0.270581],[0.984064,-0.111062,0.138865],[-0.102096,0.286486,0.952629]] 2025-10-24T20:11:51.778Z,1761336711.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:52.117Z,1761336712.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.173046,-0.947636,0.268406],[0.979376,-0.136704,0.148776],[-0.104293,0.288615,0.951748]] 2025-10-24T20:11:52.136Z,1761336712.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:52.152Z,1761336712.152 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:11:52.483Z,1761336712.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.200048,-0.943238,0.265108],[0.973999,-0.162084,0.158287],[-0.106333,0.289880,0.951138]] 2025-10-24T20:11:52.504Z,1761336712.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:52.895Z,1761336712.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.227470,-0.938062,0.261335],[0.967791,-0.188046,0.167389],[-0.107879,0.290994,0.950623]] 2025-10-24T20:11:52.953Z,1761336712.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:53.295Z,1761336713.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.254956,-0.932020,0.257558],[0.960797,-0.214173,0.176066],[-0.108935,0.292350,0.950087]] 2025-10-24T20:11:53.314Z,1761336713.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:53.835Z,1761336713.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:54.100Z,1761336714.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310132,-0.917238,0.249986],[0.944348,-0.266889,0.192296],[-0.109663,0.295711,0.948962]] 2025-10-24T20:11:54.122Z,1761336714.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:54.506Z,1761336714.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337547,-0.908646,0.245814],[0.934920,-0.293248,0.199827],[-0.109487,0.297267,0.948496]] 2025-10-24T20:11:54.526Z,1761336714.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:54.983Z,1761336714.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:55.313Z,1761336715.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.392803,-0.889097,0.234974],[0.913283,-0.347196,0.212999],[-0.107795,0.298265,0.948377]] 2025-10-24T20:11:55.344Z,1761336715.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:55.779Z,1761336715.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420231,-0.877869,0.229678],[0.901126,-0.373975,0.219350],[-0.106666,0.299146,0.948227]] 2025-10-24T20:11:55.859Z,1761336715.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:56.178Z,1761336716.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.447467,-0.865877,0.223676],[0.888051,-0.400700,0.225400],[-0.105542,0.299495,0.948243]] 2025-10-24T20:11:56.197Z,1761336716.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:56.602Z,1761336716.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473773,-0.853617,0.216511],[0.874355,-0.426614,0.231309],[-0.105083,0.298895,0.948483]] 2025-10-24T20:11:56.644Z,1761336716.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:57.004Z,1761336717.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499316,-0.840968,0.208460],[0.859978,-0.451759,0.237387],[-0.105461,0.297802,0.948784]] 2025-10-24T20:11:57.065Z,1761336717.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:57.410Z,1761336717.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524664,-0.827495,0.199947],[0.844671,-0.476737,0.243417],[-0.106104,0.296602,0.949089]] 2025-10-24T20:11:57.433Z,1761336717.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:57.811Z,1761336717.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549053,-0.813377,0.192246],[0.828903,-0.500467,0.249906],[-0.107055,0.296565,0.948993]] 2025-10-24T20:11:57.891Z,1761336717.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:58.280Z,1761336718.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:58.620Z,1761336718.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595091,-0.784350,0.175107],[0.796091,-0.545492,0.262065],[-0.110031,0.295354,0.949031]] 2025-10-24T20:11:58.644Z,1761336718.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:59.025Z,1761336719.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617245,-0.769100,0.165811],[0.778766,-0.567256,0.267851],[-0.111947,0.294458,0.949085]] 2025-10-24T20:11:59.099Z,1761336719.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:59.431Z,1761336719.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638610,-0.753362,0.156918],[0.761092,-0.588221,0.273377],[-0.113649,0.294010,0.949022]] 2025-10-24T20:11:59.459Z,1761336719.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:11:59.793Z,1761336719.793 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:11:59.838Z,1761336719.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659021,-0.737350,0.148347],[0.743209,-0.608135,0.278949],[-0.115468,0.294086,0.948779]] 2025-10-24T20:11:59.931Z,1761336719.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:00.235Z,1761336720.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678442,-0.721167,0.140124],[0.725223,-0.626974,0.284527],[-0.117337,0.294656,0.948372]] 2025-10-24T20:12:00.263Z,1761336720.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:00.655Z,1761336720.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714827,-0.688713,0.121234],[0.688559,-0.662917,0.293987],[-0.122104,0.293627,0.948090]] 2025-10-24T20:12:00.674Z,1761336720.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:01.048Z,1761336721.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732244,-0.671751,0.112111],[0.669587,-0.680039,0.298664],[-0.124388,0.293763,0.947750]] 2025-10-24T20:12:01.100Z,1761336721.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:01.454Z,1761336721.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748871,-0.654801,0.102116],[0.650454,-0.696734,0.302444],[-0.126893,0.292913,0.947681]] 2025-10-24T20:12:01.492Z,1761336721.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:01.870Z,1761336721.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765048,-0.637228,0.092964],[0.630849,-0.712610,0.306946],[-0.129348,0.293475,0.947176]] 2025-10-24T20:12:01.930Z,1761336721.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:02.290Z,1761336722.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:02.662Z,1761336722.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795373,-0.601712,0.072975],[0.590847,-0.742832,0.314801],[-0.135211,0.293501,0.946348]] 2025-10-24T20:12:02.705Z,1761336722.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:02.841Z,1761336722.841 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:12:03.064Z,1761336723.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809597,-0.583738,0.061663],[0.570447,-0.757672,0.317054],[-0.138357,0.291861,0.946401]] 2025-10-24T20:12:03.121Z,1761336723.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:03.467Z,1761336723.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823086,-0.565733,0.049763],[0.549880,-0.771970,0.318895],[-0.141994,0.289842,0.946483]] 2025-10-24T20:12:03.489Z,1761336723.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:03.906Z,1761336723.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836089,-0.547298,0.037678],[0.528947,-0.786028,0.319960],[-0.145498,0.287445,0.946681]] 2025-10-24T20:12:03.962Z,1761336723.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:04.317Z,1761336724.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:04.681Z,1761336724.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858337,-0.512954,0.011682],[0.489610,-0.812043,0.317598],[-0.153427,0.278325,0.948154]] 2025-10-24T20:12:04.716Z,1761336724.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:05.083Z,1761336725.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867807,-0.496891,-0.003190],[0.471112,-0.824792,0.312685],[-0.158002,0.269847,0.949852]] 2025-10-24T20:12:05.159Z,1761336725.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:05.488Z,1761336725.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876063,-0.481903,-0.016830],[0.453969,-0.836043,0.308129],[-0.162558,0.262300,0.951196]] 2025-10-24T20:12:05.559Z,1761336725.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:05.947Z,1761336725.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883673,-0.467074,-0.031042],[0.437141,-0.847123,0.302144],[-0.167420,0.253427,0.952757]] 2025-10-24T20:12:06.013Z,1761336726.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:06.296Z,1761336726.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890515,-0.452867,-0.043538],[0.421156,-0.856771,0.297610],[-0.172080,0.246689,0.953694]] 2025-10-24T20:12:06.324Z,1761336726.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:06.700Z,1761336726.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896540,-0.439498,-0.055298],[0.406125,-0.865393,0.293525],[-0.176858,0.240699,0.954351]] 2025-10-24T20:12:06.730Z,1761336726.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:07.105Z,1761336727.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901569,-0.427369,-0.067296],[0.392569,-0.873494,0.287919],[-0.181831,0.233161,0.955287]] 2025-10-24T20:12:07.167Z,1761336727.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:07.509Z,1761336727.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905855,-0.416167,-0.078943],[0.380294,-0.881101,0.281137],[-0.186557,0.224648,0.956415]] 2025-10-24T20:12:07.528Z,1761336727.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:07.951Z,1761336727.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909690,-0.405268,-0.090676],[0.368522,-0.888432,0.273641],[-0.191458,0.215512,0.957548]] 2025-10-24T20:12:08.024Z,1761336728.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:08.316Z,1761336728.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912559,-0.396207,-0.101273],[0.358810,-0.894549,0.266528],[-0.196194,0.206885,0.958492]] 2025-10-24T20:12:08.359Z,1761336728.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:08.721Z,1761336728.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914857,-0.387798,-0.112470],[0.350036,-0.900552,0.257839],[-0.201275,0.196517,0.959619]] 2025-10-24T20:12:08.768Z,1761336728.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:09.251Z,1761336729.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:09.542Z,1761336729.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917135,-0.375416,-0.133886],[0.337971,-0.910554,0.238048],[-0.211277,0.173072,0.961981]] 2025-10-24T20:12:09.562Z,1761336729.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:09.997Z,1761336729.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917425,-0.370699,-0.144615],[0.333913,-0.914893,0.226875],[-0.216410,0.159852,0.963127]] 2025-10-24T20:12:10.034Z,1761336730.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:10.349Z,1761336730.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917128,-0.367504,-0.154328],[0.331279,-0.918100,0.217591],[-0.221654,0.148433,0.963762]] 2025-10-24T20:12:10.399Z,1761336730.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:10.752Z,1761336730.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916394,-0.365158,-0.163959],[0.329550,-0.920769,0.208761],[-0.227199,0.137274,0.964125]] 2025-10-24T20:12:10.803Z,1761336730.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:11.163Z,1761336731.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915261,-0.364080,-0.172462],[0.328824,-0.922466,0.202316],[-0.232750,0.128462,0.964015]] 2025-10-24T20:12:11.235Z,1761336731.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:11.650Z,1761336731.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913846,-0.363865,-0.180245],[0.328682,-0.923486,0.197843],[-0.238442,0.121555,0.963520]] 2025-10-24T20:12:11.678Z,1761336731.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:12.050Z,1761336732.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911839,-0.365412,-0.187145],[0.330050,-0.923563,0.195188],[-0.244164,0.116213,0.962745]] 2025-10-24T20:12:12.114Z,1761336732.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:12.542Z,1761336732.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907570,-0.369436,-0.199585],[0.332811,-0.922704,0.194560],[-0.256036,0.110152,0.960371]] 2025-10-24T20:12:12.562Z,1761336732.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:12.936Z,1761336732.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905507,-0.371039,-0.205883],[0.333957,-0.922477,0.193673],[-0.261782,0.106616,0.959220]] 2025-10-24T20:12:13.035Z,1761336733.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:13.494Z,1761336733.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:13.865Z,1761336733.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901539,-0.375327,-0.215308],[0.336364,-0.920914,0.196918],[-0.272189,0.105107,0.956486]] 2025-10-24T20:12:13.910Z,1761336733.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:14.279Z,1761336734.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899913,-0.376904,-0.219316],[0.336828,-0.920222,0.199344],[-0.276953,0.105520,0.955072]] 2025-10-24T20:12:14.337Z,1761336734.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:14.672Z,1761336734.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898117,-0.379312,-0.222502],[0.337832,-0.919034,0.203089],[-0.281521,0.107229,0.953545]] 2025-10-24T20:12:14.699Z,1761336734.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:15.082Z,1761336735.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896591,-0.380924,-0.225881],[0.338096,-0.918193,0.206427],[-0.286035,0.108711,0.952033]] 2025-10-24T20:12:15.130Z,1761336735.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:15.578Z,1761336735.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:15.937Z,1761336735.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894347,-0.381864,-0.233075],[0.336788,-0.917615,0.211085],[-0.294479,0.110286,0.949273]] 2025-10-24T20:12:15.956Z,1761336735.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:16.394Z,1761336736.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:16.743Z,1761336736.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892699,-0.381941,-0.239185],[0.335130,-0.917481,0.214280],[-0.301290,0.111130,0.947035]] 2025-10-24T20:12:16.763Z,1761336736.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:17.151Z,1761336737.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892238,-0.381231,-0.242022],[0.334228,-0.917933,0.213756],[-0.303650,0.109831,0.946432]] 2025-10-24T20:12:17.256Z,1761336737.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:17.551Z,1761336737.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891862,-0.380627,-0.244347],[0.333517,-0.918326,0.213174],[-0.305530,0.108628,0.945966]] 2025-10-24T20:12:17.575Z,1761336737.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:17.955Z,1761336737.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891786,-0.379651,-0.246137],[0.332598,-0.918872,0.212257],[-0.306752,0.107423,0.945708]] 2025-10-24T20:12:17.990Z,1761336737.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:18.365Z,1761336738.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891971,-0.378685,-0.246954],[0.331700,-0.919334,0.211660],[-0.307186,0.106880,0.945629]] 2025-10-24T20:12:18.417Z,1761336738.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:18.825Z,1761336738.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892397,-0.375987,-0.249521],[0.329694,-0.920806,0.208371],[-0.308105,0.103684,0.945685]] 2025-10-24T20:12:18.843Z,1761336738.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:19.214Z,1761336739.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893082,-0.373411,-0.250937],[0.327724,-0.922093,0.205771],[-0.308224,0.101532,0.945880]] 2025-10-24T20:12:19.267Z,1761336739.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:19.687Z,1761336739.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893791,-0.371353,-0.251463],[0.326525,-0.923187,0.202746],[-0.307438,0.099104,0.946393]] 2025-10-24T20:12:19.714Z,1761336739.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:20.134Z,1761336740.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894811,-0.369063,-0.251206],[0.325355,-0.924385,0.199140],[-0.305707,0.096461,0.947227]] 2025-10-24T20:12:20.189Z,1761336740.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:20.507Z,1761336740.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895719,-0.367502,-0.250259],[0.324847,-0.925232,0.196011],[-0.303582,0.094275,0.948130]] 2025-10-24T20:12:20.542Z,1761336740.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:20.953Z,1761336740.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:21.382Z,1761336741.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:21.733Z,1761336741.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898310,-0.364378,-0.245493],[0.324117,-0.926816,0.189634],[-0.296625,0.090782,0.950669]] 2025-10-24T20:12:21.756Z,1761336741.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:22.283Z,1761336742.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:22.288Z,1761336742.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:12:22.586Z,1761336742.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899684,-0.364109,-0.240818],[0.324988,-0.926965,0.187400],[-0.291463,0.090338,0.952307]] 2025-10-24T20:12:22.607Z,1761336742.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:23.025Z,1761336743.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:23.292Z,1761336743.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:12:23.467Z,1761336743.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:23.796Z,1761336743.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900214,-0.366812,-0.234657],[0.329485,-0.926119,0.183691],[-0.284701,0.088045,0.954565]] 2025-10-24T20:12:23.831Z,1761336743.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:24.204Z,1761336744.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900023,-0.368254,-0.233126],[0.331382,-0.925622,0.182785],[-0.283098,0.087257,0.955114]] 2025-10-24T20:12:24.262Z,1761336744.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:24.658Z,1761336744.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899718,-0.370015,-0.231509],[0.333603,-0.924996,0.181910],[-0.281455,0.086435,0.955674]] 2025-10-24T20:12:24.682Z,1761336744.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:25.055Z,1761336745.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899200,-0.372408,-0.229678],[0.336115,-0.924007,0.182314],[-0.280119,0.086738,0.956039]] 2025-10-24T20:12:25.083Z,1761336745.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:25.500Z,1761336745.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898615,-0.374855,-0.227981],[0.338872,-0.923057,0.182023],[-0.278671,0.086313,0.956500]] 2025-10-24T20:12:25.567Z,1761336745.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:25.914Z,1761336745.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897447,-0.380572,-0.223055],[0.345230,-0.920721,0.181906],[-0.274600,0.086246,0.957683]] 2025-10-24T20:12:25.933Z,1761336745.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:26.309Z,1761336746.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896684,-0.384244,-0.219803],[0.349076,-0.919116,0.182682],[-0.272218,0.087080,0.958287]] 2025-10-24T20:12:26.368Z,1761336746.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:26.710Z,1761336746.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896100,-0.386940,-0.217447],[0.352237,-0.918035,0.182044],[-0.270064,0.086537,0.958946]] 2025-10-24T20:12:26.727Z,1761336746.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:12:26.730Z,1761336746.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:26.981Z,1761336746.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:12:26.981Z,1761336746.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:12:27.116Z,1761336747.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895484,-0.390096,-0.214319],[0.355702,-0.916658,0.182247],[-0.267551,0.086966,0.959611]] 2025-10-24T20:12:27.136Z,1761336747.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:27.236Z,1761336747.236 [DAT](INFO): DAT read: user:260> 2025-10-24T20:12:27.239Z,1761336747.239 [DAT](INFO): DAT read: Tx time:20:12:26.4982 2025-10-24T20:12:27.241Z,1761336747.241 [DAT](INFO): Ping request sent. 2025-10-24T20:12:27.242Z,1761336747.242 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:12:27.243Z,1761336747.243 [DAT](INFO): DAT read: TxSync time:20:12:26.4974 2025-10-24T20:12:27.244Z,1761336747.244 [DAT](INFO): publishing transmit ping time 2025-10-24T20:12:27.244Z,1761336747.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002896 2025-10-24T20:12:27.486Z,1761336747.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244396 2025-10-24T20:12:27.642Z,1761336747.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:27.737Z,1761336747.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495351 2025-10-24T20:12:27.989Z,1761336747.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747461 2025-10-24T20:12:28.077Z,1761336748.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895922,-0.393544,-0.206029],[0.360018,-0.914982,0.182195],[-0.260215,0.089058,0.961435]] 2025-10-24T20:12:28.095Z,1761336748.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:28.244Z,1761336748.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002233 2025-10-24T20:12:28.494Z,1761336748.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252209 2025-10-24T20:12:28.580Z,1761336748.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:28.745Z,1761336748.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503234 2025-10-24T20:12:28.899Z,1761336748.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896389,-0.395886,-0.199403],[0.363623,-0.913993,0.179986],[-0.253507,0.088830,0.963246]] 2025-10-24T20:12:28.940Z,1761336748.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:28.998Z,1761336748.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756241 2025-10-24T20:12:29.252Z,1761336749.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010055 2025-10-24T20:12:29.293Z,1761336749.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896361,-0.397578,-0.196135],[0.365898,-0.913268,0.179051],[-0.250311,0.088729,0.964091]] 2025-10-24T20:12:29.333Z,1761336749.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:29.501Z,1761336749.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259820 2025-10-24T20:12:29.695Z,1761336749.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896794,-0.398419,-0.192413],[0.367428,-0.912900,0.177792],[-0.246490,0.088745,0.965074]] 2025-10-24T20:12:29.728Z,1761336749.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:29.753Z,1761336749.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511369 2025-10-24T20:12:30.005Z,1761336750.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763409 2025-10-24T20:12:30.138Z,1761336750.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:30.260Z,1761336750.260 [DAT](INFO): DAT read: Rx Time:20:12:28.9457 2025-10-24T20:12:30.262Z,1761336750.262 [DAT](INFO): Rx dataTimestamp_ set to:1761336750.260610 2025-10-24T20:12:30.263Z,1761336750.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021335 2025-10-24T20:12:30.511Z,1761336750.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269293 2025-10-24T20:12:30.521Z,1761336750.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898568,-0.398459,-0.183863],[0.368742,-0.912732,0.175926],[-0.237917,0.090283,0.967080]] 2025-10-24T20:12:30.547Z,1761336750.547 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0 +0.00, 20.00,1346.90 2025-10-24T20:12:30.597Z,1761336750.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:30.762Z,1761336750.762 [DAT](INFO): DAT read: Range 10 to 50 : 32.4 m (Round-trip 43.2 ms) speed -0.7 m/s 2025-10-24T20:12:30.763Z,1761336750.763 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:12:30.917Z,1761336750.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899904,-0.397670,-0.178973],[0.368645,-0.912959,0.174950],[-0.232968,0.091461,0.968174]] 2025-10-24T20:12:30.949Z,1761336750.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.400002 m, deltaT: 60.260518 s, deltaX: 24.900002 m, approachRate: 0.413206 m/s, rangeRepo size: 4 2025-10-24T20:12:30.950Z,1761336750.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:31.317Z,1761336751.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901556,-0.395907,-0.174514],[0.367576,-0.913622,0.173732],[-0.228221,0.092482,0.969207]] 2025-10-24T20:12:31.389Z,1761336751.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:31.716Z,1761336751.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903128,-0.394603,-0.169257],[0.366804,-0.913960,0.173583],[-0.223191,0.094684,0.970165]] 2025-10-24T20:12:31.749Z,1761336751.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:32.119Z,1761336752.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904833,-0.392759,-0.164373],[0.365556,-0.914569,0.173007],[-0.218281,0.096454,0.971108]] 2025-10-24T20:12:32.138Z,1761336752.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:32.588Z,1761336752.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:32.930Z,1761336752.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908190,-0.388456,-0.155860],[0.362984,-0.916374,0.168822],[-0.208406,0.096747,0.973246]] 2025-10-24T20:12:32.949Z,1761336752.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:33.362Z,1761336753.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909763,-0.386433,-0.151661],[0.361808,-0.917223,0.166725],[-0.203535,0.096808,0.974270]] 2025-10-24T20:12:33.375Z,1761336753.375 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412135624,35.0, +11.5, 0.0,1495.3RA, 0.00, 126.03, 114.29, 137.25, 106.13 2025-10-24T20:12:33.391Z,1761336753.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:33.735Z,1761336753.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911168,-0.384670,-0.147657],[0.360786,-0.917934,0.165014],[-0.199015,0.097083,0.975176]] 2025-10-24T20:12:33.754Z,1761336753.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:34.150Z,1761336754.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912660,-0.382792,-0.143257],[0.359678,-0.918672,0.163320],[-0.194124,0.097529,0.976117]] 2025-10-24T20:12:34.169Z,1761336754.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:34.547Z,1761336754.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914102,-0.380738,-0.139485],[0.358538,-0.919610,0.160523],[-0.189389,0.096724,0.977127]] 2025-10-24T20:12:34.618Z,1761336754.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:34.948Z,1761336754.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915379,-0.379042,-0.135677],[0.357617,-0.920336,0.158404],[-0.184910,0.096480,0.978008]] 2025-10-24T20:12:34.988Z,1761336754.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:35.379Z,1761336755.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917293,-0.377002,-0.128231],[0.357049,-0.921245,0.154352],[-0.176323,0.095801,0.979659]] 2025-10-24T20:12:35.427Z,1761336755.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:35.795Z,1761336755.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:36.169Z,1761336756.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917676,-0.377298,-0.124569],[0.358127,-0.921222,0.151971],[-0.172094,0.094848,0.980504]] 2025-10-24T20:12:36.189Z,1761336756.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:36.574Z,1761336756.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917915,-0.378861,-0.117884],[0.360974,-0.920713,0.148275],[-0.164713,0.093551,0.981895]] 2025-10-24T20:12:36.648Z,1761336756.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:36.970Z,1761336756.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917631,-0.380559,-0.114580],[0.363250,-0.920067,0.146719],[-0.161256,0.093013,0.982520]] 2025-10-24T20:12:36.990Z,1761336756.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:37.400Z,1761336757.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917091,-0.382589,-0.112113],[0.365873,-0.919374,0.144532],[-0.158370,0.091530,0.983128]] 2025-10-24T20:12:37.451Z,1761336757.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:37.776Z,1761336757.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916370,-0.385243,-0.108874],[0.369053,-0.918317,0.143158],[-0.155131,0.091005,0.983693]] 2025-10-24T20:12:37.810Z,1761336757.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:38.202Z,1761336758.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915884,-0.387322,-0.105539],[0.371731,-0.917522,0.141314],[-0.151568,0.090195,0.984323]] 2025-10-24T20:12:38.230Z,1761336758.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:38.607Z,1761336758.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915010,-0.390456,-0.101496],[0.375411,-0.916195,0.140193],[-0.147729,0.090175,0.984908]] 2025-10-24T20:12:38.671Z,1761336758.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:39.097Z,1761336759.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914313,-0.393122,-0.097399],[0.378623,-0.915045,0.139060],[-0.143792,0.090267,0.985483]] 2025-10-24T20:12:39.130Z,1761336759.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:39.491Z,1761336759.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913582,-0.395928,-0.092784],[0.381952,-0.913763,0.138386],[-0.139573,0.090988,0.986023]] 2025-10-24T20:12:39.563Z,1761336759.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:39.948Z,1761336759.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:40.306Z,1761336760.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912651,-0.400080,-0.083688],[0.387147,-0.911793,0.136935],[-0.131091,0.092575,0.987039]] 2025-10-24T20:12:40.325Z,1761336760.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:40.704Z,1761336760.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912532,-0.401408,-0.078472],[0.388867,-0.910943,0.137712],[-0.126762,0.095151,0.987359]] 2025-10-24T20:12:40.749Z,1761336760.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:41.105Z,1761336761.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912705,-0.401864,-0.073995],[0.389777,-0.910580,0.137542],[-0.122652,0.096693,0.987728]] 2025-10-24T20:12:41.125Z,1761336761.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:41.514Z,1761336761.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912820,-0.402476,-0.069084],[0.390818,-0.910066,0.137990],[-0.118408,0.098961,0.988021]] 2025-10-24T20:12:41.571Z,1761336761.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:41.928Z,1761336761.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913326,-0.401951,-0.065348],[0.390817,-0.910256,0.136729],[-0.114442,0.099340,0.988451]] 2025-10-24T20:12:41.948Z,1761336761.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:42.344Z,1761336762.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913875,-0.401463,-0.060497],[0.390754,-0.910192,0.137334],[-0.110199,0.101867,0.988676]] 2025-10-24T20:12:42.466Z,1761336762.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:42.741Z,1761336762.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914922,-0.399723,-0.056041],[0.389511,-0.910765,0.137071],[-0.105831,0.103581,0.988975]] 2025-10-24T20:12:42.795Z,1761336762.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:43.159Z,1761336763.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915872,-0.398086,-0.052017],[0.388371,-0.911348,0.136430],[-0.101716,0.104750,0.989283]] 2025-10-24T20:12:43.181Z,1761336763.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:43.572Z,1761336763.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917047,-0.395906,-0.047792],[0.386740,-0.912176,0.135527],[-0.097251,0.105802,0.989620]] 2025-10-24T20:12:43.644Z,1761336763.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:43.963Z,1761336763.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917982,-0.394197,-0.043787],[0.385556,-0.912812,0.134616],[-0.093035,0.106693,0.989930]] 2025-10-24T20:12:44.005Z,1761336764.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:44.364Z,1761336764.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918905,-0.392459,-0.039874],[0.384361,-0.913495,0.133392],[-0.088776,0.107249,0.990261]] 2025-10-24T20:12:44.384Z,1761336764.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:44.838Z,1761336764.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:45.211Z,1761336765.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:45.576Z,1761336765.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921907,-0.386188,-0.030763],[0.379728,-0.916505,0.125800],[-0.076777,0.104295,0.991579]] 2025-10-24T20:12:45.642Z,1761336765.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:45.982Z,1761336765.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922662,-0.384636,-0.027402],[0.378673,-0.917190,0.123977],[-0.072819,0.104013,0.991907]] 2025-10-24T20:12:46.005Z,1761336766.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:46.383Z,1761336766.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923663,-0.382427,-0.024408],[0.376959,-0.918215,0.121589],[-0.068911,0.103107,0.992280]] 2025-10-24T20:12:46.410Z,1761336766.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:46.794Z,1761336766.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924568,-0.380426,-0.021235],[0.375356,-0.918985,0.120722],[-0.065440,0.103645,0.992459]] 2025-10-24T20:12:46.844Z,1761336766.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:47.191Z,1761336767.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925325,-0.378744,-0.018090],[0.374046,-0.919587,0.120203],[-0.062162,0.104460,0.992584]] 2025-10-24T20:12:47.212Z,1761336767.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:47.597Z,1761336767.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926202,-0.376707,-0.015563],[0.372404,-0.920508,0.118239],[-0.058868,0.103717,0.992863]] 2025-10-24T20:12:47.679Z,1761336767.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:48.007Z,1761336768.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926948,-0.374946,-0.013492],[0.371028,-0.921416,0.115460],[-0.055723,0.102020,0.993220]] 2025-10-24T20:12:48.025Z,1761336768.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:48.413Z,1761336768.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928182,-0.372005,-0.009463],[0.368735,-0.922852,0.111259],[-0.050122,0.099780,0.993746]] 2025-10-24T20:12:48.433Z,1761336768.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:48.818Z,1761336768.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928824,-0.370454,-0.006998],[0.367510,-0.923516,0.109795],[-0.047137,0.099408,0.993930]] 2025-10-24T20:12:48.870Z,1761336768.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:49.265Z,1761336769.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:49.619Z,1761336769.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929448,-0.368943,-0.002809],[0.366518,-0.924158,0.107691],[-0.042328,0.099064,0.994180]] 2025-10-24T20:12:49.659Z,1761336769.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:50.019Z,1761336770.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929415,-0.369034,-0.001148],[0.366834,-0.924205,0.106193],[-0.040250,0.098276,0.994345]] 2025-10-24T20:12:50.047Z,1761336770.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:50.423Z,1761336770.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929522,-0.368765,0.000749],[0.366786,-0.924318,0.105377],[-0.038167,0.098225,0.994432]] 2025-10-24T20:12:50.443Z,1761336770.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:50.831Z,1761336770.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929034,-0.369985,0.002751],[0.368219,-0.923819,0.104750],[-0.036215,0.098330,0.994495]] 2025-10-24T20:12:50.897Z,1761336770.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:51.234Z,1761336771.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928494,-0.371323,0.004312],[0.369725,-0.923290,0.104116],[-0.034679,0.098265,0.994556]] 2025-10-24T20:12:51.253Z,1761336771.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:51.712Z,1761336771.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:52.041Z,1761336772.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927317,-0.374211,0.007059],[0.372936,-0.922234,0.101993],[-0.031656,0.097212,0.994760]] 2025-10-24T20:12:52.059Z,1761336772.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:52.462Z,1761336772.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926603,-0.375934,0.008981],[0.374846,-0.921494,0.101685],[-0.029951,0.097588,0.994776]] 2025-10-24T20:12:52.490Z,1761336772.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:52.865Z,1761336772.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925818,-0.377809,0.011055],[0.376955,-0.920792,0.100230],[-0.027689,0.096962,0.994903]] 2025-10-24T20:12:52.926Z,1761336772.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:53.271Z,1761336773.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924992,-0.379771,0.012775],[0.379121,-0.920098,0.098423],[-0.025624,0.095884,0.995063]] 2025-10-24T20:12:53.347Z,1761336773.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:53.413Z,1761336773.413 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:12:53.672Z,1761336773.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924041,-0.381995,0.015074],[0.381574,-0.919169,0.097623],[-0.023436,0.095960,0.995109]] 2025-10-24T20:12:53.726Z,1761336773.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:54.076Z,1761336774.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923192,-0.383934,0.017631],[0.383752,-0.918278,0.097470],[-0.021232,0.096749,0.995082]] 2025-10-24T20:12:54.094Z,1761336774.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:54.417Z,1761336774.417 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:12:54.495Z,1761336774.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922112,-0.386392,0.020292],[0.386454,-0.917138,0.097524],[-0.019072,0.097769,0.995026]] 2025-10-24T20:12:54.535Z,1761336774.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:54.895Z,1761336774.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921296,-0.388223,0.022295],[0.388485,-0.916363,0.096737],[-0.017125,0.097785,0.995060]] 2025-10-24T20:12:54.961Z,1761336774.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:55.373Z,1761336775.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920489,-0.389982,0.024762],[0.390486,-0.915574,0.096151],[-0.014825,0.098175,0.995059]] 2025-10-24T20:12:55.425Z,1761336775.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:55.856Z,1761336775.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919693,-0.391676,0.027454],[0.392428,-0.914671,0.096831],[-0.012815,0.099829,0.994922]] 2025-10-24T20:12:55.921Z,1761336775.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:56.325Z,1761336776.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918952,-0.392923,0.033734],[0.394288,-0.913672,0.098691],[-0.007956,0.103993,0.994546]] 2025-10-24T20:12:56.360Z,1761336776.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:56.722Z,1761336776.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919263,-0.391949,0.036488],[0.393613,-0.914073,0.097665],[-0.004927,0.104142,0.994550]] 2025-10-24T20:12:56.783Z,1761336776.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:57.124Z,1761336777.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919112,-0.391931,0.040280],[0.393992,-0.913824,0.098471],[-0.001785,0.106376,0.994324]] 2025-10-24T20:12:57.155Z,1761336777.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:57.528Z,1761336777.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919435,-0.390827,0.043515],[0.393239,-0.914192,0.098066],[0.001454,0.107277,0.994228]] 2025-10-24T20:12:57.563Z,1761336777.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:57.934Z,1761336777.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919748,-0.389699,0.046885],[0.392479,-0.914575,0.097535],[0.004871,0.108110,0.994127]] 2025-10-24T20:12:58.001Z,1761336778.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:58.391Z,1761336778.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:58.790Z,1761336778.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:59.143Z,1761336779.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921502,-0.384275,0.056273],[0.388067,-0.916817,0.094082],[0.015439,0.108534,0.993973]] 2025-10-24T20:12:59.178Z,1761336779.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:59.550Z,1761336779.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922226,-0.382066,0.059374],[0.386177,-0.917779,0.092459],[0.019167,0.108197,0.993945]] 2025-10-24T20:12:59.614Z,1761336779.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:12:59.954Z,1761336779.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923116,-0.379375,0.062701],[0.383828,-0.918905,0.091044],[0.023077,0.108111,0.993871]] 2025-10-24T20:13:00.031Z,1761336780.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:00.356Z,1761336780.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923775,-0.377235,0.065829],[0.382004,-0.919796,0.089713],[0.026707,0.108022,0.993790]] 2025-10-24T20:13:00.375Z,1761336780.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:00.762Z,1761336780.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924410,-0.375105,0.069010],[0.380193,-0.920659,0.088541],[0.030322,0.108086,0.993679]] 2025-10-24T20:13:00.821Z,1761336780.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:01.211Z,1761336781.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:01.569Z,1761336781.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925614,-0.371020,0.074723],[0.376616,-0.922465,0.084963],[0.037407,0.106785,0.993578]] 2025-10-24T20:13:01.607Z,1761336781.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:01.973Z,1761336781.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926218,-0.369089,0.076767],[0.374827,-0.923387,0.082834],[0.040312,0.105496,0.993602]] 2025-10-24T20:13:02.027Z,1761336782.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:02.379Z,1761336782.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926470,-0.368001,0.078920],[0.373889,-0.923933,0.080960],[0.043124,0.104514,0.993588]] 2025-10-24T20:13:02.405Z,1761336782.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:02.779Z,1761336782.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926916,-0.366514,0.080588],[0.372503,-0.924643,0.079220],[0.045480,0.103450,0.993594]] 2025-10-24T20:13:02.830Z,1761336782.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:03.183Z,1761336783.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927005,-0.365798,0.082787],[0.372001,-0.924876,0.078864],[0.047719,0.103904,0.993442]] 2025-10-24T20:13:03.203Z,1761336783.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:03.587Z,1761336783.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927009,-0.365353,0.084684],[0.371714,-0.925061,0.078038],[0.049827,0.103820,0.993347]] 2025-10-24T20:13:03.606Z,1761336783.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:04.058Z,1761336784.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:04.433Z,1761336784.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:04.830Z,1761336784.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926331,-0.366316,0.087888],[0.372658,-0.925208,0.071531],[0.055111,0.099014,0.993559]] 2025-10-24T20:13:04.886Z,1761336784.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:05.206Z,1761336785.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925774,-0.367332,0.089496],[0.373706,-0.924955,0.069297],[0.057325,0.097599,0.993574]] 2025-10-24T20:13:05.225Z,1761336785.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:05.609Z,1761336785.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925428,-0.367838,0.090980],[0.374249,-0.924871,0.067467],[0.059328,0.096485,0.993565]] 2025-10-24T20:13:05.630Z,1761336785.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:06.014Z,1761336786.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924714,-0.369037,0.093354],[0.375636,-0.924360,0.066762],[0.061655,0.096803,0.993392]] 2025-10-24T20:13:06.066Z,1761336786.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:06.415Z,1761336786.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924279,-0.369744,0.094860],[0.376350,-0.924224,0.064577],[0.063795,0.095388,0.993394]] 2025-10-24T20:13:06.452Z,1761336786.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:06.858Z,1761336786.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923666,-0.370697,0.097083],[0.377438,-0.923863,0.063382],[0.066196,0.095187,0.993256]] 2025-10-24T20:13:06.926Z,1761336786.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:07.229Z,1761336787.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923114,-0.371356,0.099779],[0.378363,-0.923479,0.063460],[0.068577,0.096334,0.992984]] 2025-10-24T20:13:07.247Z,1761336787.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:07.627Z,1761336787.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922794,-0.371656,0.101600],[0.378767,-0.923383,0.062440],[0.070610,0.096102,0.992864]] 2025-10-24T20:13:07.657Z,1761336787.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:08.041Z,1761336788.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922330,-0.372175,0.103887],[0.379515,-0.923071,0.062517],[0.072628,0.097088,0.992622]] 2025-10-24T20:13:08.090Z,1761336788.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:08.485Z,1761336788.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:08.909Z,1761336788.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921589,-0.372868,0.107905],[0.380692,-0.922509,0.063646],[0.075812,0.099734,0.992122]] 2025-10-24T20:13:08.970Z,1761336788.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:08.976Z,1761336788.976 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:13:09.291Z,1761336789.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921395,-0.373058,0.108901],[0.380984,-0.922388,0.063658],[0.076701,0.100144,0.992012]] 2025-10-24T20:13:09.333Z,1761336789.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:09.696Z,1761336789.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920964,-0.373758,0.110142],[0.381805,-0.922053,0.063590],[0.077789,0.100616,0.991880]] 2025-10-24T20:13:09.737Z,1761336789.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:10.101Z,1761336790.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920851,-0.373809,0.110907],[0.381809,-0.922158,0.062014],[0.079092,0.099451,0.991894]] 2025-10-24T20:13:10.168Z,1761336790.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:10.509Z,1761336790.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919959,-0.375500,0.112586],[0.383413,-0.921699,0.058859],[0.081669,0.097314,0.991897]] 2025-10-24T20:13:10.538Z,1761336790.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:11.002Z,1761336791.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:11.373Z,1761336791.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:11.729Z,1761336791.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919208,-0.375742,0.117789],[0.384264,-0.921278,0.059906],[0.086007,0.100328,0.991230]] 2025-10-24T20:13:11.747Z,1761336791.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:12.144Z,1761336792.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918754,-0.376190,0.119879],[0.384947,-0.920978,0.060133],[0.087785,0.101395,0.990966]] 2025-10-24T20:13:12.210Z,1761336792.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:12.535Z,1761336792.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918453,-0.376304,0.121813],[0.385261,-0.920845,0.060145],[0.089538,0.102170,0.990729]] 2025-10-24T20:13:12.555Z,1761336792.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:12.970Z,1761336792.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917948,-0.376939,0.123645],[0.385978,-0.920622,0.058962],[0.091605,0.101848,0.990573]] 2025-10-24T20:13:13.019Z,1761336793.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:13.372Z,1761336793.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917671,-0.376932,0.125707],[0.386157,-0.920565,0.058671],[0.093606,0.102383,0.990331]] 2025-10-24T20:13:13.412Z,1761336793.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:13.790Z,1761336793.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917155,-0.377346,0.128206],[0.386817,-0.920299,0.058500],[0.095913,0.103246,0.990021]] 2025-10-24T20:13:13.809Z,1761336793.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:14.189Z,1761336794.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916964,-0.377053,0.130414],[0.386610,-0.920477,0.057042],[0.098535,0.102725,0.989817]] 2025-10-24T20:13:14.231Z,1761336794.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:14.592Z,1761336794.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916926,-0.376385,0.132594],[0.386030,-0.920804,0.055684],[0.101135,0.102244,0.989605]] 2025-10-24T20:13:14.626Z,1761336794.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:14.995Z,1761336794.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916656,-0.376079,0.135299],[0.385897,-0.920921,0.054665],[0.104042,0.102321,0.989296]] 2025-10-24T20:13:15.048Z,1761336795.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:15.405Z,1761336795.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916916,-0.374491,0.137917],[0.384434,-0.921609,0.053367],[0.107120,0.101953,0.989005]] 2025-10-24T20:13:15.429Z,1761336795.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:15.805Z,1761336795.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916860,-0.373554,0.140804],[0.383754,-0.921913,0.053007],[0.110008,0.102634,0.988617]] 2025-10-24T20:13:15.837Z,1761336795.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:16.212Z,1761336796.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917211,-0.371722,0.143343],[0.382035,-0.922697,0.051758],[0.113023,0.102235,0.988319]] 2025-10-24T20:13:16.275Z,1761336796.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:16.613Z,1761336796.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917168,-0.370930,0.145652],[0.381397,-0.923000,0.051064],[0.115495,0.102385,0.988017]] 2025-10-24T20:13:16.631Z,1761336796.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:17.021Z,1761336797.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917636,-0.369068,0.147422],[0.379522,-0.923858,0.049489],[0.117933,0.101363,0.987835]] 2025-10-24T20:13:17.059Z,1761336797.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:17.430Z,1761336797.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917685,-0.368313,0.148994],[0.378701,-0.924292,0.047650],[0.120164,0.100152,0.987689]] 2025-10-24T20:13:17.462Z,1761336797.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:17.827Z,1761336797.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918009,-0.366760,0.150819],[0.377166,-0.924984,0.046382],[0.122494,0.099462,0.987473]] 2025-10-24T20:13:17.846Z,1761336797.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:18.342Z,1761336798.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:18.631Z,1761336798.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918210,-0.365020,0.153790],[0.375390,-0.925830,0.043827],[0.126386,0.097974,0.987131]] 2025-10-24T20:13:18.668Z,1761336798.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:19.046Z,1761336799.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918211,-0.364492,0.155030],[0.374820,-0.926119,0.042575],[0.128058,0.097201,0.986992]] 2025-10-24T20:13:19.102Z,1761336799.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:19.440Z,1761336799.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917870,-0.364690,0.156573],[0.375071,-0.926053,0.041798],[0.129752,0.097092,0.986782]] 2025-10-24T20:13:19.475Z,1761336799.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:19.861Z,1761336799.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917777,-0.364281,0.158066],[0.374669,-0.926262,0.040761],[0.131562,0.096632,0.986587]] 2025-10-24T20:13:19.905Z,1761336799.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:20.339Z,1761336800.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:20.782Z,1761336800.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917047,-0.364493,0.161769],[0.374908,-0.926273,0.038253],[0.135899,0.095729,0.986087]] 2025-10-24T20:13:20.803Z,1761336800.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:21.217Z,1761336801.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917128,-0.364251,0.161858],[0.374621,-0.926404,0.037881],[0.136147,0.095377,0.986087]] 2025-10-24T20:13:21.266Z,1761336801.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:21.620Z,1761336801.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917061,-0.364447,0.161793],[0.374783,-0.926347,0.037671],[0.136147,0.095184,0.986105]] 2025-10-24T20:13:21.640Z,1761336801.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:22.065Z,1761336802.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917003,-0.364557,0.161874],[0.374840,-0.926342,0.037219],[0.136382,0.094807,0.986109]] 2025-10-24T20:13:22.105Z,1761336802.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:22.423Z,1761336802.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917102,-0.364028,0.162504],[0.374460,-0.926468,0.037895],[0.136760,0.095605,0.985980]] 2025-10-24T20:13:22.455Z,1761336802.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:22.828Z,1761336802.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916830,-0.364377,0.163252],[0.374943,-0.926256,0.038298],[0.137258,0.096323,0.985841]] 2025-10-24T20:13:22.863Z,1761336802.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:23.232Z,1761336803.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916855,-0.364278,0.163334],[0.374803,-0.926327,0.037956],[0.137474,0.096018,0.985840]] 2025-10-24T20:13:23.287Z,1761336803.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:23.637Z,1761336803.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916363,-0.365245,0.163937],[0.375880,-0.925879,0.038240],[0.137819,0.096662,0.985729]] 2025-10-24T20:13:23.659Z,1761336803.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:24.107Z,1761336804.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916348,-0.365187,0.164152],[0.375788,-0.925932,0.037854],[0.138170,0.096374,0.985708]] 2025-10-24T20:13:24.170Z,1761336804.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:24.486Z,1761336804.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916300,-0.365168,0.164458],[0.375753,-0.925960,0.037526],[0.138578,0.096180,0.985670]] 2025-10-24T20:13:24.505Z,1761336804.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:24.536Z,1761336804.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:13:24.913Z,1761336804.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916208,-0.365160,0.164988],[0.375750,-0.925975,0.037191],[0.139194,0.096069,0.985594]] 2025-10-24T20:13:24.947Z,1761336804.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:25.311Z,1761336805.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916195,-0.364826,0.165798],[0.375570,-0.926025,0.037745],[0.139763,0.096850,0.985437]] 2025-10-24T20:13:25.328Z,1761336805.328 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +156, +34,A 2025-10-24T20:13:25.385Z,1761336805.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:25.540Z,1761336805.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:13:25.713Z,1761336805.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915687,-0.365580,0.166941],[0.376591,-0.925568,0.038760],[0.140346,0.098361,0.985205]] 2025-10-24T20:13:25.735Z,1761336805.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:26.133Z,1761336806.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915694,-0.365255,0.167612],[0.376274,-0.925714,0.038360],[0.141150,0.098194,0.985106]] 2025-10-24T20:13:26.173Z,1761336806.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:26.519Z,1761336806.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915597,-0.365046,0.168592],[0.376106,-0.925798,0.037981],[0.142217,0.098184,0.984954]] 2025-10-24T20:13:26.538Z,1761336806.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:26.924Z,1761336806.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915818,-0.364250,0.169113],[0.375261,-0.926166,0.037345],[0.143024,0.097663,0.984889]] 2025-10-24T20:13:26.942Z,1761336806.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:13:26.944Z,1761336806.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:26.997Z,1761336806.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:13:26.998Z,1761336806.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:13:27.249Z,1761336807.249 [DAT](INFO): DAT read: user:261> 2025-10-24T20:13:27.250Z,1761336807.250 [DAT](INFO): DAT read: Tx time:20:13:26.5490 2025-10-24T20:13:27.250Z,1761336807.250 [DAT](INFO): Ping request sent. 2025-10-24T20:13:27.250Z,1761336807.250 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:13:27.251Z,1761336807.251 [DAT](INFO): publishing transmit ping time 2025-10-24T20:13:27.252Z,1761336807.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002172 2025-10-24T20:13:27.332Z,1761336807.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915968,-0.363425,0.170074],[0.374439,-0.926522,0.036763],[0.144216,0.097356,0.984745]] 2025-10-24T20:13:27.396Z,1761336807.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:27.502Z,1761336807.502 [DAT](INFO): DAT read: TxSync time:20:13:26.5482 2025-10-24T20:13:27.504Z,1761336807.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253278 2025-10-24T20:13:27.735Z,1761336807.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916148,-0.362524,0.171024],[0.373469,-0.926955,0.035722],[0.145581,0.096599,0.984619]] 2025-10-24T20:13:27.753Z,1761336807.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502816 2025-10-24T20:13:27.771Z,1761336807.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:28.005Z,1761336808.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754765 2025-10-24T20:13:28.159Z,1761336808.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915380,-0.364218,0.171535],[0.374509,-0.926710,0.030857],[0.147725,0.092487,0.984695]] 2025-10-24T20:13:28.205Z,1761336808.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:28.259Z,1761336808.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008997 2025-10-24T20:13:28.509Z,1761336808.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258717 2025-10-24T20:13:28.546Z,1761336808.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915683,-0.362488,0.173574],[0.372867,-0.927389,0.030310],[0.149984,0.092475,0.984354]] 2025-10-24T20:13:28.566Z,1761336808.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:28.761Z,1761336808.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511041 2025-10-24T20:13:28.944Z,1761336808.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915225,-0.363058,0.174792],[0.373553,-0.927115,0.030257],[0.151067,0.092986,0.984140]] 2025-10-24T20:13:28.987Z,1761336808.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:29.013Z,1761336809.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762618 2025-10-24T20:13:29.265Z,1761336809.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014777 2025-10-24T20:13:29.350Z,1761336809.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915039,-0.362715,0.176468],[0.373567,-0.927066,0.031553],[0.152153,0.094795,0.983801]] 2025-10-24T20:13:29.430Z,1761336809.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:29.518Z,1761336809.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268008 2025-10-24T20:13:29.757Z,1761336809.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915073,-0.362236,0.177274],[0.373174,-0.927222,0.031634],[0.152914,0.095101,0.983653]] 2025-10-24T20:13:29.769Z,1761336809.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519050 2025-10-24T20:13:29.777Z,1761336809.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:30.021Z,1761336810.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770611 2025-10-24T20:13:30.187Z,1761336810.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914961,-0.362063,0.178205],[0.373084,-0.927259,0.031599],[0.153802,0.095397,0.983486]] 2025-10-24T20:13:30.244Z,1761336810.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:30.273Z,1761336810.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022864 2025-10-24T20:13:30.526Z,1761336810.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275551 2025-10-24T20:13:30.559Z,1761336810.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915012,-0.361517,0.179050],[0.372579,-0.927470,0.031378],[0.154719,0.095422,0.983340]] 2025-10-24T20:13:30.579Z,1761336810.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:30.777Z,1761336810.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526611 2025-10-24T20:13:30.969Z,1761336810.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914943,-0.361088,0.180266],[0.372228,-0.927618,0.031152],[0.155969,0.095602,0.983125]] 2025-10-24T20:13:30.989Z,1761336810.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:31.030Z,1761336811.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779577 2025-10-24T20:13:31.281Z,1761336811.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030718 2025-10-24T20:13:31.370Z,1761336811.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914905,-0.360697,0.181238],[0.371884,-0.927765,0.030879],[0.157008,0.095651,0.982954]] 2025-10-24T20:13:31.408Z,1761336811.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:31.533Z,1761336811.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283044 2025-10-24T20:13:31.772Z,1761336811.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914836,-0.360341,0.182289],[0.371570,-0.927903,0.030526],[0.158147,0.095659,0.982771]] 2025-10-24T20:13:31.789Z,1761336811.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539075 2025-10-24T20:13:31.810Z,1761336811.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:32.041Z,1761336812.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790700 2025-10-24T20:13:32.277Z,1761336812.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:32.293Z,1761336812.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042878 2025-10-24T20:13:32.545Z,1761336812.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294683 2025-10-24T20:13:32.646Z,1761336812.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:32.797Z,1761336812.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546751 2025-10-24T20:13:32.985Z,1761336812.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914645,-0.359237,0.185398],[0.370674,-0.928278,0.030011],[0.161320,0.096172,0.982205]] 2025-10-24T20:13:33.016Z,1761336813.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:33.049Z,1761336813.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798863 2025-10-24T20:13:33.302Z,1761336813.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051947 2025-10-24T20:13:33.394Z,1761336813.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914769,-0.358640,0.185941],[0.369929,-0.928612,0.028837],[0.162325,0.095164,0.982138]] 2025-10-24T20:13:33.458Z,1761336813.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:33.553Z,1761336813.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302776 2025-10-24T20:13:33.801Z,1761336813.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915137,-0.357247,0.186811],[0.368175,-0.929385,0.026285],[0.164229,0.092833,0.982044]] 2025-10-24T20:13:33.805Z,1761336813.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554771 2025-10-24T20:13:33.826Z,1761336813.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:34.057Z,1761336814.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806644 2025-10-24T20:13:34.293Z,1761336814.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:34.309Z,1761336814.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058782 2025-10-24T20:13:34.561Z,1761336814.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310597 2025-10-24T20:13:34.609Z,1761336814.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915136,-0.356249,0.188715],[0.367183,-0.929803,0.025335],[0.166443,0.092478,0.981705]] 2025-10-24T20:13:34.628Z,1761336814.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:34.813Z,1761336814.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562654 2025-10-24T20:13:35.012Z,1761336815.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915042,-0.356053,0.189536],[0.366983,-0.929895,0.024869],[0.167394,0.092313,0.981559]] 2025-10-24T20:13:35.048Z,1761336815.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:35.065Z,1761336815.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814832 2025-10-24T20:13:35.317Z,1761336815.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066657 2025-10-24T20:13:35.474Z,1761336815.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:35.570Z,1761336815.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319916 2025-10-24T20:13:35.821Z,1761336815.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570927 2025-10-24T20:13:35.860Z,1761336815.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:36.073Z,1761336816.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822701 2025-10-24T20:13:36.274Z,1761336816.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915258,-0.353877,0.192546],[0.365013,-0.930677,0.024598],[0.170493,0.092795,0.980980]] 2025-10-24T20:13:36.325Z,1761336816.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074742 2025-10-24T20:13:36.333Z,1761336816.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:36.577Z,1761336816.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326802 2025-10-24T20:13:36.623Z,1761336816.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915374,-0.352886,0.193810],[0.364195,-0.930988,0.024985],[0.171618,0.093455,0.980721]] 2025-10-24T20:13:36.657Z,1761336816.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:36.829Z,1761336816.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578673 2025-10-24T20:13:37.066Z,1761336817.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:37.081Z,1761336817.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830747 2025-10-24T20:13:37.332Z,1761336817.332 [DAT](INFO): Reached modem response timeout 2025-10-24T20:13:37.432Z,1761336817.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915201,-0.352550,0.195231],[0.363919,-0.931107,0.024573],[0.173118,0.093538,0.980449]] 2025-10-24T20:13:37.510Z,1761336817.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:37.917Z,1761336817.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914952,-0.352786,0.195974],[0.364202,-0.931000,0.024408],[0.173841,0.093706,0.980305]] 2025-10-24T20:13:37.957Z,1761336817.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:38.091Z,1761336818.091 [DAT](INFO): DAT read: Response Not Received 2025-10-24T20:13:38.092Z,1761336818.092 [DAT](INFO): response not received 2025-10-24T20:13:38.092Z,1761336818.092 [DAT](ERROR): No response from remote modem. 2025-10-24T20:13:38.319Z,1761336818.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914872,-0.352820,0.196284],[0.364178,-0.931022,0.023910],[0.174309,0.093357,0.980256]] 2025-10-24T20:13:38.390Z,1761336818.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:38.798Z,1761336818.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914710,-0.353181,0.196392],[0.364422,-0.930946,0.023160],[0.174651,0.092754,0.980252]] 2025-10-24T20:13:38.836Z,1761336818.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:39.210Z,1761336819.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914775,-0.353259,0.195948],[0.364408,-0.930958,0.022873],[0.174340,0.092329,0.980347]] 2025-10-24T20:13:39.229Z,1761336819.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:39.668Z,1761336819.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:40.019Z,1761336820.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914473,-0.355097,0.194024],[0.365947,-0.930375,0.022038],[0.172689,0.091156,0.980749]] 2025-10-24T20:13:40.039Z,1761336820.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:40.422Z,1761336820.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914376,-0.355967,0.192884],[0.366631,-0.930118,0.021504],[0.171750,0.090380,0.980986]] 2025-10-24T20:13:40.531Z,1761336820.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:40.912Z,1761336820.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914087,-0.357806,0.190839],[0.368317,-0.929451,0.021541],[0.169668,0.089980,0.981385]] 2025-10-24T20:13:40.931Z,1761336820.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:41.364Z,1761336821.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913774,-0.359064,0.189973],[0.369579,-0.928941,0.021911],[0.168607,0.090232,0.981545]] 2025-10-24T20:13:41.421Z,1761336821.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:41.710Z,1761336821.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913603,-0.360306,0.188438],[0.370787,-0.928447,0.022434],[0.166872,0.090366,0.981829]] 2025-10-24T20:13:41.754Z,1761336821.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:42.154Z,1761336822.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:42.523Z,1761336822.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913071,-0.362880,0.186061],[0.373214,-0.927469,0.022627],[0.164355,0.090101,0.982278]] 2025-10-24T20:13:42.586Z,1761336822.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:42.985Z,1761336822.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:43.395Z,1761336823.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912205,-0.366241,0.183709],[0.376509,-0.926121,0.023243],[0.161624,0.090371,0.982706]] 2025-10-24T20:13:43.414Z,1761336823.414 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412150, +11.7, 0.0 , 0.00, 97.99, 89.83, 85.23, 105.14 2025-10-24T20:13:43.430Z,1761336823.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:43.727Z,1761336823.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911834,-0.367496,0.183043],[0.377789,-0.925590,0.023656],[0.160729,0.090722,0.982820]] 2025-10-24T20:13:43.749Z,1761336823.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:44.136Z,1761336824.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911361,-0.369035,0.182303],[0.379353,-0.924938,0.024095],[0.159727,0.091116,0.982947]] 2025-10-24T20:13:44.158Z,1761336824.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:44.539Z,1761336824.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911149,-0.369914,0.181582],[0.380338,-0.924507,0.025092],[0.158592,0.091925,0.983056]] 2025-10-24T20:13:44.599Z,1761336824.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:44.939Z,1761336824.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910717,-0.371281,0.180955],[0.381753,-0.923909,0.025637],[0.157668,0.092428,0.983157]] 2025-10-24T20:13:44.958Z,1761336824.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:45.349Z,1761336825.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910553,-0.372191,0.179907],[0.382555,-0.923581,0.025500],[0.156668,0.092043,0.983353]] 2025-10-24T20:13:45.454Z,1761336825.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:45.752Z,1761336825.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910261,-0.372635,0.180465],[0.383049,-0.923378,0.025445],[0.157155,0.092289,0.983252]] 2025-10-24T20:13:45.850Z,1761336825.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:46.152Z,1761336826.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910226,-0.372840,0.180218],[0.383372,-0.923219,0.026312],[0.156570,0.093040,0.983275]] 2025-10-24T20:13:46.190Z,1761336826.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:46.560Z,1761336826.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910061,-0.373244,0.180215],[0.383958,-0.922943,0.027423],[0.156093,0.094152,0.983245]] 2025-10-24T20:13:46.615Z,1761336826.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:47.019Z,1761336827.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:47.373Z,1761336827.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909607,-0.374447,0.180014],[0.385340,-0.922332,0.028577],[0.155332,0.095360,0.983249]] 2025-10-24T20:13:47.458Z,1761336827.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:47.775Z,1761336827.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909222,-0.375506,0.179753],[0.386477,-0.921839,0.029136],[0.154763,0.095961,0.983280]] 2025-10-24T20:13:47.825Z,1761336827.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:48.172Z,1761336828.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909015,-0.376144,0.179466],[0.387173,-0.921531,0.029632],[0.154237,0.096420,0.983318]] 2025-10-24T20:13:48.193Z,1761336828.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:48.598Z,1761336828.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908874,-0.376583,0.179256],[0.387646,-0.921322,0.029944],[0.153876,0.096703,0.983347]] 2025-10-24T20:13:48.663Z,1761336828.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:48.980Z,1761336828.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908676,-0.377137,0.179094],[0.388321,-0.921010,0.030773],[0.153342,0.097509,0.983351]] 2025-10-24T20:13:49.007Z,1761336829.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:49.384Z,1761336829.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908364,-0.377875,0.179122],[0.389212,-0.920604,0.031671],[0.152933,0.098485,0.983317]] 2025-10-24T20:13:49.483Z,1761336829.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:49.796Z,1761336829.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908171,-0.378338,0.179125],[0.389795,-0.920331,0.032407],[0.152594,0.099253,0.983292]] 2025-10-24T20:13:49.858Z,1761336829.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:50.194Z,1761336830.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908054,-0.378720,0.178911],[0.390274,-0.920103,0.033133],[0.152069,0.099911,0.983307]] 2025-10-24T20:13:50.214Z,1761336830.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:50.596Z,1761336830.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908187,-0.378581,0.178532],[0.390093,-0.920179,0.033133],[0.151737,0.099735,0.983376]] 2025-10-24T20:13:50.693Z,1761336830.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:50.999Z,1761336830.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908412,-0.378257,0.178070],[0.389753,-0.920315,0.033366],[0.151260,0.099713,0.983452]] 2025-10-24T20:13:51.018Z,1761336831.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:51.405Z,1761336831.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908233,-0.378708,0.178024],[0.390284,-0.920071,0.033871],[0.150968,0.100243,0.983443]] 2025-10-24T20:13:51.425Z,1761336831.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:51.810Z,1761336831.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908492,-0.378423,0.177311],[0.389957,-0.920201,0.034107],[0.150255,0.100130,0.983564]] 2025-10-24T20:13:51.893Z,1761336831.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:52.211Z,1761336832.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908518,-0.378498,0.177013],[0.390068,-0.920138,0.034539],[0.149804,0.100427,0.983602]] 2025-10-24T20:13:52.242Z,1761336832.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:52.616Z,1761336832.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908569,-0.378721,0.176273],[0.390235,-0.920063,0.034652],[0.149059,0.100272,0.983731]] 2025-10-24T20:13:52.665Z,1761336832.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:53.020Z,1761336833.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908688,-0.378652,0.175809],[0.390180,-0.920071,0.035063],[0.148480,0.100458,0.983800]] 2025-10-24T20:13:53.045Z,1761336833.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:53.426Z,1761336833.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908843,-0.378286,0.175795],[0.389934,-0.920143,0.035901],[0.148175,0.101177,0.983772]] 2025-10-24T20:13:53.445Z,1761336833.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:53.922Z,1761336833.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:54.231Z,1761336834.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909264,-0.377539,0.175225],[0.389313,-0.920354,0.037208],[0.147221,0.102049,0.983825]] 2025-10-24T20:13:54.252Z,1761336834.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:54.644Z,1761336834.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909720,-0.376662,0.174743],[0.388382,-0.920745,0.037253],[0.146862,0.101757,0.983909]] 2025-10-24T20:13:54.707Z,1761336834.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:55.040Z,1761336835.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910010,-0.376119,0.174401],[0.387869,-0.920942,0.037737],[0.146419,0.101985,0.983951]] 2025-10-24T20:13:55.078Z,1761336835.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:55.443Z,1761336835.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910185,-0.375726,0.174336],[0.387542,-0.921058,0.038256],[0.146200,0.102382,0.983943]] 2025-10-24T20:13:55.463Z,1761336835.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:55.664Z,1761336835.664 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:13:55.847Z,1761336835.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910339,-0.375466,0.174091],[0.387291,-0.921153,0.038512],[0.145904,0.102483,0.983976]] 2025-10-24T20:13:55.935Z,1761336835.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:56.252Z,1761336836.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911006,-0.374119,0.173500],[0.385790,-0.921804,0.037999],[0.145717,0.101552,0.984101]] 2025-10-24T20:13:56.271Z,1761336836.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:56.663Z,1761336836.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911256,-0.373491,0.173546],[0.385209,-0.922032,0.038341],[0.145695,0.101790,0.984079]] 2025-10-24T20:13:56.668Z,1761336836.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:13:56.722Z,1761336836.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:57.061Z,1761336837.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911827,-0.372286,0.173133],[0.383933,-0.922569,0.038238],[0.145492,0.101337,0.984156]] 2025-10-24T20:13:57.086Z,1761336837.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:57.464Z,1761336837.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911799,-0.372082,0.173717],[0.383899,-0.922551,0.038997],[0.145752,0.102247,0.984023]] 2025-10-24T20:13:57.497Z,1761336837.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:57.884Z,1761336837.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912479,-0.370443,0.173647],[0.382182,-0.923279,0.038647],[0.146009,0.101629,0.984049]] 2025-10-24T20:13:57.959Z,1761336837.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:58.274Z,1761336838.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913477,-0.368053,0.173483],[0.379722,-0.924300,0.038478],[0.146188,0.101024,0.984085]] 2025-10-24T20:13:58.315Z,1761336838.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:58.737Z,1761336838.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913776,-0.367312,0.173479],[0.379003,-0.924586,0.038688],[0.146186,0.101101,0.984077]] 2025-10-24T20:13:58.789Z,1761336838.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:59.172Z,1761336839.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:59.536Z,1761336839.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914427,-0.366097,0.172614],[0.377754,-0.925077,0.039169],[0.145342,0.101023,0.984210]] 2025-10-24T20:13:59.637Z,1761336839.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:13:59.938Z,1761336839.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914487,-0.366181,0.172117],[0.377849,-0.925021,0.039581],[0.144718,0.101230,0.984281]] 2025-10-24T20:13:59.995Z,1761336839.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:00.343Z,1761336840.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914772,-0.366018,0.170948],[0.377613,-0.925102,0.039934],[0.143528,0.101083,0.984470]] 2025-10-24T20:14:00.364Z,1761336840.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:00.815Z,1761336840.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:01.151Z,1761336841.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914951,-0.366589,0.168751],[0.378096,-0.924864,0.040854],[0.141096,0.101183,0.984812]] 2025-10-24T20:14:01.198Z,1761336841.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:01.555Z,1761336841.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914822,-0.367394,0.167700],[0.378885,-0.924515,0.041448],[0.139814,0.101457,0.984966]] 2025-10-24T20:14:01.633Z,1761336841.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:01.963Z,1761336841.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915179,-0.367184,0.166200],[0.378537,-0.924652,0.041586],[0.138407,0.100971,0.985215]] 2025-10-24T20:14:02.088Z,1761336842.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:02.369Z,1761336842.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915111,-0.367930,0.164921],[0.379223,-0.924350,0.042050],[0.136973,0.101022,0.985410]] 2025-10-24T20:14:02.410Z,1761336842.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:02.823Z,1761336842.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:03.234Z,1761336843.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:03.577Z,1761336843.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915085,-0.369959,0.160465],[0.381047,-0.923518,0.043791],[0.131991,0.101217,0.986070]] 2025-10-24T20:14:03.610Z,1761336843.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:03.979Z,1761336843.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914833,-0.371186,0.159065],[0.382267,-0.922968,0.044747],[0.130203,0.101741,0.986253]] 2025-10-24T20:14:04.033Z,1761336844.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:04.384Z,1761336844.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914712,-0.372082,0.157661],[0.383137,-0.922565,0.045604],[0.128484,0.102120,0.986440]] 2025-10-24T20:14:04.423Z,1761336844.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:04.788Z,1761336844.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914589,-0.372924,0.156380],[0.384050,-0.922108,0.047140],[0.126620,0.103171,0.986571]] 2025-10-24T20:14:04.845Z,1761336844.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:05.237Z,1761336845.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:05.597Z,1761336845.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914086,-0.375236,0.153771],[0.386234,-0.921142,0.048163],[0.123573,0.103417,0.986932]] 2025-10-24T20:14:05.666Z,1761336845.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:06.012Z,1761336846.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913864,-0.376383,0.152277],[0.387270,-0.920692,0.048459],[0.121961,0.103257,0.987149]] 2025-10-24T20:14:06.049Z,1761336846.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:06.403Z,1761336846.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913829,-0.377120,0.150654],[0.387864,-0.920432,0.048639],[0.120324,0.102881,0.987389]] 2025-10-24T20:14:06.457Z,1761336846.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:06.809Z,1761336846.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913816,-0.377700,0.149273],[0.388345,-0.920211,0.048983],[0.118861,0.102731,0.987582]] 2025-10-24T20:14:06.880Z,1761336846.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:07.287Z,1761336847.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:07.851Z,1761336847.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:08.151Z,1761336848.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914186,-0.378497,0.144927],[0.388912,-0.919870,0.050858],[0.114065,0.102858,0.988134]] 2025-10-24T20:14:08.173Z,1761336848.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:08.545Z,1761336848.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913979,-0.379268,0.144213],[0.389717,-0.919479,0.051757],[0.112972,0.103507,0.988192]] 2025-10-24T20:14:08.564Z,1761336848.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:08.954Z,1761336848.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913832,-0.380062,0.143054],[0.390548,-0.919049,0.053126],[0.111283,0.104417,0.988288]] 2025-10-24T20:14:08.994Z,1761336848.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:09.352Z,1761336849.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913649,-0.380854,0.142107],[0.391352,-0.918650,0.054088],[0.109947,0.105032,0.988372]] 2025-10-24T20:14:09.387Z,1761336849.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:09.853Z,1761336849.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:10.269Z,1761336850.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913909,-0.381403,0.138936],[0.391690,-0.918438,0.055237],[0.106537,0.104901,0.988760]] 2025-10-24T20:14:10.287Z,1761336850.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:10.696Z,1761336850.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913651,-0.382437,0.137781],[0.392792,-0.917860,0.056984],[0.104671,0.106183,0.988822]] 2025-10-24T20:14:10.756Z,1761336850.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:11.164Z,1761336851.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913572,-0.383199,0.136178],[0.393494,-0.917494,0.058024],[0.102708,0.106594,0.988984]] 2025-10-24T20:14:11.220Z,1761336851.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:11.553Z,1761336851.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913635,-0.383736,0.134228],[0.393819,-0.917357,0.057995],[0.100880,0.105847,0.989252]] 2025-10-24T20:14:11.579Z,1761336851.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:11.957Z,1761336851.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914017,-0.383671,0.131797],[0.393461,-0.917531,0.057670],[0.098802,0.104568,0.989598]] 2025-10-24T20:14:12.006Z,1761336852.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:12.361Z,1761336852.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914242,-0.383754,0.129979],[0.393386,-0.917542,0.058006],[0.097002,0.104164,0.989819]] 2025-10-24T20:14:12.380Z,1761336852.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:12.861Z,1761336852.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:13.167Z,1761336853.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914551,-0.384129,0.126651],[0.393534,-0.917397,0.059280],[0.093418,0.104056,0.990174]] 2025-10-24T20:14:13.211Z,1761336853.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:13.571Z,1761336853.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914857,-0.383975,0.124898],[0.393244,-0.917486,0.059815],[0.091625,0.103838,0.990365]] 2025-10-24T20:14:13.590Z,1761336853.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:14.057Z,1761336854.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:14.379Z,1761336854.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914954,-0.384689,0.121953],[0.393814,-0.917123,0.061615],[0.088143,0.104402,0.990622]] 2025-10-24T20:14:14.405Z,1761336854.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:14.819Z,1761336854.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915067,-0.384905,0.120420],[0.393955,-0.916994,0.062613],[0.086324,0.104735,0.990746]] 2025-10-24T20:14:14.922Z,1761336854.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:15.242Z,1761336855.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:15.593Z,1761336855.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915406,-0.384943,0.117691],[0.393879,-0.916884,0.064673],[0.083014,0.105558,0.990942]] 2025-10-24T20:14:15.622Z,1761336855.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:15.995Z,1761336855.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915376,-0.385318,0.116690],[0.394252,-0.916635,0.065928],[0.081558,0.106354,0.990978]] 2025-10-24T20:14:16.046Z,1761336856.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:16.399Z,1761336856.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915758,-0.384849,0.115232],[0.393695,-0.916813,0.066776],[0.079947,0.106517,0.991092]] 2025-10-24T20:14:16.438Z,1761336856.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:16.808Z,1761336856.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915825,-0.384994,0.114215],[0.393817,-0.916681,0.067859],[0.078573,0.107127,0.991136]] 2025-10-24T20:14:16.904Z,1761336856.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:17.218Z,1761336857.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916079,-0.385050,0.111966],[0.393797,-0.916526,0.070032],[0.075654,0.108246,0.991241]] 2025-10-24T20:14:17.279Z,1761336857.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:17.655Z,1761336857.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916195,-0.385021,0.111110],[0.393770,-0.916440,0.071297],[0.074375,0.109074,0.991247]] 2025-10-24T20:14:17.702Z,1761336857.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:18.016Z,1761336858.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916387,-0.384919,0.109872],[0.393609,-0.916427,0.072341],[0.072845,0.109539,0.991310]] 2025-10-24T20:14:18.062Z,1761336858.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:18.420Z,1761336858.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916426,-0.385159,0.108705],[0.393710,-0.916395,0.072194],[0.071811,0.108959,0.991449]] 2025-10-24T20:14:18.445Z,1761336858.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:18.830Z,1761336858.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916837,-0.384523,0.107484],[0.392968,-0.916682,0.072597],[0.070613,0.108797,0.991553]] 2025-10-24T20:14:18.891Z,1761336858.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:19.230Z,1761336859.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917001,-0.384397,0.106527],[0.392817,-0.916657,0.073720],[0.069311,0.109447,0.991573]] 2025-10-24T20:14:19.399Z,1761336859.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:19.691Z,1761336859.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917348,-0.383844,0.105530],[0.392207,-0.916856,0.074490],[0.068163,0.109723,0.991622]] 2025-10-24T20:14:19.710Z,1761336859.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:20.093Z,1761336860.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917655,-0.383300,0.104835],[0.391652,-0.917014,0.075456],[0.067213,0.110301,0.991623]] 2025-10-24T20:14:20.170Z,1761336860.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:20.503Z,1761336860.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918148,-0.382310,0.104128],[0.390636,-0.917384,0.076225],[0.066384,0.110662,0.991639]] 2025-10-24T20:14:20.522Z,1761336860.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:20.945Z,1761336860.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918517,-0.381577,0.103559],[0.389902,-0.917619,0.077144],[0.065591,0.111236,0.991627]] 2025-10-24T20:14:20.993Z,1761336860.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:21.401Z,1761336861.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918883,-0.380869,0.102922],[0.389165,-0.917878,0.077790],[0.064842,0.111534,0.991643]] 2025-10-24T20:14:21.433Z,1761336861.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:21.804Z,1761336861.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919451,-0.379729,0.102058],[0.387960,-0.918348,0.078254],[0.064010,0.111545,0.991696]] 2025-10-24T20:14:21.823Z,1761336861.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:22.299Z,1761336862.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:22.655Z,1761336862.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920762,-0.377097,0.099979],[0.385122,-0.919510,0.078631],[0.062280,0.110904,0.991878]] 2025-10-24T20:14:22.679Z,1761336862.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:23.062Z,1761336863.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921004,-0.376935,0.098344],[0.384853,-0.919517,0.079853],[0.060330,0.111392,0.991944]] 2025-10-24T20:14:23.103Z,1761336863.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:23.476Z,1761336863.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921718,-0.375956,0.095362],[0.383550,-0.920051,0.079969],[0.057673,0.110285,0.992225]] 2025-10-24T20:14:23.495Z,1761336863.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:23.869Z,1761336863.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922192,-0.375371,0.093055],[0.382765,-0.920295,0.080924],[0.055262,0.110246,0.992367]] 2025-10-24T20:14:23.999Z,1761336863.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:24.337Z,1761336864.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:24.681Z,1761336864.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923120,-0.374390,0.087650],[0.381287,-0.920740,0.082808],[0.049701,0.109861,0.992704]] 2025-10-24T20:14:24.703Z,1761336864.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:25.081Z,1761336865.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923703,-0.373536,0.085114],[0.380222,-0.921058,0.084161],[0.046958,0.110102,0.992810]] 2025-10-24T20:14:25.136Z,1761336865.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:25.496Z,1761336865.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924283,-0.372774,0.082102],[0.379177,-0.921392,0.085214],[0.043883,0.109893,0.992974]] 2025-10-24T20:14:25.529Z,1761336865.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:25.910Z,1761336865.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924890,-0.372373,0.076922],[0.378277,-0.921606,0.086886],[0.038538,0.109458,0.993244]] 2025-10-24T20:14:25.952Z,1761336865.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:26.373Z,1761336866.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:26.752Z,1761336866.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:26.789Z,1761336866.789 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:14:27.102Z,1761336867.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925549,-0.372042,0.070314],[0.377294,-0.921818,0.088883],[0.031748,0.108795,0.993557]] 2025-10-24T20:14:27.159Z,1761336867.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:14:27.161Z,1761336867.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:27.344Z,1761336867.344 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:14:27.344Z,1761336867.344 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:14:27.502Z,1761336867.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925473,-0.372525,0.068741],[0.377637,-0.921576,0.089934],[0.029847,0.109191,0.993573]] 2025-10-24T20:14:27.545Z,1761336867.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:27.593Z,1761336867.593 [DAT](INFO): DAT read: user:262> 2025-10-24T20:14:27.595Z,1761336867.595 [DAT](INFO): DAT read: Tx time:20:14:26.8997 2025-10-24T20:14:27.595Z,1761336867.595 [DAT](INFO): Ping request sent. 2025-10-24T20:14:27.595Z,1761336867.595 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:14:27.596Z,1761336867.596 [DAT](INFO): publishing transmit ping time 2025-10-24T20:14:27.597Z,1761336867.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001194 2025-10-24T20:14:27.792Z,1761336867.792 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:14:27.845Z,1761336867.845 [DAT](INFO): DAT read: TxSync time:20:14:26.8989 2025-10-24T20:14:27.846Z,1761336867.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250518 2025-10-24T20:14:27.919Z,1761336867.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925976,-0.371582,0.067051],[0.376511,-0.922045,0.089847],[0.028438,0.108442,0.993696]] 2025-10-24T20:14:27.946Z,1761336867.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:28.097Z,1761336868.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501566 2025-10-24T20:14:28.315Z,1761336868.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925752,-0.372621,0.064313],[0.377126,-0.922228,0.085274],[0.027537,0.103197,0.994280]] 2025-10-24T20:14:28.349Z,1761336868.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753749 2025-10-24T20:14:28.359Z,1761336868.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:28.601Z,1761336868.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006071 2025-10-24T20:14:28.717Z,1761336868.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925283,-0.373943,0.063386],[0.378425,-0.921417,0.088233],[0.025411,0.105627,0.994081]] 2025-10-24T20:14:28.757Z,1761336868.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:28.853Z,1761336868.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258006 2025-10-24T20:14:29.105Z,1761336869.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509638 2025-10-24T20:14:29.122Z,1761336869.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924758,-0.375519,0.061701],[0.379854,-0.920676,0.089815],[0.023079,0.106495,0.994045]] 2025-10-24T20:14:29.191Z,1761336869.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:29.357Z,1761336869.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761591 2025-10-24T20:14:29.522Z,1761336869.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924756,-0.375891,0.059438],[0.380018,-0.920450,0.091423],[0.020345,0.107131,0.994037]] 2025-10-24T20:14:29.546Z,1761336869.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:29.610Z,1761336869.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014297 2025-10-24T20:14:29.861Z,1761336869.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265693 2025-10-24T20:14:29.929Z,1761336869.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924805,-0.376101,0.057308],[0.380025,-0.920300,0.092891],[0.017804,0.107684,0.994026]] 2025-10-24T20:14:29.948Z,1761336869.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:30.114Z,1761336870.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518723 2025-10-24T20:14:30.354Z,1761336870.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925246,-0.375375,0.054894],[0.379055,-0.920631,0.093577],[0.015410,0.107389,0.994098]] 2025-10-24T20:14:30.365Z,1761336870.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769746 2025-10-24T20:14:30.398Z,1761336870.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:30.618Z,1761336870.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022401 2025-10-24T20:14:30.789Z,1761336870.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:30.869Z,1761336870.869 [DAT](INFO): DAT read: Rx Time:20:14:29.5498 2025-10-24T20:14:30.870Z,1761336870.870 [DAT](INFO): Rx dataTimestamp_ set to:1761336870.869239 2025-10-24T20:14:30.870Z,1761336870.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275064 2025-10-24T20:14:31.121Z,1761336871.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525583 2025-10-24T20:14:31.204Z,1761336871.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926105,-0.373813,0.050919],[0.377095,-0.921268,0.095210],[0.011319,0.107376,0.994154]] 2025-10-24T20:14:31.259Z,1761336871.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:31.379Z,1761336871.379 [DAT](INFO): DAT read: 20:14:29.5498 LVL= 18880, 15265, 15730, 32755, AGC= 66, IDX= 418,-0.49,-1.475, 0.123,-1.108,-1.625, PHS= 0.238, 1.794, 0.514, RAW= 320.4, -32.0, CAL= 319.9, -45.8, ROT= 190.1, 45.8 2025-10-24T20:14:31.380Z,1761336871.380 [DAT](INFO): got valid direction response: 20:14:29.5498 LVL= 18880, 15265, 15730, 32755, AGC= 66, IDX= 418,-0.49,-1.475, 0.123,-1.108,-1.625, PHS= 0.238, 1.794, 0.514, RAW= 320.4, -32.0, CAL= 319.9, -45.8, ROT= 190.1, 45.8 2025-10-24T20:14:31.381Z,1761336871.381 [DAT](INFO): DAT read: $Error in header 2025-10-24T20:14:31.381Z,1761336871.381 [DAT](INFO): Received a bad header 2025-10-24T20:14:31.392Z,1761336871.392 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T20:14:31.393Z,1761336871.393 [DAT](INFO): direction in FSK: [-0.686361,-0.122260,-0.716911] 2025-10-24T20:14:31.685Z,1761336871.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:32.063Z,1761336872.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927127,-0.371843,0.046571],[0.374680,-0.922142,0.096273],[0.007146,0.106707,0.994265]] 2025-10-24T20:14:32.146Z,1761336872.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:32.458Z,1761336872.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927552,-0.371084,0.044089],[0.373664,-0.922489,0.096893],[0.004716,0.106348,0.994318]] 2025-10-24T20:14:32.518Z,1761336872.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:32.863Z,1761336872.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927774,-0.370804,0.041714],[0.373138,-0.922525,0.098574],[0.001931,0.107019,0.994255]] 2025-10-24T20:14:32.893Z,1761336872.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:33.263Z,1761336873.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928210,-0.369996,0.039108],[0.372057,-0.922875,0.099380],[-0.000679,0.106796,0.994281]] 2025-10-24T20:14:33.311Z,1761336873.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:33.679Z,1761336873.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928296,-0.370038,0.036590],[0.371827,-0.922839,0.100567],[-0.003447,0.106961,0.994257]] 2025-10-24T20:14:33.709Z,1761336873.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:34.075Z,1761336874.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928503,-0.369774,0.033910],[0.371272,-0.922944,0.101646],[-0.006289,0.106969,0.994242]] 2025-10-24T20:14:34.161Z,1761336874.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:34.480Z,1761336874.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928523,-0.369958,0.031248],[0.371156,-0.922793,0.103426],[-0.009428,0.107631,0.994146]] 2025-10-24T20:14:34.516Z,1761336874.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:34.889Z,1761336874.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928668,-0.369814,0.028507],[0.370705,-0.922840,0.104616],[-0.012381,0.107721,0.994104]] 2025-10-24T20:14:34.925Z,1761336874.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:35.286Z,1761336875.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928690,-0.369967,0.025676],[0.370536,-0.922782,0.105721],[-0.015420,0.107696,0.994064]] 2025-10-24T20:14:35.360Z,1761336875.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:35.734Z,1761336875.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:36.092Z,1761336876.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928810,-0.370034,0.019676],[0.369926,-0.922829,0.107430],[-0.021595,0.107061,0.994018]] 2025-10-24T20:14:36.188Z,1761336876.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:36.565Z,1761336876.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:36.908Z,1761336876.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928825,-0.370275,0.013443],[0.369466,-0.922841,0.108899],[-0.027917,0.106115,0.993962]] 2025-10-24T20:14:36.933Z,1761336876.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:37.304Z,1761336877.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928617,-0.370887,0.010660],[0.369735,-0.922561,0.110352],[-0.031093,0.106416,0.993835]] 2025-10-24T20:14:37.356Z,1761336877.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:37.676Z,1761336877.676 [DAT](INFO): Reached modem response timeout 2025-10-24T20:14:37.718Z,1761336877.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928608,-0.370979,0.007833],[0.369481,-0.922501,0.111692],[-0.034210,0.106612,0.993712]] 2025-10-24T20:14:37.757Z,1761336877.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:38.112Z,1761336878.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928340,-0.371695,0.005227],[0.369886,-0.922241,0.112496],[-0.036993,0.106368,0.993638]] 2025-10-24T20:14:38.138Z,1761336878.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:38.433Z,1761336878.433 [DAT](INFO): DAT read: Response Not Received 2025-10-24T20:14:38.434Z,1761336878.434 [DAT](INFO): response not received 2025-10-24T20:14:38.434Z,1761336878.434 [DAT](ERROR): No response from remote modem. 2025-10-24T20:14:38.587Z,1761336878.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:38.926Z,1761336878.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928191,-0.372090,-0.003125],[0.369248,-0.922075,0.115907],[-0.046010,0.106430,0.993255]] 2025-10-24T20:14:38.973Z,1761336878.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:39.335Z,1761336879.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928034,-0.372454,-0.005582],[0.369275,-0.921875,0.117400],[-0.048872,0.106889,0.993069]] 2025-10-24T20:14:39.380Z,1761336879.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:39.729Z,1761336879.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927957,-0.372609,-0.007661],[0.369115,-0.921705,0.119223],[-0.051484,0.107806,0.992838]] 2025-10-24T20:14:39.754Z,1761336879.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:40.134Z,1761336880.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927980,-0.372500,-0.009821],[0.368703,-0.921700,0.120525],[-0.053947,0.108224,0.992662]] 2025-10-24T20:14:40.154Z,1761336880.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:40.535Z,1761336880.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928173,-0.371956,-0.011975],[0.367868,-0.921888,0.121635],[-0.056283,0.108493,0.992503]] 2025-10-24T20:14:40.591Z,1761336880.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:40.941Z,1761336880.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928530,-0.370995,-0.013972],[0.366646,-0.922260,0.122508],[-0.058336,0.108630,0.992369]] 2025-10-24T20:14:40.961Z,1761336880.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:41.346Z,1761336881.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928682,-0.370543,-0.015751],[0.365933,-0.922385,0.123685],[-0.060359,0.109100,0.992197]] 2025-10-24T20:14:41.387Z,1761336881.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:41.747Z,1761336881.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929056,-0.369514,-0.017741],[0.364639,-0.922778,0.124578],[-0.062404,0.109271,0.992051]] 2025-10-24T20:14:41.798Z,1761336881.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:42.192Z,1761336882.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:42.557Z,1761336882.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929966,-0.367028,-0.021287],[0.361674,-0.923722,0.126211],[-0.065987,0.109673,0.991775]] 2025-10-24T20:14:42.618Z,1761336882.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:42.961Z,1761336882.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930615,-0.365254,-0.023373],[0.359718,-0.924555,0.125701],[-0.067523,0.108571,0.991793]] 2025-10-24T20:14:42.981Z,1761336882.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:43.363Z,1761336883.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931253,-0.363497,-0.025265],[0.357794,-0.925353,0.125321],[-0.068933,0.107665,0.991795]] 2025-10-24T20:14:43.444Z,1761336883.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:43.771Z,1761336883.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932019,-0.361393,-0.027144],[0.355500,-0.926235,0.125335],[-0.070437,0.107165,0.991743]] 2025-10-24T20:14:43.829Z,1761336883.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:44.173Z,1761336884.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932802,-0.359227,-0.028924],[0.353170,-0.927150,0.125157],[-0.071777,0.106531,0.991715]] 2025-10-24T20:14:44.192Z,1761336884.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:44.578Z,1761336884.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933497,-0.357259,-0.030794],[0.351090,-0.928077,0.124132],[-0.072926,0.105065,0.991788]] 2025-10-24T20:14:44.619Z,1761336884.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:44.981Z,1761336884.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934041,-0.355692,-0.032417],[0.349454,-0.928859,0.122898],[-0.073825,0.103464,0.991890]] 2025-10-24T20:14:45.012Z,1761336885.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:45.439Z,1761336885.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:45.843Z,1761336885.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:46.193Z,1761336886.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934823,-0.353053,-0.038210],[0.346491,-0.930394,0.119631],[-0.077786,0.098595,0.992083]] 2025-10-24T20:14:46.213Z,1761336886.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:46.595Z,1761336886.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934467,-0.353757,-0.040333],[0.347098,-0.930352,0.118188],[-0.079334,0.096444,0.992172]] 2025-10-24T20:14:46.644Z,1761336886.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:46.998Z,1761336886.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933894,-0.355044,-0.042260],[0.348284,-0.930049,0.117081],[-0.080872,0.094623,0.992223]] 2025-10-24T20:14:47.019Z,1761336887.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:47.405Z,1761336887.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933497,-0.355838,-0.044311],[0.348970,-0.929925,0.116018],[-0.082489,0.092839,0.992258]] 2025-10-24T20:14:47.468Z,1761336887.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:47.810Z,1761336887.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932719,-0.357693,-0.045722],[0.350650,-0.929239,0.116446],[-0.084138,0.092579,0.992144]] 2025-10-24T20:14:47.844Z,1761336887.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:48.212Z,1761336888.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932036,-0.359266,-0.047309],[0.352033,-0.928662,0.116871],[-0.085922,0.092274,0.992020]] 2025-10-24T20:14:48.265Z,1761336888.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:48.685Z,1761336888.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:49.026Z,1761336889.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930171,-0.363637,-0.050502],[0.356098,-0.927115,0.116839],[-0.089308,0.090696,0.991866]] 2025-10-24T20:14:49.050Z,1761336889.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:49.427Z,1761336889.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929018,-0.366419,-0.051598],[0.358692,-0.926004,0.117712],[-0.090912,0.090849,0.991706]] 2025-10-24T20:14:49.509Z,1761336889.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:49.834Z,1761336889.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928105,-0.368581,-0.052615],[0.360609,-0.925059,0.119279],[-0.092636,0.091730,0.991466]] 2025-10-24T20:14:49.890Z,1761336889.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:50.235Z,1761336890.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927035,-0.371166,-0.053306],[0.362929,-0.923886,0.121319],[-0.094278,0.093121,0.991181]] 2025-10-24T20:14:50.254Z,1761336890.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:50.701Z,1761336890.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:51.047Z,1761336891.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925859,-0.373722,-0.055825],[0.364962,-0.922704,0.124176],[-0.097917,0.094595,0.990689]] 2025-10-24T20:14:51.066Z,1761336891.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:51.448Z,1761336891.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925391,-0.374764,-0.056599],[0.365731,-0.922134,0.126135],[-0.099463,0.096025,0.990397]] 2025-10-24T20:14:51.496Z,1761336891.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:51.856Z,1761336891.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925006,-0.375556,-0.057627],[0.366263,-0.921709,0.127687],[-0.101069,0.097005,0.990139]] 2025-10-24T20:14:51.923Z,1761336891.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:52.256Z,1761336892.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924417,-0.376893,-0.058353],[0.367341,-0.921033,0.129455],[-0.102536,0.098235,0.989867]] 2025-10-24T20:14:52.295Z,1761336892.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:52.716Z,1761336892.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:53.067Z,1761336893.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923799,-0.378189,-0.059731],[0.368213,-0.920303,0.132144],[-0.104946,0.100081,0.989429]] 2025-10-24T20:14:53.086Z,1761336893.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:53.467Z,1761336893.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923681,-0.378311,-0.060781],[0.368125,-0.920197,0.133121],[-0.106292,0.100587,0.989234]] 2025-10-24T20:14:53.548Z,1761336893.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:53.881Z,1761336893.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923607,-0.378383,-0.061448],[0.368023,-0.920096,0.134099],[-0.107279,0.101241,0.989061]] 2025-10-24T20:14:53.938Z,1761336893.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:54.275Z,1761336894.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923555,-0.378374,-0.062282],[0.367837,-0.920048,0.134939],[-0.108360,0.101714,0.988895]] 2025-10-24T20:14:54.299Z,1761336894.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:54.679Z,1761336894.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923726,-0.377807,-0.063184],[0.367131,-0.920264,0.135382],[-0.109294,0.101859,0.988777]] 2025-10-24T20:14:54.731Z,1761336894.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:55.085Z,1761336895.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923924,-0.377216,-0.063815],[0.366424,-0.920475,0.135862],[-0.109990,0.102143,0.988670]] 2025-10-24T20:14:55.144Z,1761336895.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:55.487Z,1761336895.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924236,-0.376359,-0.064352],[0.365458,-0.920784,0.136370],[-0.110579,0.102520,0.988566]] 2025-10-24T20:14:55.541Z,1761336895.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:55.907Z,1761336895.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924732,-0.374973,-0.065317],[0.363889,-0.921288,0.137160],[-0.111607,0.103069,0.988393]] 2025-10-24T20:14:55.939Z,1761336895.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:56.301Z,1761336896.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924921,-0.374503,-0.065333],[0.363332,-0.921393,0.137934],[-0.111854,0.103840,0.988284]] 2025-10-24T20:14:56.321Z,1761336896.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:56.702Z,1761336896.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925468,-0.372962,-0.066392],[0.361859,-0.922199,0.136405],[-0.112101,0.102214,0.988426]] 2025-10-24T20:14:56.743Z,1761336896.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:57.104Z,1761336897.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925636,-0.372445,-0.066960],[0.361365,-0.922496,0.135708],[-0.112314,0.101419,0.988484]] 2025-10-24T20:14:57.137Z,1761336897.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:57.563Z,1761336897.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:57.922Z,1761336897.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926510,-0.370096,-0.067882],[0.358926,-0.923443,0.135736],[-0.112921,0.101397,0.988417]] 2025-10-24T20:14:57.924Z,1761336897.924 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:14:57.941Z,1761336897.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:58.322Z,1761336898.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926727,-0.369484,-0.068250],[0.358244,-0.923663,0.136043],[-0.113306,0.101624,0.988349]] 2025-10-24T20:14:58.342Z,1761336898.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:58.725Z,1761336898.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927265,-0.367990,-0.069017],[0.356726,-0.924314,0.135606],[-0.113695,0.101122,0.988356]] 2025-10-24T20:14:58.795Z,1761336898.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:58.928Z,1761336898.928 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:14:59.180Z,1761336899.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:59.535Z,1761336899.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927676,-0.366680,-0.070448],[0.355373,-0.924960,0.134753],[-0.114573,0.099972,0.988372]] 2025-10-24T20:14:59.577Z,1761336899.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:14:59.938Z,1761336899.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927750,-0.366447,-0.070688],[0.355101,-0.925045,0.134888],[-0.114819,0.100041,0.988336]] 2025-10-24T20:14:59.972Z,1761336899.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:00.343Z,1761336900.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927853,-0.366044,-0.071416],[0.354644,-0.925244,0.134729],[-0.115394,0.099682,0.988306]] 2025-10-24T20:15:00.363Z,1761336900.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:00.756Z,1761336900.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927913,-0.365810,-0.071842],[0.354367,-0.925348,0.134740],[-0.115768,0.099568,0.988273]] 2025-10-24T20:15:00.810Z,1761336900.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:01.153Z,1761336901.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927907,-0.365742,-0.072265],[0.354231,-0.925369,0.134958],[-0.116232,0.099630,0.988213]] 2025-10-24T20:15:01.175Z,1761336901.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:01.557Z,1761336901.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927918,-0.365596,-0.072858],[0.354006,-0.925430,0.135124],[-0.116825,0.099592,0.988146]] 2025-10-24T20:15:01.606Z,1761336901.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:01.960Z,1761336901.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927925,-0.365437,-0.073557],[0.353767,-0.925508,0.135213],[-0.117489,0.099446,0.988082]] 2025-10-24T20:15:01.978Z,1761336901.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:02.364Z,1761336902.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928060,-0.364968,-0.074187],[0.353248,-0.925721,0.135115],[-0.117989,0.099189,0.988049]] 2025-10-24T20:15:02.385Z,1761336902.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:02.765Z,1761336902.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927828,-0.365499,-0.074470],[0.353687,-0.925479,0.135625],[-0.118491,0.099498,0.987957]] 2025-10-24T20:15:02.805Z,1761336902.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:03.170Z,1761336903.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927798,-0.365424,-0.075208],[0.353541,-0.925537,0.135609],[-0.119162,0.099229,0.987904]] 2025-10-24T20:15:03.205Z,1761336903.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:03.582Z,1761336903.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927518,-0.365979,-0.075962],[0.353998,-0.925336,0.135788],[-0.119986,0.099055,0.987822]] 2025-10-24T20:15:03.629Z,1761336903.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:03.986Z,1761336903.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927169,-0.366789,-0.076305],[0.354719,-0.924996,0.136223],[-0.120547,0.099235,0.987735]] 2025-10-24T20:15:04.006Z,1761336904.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:04.380Z,1761336904.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926980,-0.367116,-0.077023],[0.354957,-0.924885,0.136355],[-0.121296,0.099059,0.987661]] 2025-10-24T20:15:04.414Z,1761336904.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:04.784Z,1761336904.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926558,-0.368135,-0.077242],[0.355888,-0.924451,0.136872],[-0.121794,0.099331,0.987573]] 2025-10-24T20:15:04.839Z,1761336904.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:05.199Z,1761336905.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926305,-0.368543,-0.078323],[0.356345,-0.924463,0.135596],[-0.122380,0.097694,0.987664]] 2025-10-24T20:15:05.218Z,1761336905.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:05.669Z,1761336905.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:05.995Z,1761336905.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925001,-0.371706,-0.078794],[0.359254,-0.923099,0.137207],[-0.123736,0.098610,0.987404]] 2025-10-24T20:15:06.030Z,1761336906.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:06.404Z,1761336906.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924257,-0.373526,-0.078909],[0.360942,-0.922301,0.138138],[-0.124376,0.099194,0.987265]] 2025-10-24T20:15:06.445Z,1761336906.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:06.806Z,1761336906.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923628,-0.375050,-0.079047],[0.362307,-0.921596,0.139261],[-0.125080,0.099987,0.987096]] 2025-10-24T20:15:06.867Z,1761336906.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:07.297Z,1761336907.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922850,-0.376957,-0.079060],[0.364013,-0.920691,0.140797],[-0.125864,0.101155,0.986877]] 2025-10-24T20:15:07.332Z,1761336907.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:07.701Z,1761336907.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922155,-0.378669,-0.078997],[0.365578,-0.919891,0.141964],[-0.126425,0.102033,0.986715]] 2025-10-24T20:15:07.771Z,1761336907.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:08.166Z,1761336908.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921312,-0.380601,-0.079543],[0.367247,-0.918983,0.143525],[-0.127724,0.103019,0.986445]] 2025-10-24T20:15:08.189Z,1761336908.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:08.563Z,1761336908.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921181,-0.380868,-0.079778],[0.367418,-0.918829,0.144075],[-0.128176,0.103407,0.986346]] 2025-10-24T20:15:08.663Z,1761336908.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:08.968Z,1761336908.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921044,-0.381196,-0.079797],[0.367678,-0.918647,0.144570],[-0.128415,0.103816,0.986272]] 2025-10-24T20:15:09.019Z,1761336909.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:09.372Z,1761336909.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921392,-0.380309,-0.080008],[0.366832,-0.919057,0.144111],[-0.128338,0.103433,0.986322]] 2025-10-24T20:15:09.391Z,1761336909.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:09.787Z,1761336909.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921557,-0.379997,-0.079585],[0.366522,-0.919128,0.144447],[-0.128038,0.103947,0.986307]] 2025-10-24T20:15:09.825Z,1761336909.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:10.182Z,1761336910.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921871,-0.379313,-0.079219],[0.365833,-0.919349,0.144787],[-0.127749,0.104494,0.986287]] 2025-10-24T20:15:10.234Z,1761336910.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:10.583Z,1761336910.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922252,-0.378463,-0.078848],[0.365062,-0.919700,0.144503],[-0.127206,0.104484,0.986358]] 2025-10-24T20:15:10.603Z,1761336910.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:10.990Z,1761336910.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922671,-0.377493,-0.078598],[0.364189,-0.920129,0.143973],[-0.126669,0.104216,0.986455]] 2025-10-24T20:15:11.046Z,1761336911.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:11.392Z,1761336911.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923204,-0.376287,-0.078113],[0.363101,-0.920637,0.143472],[-0.125900,0.104091,0.986567]] 2025-10-24T20:15:11.417Z,1761336911.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:11.850Z,1761336911.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:12.209Z,1761336912.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924610,-0.372950,-0.077495],[0.360107,-0.922141,0.141347],[-0.124176,0.102784,0.986922]] 2025-10-24T20:15:12.248Z,1761336912.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:12.603Z,1761336912.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925371,-0.371177,-0.076921],[0.358508,-0.922896,0.140479],[-0.123132,0.102418,0.987091]] 2025-10-24T20:15:12.642Z,1761336912.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:13.069Z,1761336913.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:13.502Z,1761336913.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:13.817Z,1761336913.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927339,-0.366477,-0.075749],[0.354212,-0.924885,0.138277],[-0.120734,0.101399,0.987493]] 2025-10-24T20:15:13.863Z,1761336913.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:14.224Z,1761336914.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927756,-0.365605,-0.074853],[0.353470,-0.925213,0.137986],[-0.119703,0.101559,0.987602]] 2025-10-24T20:15:14.280Z,1761336914.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:14.626Z,1761336914.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928325,-0.364150,-0.074889],[0.352154,-0.925885,0.136835],[-0.119167,0.100655,0.987759]] 2025-10-24T20:15:14.645Z,1761336914.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:15.028Z,1761336915.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928541,-0.363690,-0.074439],[0.351808,-0.926098,0.136283],[-0.118503,0.100356,0.987869]] 2025-10-24T20:15:15.079Z,1761336915.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:15.431Z,1761336915.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928387,-0.363998,-0.074857],[0.352240,-0.926137,0.134895],[-0.118429,0.098868,0.988028]] 2025-10-24T20:15:15.452Z,1761336915.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:15.841Z,1761336915.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927891,-0.365279,-0.074758],[0.353752,-0.925832,0.133023],[-0.117804,0.096985,0.988290]] 2025-10-24T20:15:15.923Z,1761336915.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:16.239Z,1761336916.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927443,-0.366403,-0.074822],[0.355138,-0.925626,0.130738],[-0.117160,0.094679,0.988589]] 2025-10-24T20:15:16.278Z,1761336916.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:16.644Z,1761336916.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926990,-0.367528,-0.074923],[0.356412,-0.925328,0.129381],[-0.116880,0.093231,0.988760]] 2025-10-24T20:15:16.679Z,1761336916.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:17.049Z,1761336917.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926641,-0.368382,-0.075040],[0.357365,-0.925091,0.128440],[-0.116734,0.092202,0.988874]] 2025-10-24T20:15:17.110Z,1761336917.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:17.451Z,1761336917.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926272,-0.369356,-0.074805],[0.358344,-0.924695,0.128561],[-0.116657,0.092276,0.988876]] 2025-10-24T20:15:17.478Z,1761336917.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:17.858Z,1761336917.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925745,-0.370811,-0.074124],[0.359806,-0.924062,0.129030],[-0.116341,0.092779,0.988867]] 2025-10-24T20:15:17.923Z,1761336917.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:18.384Z,1761336918.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:18.786Z,1761336918.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924541,-0.374115,-0.072541],[0.362966,-0.922480,0.131478],[-0.116105,0.095227,0.988661]] 2025-10-24T20:15:18.831Z,1761336918.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:19.206Z,1761336919.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923419,-0.377112,-0.071298],[0.366010,-0.921196,0.132037],[-0.115472,0.095830,0.988677]] 2025-10-24T20:15:19.257Z,1761336919.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:19.605Z,1761336919.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923153,-0.377915,-0.070492],[0.366863,-0.920826,0.132255],[-0.114892,0.096230,0.988706]] 2025-10-24T20:15:19.624Z,1761336919.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:20.011Z,1761336920.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923090,-0.378270,-0.069394],[0.367448,-0.920746,0.131184],[-0.113518,0.095596,0.988926]] 2025-10-24T20:15:20.054Z,1761336920.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:20.414Z,1761336920.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922846,-0.379101,-0.068097],[0.368422,-0.920382,0.131002],[-0.112339,0.095806,0.989041]] 2025-10-24T20:15:20.449Z,1761336920.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:20.921Z,1761336920.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:21.222Z,1761336921.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922629,-0.380258,-0.064493],[0.369886,-0.919743,0.131368],[-0.109271,0.097349,0.989234]] 2025-10-24T20:15:21.249Z,1761336921.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:21.625Z,1761336921.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922830,-0.380012,-0.063055],[0.369852,-0.919849,0.130719],[-0.107676,0.097310,0.989412]] 2025-10-24T20:15:21.644Z,1761336921.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:22.028Z,1761336922.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922870,-0.380286,-0.060767],[0.370368,-0.919663,0.130564],[-0.105537,0.097988,0.989576]] 2025-10-24T20:15:22.078Z,1761336922.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:22.500Z,1761336922.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923211,-0.379705,-0.059213],[0.370023,-0.919911,0.129792],[-0.103754,0.097915,0.989772]] 2025-10-24T20:15:22.543Z,1761336922.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:22.950Z,1761336922.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923482,-0.379352,-0.057209],[0.369926,-0.920027,0.129246],[-0.101664,0.098193,0.989961]] 2025-10-24T20:15:23.011Z,1761336923.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:23.415Z,1761336923.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923938,-0.378722,-0.053934],[0.369572,-0.920097,0.129763],[-0.098769,0.099960,0.990077]] 2025-10-24T20:15:23.481Z,1761336923.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:23.873Z,1761336923.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924317,-0.378204,-0.050988],[0.369368,-0.920198,0.129623],[-0.095943,0.100980,0.990251]] 2025-10-24T20:15:23.897Z,1761336923.897 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0. +0.00, 20.48 2025-10-24T20:15:23.922Z,1761336923.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:24.208Z,1761336924.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924877,-0.377147,-0.048605],[0.368695,-0.920670,0.128183],[-0.093093,0.100633,0.990559]] 2025-10-24T20:15:24.227Z,1761336924.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:24.613Z,1761336924.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925374,-0.376217,-0.046310],[0.368081,-0.921035,0.127319],[-0.090553,0.100772,0.990780]] 2025-10-24T20:15:24.632Z,1761336924.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:25.016Z,1761336925.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925739,-0.375642,-0.043594],[0.367889,-0.921273,0.126151],[-0.087550,0.100746,0.991053]] 2025-10-24T20:15:25.089Z,1761336925.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:25.419Z,1761336925.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926135,-0.374971,-0.040872],[0.367551,-0.921492,0.125530],[-0.084733,0.101235,0.991248]] 2025-10-24T20:15:25.441Z,1761336925.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:25.830Z,1761336925.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926491,-0.374402,-0.037922],[0.367352,-0.921680,0.124738],[-0.081654,0.101638,0.991465]] 2025-10-24T20:15:25.915Z,1761336925.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:26.287Z,1761336926.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:26.631Z,1761336926.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927048,-0.373508,-0.032763],[0.367190,-0.922086,0.122181],[-0.075846,0.101238,0.991967]] 2025-10-24T20:15:26.672Z,1761336926.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:27.039Z,1761336927.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927243,-0.373240,-0.030194],[0.367234,-0.922155,0.121528],[-0.073203,0.101598,0.992129]] 2025-10-24T20:15:27.106Z,1761336927.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:27.513Z,1761336927.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927406,-0.373132,-0.026297],[0.367708,-0.922306,0.118922],[-0.068628,0.100619,0.992555]] 2025-10-24T20:15:27.629Z,1761336927.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:27.631Z,1761336927.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:27.840Z,1761336927.840 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:15:27.841Z,1761336927.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:15:27.958Z,1761336927.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927387,-0.373290,-0.024668],[0.368088,-0.922266,0.118054],[-0.066819,0.100401,0.992701]] 2025-10-24T20:15:28.002Z,1761336928.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:28.093Z,1761336928.093 [DAT](INFO): DAT read: 2025-10-24T20:15:28.094Z,1761336928.094 [DAT](INFO): DAT read: Tx time:20:15:27.4004 2025-10-24T20:15:28.094Z,1761336928.094 [DAT](INFO): Ping request sent. 2025-10-24T20:15:28.094Z,1761336928.094 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:15:28.094Z,1761336928.094 [DAT](INFO): publishing transmit ping time 2025-10-24T20:15:28.095Z,1761336928.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-24T20:15:28.345Z,1761336928.345 [DAT](INFO): DAT read: TxSync time:20:15:27.3997 2025-10-24T20:15:28.346Z,1761336928.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251699 2025-10-24T20:15:28.358Z,1761336928.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927565,-0.372956,-0.022930],[0.367997,-0.922428,0.117065],[-0.064812,0.100147,0.992859]] 2025-10-24T20:15:28.406Z,1761336928.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:28.597Z,1761336928.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502719 2025-10-24T20:15:28.760Z,1761336928.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927189,-0.374304,-0.014710],[0.369202,-0.919779,0.133032],[-0.063324,0.117915,0.991003]] 2025-10-24T20:15:28.779Z,1761336928.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:28.850Z,1761336928.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755443 2025-10-24T20:15:29.052Z,1761336929.052 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:15:29.101Z,1761336929.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007341 2025-10-24T20:15:29.164Z,1761336929.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927151,-0.374408,-0.014468],[0.369481,-0.920002,0.130693],[-0.062243,0.115827,0.991317]] 2025-10-24T20:15:29.210Z,1761336929.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:29.353Z,1761336929.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258821 2025-10-24T20:15:29.567Z,1761336929.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927486,-0.373589,-0.014175],[0.368894,-0.920671,0.127599],[-0.060720,0.113117,0.991725]] 2025-10-24T20:15:29.605Z,1761336929.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510917 2025-10-24T20:15:29.612Z,1761336929.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:29.858Z,1761336929.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764004 2025-10-24T20:15:30.057Z,1761336930.057 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:15:30.072Z,1761336930.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:30.111Z,1761336930.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017203 2025-10-24T20:15:30.361Z,1761336930.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266731 2025-10-24T20:15:30.386Z,1761336930.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929506,-0.368573,-0.013152],[0.364473,-0.923449,0.120006],[-0.056376,0.106753,0.992686]] 2025-10-24T20:15:30.405Z,1761336930.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:30.615Z,1761336930.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520589 2025-10-24T20:15:30.779Z,1761336930.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930582,-0.365882,-0.012151],[0.362117,-0.924865,0.116170],[-0.053742,0.103706,0.993155]] 2025-10-24T20:15:30.799Z,1761336930.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:30.866Z,1761336930.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771461 2025-10-24T20:15:31.120Z,1761336931.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025216 2025-10-24T20:15:31.201Z,1761336931.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931292,-0.364126,-0.010347],[0.360707,-0.925768,0.113336],[-0.050847,0.101817,0.993503]] 2025-10-24T20:15:31.247Z,1761336931.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:31.369Z,1761336931.369 [DAT](INFO): DAT read: Rx Time:20:15:30.0905 2025-10-24T20:15:31.369Z,1761336931.369 [DAT](INFO): Rx dataTimestamp_ set to:1761336931.369057 2025-10-24T20:15:31.370Z,1761336931.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275852 2025-10-24T20:15:31.588Z,1761336931.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931746,-0.363000,-0.008940],[0.359867,-0.926428,0.110577],[-0.048422,0.099812,0.993827]] 2025-10-24T20:15:31.610Z,1761336931.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-24T20:15:31.621Z,1761336931.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526837 2025-10-24T20:15:31.881Z,1761336931.881 [DAT](INFO): DAT read: 20:15:30.0905 LVL= 19376, 12417, 13426, 28787, AGC= 62, IDX= 349,-0.36, 1.690,-2.414, 2.061, 1.710, PHS= 0.067, 2.206, 0.348, RAW= 323.1, -24.7, CAL= 325.1, -37.0, ROT= 184.9, 37.0 2025-10-24T20:15:31.883Z,1761336931.883 [DAT](INFO): got valid direction response: 20:15:30.0905 LVL= 19376, 12417, 13426, 28787, AGC= 62, IDX= 349,-0.36, 1.690,-2.414, 2.061, 1.710, PHS= 0.067, 2.206, 0.348, RAW= 323.1, -24.7, CAL= 325.1, -37.0, ROT= 184.9, 37.0 2025-10-24T20:15:31.885Z,1761336931.885 [DAT](INFO): DAT read: Bearing 184.9, 37.0 (Local) 2025-10-24T20:15:31.885Z,1761336931.885 [DAT](INFO): Local bearing/azimuth received: Bearing 184.9, 37.0 (Local) 2025-10-24T20:15:31.887Z,1761336931.887 [DAT](INFO): DAT read: Range 10 to 50 : 214.4 m (Round-trip 285.9 ms) speed -0.5 m/s 2025-10-24T20:15:31.892Z,1761336931.892 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:15:31.894Z,1761336931.894 [DAT](INFO): direction in FSK: [-0.795717,-0.068217,-0.601815] 2025-10-24T20:15:31.894Z,1761336931.894 [DAT](INFO): publishing direction and range info 2025-10-24T20:15:32.011Z,1761336932.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931838,-0.362797,-0.007521],[0.359909,-0.926666,0.108420],[-0.046304,0.098323,0.994077]] 2025-10-24T20:15:32.112Z,1761336932.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 214.399994 m, deltaT: 181.112011 s, deltaX: 182.000000 m, approachRate: 1.004903 m/s, rangeRepo size: 4 2025-10-24T20:15:32.114Z,1761336932.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 213.278885 m, bearing: 339.483884 deg, lat: 36.779634 deg, lon: -121.859512 deg, deltaT: 241.372529 s, deltaX: 205.820114 m, approachRate: 0.852707 m/s, posRepo size: 4 2025-10-24T20:15:32.115Z,1761336932.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.28 m. 2025-10-24T20:15:32.115Z,1761336932.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 214.40 m. Resuming terminal guidance. 2025-10-24T20:15:32.115Z,1761336932.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-24T20:15:32.395Z,1761336932.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931730,-0.363094,-0.006471],[0.360427,-0.926770,0.105782],[-0.044406,0.096228,0.994368]] 2025-10-24T20:15:32.475Z,1761336932.475 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-24T20:15:32.480Z,1761336932.480 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T20:15:32.480Z,1761336932.480 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-24T20:15:32.481Z,1761336932.481 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 214.399994 m (mode 1.000000 count ). 2025-10-24T20:15:32.482Z,1761336932.482 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-24T20:15:32.482Z,1761336932.482 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-24T20:15:32.844Z,1761336932.844 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-24T20:15:32.844Z,1761336932.844 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-24T20:15:32.845Z,1761336932.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:32.881Z,1761336932.881 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:15:32.881Z,1761336932.881 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:15:32.882Z,1761336932.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:15:33.133Z,1761336933.133 [DAT](INFO): DAT read: user:264> 2025-10-24T20:15:33.134Z,1761336933.134 [DAT](INFO): DAT read: Tx time:20:15:32.4004 2025-10-24T20:15:33.134Z,1761336933.134 [DAT](INFO): Ping request sent. 2025-10-24T20:15:33.135Z,1761336933.135 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:15:33.135Z,1761336933.135 [DAT](INFO): DAT read: TxSync time:20:15:32.3997 2025-10-24T20:15:33.136Z,1761336933.136 [DAT](INFO): publishing transmit ping time 2025-10-24T20:15:33.136Z,1761336933.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001661 2025-10-24T20:15:33.273Z,1761336933.273 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-24T20:15:33.273Z,1761336933.273 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-24T20:15:33.390Z,1761336933.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255237 2025-10-24T20:15:33.614Z,1761336933.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930853,-0.365387,-0.002218],[0.363281,-0.926106,0.101761],[-0.039237,0.093919,0.994806]] 2025-10-24T20:15:33.630Z,1761336933.630 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-24T20:15:33.630Z,1761336933.630 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T20:15:33.630Z,1761336933.630 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-24T20:15:33.630Z,1761336933.630 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-24T20:15:33.638Z,1761336933.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503237 2025-10-24T20:15:33.890Z,1761336933.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755078 2025-10-24T20:15:34.141Z,1761336934.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006783 2025-10-24T20:15:34.393Z,1761336934.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258172 2025-10-24T20:15:34.417Z,1761336934.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932285,-0.361702,0.003895],[0.360041,-0.926857,0.106331],[-0.034850,0.100533,0.994323]] 2025-10-24T20:15:34.645Z,1761336934.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510155 2025-10-24T20:15:34.822Z,1761336934.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933546,-0.358412,0.005700],[0.356870,-0.927801,0.108763],[-0.033693,0.103569,0.994051]] 2025-10-24T20:15:34.898Z,1761336934.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101 2025-10-24T20:15:35.149Z,1761336935.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014074 2025-10-24T20:15:35.273Z,1761336935.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:35.403Z,1761336935.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267911 2025-10-24T20:15:35.635Z,1761336935.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940141,-0.340356,0.017093],[0.339474,-0.930949,0.134502],[-0.029866,0.132254,0.990766]] 2025-10-24T20:15:35.653Z,1761336935.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518322 2025-10-24T20:15:35.905Z,1761336935.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770572 2025-10-24T20:15:36.071Z,1761336936.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945557,-0.324433,0.025795],[0.324337,-0.932772,0.157295],[-0.026971,0.157097,0.987215]] 2025-10-24T20:15:36.157Z,1761336936.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022756 2025-10-24T20:15:36.409Z,1761336936.409 [DAT](INFO): DAT read: Rx Time:20:15:35.0943 2025-10-24T20:15:36.409Z,1761336936.409 [DAT](INFO): Rx dataTimestamp_ set to:1761336936.409052 2025-10-24T20:15:36.410Z,1761336936.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275291 2025-10-24T20:15:36.472Z,1761336936.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951426,-0.305992,0.034024],[0.306999,-0.934549,0.179915],[-0.023256,0.181621,0.983094]] 2025-10-24T20:15:36.661Z,1761336936.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526171 2025-10-24T20:15:36.855Z,1761336936.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957578,-0.285247,0.040979],[0.287550,-0.936421,0.201074],[-0.018982,0.204328,0.978718]] 2025-10-24T20:15:36.923Z,1761336936.923 [DAT](INFO): DAT read: 20:15:35.0943 LVL= 32752, 20017, 23586, 32547, AGC= 67, IDX= 467,-0.38, 1.218,-3.010, 1.623, 1.348, PHS=-0.042, 1.972, 0.272, RAW= 321.7, -22.5, CAL= 324.2, -33.3, ROT= 185.8, 33.3 2025-10-24T20:15:36.924Z,1761336936.924 [DAT](INFO): got valid direction response: 20:15:35.0943 LVL= 32752, 20017, 23586, 32547, AGC= 67, IDX= 467,-0.38, 1.218,-3.010, 1.623, 1.348, PHS=-0.042, 1.972, 0.272, RAW= 321.7, -22.5, CAL= 324.2, -33.3, ROT= 185.8, 33.3 2025-10-24T20:15:36.925Z,1761336936.925 [DAT](INFO): DAT read: Bearing 185.8, 33.3 (Local) 2025-10-24T20:15:36.925Z,1761336936.925 [DAT](INFO): Local bearing/azimuth received: Bearing 185.8, 33.3 (Local) 2025-10-24T20:15:36.927Z,1761336936.927 [DAT](INFO): DAT read: Range 10 to 50 : 217.2 m (Round-trip 289.7 ms) speed -0.8 m/s 2025-10-24T20:15:36.928Z,1761336936.928 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:15:36.930Z,1761336936.930 [DAT](INFO): direction in FSK: [-0.831529,-0.084464,-0.549023] 2025-10-24T20:15:36.930Z,1761336936.930 [DAT](INFO): publishing direction and range info 2025-10-24T20:15:36.945Z,1761336936.945 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:15:36.945Z,1761336936.945 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:15:36.945Z,1761336936.945 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:15:37.169Z,1761336937.169 [DAT](INFO): DAT read: user:265> 2025-10-24T20:15:37.170Z,1761336937.170 [DAT](INFO): DAT read: Tx time:20:15:36.5004 2025-10-24T20:15:37.170Z,1761336937.170 [DAT](INFO): Ping request sent. 2025-10-24T20:15:37.170Z,1761336937.170 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:15:37.170Z,1761336937.170 [DAT](INFO): publishing transmit ping time 2025-10-24T20:15:37.171Z,1761336937.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-24T20:15:37.259Z,1761336937.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963893,-0.262155,0.046744],[0.265902,-0.938071,0.222079],[-0.014370,0.226490,0.973908]] 2025-10-24T20:15:37.318Z,1761336937.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 217.199997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-24T20:15:37.341Z,1761336937.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 216.079971 m, bearing: 341.707078 deg, lat: 36.779634 deg, lon: -121.859514 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-24T20:15:37.342Z,1761336937.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:37.351Z,1761336937.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 174.286102 m, bearing: 344.873666 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 338.171308 deg, new cmd heading: 344.873666 deg. 2025-10-24T20:15:37.351Z,1761336937.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019181 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:37.422Z,1761336937.422 [DAT](INFO): DAT read: TxSync time:20:15:36.4997 2025-10-24T20:15:37.423Z,1761336937.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252683 2025-10-24T20:15:37.675Z,1761336937.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504411 2025-10-24T20:15:37.678Z,1761336937.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970502,-0.235481,0.051715],[0.240930,-0.939394,0.243911],[-0.008856,0.249176,0.968418]] 2025-10-24T20:15:37.698Z,1761336937.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:37.701Z,1761336937.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:37.703Z,1761336937.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 174.575729 m, bearing: 344.891147 deg, approach rate: 0.756047 m/s, LOS rate: 0.045558 deg/s, cmd heading: 344.873655 deg, new cmd heading: 344.891147 deg. 2025-10-24T20:15:37.724Z,1761336937.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019486 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:37.925Z,1761336937.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754855 2025-10-24T20:15:38.097Z,1761336938.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.976763,-0.207094,0.055198],[0.214312,-0.941140,0.261392],[-0.002183,0.267148,0.963653]] 2025-10-24T20:15:38.158Z,1761336938.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:38.161Z,1761336938.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 174.920914 m, bearing: 344.910782 deg, approach rate: 0.758239 m/s, LOS rate: 0.043045 deg/s, cmd heading: 344.891140 deg, new cmd heading: 344.910782 deg. 2025-10-24T20:15:38.161Z,1761336938.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019829 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:38.177Z,1761336938.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006838 2025-10-24T20:15:38.429Z,1761336938.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259052 2025-10-24T20:15:38.482Z,1761336938.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982275,-0.177980,0.058820],[0.187375,-0.941002,0.281791],[0.005196,0.287818,0.957671]] 2025-10-24T20:15:38.511Z,1761336938.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:38.514Z,1761336938.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 175.182632 m, bearing: 344.927898 deg, approach rate: 0.735814 m/s, LOS rate: 0.048051 deg/s, cmd heading: 344.910783 deg, new cmd heading: 344.927898 deg. 2025-10-24T20:15:38.521Z,1761336938.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020127 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:38.681Z,1761336938.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510858 2025-10-24T20:15:38.934Z,1761336938.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763617 2025-10-24T20:15:38.940Z,1761336938.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:38.942Z,1761336938.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 175.500839 m, bearing: 344.948641 deg, approach rate: 0.743090 m/s, LOS rate: 0.048351 deg/s, cmd heading: 344.927886 deg, new cmd heading: 344.948641 deg. 2025-10-24T20:15:38.943Z,1761336938.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020490 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:39.185Z,1761336939.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015088 2025-10-24T20:15:39.345Z,1761336939.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:39.347Z,1761336939.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 175.822067 m, bearing: 344.968423 deg, approach rate: 0.792398 m/s, LOS rate: 0.048711 deg/s, cmd heading: 344.948650 deg, new cmd heading: 344.968423 deg. 2025-10-24T20:15:39.350Z,1761336939.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.020835 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:39.437Z,1761336939.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267169 2025-10-24T20:15:39.689Z,1761336939.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518761 2025-10-24T20:15:39.771Z,1761336939.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997147,-0.055317,0.051367],[0.068810,-0.945877,0.317147],[0.031043,0.319777,0.946984]] 2025-10-24T20:15:39.805Z,1761336939.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:39.807Z,1761336939.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:39.812Z,1761336939.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 176.154282 m, bearing: 345.002292 deg, approach rate: 0.719105 m/s, LOS rate: 0.073172 deg/s, cmd heading: 344.968430 deg, new cmd heading: 345.002292 deg. 2025-10-24T20:15:39.814Z,1761336939.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021426 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:39.941Z,1761336939.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770870 2025-10-24T20:15:40.195Z,1761336940.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024655 2025-10-24T20:15:40.258Z,1761336940.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:40.260Z,1761336940.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 176.482025 m, bearing: 345.033926 deg, approach rate: 0.727559 m/s, LOS rate: 0.070096 deg/s, cmd heading: 345.002281 deg, new cmd heading: 345.033926 deg. 2025-10-24T20:15:40.261Z,1761336940.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021978 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:40.445Z,1761336940.445 [DAT](INFO): DAT read: Rx Time:20:15:39.1979 2025-10-24T20:15:40.446Z,1761336940.446 [DAT](INFO): Rx dataTimestamp_ set to:1761336940.445759 2025-10-24T20:15:40.447Z,1761336940.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277022 2025-10-24T20:15:40.667Z,1761336940.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999071,0.003603,0.042951],[0.010119,-0.949041,0.314992],[0.041898,0.315133,0.948122]] 2025-10-24T20:15:40.686Z,1761336940.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:40.688Z,1761336940.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 176.812256 m, bearing: 345.072697 deg, approach rate: 0.771554 m/s, LOS rate: 0.090414 deg/s, cmd heading: 345.033918 deg, new cmd heading: 345.072697 deg. 2025-10-24T20:15:40.689Z,1761336940.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022655 target range: 216.079971 and range: 217.20 m. 2025-10-24T20:15:40.697Z,1761336940.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526816 2025-10-24T20:15:40.950Z,1761336940.950 [DAT](INFO): DAT read: Range 10 to 50 : 219.9 m (Round-trip 293.2 ms) speed -0.1 m/s 2025-10-24T20:15:40.951Z,1761336940.951 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:15:40.952Z,1761336940.952 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:15:40.952Z,1761336940.952 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:15:40.952Z,1761336940.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:15:41.191Z,1761336941.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 219.899994 m, deltaT: 4.031326 s, deltaX: 2.699997 m, approachRate: 0.669754 m/s, rangeRepo size: 2 2025-10-24T20:15:41.191Z,1761336941.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:41.194Z,1761336941.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 177.186264 m, bearing: 345.117980 deg, approach rate: 0.741412 m/s, LOS rate: 0.089577 deg/s, cmd heading: 345.072686 deg, new cmd heading: 345.117980 deg. 2025-10-24T20:15:41.195Z,1761336941.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023445 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:41.201Z,1761336941.201 [DAT](INFO): DAT read: user:266> 2025-10-24T20:15:41.202Z,1761336941.202 [DAT](INFO): DAT read: Tx time:20:15:40.5005 2025-10-24T20:15:41.202Z,1761336941.202 [DAT](INFO): Ping request sent. 2025-10-24T20:15:41.202Z,1761336941.202 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:15:41.202Z,1761336941.202 [DAT](INFO): publishing transmit ping time 2025-10-24T20:15:41.203Z,1761336941.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-24T20:15:41.453Z,1761336941.453 [DAT](INFO): DAT read: TxSync time:20:15:40.4998 2025-10-24T20:15:41.454Z,1761336941.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251439 2025-10-24T20:15:41.558Z,1761336941.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997613,0.060963,0.032428],[-0.047882,-0.949119,0.311256],[0.049753,0.308960,0.949773]] 2025-10-24T20:15:41.600Z,1761336941.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:41.603Z,1761336941.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 177.483612 m, bearing: 345.160386 deg, approach rate: 0.726382 m/s, LOS rate: 0.103419 deg/s, cmd heading: 345.117984 deg, new cmd heading: 345.160386 deg. 2025-10-24T20:15:41.604Z,1761336941.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024185 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:41.706Z,1761336941.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503406 2025-10-24T20:15:41.957Z,1761336941.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754498 2025-10-24T20:15:41.970Z,1761336941.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995678,0.088754,0.027361],[-0.076300,-0.949645,0.303895],[0.052956,0.300494,0.952313]] 2025-10-24T20:15:41.989Z,1761336941.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:41.991Z,1761336941.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:41.994Z,1761336941.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 177.762634 m, bearing: 345.203195 deg, approach rate: 0.712429 m/s, LOS rate: 0.109133 deg/s, cmd heading: 345.160386 deg, new cmd heading: 345.203195 deg. 2025-10-24T20:15:41.994Z,1761336941.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024932 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:42.209Z,1761336942.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006936 2025-10-24T20:15:42.431Z,1761336942.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:42.435Z,1761336942.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 178.071381 m, bearing: 345.253778 deg, approach rate: 0.701339 m/s, LOS rate: 0.114705 deg/s, cmd heading: 345.203197 deg, new cmd heading: 345.253778 deg. 2025-10-24T20:15:42.436Z,1761336942.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025815 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:42.462Z,1761336942.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259031 2025-10-24T20:15:42.713Z,1761336942.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510427 2025-10-24T20:15:42.777Z,1761336942.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.990042,0.139979,0.014922],[-0.128641,-0.942677,0.307914],[0.057169,0.302928,0.951297]] 2025-10-24T20:15:42.795Z,1761336942.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:42.798Z,1761336942.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 178.318359 m, bearing: 345.299498 deg, approach rate: 0.678770 m/s, LOS rate: 0.125479 deg/s, cmd heading: 345.253768 deg, new cmd heading: 345.299498 deg. 2025-10-24T20:15:42.798Z,1761336942.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026613 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:42.965Z,1761336942.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762735 2025-10-24T20:15:43.183Z,1761336943.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986072,0.166195,0.006434],[-0.156128,-0.938287,0.308613],[0.057327,0.303310,0.951166]] 2025-10-24T20:15:43.218Z,1761336943.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015265 2025-10-24T20:15:43.233Z,1761336943.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:43.236Z,1761336943.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 178.604675 m, bearing: 345.360481 deg, approach rate: 0.655202 m/s, LOS rate: 0.139327 deg/s, cmd heading: 345.299503 deg, new cmd heading: 345.360481 deg. 2025-10-24T20:15:43.237Z,1761336943.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027678 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:43.473Z,1761336943.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270404 2025-10-24T20:15:43.583Z,1761336943.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.981382,0.192055,-0.002177],[-0.183324,-0.933269,0.308871],[0.057289,0.303519,0.951101]] 2025-10-24T20:15:43.626Z,1761336943.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:43.629Z,1761336943.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 178.848007 m, bearing: 345.415272 deg, approach rate: 0.617382 m/s, LOS rate: 0.138828 deg/s, cmd heading: 345.360483 deg, new cmd heading: 345.415272 deg. 2025-10-24T20:15:43.630Z,1761336943.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.028634 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:43.721Z,1761336943.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519068 2025-10-24T20:15:43.973Z,1761336943.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770583 2025-10-24T20:15:43.990Z,1761336943.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975559,0.219442,-0.011380],[-0.212232,-0.927553,0.307576],[0.056939,0.302474,0.951455]] 2025-10-24T20:15:44.006Z,1761336944.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:44.009Z,1761336944.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:44.011Z,1761336944.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 179.097733 m, bearing: 345.474918 deg, approach rate: 0.653008 m/s, LOS rate: 0.155750 deg/s, cmd heading: 345.415261 deg, new cmd heading: 345.474918 deg. 2025-10-24T20:15:44.012Z,1761336944.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029675 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:44.226Z,1761336944.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023086 2025-10-24T20:15:44.388Z,1761336944.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.969332,0.244901,-0.020490],[-0.239222,-0.921172,0.306946],[0.056297,0.302434,0.951506]] 2025-10-24T20:15:44.426Z,1761336944.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:44.430Z,1761336944.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 179.360382 m, bearing: 345.543898 deg, approach rate: 0.628705 m/s, LOS rate: 0.164876 deg/s, cmd heading: 345.474930 deg, new cmd heading: 345.543898 deg. 2025-10-24T20:15:44.431Z,1761336944.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030879 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:44.477Z,1761336944.477 [DAT](INFO): DAT read: Rx Time:20:15:43.1997 2025-10-24T20:15:44.478Z,1761336944.478 [DAT](INFO): Rx dataTimestamp_ set to:1761336944.477380 2025-10-24T20:15:44.478Z,1761336944.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275903 2025-10-24T20:15:44.731Z,1761336944.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528978 2025-10-24T20:15:44.803Z,1761336944.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962075,0.271136,-0.029942],[-0.267065,-0.913855,0.305851],[0.055564,0.302249,0.951608]] 2025-10-24T20:15:44.827Z,1761336944.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:44.830Z,1761336944.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 179.605759 m, bearing: 345.611958 deg, approach rate: 0.612614 m/s, LOS rate: 0.169688 deg/s, cmd heading: 345.543887 deg, new cmd heading: 345.611958 deg. 2025-10-24T20:15:44.832Z,1761336944.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032067 target range: 216.079971 and range: 219.90 m. 2025-10-24T20:15:44.982Z,1761336944.982 [DAT](INFO): DAT read: Range 10 to 50 : 221.2 m (Round-trip 295.0 ms) speed -0.8 m/s 2025-10-24T20:15:44.983Z,1761336944.983 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:15:44.984Z,1761336944.984 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:15:44.984Z,1761336944.984 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:15:44.984Z,1761336944.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:15:45.234Z,1761336945.234 [DAT](INFO): DAT read: user:267> 2025-10-24T20:15:45.235Z,1761336945.235 [DAT](INFO): DAT read: Tx time:20:15:44.5505 2025-10-24T20:15:45.235Z,1761336945.235 [DAT](INFO): Ping request sent. 2025-10-24T20:15:45.235Z,1761336945.235 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:15:45.235Z,1761336945.235 [DAT](INFO): publishing transmit ping time 2025-10-24T20:15:45.236Z,1761336945.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000852 2025-10-24T20:15:45.315Z,1761336945.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.199997 m, deltaT: 4.032124 s, deltaX: 1.300003 m, approachRate: 0.322411 m/s, rangeRepo size: 3 2025-10-24T20:15:45.317Z,1761336945.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:45.320Z,1761336945.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 179.905396 m, bearing: 345.694274 deg, approach rate: 0.614773 m/s, LOS rate: 0.168610 deg/s, cmd heading: 345.611971 deg, new cmd heading: 345.694274 deg. 2025-10-24T20:15:45.321Z,1761336945.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033503 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:45.486Z,1761336945.486 [DAT](INFO): DAT read: TxSync time:20:15:44.5498 2025-10-24T20:15:45.486Z,1761336945.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251082 2025-10-24T20:15:45.597Z,1761336945.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945803,0.321065,-0.048731],[-0.320222,-0.897123,0.304348],[0.053998,0.303458,0.951314]] 2025-10-24T20:15:45.630Z,1761336945.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:45.677Z,1761336945.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 180.082596 m, bearing: 345.748500 deg, approach rate: 0.560950 m/s, LOS rate: 0.171490 deg/s, cmd heading: 345.694261 deg, new cmd heading: 345.748500 deg. 2025-10-24T20:15:45.678Z,1761336945.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034450 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:45.738Z,1761336945.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503138 2025-10-24T20:15:45.989Z,1761336945.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753575 2025-10-24T20:15:46.003Z,1761336946.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936379,0.346220,-0.057667],[-0.346841,-0.887548,0.303249],[0.053809,0.303957,0.951165]] 2025-10-24T20:15:46.040Z,1761336946.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:46.042Z,1761336946.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:46.046Z,1761336946.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 180.324173 m, bearing: 345.826447 deg, approach rate: 0.586048 m/s, LOS rate: 0.188839 deg/s, cmd heading: 345.748492 deg, new cmd heading: 345.826447 deg. 2025-10-24T20:15:46.046Z,1761336946.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035810 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:46.241Z,1761336946.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005536 2025-10-24T20:15:46.406Z,1761336946.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926987,0.369324,-0.065540],[-0.371254,-0.878442,0.300848],[0.053537,0.303214,0.951417]] 2025-10-24T20:15:46.474Z,1761336946.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:46.481Z,1761336946.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 180.558151 m, bearing: 345.903014 deg, approach rate: 0.541644 m/s, LOS rate: 0.177019 deg/s, cmd heading: 345.826439 deg, new cmd heading: 345.903014 deg. 2025-10-24T20:15:46.482Z,1761336946.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037147 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:46.493Z,1761336946.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257608 2025-10-24T20:15:46.745Z,1761336946.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509785 2025-10-24T20:15:46.819Z,1761336946.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906406,0.414613,-0.080778],[-0.418896,-0.857670,0.298207],[0.054359,0.304134,0.951077]] 2025-10-24T20:15:46.846Z,1761336946.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:46.848Z,1761336946.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 180.772232 m, bearing: 345.980456 deg, approach rate: 0.576500 m/s, LOS rate: 0.208298 deg/s, cmd heading: 345.903019 deg, new cmd heading: 345.980456 deg. 2025-10-24T20:15:46.849Z,1761336946.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038498 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:46.997Z,1761336946.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761549 2025-10-24T20:15:47.249Z,1761336947.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013507 2025-10-24T20:15:47.306Z,1761336947.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:47.309Z,1761336947.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 181.039810 m, bearing: 346.065371 deg, approach rate: 0.581305 m/s, LOS rate: 0.184201 deg/s, cmd heading: 345.980446 deg, new cmd heading: 346.065371 deg. 2025-10-24T20:15:47.310Z,1761336947.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039980 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:47.502Z,1761336947.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266557 2025-10-24T20:15:47.621Z,1761336947.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882502,0.460308,-0.096473],[-0.467206,-0.834517,0.292060],[0.053929,0.302816,0.951522]] 2025-10-24T20:15:47.646Z,1761336947.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:47.648Z,1761336947.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 181.227020 m, bearing: 346.131331 deg, approach rate: 0.551335 m/s, LOS rate: 0.194053 deg/s, cmd heading: 346.065359 deg, new cmd heading: 346.131331 deg. 2025-10-24T20:15:47.649Z,1761336947.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041131 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:47.753Z,1761336947.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517782 2025-10-24T20:15:48.005Z,1761336948.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769462 2025-10-24T20:15:48.022Z,1761336948.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868898,0.483917,-0.104121],[-0.492062,-0.821580,0.287892],[0.053772,0.301382,0.951986]] 2025-10-24T20:15:48.041Z,1761336948.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:48.044Z,1761336948.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 181.437103 m, bearing: 346.209451 deg, approach rate: 0.530969 m/s, LOS rate: 0.197213 deg/s, cmd heading: 346.131338 deg, new cmd heading: 346.209451 deg. 2025-10-24T20:15:48.045Z,1761336948.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042495 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:48.257Z,1761336948.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021727 2025-10-24T20:15:48.425Z,1761336948.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854119,0.507841,-0.112152],[-0.517355,-0.807621,0.283006],[0.053145,0.299743,0.952539]] 2025-10-24T20:15:48.502Z,1761336948.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:48.505Z,1761336948.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:48.507Z,1761336948.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 181.693542 m, bearing: 346.296075 deg, approach rate: 0.553599 m/s, LOS rate: 0.186738 deg/s, cmd heading: 346.209448 deg, new cmd heading: 346.296075 deg. 2025-10-24T20:15:48.509Z,1761336948.509 [DAT](INFO): DAT read: Rx Time:20:15:47.1961 2025-10-24T20:15:48.509Z,1761336948.509 [DAT](INFO): Rx dataTimestamp_ set to:1761336948.509191 2025-10-24T20:15:48.510Z,1761336948.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274774 2025-10-24T20:15:48.511Z,1761336948.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044007 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:48.761Z,1761336948.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525506 2025-10-24T20:15:48.828Z,1761336948.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838686,0.531177,-0.120237],[-0.542092,-0.792974,0.278079],[0.052365,0.298401,0.953003]] 2025-10-24T20:15:48.858Z,1761336948.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:48.862Z,1761336948.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 181.881042 m, bearing: 346.362988 deg, approach rate: 0.532126 m/s, LOS rate: 0.189706 deg/s, cmd heading: 346.296082 deg, new cmd heading: 346.362988 deg. 2025-10-24T20:15:48.863Z,1761336948.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045175 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:49.014Z,1761336949.014 [DAT](INFO): DAT read: Range 10 to 50 : 181.1 m (Round-trip 241.5 ms) speed -0.7 m/s 2025-10-24T20:15:49.014Z,1761336949.014 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:15:49.015Z,1761336949.015 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:15:49.015Z,1761336949.015 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:15:49.015Z,1761336949.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:15:49.265Z,1761336949.265 [DAT](INFO): DAT read: user:268> 2025-10-24T20:15:49.266Z,1761336949.266 [DAT](INFO): DAT read: Tx time:20:15:48.6005 2025-10-24T20:15:49.267Z,1761336949.267 [DAT](INFO): Ping request sent. 2025-10-24T20:15:49.267Z,1761336949.267 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:15:49.267Z,1761336949.267 [DAT](INFO): publishing transmit ping time 2025-10-24T20:15:49.267Z,1761336949.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000917 2025-10-24T20:15:49.271Z,1761336949.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821700,0.555093,-0.129152],[-0.567589,-0.776575,0.273449],[0.051493,0.297999,0.953176]] 2025-10-24T20:15:49.374Z,1761336949.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 181.100006 m, deltaT: 4.031995 s, deltaX: -40.099991 m, approachRate: -9.945447 m/s, rangeRepo size: 3 2025-10-24T20:15:49.375Z,1761336949.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:49.398Z,1761336949.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 182.158478 m, bearing: 346.457796 deg, approach rate: 0.537025 m/s, LOS rate: 0.183237 deg/s, cmd heading: 346.362991 deg, new cmd heading: 346.457796 deg. 2025-10-24T20:15:49.398Z,1761336949.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046829 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:49.518Z,1761336949.518 [DAT](INFO): DAT read: TxSync time:20:15:48.5998 2025-10-24T20:15:49.519Z,1761336949.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252239 2025-10-24T20:15:49.673Z,1761336949.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804063,0.578140,-0.138699],[-0.592371,-0.759090,0.269963],[0.050792,0.299228,0.952829]] 2025-10-24T20:15:49.693Z,1761336949.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:49.695Z,1761336949.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 182.334259 m, bearing: 346.521396 deg, approach rate: 0.550016 m/s, LOS rate: 0.198813 deg/s, cmd heading: 346.457794 deg, new cmd heading: 346.521396 deg. 2025-10-24T20:15:49.697Z,1761336949.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047939 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:49.769Z,1761336949.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502499 2025-10-24T20:15:50.021Z,1761336950.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754330 2025-10-24T20:15:50.071Z,1761336950.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784419,0.602037,-0.149123],[-0.618179,-0.739347,0.266871],[0.050413,0.301524,0.952125]] 2025-10-24T20:15:50.105Z,1761336950.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:50.108Z,1761336950.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 182.543289 m, bearing: 346.601892 deg, approach rate: 0.507532 m/s, LOS rate: 0.195222 deg/s, cmd heading: 346.521397 deg, new cmd heading: 346.601892 deg. 2025-10-24T20:15:50.109Z,1761336950.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049344 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:50.273Z,1761336950.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006264 2025-10-24T20:15:50.477Z,1761336950.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764074,0.625173,-0.159216],[-0.643219,-0.719268,0.262532],[0.049609,0.303004,0.951697]] 2025-10-24T20:15:50.525Z,1761336950.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258343 2025-10-24T20:15:50.552Z,1761336950.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:50.555Z,1761336950.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:50.561Z,1761336950.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 182.754318 m, bearing: 346.679858 deg, approach rate: 0.469370 m/s, LOS rate: 0.173213 deg/s, cmd heading: 346.601884 deg, new cmd heading: 346.679858 deg. 2025-10-24T20:15:50.562Z,1761336950.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050705 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:50.778Z,1761336950.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511074 2025-10-24T20:15:51.007Z,1761336951.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742425,0.648137,-0.169480],[-0.668231,-0.698454,0.256182],[0.047667,0.303448,0.951655]] 2025-10-24T20:15:51.026Z,1761336951.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:51.029Z,1761336951.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762377 2025-10-24T20:15:51.030Z,1761336951.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 183.000259 m, bearing: 346.776658 deg, approach rate: 0.521767 m/s, LOS rate: 0.205085 deg/s, cmd heading: 346.679857 deg, new cmd heading: 346.776658 deg. 2025-10-24T20:15:51.031Z,1761336951.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052394 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:51.286Z,1761336951.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019074 2025-10-24T20:15:51.455Z,1761336951.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:51.475Z,1761336951.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 183.211258 m, bearing: 346.855140 deg, approach rate: 0.491854 m/s, LOS rate: 0.182736 deg/s, cmd heading: 346.776655 deg, new cmd heading: 346.855140 deg. 2025-10-24T20:15:51.481Z,1761336951.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053764 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:51.534Z,1761336951.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267651 2025-10-24T20:15:51.785Z,1761336951.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518396 2025-10-24T20:15:51.898Z,1761336951.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.697052,0.691164,-0.190816],[-0.715704,-0.654567,0.243533],[0.043420,0.306323,0.950937]] 2025-10-24T20:15:51.948Z,1761336951.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:51.950Z,1761336951.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 183.425552 m, bearing: 346.946049 deg, approach rate: 0.438252 m/s, LOS rate: 0.185702 deg/s, cmd heading: 346.855147 deg, new cmd heading: 346.946049 deg. 2025-10-24T20:15:51.956Z,1761336951.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055351 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:52.037Z,1761336952.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770926 2025-10-24T20:15:52.292Z,1761336952.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024692 2025-10-24T20:15:52.303Z,1761336952.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673510,0.711379,-0.200810],[-0.738018,-0.631949,0.236578],[0.041395,0.307539,0.950635]] 2025-10-24T20:15:52.380Z,1761336952.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:52.382Z,1761336952.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 183.610703 m, bearing: 347.033197 deg, approach rate: 0.424999 m/s, LOS rate: 0.199838 deg/s, cmd heading: 346.946043 deg, new cmd heading: 347.033197 deg. 2025-10-24T20:15:52.389Z,1761336952.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056872 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:52.541Z,1761336952.541 [DAT](INFO): DAT read: Rx Time:20:15:51.2496 2025-10-24T20:15:52.541Z,1761336952.541 [DAT](INFO): Rx dataTimestamp_ set to:1761336952.540992 2025-10-24T20:15:52.542Z,1761336952.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275308 2025-10-24T20:15:52.683Z,1761336952.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649750,0.730689,-0.209567],[-0.759111,-0.609325,0.229069],[0.039684,0.307922,0.950584]] 2025-10-24T20:15:52.713Z,1761336952.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:52.715Z,1761336952.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.08 m. 2025-10-24T20:15:52.718Z,1761336952.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 216.079971 m, nav range: 183.751709 m, bearing: 347.104110 deg, approach rate: 0.420058 m/s, LOS rate: 0.211088 deg/s, cmd heading: 347.033196 deg, new cmd heading: 347.104110 deg. 2025-10-24T20:15:52.719Z,1761336952.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.058110 target range: 216.079971 and range: 221.20 m. 2025-10-24T20:15:52.793Z,1761336952.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526396 2025-10-24T20:15:53.051Z,1761336953.051 [DAT](INFO): DAT read: 20:15:51.2496 LVL= 19520, 19617, 20386, 27315, AGC= 61, IDX= 454, 0.45,-0.185,-0.033,-2.100,-0.912, PHS= 0.815, 0.926,-1.191, RAW= 27.3, -5.4, CAL= 27.6, -9.3, ROT= 122.4, 9.3 2025-10-24T20:15:53.052Z,1761336953.052 [DAT](INFO): got valid direction response: 20:15:51.2496 LVL= 19520, 19617, 20386, 27315, AGC= 61, IDX= 454, 0.45,-0.185,-0.033,-2.100,-0.912, PHS= 0.815, 0.926,-1.191, RAW= 27.3, -5.4, CAL= 27.6, -9.3, ROT= 122.4, 9.3 2025-10-24T20:15:53.053Z,1761336953.053 [DAT](INFO): DAT read: Bearing 122.4, 9.3 (Local) 2025-10-24T20:15:53.053Z,1761336953.053 [DAT](INFO): Local bearing/azimuth received: Bearing 122.4, 9.3 (Local) 2025-10-24T20:15:53.055Z,1761336953.055 [DAT](INFO): DAT read: Range 10 to 50 : 183.6 m (Round-trip 244.8 ms) speed -0.4 m/s 2025-10-24T20:15:53.055Z,1761336953.055 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:15:53.056Z,1761336953.056 [DAT](INFO): direction in FSK: [-0.528784,0.833230,-0.161604] 2025-10-24T20:15:53.056Z,1761336953.056 [DAT](INFO): publishing direction and range info 2025-10-24T20:15:53.060Z,1761336953.060 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:15:53.060Z,1761336953.060 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:15:53.060Z,1761336953.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:15:53.101Z,1761336953.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625602,0.749586,-0.216200],[-0.779203,-0.586781,0.220298],[0.038270,0.306283,0.951171]] 2025-10-24T20:15:53.170Z,1761336953.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.600006 m, deltaT: 8.063913 s, deltaX: -37.599991 m, approachRate: -4.662747 m/s, rangeRepo size: 4 2025-10-24T20:15:53.177Z,1761336953.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 182.640442 m, bearing: 353.519359 deg, lat: 36.779634 deg, lon: -121.859514 deg, deltaT: 16.127363 s, deltaX: -33.439529 m, approachRate: -2.073465 m/s, posRepo size: 2 2025-10-24T20:15:53.177Z,1761336953.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:53.184Z,1761336953.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 183.917603 m, bearing: 347.193316 deg, approach rate: 0.000000 m/s, LOS rate: 0.211088 deg/s, cmd heading: 347.104121 deg, new cmd heading: 347.391894 deg. 2025-10-24T20:15:53.185Z,1761336953.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.063132 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:53.300Z,1761336953.300 [DAT](INFO): DAT read: user:269> 2025-10-24T20:15:53.303Z,1761336953.303 [DAT](INFO): DAT read: Tx time:20:15:52.6006 2025-10-24T20:15:53.305Z,1761336953.305 [DAT](INFO): Ping request sent. 2025-10-24T20:15:53.305Z,1761336953.305 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:15:53.306Z,1761336953.306 [DAT](INFO): publishing transmit ping time 2025-10-24T20:15:53.309Z,1761336953.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002759 2025-10-24T20:15:53.550Z,1761336953.550 [DAT](INFO): DAT read: TxSync time:20:15:52.5999 2025-10-24T20:15:53.551Z,1761336953.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246191 2025-10-24T20:15:53.565Z,1761336953.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:53.568Z,1761336953.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.070114 m, bearing: 347.279765 deg, approach rate: 0.386061 m/s, LOS rate: 0.218650 deg/s, cmd heading: 347.391891 deg, new cmd heading: 347.651019 deg. 2025-10-24T20:15:53.569Z,1761336953.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.067655 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:53.801Z,1761336953.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496498 2025-10-24T20:15:53.919Z,1761336953.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551410,0.799711,-0.237506],[-0.833545,-0.516578,0.195832],[0.033919,0.305955,0.951441]] 2025-10-24T20:15:53.942Z,1761336953.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:53.966Z,1761336953.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.183395 m, bearing: 347.360470 deg, approach rate: 0.300565 m/s, LOS rate: 0.214000 deg/s, cmd heading: 347.651028 deg, new cmd heading: 347.892993 deg. 2025-10-24T20:15:53.967Z,1761336953.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.071878 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:54.054Z,1761336954.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749085 2025-10-24T20:15:54.309Z,1761336954.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003944 2025-10-24T20:15:54.333Z,1761336954.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524683,0.816252,-0.241744],[-0.850654,-0.491665,0.186153],[0.033091,0.303312,0.952316]] 2025-10-24T20:15:54.385Z,1761336954.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:54.404Z,1761336954.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.300781 m, bearing: 347.462905 deg, approach rate: 0.264749 m/s, LOS rate: 0.230883 deg/s, cmd heading: 347.892981 deg, new cmd heading: 348.200088 deg. 2025-10-24T20:15:54.405Z,1761336954.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.077238 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:54.557Z,1761336954.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252257 2025-10-24T20:15:54.708Z,1761336954.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497633,0.831312,-0.247552],[-0.866795,-0.466057,0.177363],[0.032071,0.302839,0.952502]] 2025-10-24T20:15:54.743Z,1761336954.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:54.745Z,1761336954.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:54.752Z,1761336954.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.383087 m, bearing: 347.542104 deg, approach rate: 0.228556 m/s, LOS rate: 0.219832 deg/s, cmd heading: 348.200093 deg, new cmd heading: 348.437584 deg. 2025-10-24T20:15:54.753Z,1761336954.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.081383 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:54.810Z,1761336954.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505193 2025-10-24T20:15:55.062Z,1761336955.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757452 2025-10-24T20:15:55.117Z,1761336955.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.469566,0.845713,-0.253529],[-0.882380,-0.439698,0.167542],[0.030216,0.302381,0.952708]] 2025-10-24T20:15:55.158Z,1761336955.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:55.165Z,1761336955.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.472229 m, bearing: 347.637742 deg, approach rate: 0.215928 m/s, LOS rate: 0.231549 deg/s, cmd heading: 348.437593 deg, new cmd heading: 348.724363 deg. 2025-10-24T20:15:55.166Z,1761336955.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086388 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:55.316Z,1761336955.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010736 2025-10-24T20:15:55.522Z,1761336955.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.442565,0.858644,-0.258588],[-0.896275,-0.414292,0.158285],[0.028779,0.301817,0.952932]] 2025-10-24T20:15:55.565Z,1761336955.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260295 2025-10-24T20:15:55.584Z,1761336955.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:55.587Z,1761336955.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.547485 m, bearing: 347.742941 deg, approach rate: 0.176894 m/s, LOS rate: 0.247176 deg/s, cmd heading: 348.724351 deg, new cmd heading: 349.039819 deg. 2025-10-24T20:15:55.592Z,1761336955.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.091894 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:55.818Z,1761336955.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513422 2025-10-24T20:15:55.925Z,1761336955.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415206,0.870775,-0.263353],[-0.909311,-0.388491,0.149091],[0.027514,0.301373,0.953109]] 2025-10-24T20:15:55.956Z,1761336955.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:55.959Z,1761336955.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.606857 m, bearing: 347.838728 deg, approach rate: 0.159316 m/s, LOS rate: 0.256946 deg/s, cmd heading: 349.039824 deg, new cmd heading: 349.327089 deg. 2025-10-24T20:15:55.960Z,1761336955.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.096908 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:56.069Z,1761336956.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764412 2025-10-24T20:15:56.334Z,1761336956.334 [DAT](INFO): DAT read: Rx Time:20:15:55.2516 2025-10-24T20:15:56.342Z,1761336956.342 [DAT](INFO): Rx dataTimestamp_ set to:1761336956.334714 2025-10-24T20:15:56.344Z,1761336956.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039437 2025-10-24T20:15:56.381Z,1761336956.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388631,0.881449,-0.268355],[-0.921009,-0.363213,0.140780],[0.026620,0.301869,0.952978]] 2025-10-24T20:15:56.485Z,1761336956.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:56.488Z,1761336956.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.674149 m, bearing: 347.974861 deg, approach rate: 0.127119 m/s, LOS rate: 0.257072 deg/s, cmd heading: 349.327102 deg, new cmd heading: 349.735344 deg. 2025-10-24T20:15:56.489Z,1761336956.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.104033 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:56.585Z,1761336956.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280704 2025-10-24T20:15:56.753Z,1761336956.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361335,0.891451,-0.273408],[-0.932078,-0.337201,0.132384],[0.025820,0.302672,0.952745]] 2025-10-24T20:15:56.771Z,1761336956.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:56.773Z,1761336956.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 182.64 m. 2025-10-24T20:15:56.776Z,1761336956.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 182.640442 m, nav range: 184.704407 m, bearing: 348.049810 deg, approach rate: 0.105154 m/s, LOS rate: 0.260422 deg/s, cmd heading: 349.735356 deg, new cmd heading: 349.960166 deg. 2025-10-24T20:15:56.777Z,1761336956.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.107957 target range: 182.640442 and range: 183.60 m. 2025-10-24T20:15:56.841Z,1761336956.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535664 2025-10-24T20:15:57.097Z,1761336957.097 [DAT](INFO): DAT read: 20:15:55.2516 LVL= 26992, 31473, 28514, 32755, AGC= 64, IDX= 444,-0.36,-1.835,-2.475, 2.157, 3.110, PHS= 1.427, 0.746,-0.955, RAW= 46.1, -11.4, CAL= 52.8, -19.1, ROT= 97.2, 19.1 2025-10-24T20:15:57.099Z,1761336957.099 [DAT](INFO): got valid direction response: 20:15:55.2516 LVL= 26992, 31473, 28514, 32755, AGC= 64, IDX= 444,-0.36,-1.835,-2.475, 2.157, 3.110, PHS= 1.427, 0.746,-0.955, RAW= 46.1, -11.4, CAL= 52.8, -19.1, ROT= 97.2, 19.1 2025-10-24T20:15:57.111Z,1761336957.111 [DAT](INFO): DAT read: Bearing 97.2, 19.1 (Local) 2025-10-24T20:15:57.112Z,1761336957.112 [DAT](INFO): Local bearing/azimuth received: Bearing 97.2, 19.1 (Local) 2025-10-24T20:15:57.114Z,1761336957.114 [DAT](INFO): DAT read: Range 10 to 50 : 185.1 m (Round-trip 246.8 ms) speed -0.3 m/s 2025-10-24T20:15:57.116Z,1761336957.116 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:15:57.117Z,1761336957.117 [DAT](INFO): direction in FSK: [-0.118433,0.937498,-0.327218] 2025-10-24T20:15:57.118Z,1761336957.118 [DAT](INFO): publishing direction and range info 2025-10-24T20:15:57.125Z,1761336957.125 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:15:57.125Z,1761336957.125 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:15:57.125Z,1761336957.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:15:57.248Z,1761336957.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 185.100006 m, deltaT: 4.043962 s, deltaX: 1.500000 m, approachRate: 0.370923 m/s, rangeRepo size: 4 2025-10-24T20:15:57.251Z,1761336957.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 184.128860 m, bearing: 345.571346 deg, lat: 36.779634 deg, lon: -121.859603 deg, deltaT: 4.043962 s, deltaX: 1.488419 m, approachRate: 0.368059 m/s, posRepo size: 3 2025-10-24T20:15:57.251Z,1761336957.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:15:57.258Z,1761336957.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.551392 m, bearing: 345.770019 deg, approach rate: 0.000000 m/s, LOS rate: 0.260422 deg/s, cmd heading: 349.960178 deg, new cmd heading: 350.327316 deg. 2025-10-24T20:15:57.259Z,1761336957.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.114365 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:15:57.343Z,1761336957.343 [DAT](INFO): DAT read: user:270> 2025-10-24T20:15:57.346Z,1761336957.346 [DAT](INFO): DAT read: Tx time:20:15:56.6506 2025-10-24T20:15:57.347Z,1761336957.347 [DAT](INFO): Ping request sent. 2025-10-24T20:15:57.348Z,1761336957.348 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:15:57.349Z,1761336957.349 [DAT](INFO): publishing transmit ping time 2025-10-24T20:15:57.351Z,1761336957.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003225 2025-10-24T20:15:57.559Z,1761336957.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308674,0.907839,-0.283812],[-0.950852,-0.286821,0.116685],[0.024528,0.305880,0.951754]] 2025-10-24T20:15:57.593Z,1761336957.593 [DAT](INFO): DAT read: TxSync time:20:15:56.6499 2025-10-24T20:15:57.594Z,1761336957.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246549 2025-10-24T20:15:57.613Z,1761336957.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:15:57.617Z,1761336957.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.556747 m, bearing: 345.872842 deg, approach rate: 0.014466 m/s, LOS rate: 0.277716 deg/s, cmd heading: 350.327315 deg, new cmd heading: 350.635774 deg. 2025-10-24T20:15:57.617Z,1761336957.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.119749 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:15:57.845Z,1761336957.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498213 2025-10-24T20:15:57.962Z,1761336957.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281535,0.917280,-0.281664],[-0.959246,-0.261653,0.106696],[0.024171,0.300224,0.953562]] 2025-10-24T20:15:57.981Z,1761336957.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:15:57.983Z,1761336957.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.553345 m, bearing: 345.970658 deg, approach rate: -0.009259 m/s, LOS rate: 0.266156 deg/s, cmd heading: 350.635766 deg, new cmd heading: 350.929216 deg. 2025-10-24T20:15:57.984Z,1761336957.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.124870 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:15:58.097Z,1761336958.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749909 2025-10-24T20:15:58.353Z,1761336958.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004235 2025-10-24T20:15:58.400Z,1761336958.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.256437,0.923612,-0.284922],[-0.966273,-0.237772,0.098902],[0.023600,0.300674,0.953435]] 2025-10-24T20:15:58.472Z,1761336958.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:15:58.475Z,1761336958.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.554047 m, bearing: 346.097341 deg, approach rate: 0.001443 m/s, LOS rate: 0.260451 deg/s, cmd heading: 350.929218 deg, new cmd heading: 351.309259 deg. 2025-10-24T20:15:58.476Z,1761336958.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.131503 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:15:58.601Z,1761336958.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253596 2025-10-24T20:15:58.814Z,1761336958.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.231124,0.929439,-0.287618],[-0.972623,-0.213367,0.092082],[0.024217,0.301026,0.953308]] 2025-10-24T20:15:58.853Z,1761336958.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505642 2025-10-24T20:15:58.871Z,1761336958.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:15:58.879Z,1761336958.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:15:58.887Z,1761336958.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.545731 m, bearing: 346.212073 deg, approach rate: -0.020196 m/s, LOS rate: 0.278640 deg/s, cmd heading: 351.309250 deg, new cmd heading: 351.653458 deg. 2025-10-24T20:15:58.905Z,1761336958.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.137511 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:15:59.105Z,1761336959.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758009 2025-10-24T20:15:59.216Z,1761336959.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206094,0.934422,-0.290483],[-0.978229,-0.189349,0.084943],[0.024370,0.301666,0.953102]] 2025-10-24T20:15:59.235Z,1761336959.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:15:59.238Z,1761336959.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.530807 m, bearing: 346.311506 deg, approach rate: -0.041934 m/s, LOS rate: 0.279427 deg/s, cmd heading: 351.653464 deg, new cmd heading: 351.951782 deg. 2025-10-24T20:15:59.239Z,1761336959.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142717 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:15:59.361Z,1761336959.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013002 2025-10-24T20:15:59.609Z,1761336959.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261584 2025-10-24T20:15:59.618Z,1761336959.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.179750,0.939419,-0.291860],[-0.983411,-0.164259,0.076955],[0.024352,0.300851,0.953360]] 2025-10-24T20:15:59.674Z,1761336959.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:15:59.681Z,1761336959.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.516190 m, bearing: 346.429119 deg, approach rate: -0.033279 m/s, LOS rate: 0.267775 deg/s, cmd heading: 351.951780 deg, new cmd heading: 352.304642 deg. 2025-10-24T20:15:59.681Z,1761336959.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148876 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:15:59.861Z,1761336959.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513501 2025-10-24T20:16:00.018Z,1761336960.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.153400,0.943580,-0.293471],[-0.987866,-0.139137,0.069008],[0.024283,0.300496,0.953474]] 2025-10-24T20:16:00.062Z,1761336960.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:00.065Z,1761336960.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.494934 m, bearing: 346.532804 deg, approach rate: -0.054751 m/s, LOS rate: 0.267110 deg/s, cmd heading: 352.304654 deg, new cmd heading: 352.615742 deg. 2025-10-24T20:16:00.066Z,1761336960.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154305 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:00.115Z,1761336960.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767361 2025-10-24T20:16:00.181Z,1761336960.181 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:16:00.369Z,1761336960.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020949 2025-10-24T20:16:00.435Z,1761336960.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125916,0.947276,-0.294640],[-0.991750,-0.113006,0.060513],[0.024027,0.299829,0.953691]] 2025-10-24T20:16:00.474Z,1761336960.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:00.478Z,1761336960.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.473709 m, bearing: 346.637011 deg, approach rate: -0.051498 m/s, LOS rate: 0.252865 deg/s, cmd heading: 352.615729 deg, new cmd heading: 352.928382 deg. 2025-10-24T20:16:00.478Z,1761336960.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.159762 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:00.617Z,1761336960.617 [DAT](INFO): DAT read: Rx Time:20:15:59.3310 2025-10-24T20:16:00.618Z,1761336960.618 [DAT](INFO): Rx dataTimestamp_ set to:1761336960.617547 2025-10-24T20:16:00.618Z,1761336960.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271124 2025-10-24T20:16:00.827Z,1761336960.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.098722,0.950038,-0.296111],[-0.994831,-0.087111,0.052188],[0.023787,0.299733,0.953727]] 2025-10-24T20:16:00.847Z,1761336960.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:00.869Z,1761336960.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521737 2025-10-24T20:16:00.881Z,1761336960.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.446625 m, bearing: 346.731152 deg, approach rate: -0.072705 m/s, LOS rate: 0.252748 deg/s, cmd heading: 352.928387 deg, new cmd heading: 353.210849 deg. 2025-10-24T20:16:00.882Z,1761336960.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164692 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:01.128Z,1761336961.128 [DAT](INFO): DAT read: 20:15:59.3310 LVL= 12208, 19185, 16114, 17667, AGC= 64, IDX= 216,-0.22,-1.620,-1.964,-2.668, 3.116, PHS= 1.635, 1.250, 0.496, RAW= 49.4, -50.0, CAL= 71.0, -54.4, ROT= 79.0, 54.4 2025-10-24T20:16:01.131Z,1761336961.131 [DAT](INFO): got valid direction response: 20:15:59.3310 LVL= 12208, 19185, 16114, 17667, AGC= 64, IDX= 216,-0.22,-1.620,-1.964,-2.668, 3.116, PHS= 1.635, 1.250, 0.496, RAW= 49.4, -50.0, CAL= 71.0, -54.4, ROT= 79.0, 54.4 2025-10-24T20:16:01.141Z,1761336961.141 [DAT](INFO): DAT read: Bearing 79.0, 54.4 (Local) 2025-10-24T20:16:01.141Z,1761336961.141 [DAT](INFO): Local bearing/azimuth received: Bearing 79.0, 54.4 (Local) 2025-10-24T20:16:01.142Z,1761336961.142 [DAT](INFO): DAT read: Range 10 to 50 : 207.1 m (Round-trip 276.2 ms) speed -0.5 m/s 2025-10-24T20:16:01.143Z,1761336961.143 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:01.144Z,1761336961.144 [DAT](INFO): direction in FSK: [0.111074,0.571428,-0.813101] 2025-10-24T20:16:01.145Z,1761336961.145 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:01.148Z,1761336961.148 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:01.148Z,1761336961.148 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:01.149Z,1761336961.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:01.189Z,1761336961.189 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:16:01.235Z,1761336961.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.071033,0.952118,-0.297365],[-0.997200,-0.060803,0.043524],[0.023359,0.299624,0.953771]] 2025-10-24T20:16:01.295Z,1761336961.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 207.100006 m, deltaT: 4.032221 s, deltaX: 22.000000 m, approachRate: 5.456050 m/s, rangeRepo size: 4 2025-10-24T20:16:01.295Z,1761336961.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:01.302Z,1761336961.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.406235 m, bearing: 346.839434 deg, approach rate: -0.090350 m/s, LOS rate: 0.242274 deg/s, cmd heading: 353.210857 deg, new cmd heading: 353.535771 deg. 2025-10-24T20:16:01.303Z,1761336961.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170363 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:01.376Z,1761336961.376 [DAT](INFO): DAT read: user:271> 2025-10-24T20:16:01.379Z,1761336961.379 [DAT](INFO): DAT read: Tx time:20:16:00.7006 2025-10-24T20:16:01.380Z,1761336961.380 [DAT](INFO): Ping request sent. 2025-10-24T20:16:01.381Z,1761336961.381 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:01.381Z,1761336961.381 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:01.384Z,1761336961.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002856 2025-10-24T20:16:01.626Z,1761336961.626 [DAT](INFO): DAT read: TxSync time:20:16:00.6999 2025-10-24T20:16:01.627Z,1761336961.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247175 2025-10-24T20:16:01.717Z,1761336961.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:01.719Z,1761336961.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:01.722Z,1761336961.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.390945 m, bearing: 346.940556 deg, approach rate: -0.035988 m/s, LOS rate: 0.238037 deg/s, cmd heading: 353.535782 deg, new cmd heading: 353.839169 deg. 2025-10-24T20:16:01.723Z,1761336961.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175659 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:01.877Z,1761336961.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497360 2025-10-24T20:16:02.040Z,1761336962.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.016055,0.955625,-0.294148],[-0.999612,-0.008638,0.026497],[0.022780,0.294459,0.955392]] 2025-10-24T20:16:02.058Z,1761336962.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:02.061Z,1761336962.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.363022 m, bearing: 347.026611 deg, approach rate: -0.082379 m/s, LOS rate: 0.253916 deg/s, cmd heading: 353.839179 deg, new cmd heading: 354.097382 deg. 2025-10-24T20:16:02.062Z,1761336962.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180165 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:02.130Z,1761336962.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749716 2025-10-24T20:16:02.384Z,1761336962.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002879 2025-10-24T20:16:02.533Z,1761336962.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:02.537Z,1761336962.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.340118 m, bearing: 347.132994 deg, approach rate: -0.048294 m/s, LOS rate: 0.224346 deg/s, cmd heading: 354.097388 deg, new cmd heading: 354.416573 deg. 2025-10-24T20:16:02.538Z,1761336962.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185736 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:02.634Z,1761336962.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254427 2025-10-24T20:16:02.857Z,1761336962.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.040335,0.955808,-0.291213],[-0.998999,0.044218,0.006764],[0.019342,0.290648,0.956634]] 2025-10-24T20:16:02.886Z,1761336962.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505889 2025-10-24T20:16:02.925Z,1761336962.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:02.938Z,1761336962.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.308701 m, bearing: 347.212730 deg, approach rate: -0.079935 m/s, LOS rate: 0.202904 deg/s, cmd heading: 354.416576 deg, new cmd heading: 354.655824 deg. 2025-10-24T20:16:02.939Z,1761336962.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189912 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:03.138Z,1761336963.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758174 2025-10-24T20:16:03.290Z,1761336963.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:03.293Z,1761336963.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.273926 m, bearing: 347.302132 deg, approach rate: -0.095217 m/s, LOS rate: 0.244836 deg/s, cmd heading: 354.655824 deg, new cmd heading: 354.924078 deg. 2025-10-24T20:16:03.294Z,1761336963.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194594 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:03.389Z,1761336963.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009468 2025-10-24T20:16:03.641Z,1761336963.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260760 2025-10-24T20:16:03.725Z,1761336963.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:03.727Z,1761336963.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:03.730Z,1761336963.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.242722 m, bearing: 347.393884 deg, approach rate: -0.071460 m/s, LOS rate: 0.210151 deg/s, cmd heading: 354.924087 deg, new cmd heading: 355.199385 deg. 2025-10-24T20:16:03.731Z,1761336963.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199399 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:03.894Z,1761336963.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514249 2025-10-24T20:16:04.062Z,1761336964.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.126146,0.945770,-0.299343],[-0.991862,0.125493,-0.021488],[0.017243,0.299618,0.953903]] 2025-10-24T20:16:04.079Z,1761336964.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:04.082Z,1761336964.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.196991 m, bearing: 347.467045 deg, approach rate: -0.129770 m/s, LOS rate: 0.207661 deg/s, cmd heading: 355.199398 deg, new cmd heading: 355.418934 deg. 2025-10-24T20:16:04.083Z,1761336964.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203231 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:04.146Z,1761336964.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766088 2025-10-24T20:16:04.397Z,1761336964.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016805 2025-10-24T20:16:04.505Z,1761336964.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.156041,0.941157,-0.299792],[-0.987618,0.153637,-0.031730],[0.016196,0.301031,0.953477]] 2025-10-24T20:16:04.605Z,1761336964.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:04.607Z,1761336964.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.130997 m, bearing: 347.568739 deg, approach rate: -0.125678 m/s, LOS rate: 0.193733 deg/s, cmd heading: 355.418948 deg, new cmd heading: 355.724134 deg. 2025-10-24T20:16:04.612Z,1761336964.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208558 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:04.649Z,1761336964.649 [DAT](INFO): DAT read: Rx Time:20:16:03.3530 2025-10-24T20:16:04.650Z,1761336964.650 [DAT](INFO): Rx dataTimestamp_ set to:1761336964.649809 2025-10-24T20:16:04.651Z,1761336964.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271251 2025-10-24T20:16:04.901Z,1761336964.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521377 2025-10-24T20:16:04.914Z,1761336964.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.185904,0.935792,-0.299555],[-0.982452,0.181715,-0.042043],[0.015090,0.302114,0.953152]] 2025-10-24T20:16:04.989Z,1761336964.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.13 m. 2025-10-24T20:16:04.991Z,1761336964.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.128860 m, nav range: 186.081406 m, bearing: 347.635107 deg, approach rate: -0.130828 m/s, LOS rate: 0.175135 deg/s, cmd heading: 355.724148 deg, new cmd heading: 355.923303 deg. 2025-10-24T20:16:05.002Z,1761336965.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212034 target range: 184.128860 and range: 185.10 m. 2025-10-24T20:16:05.158Z,1761336965.158 [DAT](INFO): DAT read: 20:16:03.3530 LVL= 14592, 22673, 26610, 32755, AGC= 60, IDX= 138,-0.41,-1.300,-2.397, 2.748,-2.917, PHS= 1.705, 0.567,-0.621, RAW= 59.3, -16.2, CAL= 71.1, -24.4, ROT= 78.9, 24.4 2025-10-24T20:16:05.159Z,1761336965.159 [DAT](INFO): got valid direction response: 20:16:03.3530 LVL= 14592, 22673, 26610, 32755, AGC= 60, IDX= 138,-0.41,-1.300,-2.397, 2.748,-2.917, PHS= 1.705, 0.567,-0.621, RAW= 59.3, -16.2, CAL= 71.1, -24.4, ROT= 78.9, 24.4 2025-10-24T20:16:05.160Z,1761336965.160 [DAT](INFO): DAT read: Bearing 78.9, 24.4 (Local) 2025-10-24T20:16:05.161Z,1761336965.161 [DAT](INFO): Local bearing/azimuth received: Bearing 78.9, 24.4 (Local) 2025-10-24T20:16:05.162Z,1761336965.162 [DAT](INFO): DAT read: Range 10 to 50 : 186.1 m (Round-trip 248.2 ms) speed 0.1 m/s 2025-10-24T20:16:05.163Z,1761336965.163 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:05.164Z,1761336965.164 [DAT](INFO): direction in FSK: [0.175327,0.893647,-0.413104] 2025-10-24T20:16:05.164Z,1761336965.164 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:05.167Z,1761336965.167 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:05.167Z,1761336965.167 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:05.167Z,1761336965.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:05.375Z,1761336965.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 186.100006 m, deltaT: 8.064032 s, deltaX: 1.000000 m, approachRate: 0.124007 m/s, rangeRepo size: 4 2025-10-24T20:16:05.381Z,1761336965.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 185.128708 m, bearing: 0.433350 deg, lat: 36.779648 deg, lon: -121.859545 deg, deltaT: 8.064032 s, deltaX: 0.999847 m, approachRate: 0.123989 m/s, posRepo size: 4 2025-10-24T20:16:05.381Z,1761336965.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:05.389Z,1761336965.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 186.493622 m, bearing: 349.370303 deg, approach rate: 0.000000 m/s, LOS rate: 0.175135 deg/s, cmd heading: 355.923316 deg, new cmd heading: 356.128405 deg. 2025-10-24T20:16:05.390Z,1761336965.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215613 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:05.405Z,1761336965.405 [DAT](INFO): DAT read: user:272> 2025-10-24T20:16:05.406Z,1761336965.406 [DAT](INFO): DAT read: Tx time:20:16:04.7006 2025-10-24T20:16:05.406Z,1761336965.406 [DAT](INFO): Ping request sent. 2025-10-24T20:16:05.406Z,1761336965.406 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:05.406Z,1761336965.406 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:05.407Z,1761336965.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-24T20:16:05.657Z,1761336965.657 [DAT](INFO): DAT read: TxSync time:20:16:04.6999 2025-10-24T20:16:05.658Z,1761336965.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251663 2025-10-24T20:16:05.755Z,1761336965.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244600,0.923630,-0.295091],[-0.969546,0.236845,-0.062333],[0.012318,0.301351,0.953434]] 2025-10-24T20:16:05.809Z,1761336965.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:05.811Z,1761336965.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:05.814Z,1761336965.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 186.417221 m, bearing: 349.458953 deg, approach rate: -0.174803 m/s, LOS rate: 0.202913 deg/s, cmd heading: 356.128413 deg, new cmd heading: 356.394470 deg. 2025-10-24T20:16:05.815Z,1761336965.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220257 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:05.909Z,1761336965.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502971 2025-10-24T20:16:06.161Z,1761336966.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754783 2025-10-24T20:16:06.176Z,1761336966.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.299689,0.910786,-0.283999],[-0.953977,0.289411,-0.078540],[0.010660,0.294466,0.955602]] 2025-10-24T20:16:06.198Z,1761336966.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:06.201Z,1761336966.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 186.340317 m, bearing: 349.531862 deg, approach rate: -0.198542 m/s, LOS rate: 0.188306 deg/s, cmd heading: 356.394462 deg, new cmd heading: 356.613280 deg. 2025-10-24T20:16:06.202Z,1761336966.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224076 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:06.418Z,1761336966.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011616 2025-10-24T20:16:06.557Z,1761336966.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325702,0.901814,-0.283990],[-0.945419,0.313835,-0.087695],[0.010042,0.297052,0.954808]] 2025-10-24T20:16:06.606Z,1761336966.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:06.610Z,1761336966.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 186.239731 m, bearing: 349.610258 deg, approach rate: -0.246532 m/s, LOS rate: 0.192249 deg/s, cmd heading: 356.613274 deg, new cmd heading: 356.848588 deg. 2025-10-24T20:16:06.611Z,1761336966.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228183 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:06.666Z,1761336966.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259962 2025-10-24T20:16:06.917Z,1761336966.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511182 2025-10-24T20:16:06.960Z,1761336966.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.352277,0.891948,-0.283426],[-0.935855,0.338556,-0.097752],[0.008766,0.299681,0.953999]] 2025-10-24T20:16:06.980Z,1761336966.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:06.985Z,1761336966.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 186.141144 m, bearing: 349.681382 deg, approach rate: -0.263946 m/s, LOS rate: 0.190519 deg/s, cmd heading: 356.848588 deg, new cmd heading: 357.062070 deg. 2025-10-24T20:16:06.986Z,1761336966.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231909 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:07.170Z,1761336967.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763935 2025-10-24T20:16:07.360Z,1761336967.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378334,0.881821,-0.281523],[-0.925636,0.362969,-0.107012],[0.007819,0.301074,0.953569]] 2025-10-24T20:16:07.379Z,1761336967.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:07.397Z,1761336967.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 186.029678 m, bearing: 349.756198 deg, approach rate: -0.279515 m/s, LOS rate: 0.187723 deg/s, cmd heading: 357.062072 deg, new cmd heading: 357.286653 deg. 2025-10-24T20:16:07.398Z,1761336967.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235828 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:07.421Z,1761336967.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766 2025-10-24T20:16:07.673Z,1761336967.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267029 2025-10-24T20:16:07.824Z,1761336967.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:07.827Z,1761336967.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:07.829Z,1761336967.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 185.899017 m, bearing: 349.843938 deg, approach rate: -0.291719 m/s, LOS rate: 0.196031 deg/s, cmd heading: 357.286649 deg, new cmd heading: 357.550055 deg. 2025-10-24T20:16:07.830Z,1761336967.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240426 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:07.926Z,1761336967.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519219 2025-10-24T20:16:08.168Z,1761336968.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427271,0.861450,-0.274487],[-0.904100,0.409280,-0.122851],[0.006512,0.300655,0.953711]] 2025-10-24T20:16:08.178Z,1761336968.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772062 2025-10-24T20:16:08.228Z,1761336968.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:08.231Z,1761336968.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 185.771561 m, bearing: 349.919033 deg, approach rate: -0.317658 m/s, LOS rate: 0.187284 deg/s, cmd heading: 357.550048 deg, new cmd heading: 357.775485 deg. 2025-10-24T20:16:08.231Z,1761336968.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244360 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:08.429Z,1761336968.429 [DAT](INFO): DAT read: Rx Time:20:16:07.3527 2025-10-24T20:16:08.429Z,1761336968.429 [DAT](INFO): Rx dataTimestamp_ set to:1761336968.428934 2025-10-24T20:16:08.430Z,1761336968.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023732 2025-10-24T20:16:08.606Z,1761336968.606 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412173144,35.0, +11.6, 0.0,149 2025-10-24T20:16:08.645Z,1761336968.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:08.649Z,1761336968.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 185.638962 m, bearing: 349.997460 deg, approach rate: -0.317472 m/s, LOS rate: 0.187908 deg/s, cmd heading: 357.775472 deg, new cmd heading: 358.010921 deg. 2025-10-24T20:16:08.651Z,1761336968.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248469 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:08.682Z,1761336968.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275593 2025-10-24T20:16:08.936Z,1761336968.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529144 2025-10-24T20:16:08.998Z,1761336968.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473161,0.838956,-0.268832],[-0.880953,0.452778,-0.137529],[0.006340,0.301902,0.953318]] 2025-10-24T20:16:09.018Z,1761336969.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 185.13 m. 2025-10-24T20:16:09.021Z,1761336969.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 185.128708 m, nav range: 185.497650 m, bearing: 350.071747 deg, approach rate: -0.379457 m/s, LOS rate: 0.199630 deg/s, cmd heading: 358.010922 deg, new cmd heading: 358.233951 deg. 2025-10-24T20:16:09.022Z,1761336969.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252362 target range: 185.128708 and range: 186.10 m. 2025-10-24T20:16:09.196Z,1761336969.196 [DAT](INFO): DAT read: 20:16:07.3527 LVL= 17264, 29169, 21890, 32627, AGC= 61, IDX= 438, 0.18, 0.983,-0.658,-0.864,-0.377, PHS= 1.448,-0.234,-0.490, RAW= 83.0, -8.0, CAL= 92.6, -17.1, ROT= 57.4, 17.1 2025-10-24T20:16:09.197Z,1761336969.197 [DAT](INFO): got valid direction response: 20:16:07.3527 LVL= 17264, 29169, 21890, 32627, AGC= 61, IDX= 438, 0.18, 0.983,-0.658,-0.864,-0.377, PHS= 1.448,-0.234,-0.490, RAW= 83.0, -8.0, CAL= 92.6, -17.1, ROT= 57.4, 17.1 2025-10-24T20:16:09.198Z,1761336969.198 [DAT](INFO): DAT read: Bearing 57.4, 17.1 (Local) 2025-10-24T20:16:09.198Z,1761336969.198 [DAT](INFO): Local bearing/azimuth received: Bearing 57.4, 17.1 (Local) 2025-10-24T20:16:09.201Z,1761336969.201 [DAT](INFO): DAT read: Range 10 to 50 : 185.8 m (Round-trip 247.8 ms) speed 0.0 m/s 2025-10-24T20:16:09.205Z,1761336969.205 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:09.208Z,1761336969.208 [DAT](INFO): direction in FSK: [0.514953,0.805210,-0.294040] 2025-10-24T20:16:09.209Z,1761336969.209 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:09.212Z,1761336969.212 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:09.212Z,1761336969.212 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:09.213Z,1761336969.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:09.391Z,1761336969.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495264,0.827057,-0.265876],[-0.868718,0.473815,-0.144323],[0.006613,0.302449,0.953143]] 2025-10-24T20:16:09.421Z,1761336969.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 185.800003 m, deltaT: 4.032942 s, deltaX: -0.300003 m, approachRate: -0.074388 m/s, rangeRepo size: 4 2025-10-24T20:16:09.423Z,1761336969.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 184.830643 m, bearing: 358.658897 deg, lat: 36.779648 deg, lon: -121.859287 deg, deltaT: 4.032942 s, deltaX: -0.298065 m, approachRate: -0.073908 m/s, posRepo size: 4 2025-10-24T20:16:09.424Z,1761336969.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:09.426Z,1761336969.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 182.822037 m, bearing: 357.272544 deg, approach rate: 0.000000 m/s, LOS rate: 0.199630 deg/s, cmd heading: 358.233942 deg, new cmd heading: 358.474841 deg. 2025-10-24T20:16:09.427Z,1761336969.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256566 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:09.437Z,1761336969.437 [DAT](INFO): DAT read: user:273> 2025-10-24T20:16:09.438Z,1761336969.438 [DAT](INFO): DAT read: Tx time:20:16:08.7507 2025-10-24T20:16:09.438Z,1761336969.438 [DAT](INFO): Ping request sent. 2025-10-24T20:16:09.438Z,1761336969.438 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:09.438Z,1761336969.438 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:09.439Z,1761336969.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-24T20:16:09.690Z,1761336969.690 [DAT](INFO): DAT read: TxSync time:20:16:08.7500 2025-10-24T20:16:09.691Z,1761336969.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253202 2025-10-24T20:16:09.791Z,1761336969.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517221,0.814474,-0.262895],[-0.855824,0.494675,-0.151203],[0.006897,0.303197,0.952903]] 2025-10-24T20:16:09.853Z,1761336969.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:09.855Z,1761336969.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:09.862Z,1761336969.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 182.682556 m, bearing: 357.364888 deg, approach rate: -0.320731 m/s, LOS rate: 0.212503 deg/s, cmd heading: 358.474829 deg, new cmd heading: 358.752068 deg. 2025-10-24T20:16:09.863Z,1761336969.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261405 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:09.942Z,1761336969.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504134 2025-10-24T20:16:10.193Z,1761336970.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909 2025-10-24T20:16:10.196Z,1761336970.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537713,0.802604,-0.258248],[-0.843097,0.514451,-0.156610],[0.007160,0.301939,0.953300]] 2025-10-24T20:16:10.245Z,1761336970.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:10.252Z,1761336970.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 182.539673 m, bearing: 357.454331 deg, approach rate: -0.366291 m/s, LOS rate: 0.229475 deg/s, cmd heading: 358.752080 deg, new cmd heading: 359.020619 deg. 2025-10-24T20:16:10.254Z,1761336970.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266092 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:10.445Z,1761336970.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006725 2025-10-24T20:16:10.599Z,1761336970.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557907,0.789677,-0.255245],[-0.829858,0.534074,-0.161560],[0.008739,0.301952,0.953283]] 2025-10-24T20:16:10.672Z,1761336970.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:10.675Z,1761336970.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 182.384186 m, bearing: 357.549036 deg, approach rate: -0.367572 m/s, LOS rate: 0.224072 deg/s, cmd heading: 359.020616 deg, new cmd heading: 359.304968 deg. 2025-10-24T20:16:10.680Z,1761336970.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271055 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:10.697Z,1761336970.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258920 2025-10-24T20:16:10.949Z,1761336970.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510826 2025-10-24T20:16:11.003Z,1761336971.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578253,0.775987,-0.251928],[-0.815800,0.553608,-0.167297],[0.009648,0.302263,0.953176]] 2025-10-24T20:16:11.027Z,1761336971.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:11.029Z,1761336971.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 182.239777 m, bearing: 357.632248 deg, approach rate: -0.402629 m/s, LOS rate: 0.232188 deg/s, cmd heading: 359.304970 deg, new cmd heading: 359.554802 deg. 2025-10-24T20:16:11.030Z,1761336971.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275415 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:11.201Z,1761336971.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762762 2025-10-24T20:16:11.407Z,1761336971.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598559,0.762061,-0.246962],[-0.801016,0.573206,-0.172650],[0.009990,0.301161,0.953521]] 2025-10-24T20:16:11.425Z,1761336971.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:11.428Z,1761336971.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 182.078339 m, bearing: 357.720375 deg, approach rate: -0.404865 m/s, LOS rate: 0.221207 deg/s, cmd heading: 359.554791 deg, new cmd heading: 359.819404 deg. 2025-10-24T20:16:11.429Z,1761336971.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280033 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:11.453Z,1761336971.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014869 2025-10-24T20:16:11.705Z,1761336971.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266685 2025-10-24T20:16:11.813Z,1761336971.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618267,0.747578,-0.242640],[-0.785900,0.592099,-0.178270],[0.010396,0.300909,0.953596]] 2025-10-24T20:16:11.864Z,1761336971.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:11.868Z,1761336971.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:11.872Z,1761336971.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 181.906494 m, bearing: 357.817819 deg, approach rate: -0.389101 m/s, LOS rate: 0.220848 deg/s, cmd heading: 359.819392 deg, new cmd heading: 0.111999 deg. 2025-10-24T20:16:11.874Z,1761336971.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001955 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:11.957Z,1761336971.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518973 2025-10-24T20:16:12.209Z,1761336972.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770692 2025-10-24T20:16:12.228Z,1761336972.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637468,0.732770,-0.238080],[-0.770403,0.610487,-0.183806],[0.010657,0.300588,0.953695]] 2025-10-24T20:16:12.267Z,1761336972.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:12.274Z,1761336972.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 181.746811 m, bearing: 357.903726 deg, approach rate: -0.398954 m/s, LOS rate: 0.214819 deg/s, cmd heading: 0.111999 deg, new cmd heading: 0.369944 deg. 2025-10-24T20:16:12.275Z,1761336972.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006457 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:12.466Z,1761336972.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027651 2025-10-24T20:16:12.621Z,1761336972.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656401,0.717386,-0.233442],[-0.754335,0.628559,-0.189455],[0.010819,0.300452,0.953736]] 2025-10-24T20:16:12.673Z,1761336972.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:12.675Z,1761336972.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 181.578659 m, bearing: 357.992625 deg, approach rate: -0.414993 m/s, LOS rate: 0.219604 deg/s, cmd heading: 0.369944 deg, new cmd heading: 0.636887 deg. 2025-10-24T20:16:12.676Z,1761336972.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011116 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:12.713Z,1761336972.713 [DAT](INFO): DAT read: Rx Time:20:16:11.4012 2025-10-24T20:16:12.714Z,1761336972.714 [DAT](INFO): Rx dataTimestamp_ set to:1761336972.713489 2025-10-24T20:16:12.714Z,1761336972.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276287 2025-10-24T20:16:12.965Z,1761336972.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526733 2025-10-24T20:16:13.046Z,1761336973.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674874,0.701474,-0.229084],[-0.737851,0.646086,-0.195316],[0.010998,0.300844,0.953610]] 2025-10-24T20:16:13.066Z,1761336973.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.83 m. 2025-10-24T20:16:13.069Z,1761336973.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 184.830643 m, nav range: 181.411377 m, bearing: 358.076630 deg, approach rate: -0.425759 m/s, LOS rate: 0.214002 deg/s, cmd heading: 0.636887 deg, new cmd heading: 0.889132 deg. 2025-10-24T20:16:13.070Z,1761336973.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015518 target range: 184.830643 and range: 185.80 m. 2025-10-24T20:16:13.222Z,1761336973.222 [DAT](INFO): DAT read: 20:16:11.4012 LVL= 19616, 32753, 27922, 32755, AGC= 64, IDX= 423, 0.40, 2.128, 0.483, 0.895, 1.291, PHS= 0.925,-0.762,-0.399, RAW= 101.8, 3.1, CAL= 112.4, 0.9, ROT= 37.6, -0.9 2025-10-24T20:16:13.223Z,1761336973.223 [DAT](INFO): got valid direction response: 20:16:11.4012 LVL= 19616, 32753, 27922, 32755, AGC= 64, IDX= 423, 0.40, 2.128, 0.483, 0.895, 1.291, PHS= 0.925,-0.762,-0.399, RAW= 101.8, 3.1, CAL= 112.4, 0.9, ROT= 37.6, -0.9 2025-10-24T20:16:13.224Z,1761336973.224 [DAT](INFO): DAT read: Bearing 37.6, -0.9 (Local) 2025-10-24T20:16:13.225Z,1761336973.225 [DAT](INFO): Local bearing/azimuth received: Bearing 37.6, -0.9 (Local) 2025-10-24T20:16:13.226Z,1761336973.226 [DAT](INFO): DAT read: Range 10 to 50 : 184.7 m (Round-trip 246.3 ms) speed 0.4 m/s 2025-10-24T20:16:13.227Z,1761336973.227 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:13.228Z,1761336973.228 [DAT](INFO): direction in FSK: [0.792192,0.610070,0.015707] 2025-10-24T20:16:13.228Z,1761336973.228 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:13.231Z,1761336973.231 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:13.231Z,1761336973.231 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:13.233Z,1761336973.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:13.427Z,1761336973.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693005,0.685194,-0.224173],[-0.720850,0.663290,-0.201052],[0.010932,0.300925,0.953585]] 2025-10-24T20:16:13.473Z,1761336973.473 [DAT](INFO): DAT read: user:274> 2025-10-24T20:16:13.474Z,1761336973.474 [DAT](INFO): DAT read: Tx time:20:16:12.7507 2025-10-24T20:16:13.474Z,1761336973.474 [DAT](INFO): Ping request sent. 2025-10-24T20:16:13.474Z,1761336973.474 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:13.475Z,1761336973.475 [DAT](INFO): DAT read: TxSync time:20:16:12.7500 2025-10-24T20:16:13.475Z,1761336973.475 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:13.477Z,1761336973.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002539 2025-10-24T20:16:13.522Z,1761336973.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 184.699997 m, deltaT: 4.030975 s, deltaX: -1.100006 m, approachRate: -0.272888 m/s, rangeRepo size: 4 2025-10-24T20:16:13.528Z,1761336973.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 183.736038 m, bearing: 350.019171 deg, lat: 36.779611 deg, lon: -121.859545 deg, deltaT: 4.030975 s, deltaX: -1.094604 m, approachRate: -0.271548 m/s, posRepo size: 4 2025-10-24T20:16:13.529Z,1761336973.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:13.531Z,1761336973.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 179.361740 m, bearing: 350.746184 deg, approach rate: 0.000000 m/s, LOS rate: 0.214002 deg/s, cmd heading: 0.889132 deg, new cmd heading: 1.181817 deg. 2025-10-24T20:16:13.538Z,1761336973.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020627 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:13.721Z,1761336973.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246437 2025-10-24T20:16:13.939Z,1761336973.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:13.941Z,1761336973.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:13.944Z,1761336973.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 179.136917 m, bearing: 350.831173 deg, approach rate: -0.535499 m/s, LOS rate: 0.202686 deg/s, cmd heading: 1.181817 deg, new cmd heading: 1.437102 deg. 2025-10-24T20:16:13.945Z,1761336973.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025082 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:13.973Z,1761336973.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498436 2025-10-24T20:16:14.225Z,1761336974.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750240 2025-10-24T20:16:14.260Z,1761336974.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729305,0.651730,-0.208234],[-0.684097,0.699583,-0.206385],[0.011170,0.292970,0.956056]] 2025-10-24T20:16:14.290Z,1761336974.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:14.304Z,1761336974.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 178.943924 m, bearing: 350.897351 deg, approach rate: -0.553992 m/s, LOS rate: 0.190172 deg/s, cmd heading: 1.437102 deg, new cmd heading: 1.635851 deg. 2025-10-24T20:16:14.305Z,1761336974.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028551 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:14.477Z,1761336974.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002230 2025-10-24T20:16:14.657Z,1761336974.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746864,0.632870,-0.204132],[-0.664894,0.715564,-0.214206],[0.010505,0.295709,0.955220]] 2025-10-24T20:16:14.696Z,1761336974.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:14.699Z,1761336974.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 178.733017 m, bearing: 350.968664 deg, approach rate: -0.518826 m/s, LOS rate: 0.175634 deg/s, cmd heading: 1.635851 deg, new cmd heading: 1.850039 deg. 2025-10-24T20:16:14.701Z,1761336974.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032289 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:14.729Z,1761336974.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254617 2025-10-24T20:16:14.981Z,1761336974.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506362 2025-10-24T20:16:15.062Z,1761336975.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764372,0.612937,-0.200109],[-0.644687,0.731645,-0.221525],[0.010628,0.298335,0.954402]] 2025-10-24T20:16:15.083Z,1761336975.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:15.087Z,1761336975.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 178.528519 m, bearing: 351.034381 deg, approach rate: -0.529440 m/s, LOS rate: 0.170334 deg/s, cmd heading: 1.850039 deg, new cmd heading: 2.047415 deg. 2025-10-24T20:16:15.088Z,1761336975.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035734 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:15.233Z,1761336975.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758337 2025-10-24T20:16:15.466Z,1761336975.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781085,0.593164,-0.195094],[-0.624345,0.746868,-0.228871],[0.009952,0.300574,0.953707]] 2025-10-24T20:16:15.485Z,1761336975.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010413 2025-10-24T20:16:15.486Z,1761336975.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:15.489Z,1761336975.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 178.311096 m, bearing: 351.100844 deg, approach rate: -0.537969 m/s, LOS rate: 0.164652 deg/s, cmd heading: 2.047415 deg, new cmd heading: 2.247048 deg. 2025-10-24T20:16:15.490Z,1761336975.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039218 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:15.737Z,1761336975.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262875 2025-10-24T20:16:15.930Z,1761336975.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:15.934Z,1761336975.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 178.076279 m, bearing: 351.167584 deg, approach rate: -0.529191 m/s, LOS rate: 0.150605 deg/s, cmd heading: 2.247048 deg, new cmd heading: 2.447531 deg. 2025-10-24T20:16:15.935Z,1761336975.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042717 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:15.990Z,1761336975.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514762 2025-10-24T20:16:16.241Z,1761336976.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766564 2025-10-24T20:16:16.279Z,1761336976.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811514,0.554538,-0.184207],[-0.584260,0.775010,-0.240829],[0.009213,0.303061,0.952927]] 2025-10-24T20:16:16.364Z,1761336976.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:16.366Z,1761336976.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:16.379Z,1761336976.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 177.851456 m, bearing: 351.225431 deg, approach rate: -0.515395 m/s, LOS rate: 0.132777 deg/s, cmd heading: 2.447531 deg, new cmd heading: 2.621289 deg. 2025-10-24T20:16:16.389Z,1761336976.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045750 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:16.493Z,1761336976.493 [DAT](INFO): DAT read: Rx Time:20:16:15.4276 2025-10-24T20:16:16.493Z,1761336976.493 [DAT](INFO): Rx dataTimestamp_ set to:1761336976.493177 2025-10-24T20:16:16.494Z,1761336976.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019494 2025-10-24T20:16:16.692Z,1761336976.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825976,0.534537,-0.178982],[-0.563631,0.788298,-0.246793],[0.009172,0.304725,0.952396]] 2025-10-24T20:16:16.745Z,1761336976.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270304 2025-10-24T20:16:16.766Z,1761336976.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:16.770Z,1761336976.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 177.643600 m, bearing: 351.276959 deg, approach rate: -0.523449 m/s, LOS rate: 0.129917 deg/s, cmd heading: 2.621289 deg, new cmd heading: 2.776054 deg. 2025-10-24T20:16:16.770Z,1761336976.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048451 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:16.997Z,1761336976.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522353 2025-10-24T20:16:17.098Z,1761336977.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840041,0.514152,-0.173145],[-0.542448,0.801311,-0.252294],[0.009025,0.305859,0.952034]] 2025-10-24T20:16:17.119Z,1761336977.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.74 m. 2025-10-24T20:16:17.122Z,1761336977.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 183.736038 m, nav range: 177.434311 m, bearing: 351.326297 deg, approach rate: -0.589002 m/s, LOS rate: 0.139015 deg/s, cmd heading: 2.776054 deg, new cmd heading: 2.924242 deg. 2025-10-24T20:16:17.123Z,1761336977.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051038 target range: 183.736038 and range: 184.70 m. 2025-10-24T20:16:17.258Z,1761336977.258 [DAT](INFO): DAT read: 20:16:15.4276 LVL= 32144, 32753, 25026, 29939, AGC= 69, IDX= 197, 0.28,-1.816,-2.807,-1.940,-3.011, PHS= 1.283, 0.251, 1.068, RAW= 138.6, -44.3, CAL= 144.3, -44.4, ROT= 5.7, 44.4 2025-10-24T20:16:17.259Z,1761336977.259 [DAT](INFO): got valid direction response: 20:16:15.4276 LVL= 32144, 32753, 25026, 29939, AGC= 69, IDX= 197, 0.28,-1.816,-2.807,-1.940,-3.011, PHS= 1.283, 0.251, 1.068, RAW= 138.6, -44.3, CAL= 144.3, -44.4, ROT= 5.7, 44.4 2025-10-24T20:16:17.260Z,1761336977.260 [DAT](INFO): DAT read: Bearing 5.7, 44.4 (Local) 2025-10-24T20:16:17.260Z,1761336977.260 [DAT](INFO): Local bearing/azimuth received: Bearing 5.7, 44.4 (Local) 2025-10-24T20:16:17.261Z,1761336977.261 [DAT](INFO): DAT read: Range 10 to 50 : 204.5 m (Round-trip 272.7 ms) speed 0.0 m/s 2025-10-24T20:16:17.262Z,1761336977.262 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:17.263Z,1761336977.263 [DAT](INFO): direction in FSK: [0.710940,0.070961,-0.699663] 2025-10-24T20:16:17.263Z,1761336977.263 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:17.267Z,1761336977.267 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:17.268Z,1761336977.268 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:17.268Z,1761336977.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:17.501Z,1761336977.501 [DAT](INFO): DAT read: user:275> 2025-10-24T20:16:17.501Z,1761336977.501 [DAT](INFO): DAT read: Tx time:20:16:16.8007 2025-10-24T20:16:17.502Z,1761336977.502 [DAT](INFO): Ping request sent. 2025-10-24T20:16:17.502Z,1761336977.502 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:17.502Z,1761336977.502 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:17.503Z,1761336977.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-10-24T20:16:17.504Z,1761336977.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853620,0.493374,-0.167082],[-0.520818,0.813968,-0.257301],[0.009054,0.306656,0.951777]] 2025-10-24T20:16:17.573Z,1761336977.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 204.500000 m, deltaT: 4.032119 s, deltaX: 19.800003 m, approachRate: 4.910570 m/s, rangeRepo size: 4 2025-10-24T20:16:17.575Z,1761336977.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 203.429031 m, bearing: 350.095793 deg, lat: 36.779611 deg, lon: -121.859545 deg, deltaT: 4.032119 s, deltaX: 19.692993 m, approachRate: 4.884031 m/s, posRepo size: 4 2025-10-24T20:16:17.575Z,1761336977.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:17.582Z,1761336977.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 177.204605 m, bearing: 351.377744 deg, approach rate: 0.000000 m/s, LOS rate: 0.139015 deg/s, cmd heading: 2.924242 deg, new cmd heading: 3.111530 deg. 2025-10-24T20:16:17.588Z,1761336977.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054306 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:17.753Z,1761336977.753 [DAT](INFO): DAT read: TxSync time:20:16:16.8000 2025-10-24T20:16:17.754Z,1761336977.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252039 2025-10-24T20:16:17.965Z,1761336977.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:17.996Z,1761336977.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 176.972687 m, bearing: 351.426959 deg, approach rate: -0.584067 m/s, LOS rate: 0.124107 deg/s, cmd heading: 3.111530 deg, new cmd heading: 3.259369 deg. 2025-10-24T20:16:17.997Z,1761336977.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056887 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:18.005Z,1761336978.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503278 2025-10-24T20:16:18.257Z,1761336978.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754939 2025-10-24T20:16:18.306Z,1761336978.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878515,0.453230,-0.150975],[-0.477620,0.839592,-0.258776],[0.009473,0.299447,0.954066]] 2025-10-24T20:16:18.345Z,1761336978.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:18.347Z,1761336978.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 176.766434 m, bearing: 351.466323 deg, approach rate: -0.543412 m/s, LOS rate: 0.103832 deg/s, cmd heading: 3.259369 deg, new cmd heading: 3.377598 deg. 2025-10-24T20:16:18.349Z,1761336978.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058950 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:18.509Z,1761336978.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006882 2025-10-24T20:16:18.712Z,1761336978.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891304,0.429826,-0.144312],[-0.453305,0.851467,-0.263664],[0.009547,0.300423,0.953758]] 2025-10-24T20:16:18.761Z,1761336978.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258986 2025-10-24T20:16:18.769Z,1761336978.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:18.771Z,1761336978.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:18.786Z,1761336978.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 176.537872 m, bearing: 351.504690 deg, approach rate: -0.535574 m/s, LOS rate: 0.090018 deg/s, cmd heading: 3.377598 deg, new cmd heading: 3.492847 deg. 2025-10-24T20:16:18.787Z,1761336978.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060962 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:19.013Z,1761336979.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511332 2025-10-24T20:16:19.115Z,1761336979.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902756,0.407312,-0.138307],[-0.430042,0.861888,-0.268724],[0.009750,0.302070,0.953236]] 2025-10-24T20:16:19.138Z,1761336979.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:19.141Z,1761336979.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 176.324600 m, bearing: 351.538322 deg, approach rate: -0.581565 m/s, LOS rate: 0.091823 deg/s, cmd heading: 3.492847 deg, new cmd heading: 3.593867 deg. 2025-10-24T20:16:19.142Z,1761336979.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062725 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:19.266Z,1761336979.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764417 2025-10-24T20:16:19.517Z,1761336979.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015595 2025-10-24T20:16:19.526Z,1761336979.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914226,0.383469,-0.130929],[-0.405105,0.872143,-0.274329],[0.008993,0.303839,0.952681]] 2025-10-24T20:16:19.555Z,1761336979.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:19.557Z,1761336979.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 176.089661 m, bearing: 351.572893 deg, approach rate: -0.563993 m/s, LOS rate: 0.083101 deg/s, cmd heading: 3.593867 deg, new cmd heading: 3.697718 deg. 2025-10-24T20:16:19.558Z,1761336979.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064537 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:19.769Z,1761336979.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266941 2025-10-24T20:16:19.924Z,1761336979.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924567,0.360333,-0.123841],[-0.380924,0.881463,-0.279141],[0.008577,0.305258,0.952231]] 2025-10-24T20:16:19.980Z,1761336979.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:19.985Z,1761336979.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 175.853394 m, bearing: 351.604135 deg, approach rate: -0.554934 m/s, LOS rate: 0.073477 deg/s, cmd heading: 3.697718 deg, new cmd heading: 3.791568 deg. 2025-10-24T20:16:19.986Z,1761336979.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066175 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:20.021Z,1761336980.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518904 2025-10-24T20:16:20.277Z,1761336980.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775432 2025-10-24T20:16:20.337Z,1761336980.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934405,0.336671,-0.116358],[-0.356124,0.890172,-0.284201],[0.007896,0.306996,0.951678]] 2025-10-24T20:16:20.361Z,1761336980.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:20.364Z,1761336980.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 175.643082 m, bearing: 351.629896 deg, approach rate: -0.552088 m/s, LOS rate: 0.067707 deg/s, cmd heading: 3.791568 deg, new cmd heading: 3.868945 deg. 2025-10-24T20:16:20.365Z,1761336980.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067526 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:20.525Z,1761336980.525 [DAT](INFO): DAT read: Rx Time:20:16:19.4763 2025-10-24T20:16:20.525Z,1761336980.525 [DAT](INFO): Rx dataTimestamp_ set to:1761336980.525166 2025-10-24T20:16:20.526Z,1761336980.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024143 2025-10-24T20:16:20.736Z,1761336980.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943155,0.314126,-0.108548],[-0.332272,0.898370,-0.287273],[0.007276,0.307011,0.951678]] 2025-10-24T20:16:20.777Z,1761336980.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275003 2025-10-24T20:16:20.801Z,1761336980.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:20.810Z,1761336980.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:20.818Z,1761336980.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 175.404648 m, bearing: 351.655419 deg, approach rate: -0.531338 m/s, LOS rate: 0.056954 deg/s, cmd heading: 3.868945 deg, new cmd heading: 3.945618 deg. 2025-10-24T20:16:20.818Z,1761336980.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068864 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:21.029Z,1761336981.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526952 2025-10-24T20:16:21.137Z,1761336981.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951640,0.290340,-0.100420],[-0.307140,0.906372,-0.290095],[0.006792,0.306909,0.951715]] 2025-10-24T20:16:21.160Z,1761336981.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.43 m. 2025-10-24T20:16:21.163Z,1761336981.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.429031 m, nav range: 175.189865 m, bearing: 351.676430 deg, approach rate: -0.613747 m/s, LOS rate: 0.060112 deg/s, cmd heading: 3.945618 deg, new cmd heading: 4.008728 deg. 2025-10-24T20:16:21.164Z,1761336981.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069965 target range: 203.429031 and range: 204.50 m. 2025-10-24T20:16:21.288Z,1761336981.288 [DAT](INFO): DAT read: 20:16:19.4763 LVL= 21808, 29521, 21522, 32755, AGC= 61, IDX= 407, 0.26,-2.845, 1.784, 2.852, 2.760, PHS= 0.766,-0.929, 0.089, RAW= 126.6, 1.0, CAL= 133.4, -6.7, ROT= 16.6, 6.7 2025-10-24T20:16:21.289Z,1761336981.289 [DAT](INFO): got valid direction response: 20:16:19.4763 LVL= 21808, 29521, 21522, 32755, AGC= 61, IDX= 407, 0.26,-2.845, 1.784, 2.852, 2.760, PHS= 0.766,-0.929, 0.089, RAW= 126.6, 1.0, CAL= 133.4, -6.7, ROT= 16.6, 6.7 2025-10-24T20:16:21.290Z,1761336981.290 [DAT](INFO): DAT read: Bearing 16.6, 6.7 (Local) 2025-10-24T20:16:21.290Z,1761336981.290 [DAT](INFO): Local bearing/azimuth received: Bearing 16.6, 6.7 (Local) 2025-10-24T20:16:21.291Z,1761336981.291 [DAT](INFO): DAT read: Range 10 to 50 : 203.4 m (Round-trip 271.3 ms) speed 0.5 m/s 2025-10-24T20:16:21.292Z,1761336981.292 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:21.293Z,1761336981.293 [DAT](INFO): direction in FSK: [0.951778,0.283737,-0.116671] 2025-10-24T20:16:21.294Z,1761336981.294 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:21.297Z,1761336981.297 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:21.297Z,1761336981.297 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:21.297Z,1761336981.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:21.534Z,1761336981.534 [DAT](INFO): DAT read: user:276> 2025-10-24T20:16:21.534Z,1761336981.534 [DAT](INFO): DAT read: Tx time:20:16:20.8508 2025-10-24T20:16:21.535Z,1761336981.535 [DAT](INFO): Ping request sent. 2025-10-24T20:16:21.535Z,1761336981.535 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:21.535Z,1761336981.535 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:21.536Z,1761336981.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-24T20:16:21.582Z,1761336981.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966576,0.242223,-0.084017],[-0.256310,0.920627,-0.294537],[0.006004,0.306226,0.951940]] 2025-10-24T20:16:21.622Z,1761336981.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 203.399994 m, deltaT: 4.032134 s, deltaX: -1.100006 m, approachRate: -0.272810 m/s, rangeRepo size: 4 2025-10-24T20:16:21.628Z,1761336981.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 202.331757 m, bearing: 2.959984 deg, lat: 36.779652 deg, lon: -121.859238 deg, deltaT: 4.032134 s, deltaX: -1.097275 m, approachRate: -0.272133 m/s, posRepo size: 4 2025-10-24T20:16:21.629Z,1761336981.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:21.631Z,1761336981.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 177.698959 m, bearing: 0.688529 deg, approach rate: 0.000000 m/s, LOS rate: 0.060112 deg/s, cmd heading: 4.008728 deg, new cmd heading: 4.091950 deg. 2025-10-24T20:16:21.636Z,1761336981.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071418 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:21.785Z,1761336981.785 [DAT](INFO): DAT read: TxSync time:20:16:20.8500 2025-10-24T20:16:21.786Z,1761336981.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251348 2025-10-24T20:16:21.963Z,1761336981.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972791,0.218566,-0.076855],[-0.231602,0.926230,-0.297421],[0.006180,0.307128,0.951648]] 2025-10-24T20:16:22.010Z,1761336982.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:22.013Z,1761336982.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 177.478745 m, bearing: 0.717971 deg, approach rate: -0.566699 m/s, LOS rate: 0.075858 deg/s, cmd heading: 4.091951 deg, new cmd heading: 4.180384 deg. 2025-10-24T20:16:22.014Z,1761336982.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072961 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:22.037Z,1761336982.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502034 2025-10-24T20:16:22.289Z,1761336982.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753954 2025-10-24T20:16:22.363Z,1761336982.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978260,0.195179,-0.070091],[-0.207268,0.931408,-0.299196],[0.006887,0.307220,0.951614]] 2025-10-24T20:16:22.427Z,1761336982.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:22.434Z,1761336982.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 177.264328 m, bearing: 0.744703 deg, approach rate: -0.514067 m/s, LOS rate: 0.064170 deg/s, cmd heading: 4.180384 deg, new cmd heading: 4.260679 deg. 2025-10-24T20:16:22.435Z,1761336982.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074363 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:22.541Z,1761336982.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006220 2025-10-24T20:16:22.769Z,1761336982.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982980,0.172479,-0.063259],[-0.183555,0.936389,-0.299137],[0.007640,0.305657,0.952111]] 2025-10-24T20:16:22.793Z,1761336982.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258130 2025-10-24T20:16:22.830Z,1761336982.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:22.833Z,1761336982.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:22.836Z,1761336982.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 177.029892 m, bearing: 0.771562 deg, approach rate: -0.577974 m/s, LOS rate: 0.066305 deg/s, cmd heading: 4.260679 deg, new cmd heading: 4.341363 deg. 2025-10-24T20:16:22.837Z,1761336982.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075771 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:23.046Z,1761336983.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510822 2025-10-24T20:16:23.173Z,1761336983.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987447,0.148340,-0.054254],[-0.157816,0.940719,-0.300237],[0.006500,0.305030,0.952321]] 2025-10-24T20:16:23.217Z,1761336983.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:23.219Z,1761336983.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 176.831161 m, bearing: 0.792523 deg, approach rate: -0.524183 m/s, LOS rate: 0.055348 deg/s, cmd heading: 4.341363 deg, new cmd heading: 4.404314 deg. 2025-10-24T20:16:23.224Z,1761336983.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076870 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:23.298Z,1761336983.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762438 2025-10-24T20:16:23.550Z,1761336983.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014544 2025-10-24T20:16:23.575Z,1761336983.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991139,0.124681,-0.045810],[-0.132705,0.944431,-0.300733],[0.005769,0.304147,0.952608]] 2025-10-24T20:16:23.616Z,1761336983.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:23.619Z,1761336983.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 176.594986 m, bearing: 0.815376 deg, approach rate: -0.585145 m/s, LOS rate: 0.056696 deg/s, cmd heading: 4.404314 deg, new cmd heading: 4.472964 deg. 2025-10-24T20:16:23.620Z,1761336983.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078068 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:23.801Z,1761336983.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265999 2025-10-24T20:16:23.981Z,1761336983.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994090,0.101915,-0.037387],[-0.108446,0.947876,-0.299617],[0.004903,0.301900,0.953327]] 2025-10-24T20:16:24.053Z,1761336984.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518359 2025-10-24T20:16:24.058Z,1761336984.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:24.061Z,1761336984.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 176.349716 m, bearing: 0.844004 deg, approach rate: -0.553983 m/s, LOS rate: 0.064753 deg/s, cmd heading: 4.472965 deg, new cmd heading: 4.558970 deg. 2025-10-24T20:16:24.062Z,1761336984.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079569 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:24.308Z,1761336984.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772805 2025-10-24T20:16:24.393Z,1761336984.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996341,0.080360,-0.029112],[-0.085379,0.951535,-0.295450],[0.003958,0.296855,0.954915]] 2025-10-24T20:16:24.410Z,1761336984.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:24.413Z,1761336984.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 176.149475 m, bearing: 0.865829 deg, approach rate: -0.568826 m/s, LOS rate: 0.062068 deg/s, cmd heading: 4.558970 deg, new cmd heading: 4.624518 deg. 2025-10-24T20:16:24.414Z,1761336984.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.080713 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:24.559Z,1761336984.559 [DAT](INFO): DAT read: Rx Time:20:16:23.4936 2025-10-24T20:16:24.560Z,1761336984.560 [DAT](INFO): Rx dataTimestamp_ set to:1761336984.558950 2025-10-24T20:16:24.561Z,1761336984.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026263 2025-10-24T20:16:24.809Z,1761336984.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273825 2025-10-24T20:16:24.862Z,1761336984.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:24.864Z,1761336984.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:24.868Z,1761336984.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 175.897110 m, bearing: 0.895069 deg, approach rate: -0.556500 m/s, LOS rate: 0.064571 deg/s, cmd heading: 4.624518 deg, new cmd heading: 4.712364 deg. 2025-10-24T20:16:24.870Z,1761336984.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082246 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:25.063Z,1761336985.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528412 2025-10-24T20:16:25.191Z,1761336985.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999057,0.041269,-0.013456],[-0.043389,0.958474,-0.281859],[0.001265,0.282177,0.959361]] 2025-10-24T20:16:25.241Z,1761336985.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:25.243Z,1761336985.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 175.698044 m, bearing: 0.915413 deg, approach rate: -0.528318 m/s, LOS rate: 0.054054 deg/s, cmd heading: 4.712364 deg, new cmd heading: 4.773466 deg. 2025-10-24T20:16:25.248Z,1761336985.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.083313 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:25.322Z,1761336985.322 [DAT](INFO): DAT read: 20:16:23.4936 LVL= 23104, 32753, 18162, 31987, AGC= 67, IDX= 104,-0.04, 2.607, 1.222, 2.796, 2.346, PHS= 0.350,-1.077, 0.447, RAW= 153.3, 3.8, CAL= 155.0, -5.1, ROT= 355.0, 5.1 2025-10-24T20:16:25.323Z,1761336985.323 [DAT](INFO): got valid direction response: 20:16:23.4936 LVL= 23104, 32753, 18162, 31987, AGC= 67, IDX= 104,-0.04, 2.607, 1.222, 2.796, 2.346, PHS= 0.350,-1.077, 0.447, RAW= 153.3, 3.8, CAL= 155.0, -5.1, ROT= 355.0, 5.1 2025-10-24T20:16:25.324Z,1761336985.324 [DAT](INFO): DAT read: Bearing 355.0, 5.1 (Local) 2025-10-24T20:16:25.325Z,1761336985.325 [DAT](INFO): Local bearing/azimuth received: Bearing 355.0, 5.1 (Local) 2025-10-24T20:16:25.326Z,1761336985.326 [DAT](INFO): DAT read: Range 10 to 50 : 178.9 m (Round-trip 238.6 ms) speed 0.6 m/s 2025-10-24T20:16:25.327Z,1761336985.327 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:25.328Z,1761336985.328 [DAT](INFO): direction in FSK: [0.992251,-0.086811,-0.088894] 2025-10-24T20:16:25.328Z,1761336985.328 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:25.331Z,1761336985.331 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:25.331Z,1761336985.331 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:25.332Z,1761336985.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:25.570Z,1761336985.570 [DAT](INFO): DAT read: user:277> 2025-10-24T20:16:25.571Z,1761336985.571 [DAT](INFO): DAT read: Tx time:20:16:24.9008 2025-10-24T20:16:25.573Z,1761336985.573 [DAT](INFO): Ping request sent. 2025-10-24T20:16:25.573Z,1761336985.573 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:25.573Z,1761336985.573 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:25.574Z,1761336985.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000775 2025-10-24T20:16:25.642Z,1761336985.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999677,0.024639,-0.006224],[-0.025402,0.961750,-0.272748],[-0.000734,0.272818,0.962065]] 2025-10-24T20:16:25.675Z,1761336985.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 178.899994 m, deltaT: 4.035832 s, deltaX: -24.500000 m, approachRate: -6.070620 m/s, rangeRepo size: 4 2025-10-24T20:16:25.676Z,1761336985.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:25.678Z,1761336985.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 175.440933 m, bearing: 0.940310 deg, approach rate: -0.592721 m/s, LOS rate: 0.057480 deg/s, cmd heading: 4.773466 deg, new cmd heading: 4.848267 deg. 2025-10-24T20:16:25.679Z,1761336985.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084618 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:25.822Z,1761336985.822 [DAT](INFO): DAT read: TxSync time:20:16:24.9000 2025-10-24T20:16:25.823Z,1761336985.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250263 2025-10-24T20:16:26.019Z,1761336986.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999961,0.008879,0.000377],[-0.008466,0.964653,-0.263388],[-0.002702,0.263375,0.964690]] 2025-10-24T20:16:26.073Z,1761336986.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500283 2025-10-24T20:16:26.082Z,1761336986.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:26.086Z,1761336986.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 175.208313 m, bearing: 0.966171 deg, approach rate: -0.571039 m/s, LOS rate: 0.063566 deg/s, cmd heading: 4.848267 deg, new cmd heading: 4.925951 deg. 2025-10-24T20:16:26.087Z,1761336986.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085974 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:26.325Z,1761336986.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752220 2025-10-24T20:16:26.435Z,1761336986.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999979,-0.002920,0.005762],[0.004303,0.966355,-0.257175],[-0.004817,0.257194,0.966348]] 2025-10-24T20:16:26.474Z,1761336986.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:26.479Z,1761336986.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 174.987427 m, bearing: 0.989891 deg, approach rate: -0.563564 m/s, LOS rate: 0.060597 deg/s, cmd heading: 4.925951 deg, new cmd heading: 4.997202 deg. 2025-10-24T20:16:26.480Z,1761336986.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087218 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:26.578Z,1761336986.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005454 2025-10-24T20:16:26.829Z,1761336986.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256030 2025-10-24T20:16:26.833Z,1761336986.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999855,-0.013226,0.010741],[0.015449,0.969598,-0.244214],[-0.007184,0.244344,0.969662]] 2025-10-24T20:16:26.913Z,1761336986.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:26.915Z,1761336986.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:26.922Z,1761336986.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 174.746155 m, bearing: 1.017660 deg, approach rate: -0.547031 m/s, LOS rate: 0.063047 deg/s, cmd heading: 4.997202 deg, new cmd heading: 5.080624 deg. 2025-10-24T20:16:26.923Z,1761336986.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088674 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:27.081Z,1761336987.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507926 2025-10-24T20:16:27.246Z,1761336987.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999622,-0.022238,0.016168],[0.025385,0.972377,-0.232033],[-0.010561,0.232355,0.972574]] 2025-10-24T20:16:27.266Z,1761336987.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:27.269Z,1761336987.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 174.537109 m, bearing: 1.041233 deg, approach rate: -0.596080 m/s, LOS rate: 0.067297 deg/s, cmd heading: 5.080624 deg, new cmd heading: 5.151427 deg. 2025-10-24T20:16:27.270Z,1761336987.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089909 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:27.334Z,1761336987.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761183 2025-10-24T20:16:27.585Z,1761336987.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011973 2025-10-24T20:16:27.635Z,1761336987.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999291,-0.030535,0.022041],[0.034657,0.974655,-0.221014],[-0.014734,0.221621,0.975022]] 2025-10-24T20:16:27.681Z,1761336987.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:27.685Z,1761336987.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 174.312469 m, bearing: 1.066073 deg, approach rate: -0.540425 m/s, LOS rate: 0.059835 deg/s, cmd heading: 5.151427 deg, new cmd heading: 5.226042 deg. 2025-10-24T20:16:27.685Z,1761336987.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091212 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:27.837Z,1761336987.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264421 2025-10-24T20:16:28.089Z,1761336988.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516110 2025-10-24T20:16:28.103Z,1761336988.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:28.105Z,1761336988.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 174.056641 m, bearing: 1.094024 deg, approach rate: -0.606705 m/s, LOS rate: 0.066385 deg/s, cmd heading: 5.226042 deg, new cmd heading: 5.310020 deg. 2025-10-24T20:16:28.106Z,1761336988.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092677 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:28.341Z,1761336988.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767974 2025-10-24T20:16:28.447Z,1761336988.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998410,-0.045649,0.033073],[0.051438,0.977772,-0.203263],[-0.023059,0.204641,0.978565]] 2025-10-24T20:16:28.518Z,1761336988.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:28.523Z,1761336988.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 173.839722 m, bearing: 1.116758 deg, approach rate: -0.522982 m/s, LOS rate: 0.054878 deg/s, cmd heading: 5.310020 deg, new cmd heading: 5.378305 deg. 2025-10-24T20:16:28.532Z,1761336988.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093869 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:28.593Z,1761336988.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020176 2025-10-24T20:16:28.845Z,1761336988.845 [DAT](INFO): DAT read: Rx Time:20:16:27.6007 2025-10-24T20:16:28.845Z,1761336988.845 [DAT](INFO): Rx dataTimestamp_ set to:1761336988.845117 2025-10-24T20:16:28.846Z,1761336988.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273181 2025-10-24T20:16:28.877Z,1761336988.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997884,-0.052802,0.037938],[0.059150,0.979503,-0.192551],[-0.026994,0.194388,0.980553]] 2025-10-24T20:16:28.936Z,1761336988.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:28.938Z,1761336988.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:28.941Z,1761336988.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 173.569901 m, bearing: 1.146235 deg, approach rate: -0.641433 m/s, LOS rate: 0.070183 deg/s, cmd heading: 5.378305 deg, new cmd heading: 5.466874 deg. 2025-10-24T20:16:28.942Z,1761336988.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095415 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:29.097Z,1761336989.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524145 2025-10-24T20:16:29.251Z,1761336989.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997410,-0.057944,0.042606],[0.064779,0.981138,-0.182134],[-0.031249,0.184422,0.982350]] 2025-10-24T20:16:29.291Z,1761336989.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.33 m. 2025-10-24T20:16:29.293Z,1761336989.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.331757 m, nav range: 173.363846 m, bearing: 1.168531 deg, approach rate: -0.584723 m/s, LOS rate: 0.063345 deg/s, cmd heading: 5.466874 deg, new cmd heading: 5.533842 deg. 2025-10-24T20:16:29.294Z,1761336989.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096584 target range: 202.331757 and range: 203.40 m. 2025-10-24T20:16:29.359Z,1761336989.359 [DAT](INFO): DAT read: 20:16:27.6007 LVL= 23936, 29553, 13442, 30115, AGC= 60, IDX= 512, 0.19, 0.110,-1.711, 0.063,-0.443, PHS= 0.641,-1.221, 0.503, RAW= 146.2, 0.9, CAL= 149.7, -8.1, ROT= 0.3, 8.1 2025-10-24T20:16:29.361Z,1761336989.361 [DAT](INFO): got valid direction response: 20:16:27.6007 LVL= 23936, 29553, 13442, 30115, AGC= 60, IDX= 512, 0.19, 0.110,-1.711, 0.063,-0.443, PHS= 0.641,-1.221, 0.503, RAW= 146.2, 0.9, CAL= 149.7, -8.1, ROT= 0.3, 8.1 2025-10-24T20:16:29.362Z,1761336989.362 [DAT](INFO): DAT read: Bearing 0.3, 8.1 (Local) 2025-10-24T20:16:29.362Z,1761336989.362 [DAT](INFO): Local bearing/azimuth received: Bearing 0.3, 8.1 (Local) 2025-10-24T20:16:29.364Z,1761336989.364 [DAT](INFO): DAT read: Range 10 to 50 : 221.8 m (Round-trip 295.8 ms) speed 0.6 m/s 2025-10-24T20:16:29.365Z,1761336989.365 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:29.366Z,1761336989.366 [DAT](INFO): direction in FSK: [0.990010,0.005184,-0.140901] 2025-10-24T20:16:29.366Z,1761336989.366 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:29.371Z,1761336989.371 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:29.371Z,1761336989.371 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:29.384Z,1761336989.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:29.602Z,1761336989.602 [DAT](INFO): DAT read: user:278> 2025-10-24T20:16:29.602Z,1761336989.602 [DAT](INFO): DAT read: Tx time:20:16:28.9008 2025-10-24T20:16:29.603Z,1761336989.603 [DAT](INFO): Ping request sent. 2025-10-24T20:16:29.603Z,1761336989.603 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:29.603Z,1761336989.603 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:29.604Z,1761336989.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-24T20:16:29.656Z,1761336989.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996817,-0.064173,0.047301],[0.071467,0.982238,-0.173494],[-0.035327,0.176322,0.983698]] 2025-10-24T20:16:29.723Z,1761336989.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.800003 m, deltaT: 8.068924 s, deltaX: 18.400009 m, approachRate: 2.280355 m/s, rangeRepo size: 4 2025-10-24T20:16:29.729Z,1761336989.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 220.626022 m, bearing: 5.843956 deg, lat: 36.779660 deg, lon: -121.859439 deg, deltaT: 8.068924 s, deltaX: 18.294266 m, approachRate: 2.267250 m/s, posRepo size: 4 2025-10-24T20:16:29.730Z,1761336989.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:29.737Z,1761336989.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 174.488129 m, bearing: 355.299737 deg, approach rate: 0.000000 m/s, LOS rate: 0.063345 deg/s, cmd heading: 5.533842 deg, new cmd heading: 5.615904 deg. 2025-10-24T20:16:29.741Z,1761336989.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098016 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:29.858Z,1761336989.858 [DAT](INFO): DAT read: TxSync time:20:16:28.9000 2025-10-24T20:16:29.861Z,1761336989.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.257819 2025-10-24T20:16:30.105Z,1761336990.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502385 2025-10-24T20:16:30.112Z,1761336990.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:30.115Z,1761336990.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 174.250671 m, bearing: 355.315895 deg, approach rate: -0.609488 m/s, LOS rate: 0.041529 deg/s, cmd heading: 5.615904 deg, new cmd heading: 5.664443 deg. 2025-10-24T20:16:30.117Z,1761336990.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098863 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:30.357Z,1761336990.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753858 2025-10-24T20:16:30.472Z,1761336990.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995710,-0.074220,0.055254],[0.081979,0.984532,-0.154839],[-0.042907,0.158705,0.986393]] 2025-10-24T20:16:30.489Z,1761336990.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:30.492Z,1761336990.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 174.027802 m, bearing: 355.330519 deg, approach rate: -0.590578 m/s, LOS rate: 0.038803 deg/s, cmd heading: 5.664443 deg, new cmd heading: 5.708373 deg. 2025-10-24T20:16:30.493Z,1761336990.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099630 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:30.610Z,1761336990.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006544 2025-10-24T20:16:30.862Z,1761336990.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258913 2025-10-24T20:16:30.909Z,1761336990.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995227,-0.077991,0.058663],[0.085978,0.985098,-0.148961],[-0.046171,0.153294,0.987101]] 2025-10-24T20:16:30.986Z,1761336990.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:30.992Z,1761336990.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:30.994Z,1761336990.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 173.740326 m, bearing: 355.347222 deg, approach rate: -0.576973 m/s, LOS rate: 0.033579 deg/s, cmd heading: 5.708373 deg, new cmd heading: 5.758564 deg. 2025-10-24T20:16:30.995Z,1761336990.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100506 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:31.113Z,1761336991.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509909 2025-10-24T20:16:31.365Z,1761336991.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761787 2025-10-24T20:16:31.369Z,1761336991.369 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:16:31.473Z,1761336991.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:31.475Z,1761336991.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 173.450882 m, bearing: 355.364096 deg, approach rate: -0.596284 m/s, LOS rate: 0.034820 deg/s, cmd heading: 5.758564 deg, new cmd heading: 5.809271 deg. 2025-10-24T20:16:31.477Z,1761336991.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101391 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:31.617Z,1761336991.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013857 2025-10-24T20:16:31.873Z,1761336991.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269150 2025-10-24T20:16:31.921Z,1761336991.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993654,-0.087184,0.071067],[0.096114,0.986332,-0.133833],[-0.058428,0.139814,0.988452]] 2025-10-24T20:16:31.987Z,1761336991.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:31.990Z,1761336991.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 173.171051 m, bearing: 355.379678 deg, approach rate: -0.546726 m/s, LOS rate: 0.030492 deg/s, cmd heading: 5.809271 deg, new cmd heading: 5.856091 deg. 2025-10-24T20:16:31.991Z,1761336991.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102208 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:32.121Z,1761336992.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517789 2025-10-24T20:16:32.295Z,1761336992.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993182,-0.089483,0.074719],[0.098712,0.986499,-0.130677],[-0.062016,0.137162,0.988605]] 2025-10-24T20:16:32.315Z,1761336992.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:32.335Z,1761336992.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 172.967209 m, bearing: 355.390911 deg, approach rate: -0.618189 m/s, LOS rate: 0.034108 deg/s, cmd heading: 5.856091 deg, new cmd heading: 5.889831 deg. 2025-10-24T20:16:32.340Z,1761336992.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102797 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:32.372Z,1761336992.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:16:32.374Z,1761336992.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771154 2025-10-24T20:16:32.625Z,1761336992.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022450 2025-10-24T20:16:32.703Z,1761336992.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992759,-0.091351,0.078011],[0.100774,0.986781,-0.126918],[-0.065385,0.133860,0.988841]] 2025-10-24T20:16:32.722Z,1761336992.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:32.752Z,1761336992.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 172.733932 m, bearing: 355.403675 deg, approach rate: -0.573183 m/s, LOS rate: 0.031403 deg/s, cmd heading: 5.889831 deg, new cmd heading: 5.928173 deg. 2025-10-24T20:16:32.753Z,1761336992.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103466 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:32.882Z,1761336992.882 [DAT](INFO): DAT read: Rx Time:20:16:31.5963 2025-10-24T20:16:32.886Z,1761336992.886 [DAT](INFO): Rx dataTimestamp_ set to:1761336992.882490 2025-10-24T20:16:32.888Z,1761336992.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284239 2025-10-24T20:16:33.104Z,1761336993.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992322,-0.093417,0.081059],[0.103026,0.986941,-0.123829],[-0.068433,0.131230,0.988987]] 2025-10-24T20:16:33.129Z,1761336993.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525978 2025-10-24T20:16:33.233Z,1761336993.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:33.235Z,1761336993.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.63 m. 2025-10-24T20:16:33.242Z,1761336993.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.626022 m, nav range: 172.463959 m, bearing: 355.416038 deg, approach rate: -0.525519 m/s, LOS rate: 0.024104 deg/s, cmd heading: 5.928173 deg, new cmd heading: 5.965321 deg. 2025-10-24T20:16:33.243Z,1761336993.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104114 target range: 220.626022 and range: 221.80 m. 2025-10-24T20:16:33.391Z,1761336993.391 [DAT](INFO): DAT read: 20:16:31.5963 LVL= 21776, 24609, 13858, 25587, AGC= 65, IDX= 402, 0.26, 2.254, 1.313, 2.568, 1.497, PHS= 0.845,-0.137, 1.068, RAW= 160.0, -29.5, CAL= 162.4, -35.8, ROT= 347.6, 35.8 2025-10-24T20:16:33.392Z,1761336993.392 [DAT](INFO): got valid direction response: 20:16:31.5963 LVL= 21776, 24609, 13858, 25587, AGC= 65, IDX= 402, 0.26, 2.254, 1.313, 2.568, 1.497, PHS= 0.845,-0.137, 1.068, RAW= 160.0, -29.5, CAL= 162.4, -35.8, ROT= 347.6, 35.8 2025-10-24T20:16:33.393Z,1761336993.393 [DAT](INFO): DAT read: Bearing 347.6, 35.8 (Local) 2025-10-24T20:16:33.393Z,1761336993.393 [DAT](INFO): Local bearing/azimuth received: Bearing 347.6, 35.8 (Local) 2025-10-24T20:16:33.395Z,1761336993.395 [DAT](INFO): DAT read: Range 10 to 50 : 218.4 m (Round-trip 291.3 ms) speed 0.4 m/s 2025-10-24T20:16:33.395Z,1761336993.395 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:33.397Z,1761336993.397 [DAT](INFO): direction in FSK: [0.792144,-0.174164,-0.584958] 2025-10-24T20:16:33.397Z,1761336993.397 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:33.401Z,1761336993.401 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:33.402Z,1761336993.402 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:33.402Z,1761336993.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:33.552Z,1761336993.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991975,-0.094345,0.084174],[0.104141,0.987199,-0.120799],[-0.071700,0.128595,0.989102]] 2025-10-24T20:16:33.607Z,1761336993.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 218.399994 m, deltaT: 4.033393 s, deltaX: -3.400009 m, approachRate: -0.842965 m/s, rangeRepo size: 4 2025-10-24T20:16:33.613Z,1761336993.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 217.250992 m, bearing: 358.571438 deg, lat: 36.779660 deg, lon: -121.859330 deg, deltaT: 4.033393 s, deltaX: -3.375031 m, approachRate: -0.836772 m/s, posRepo size: 4 2025-10-24T20:16:33.613Z,1761336993.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:33.620Z,1761336993.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 171.728729 m, bearing: 358.638796 deg, approach rate: 0.000000 m/s, LOS rate: 0.024104 deg/s, cmd heading: 5.965321 deg, new cmd heading: 5.992117 deg. 2025-10-24T20:16:33.621Z,1761336993.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104582 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:33.633Z,1761336993.633 [DAT](INFO): DAT read: user:279> 2025-10-24T20:16:33.634Z,1761336993.634 [DAT](INFO): DAT read: Tx time:20:16:32.9509 2025-10-24T20:16:33.634Z,1761336993.634 [DAT](INFO): Ping request sent. 2025-10-24T20:16:33.634Z,1761336993.634 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:33.635Z,1761336993.635 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:33.637Z,1761336993.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002079 2025-10-24T20:16:33.890Z,1761336993.890 [DAT](INFO): DAT read: TxSync time:20:16:32.9501 2025-10-24T20:16:33.896Z,1761336993.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261621 2025-10-24T20:16:34.029Z,1761336994.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991585,-0.096103,0.086740],[0.106025,0.987319,-0.118148],[-0.074286,0.126350,0.989200]] 2025-10-24T20:16:34.090Z,1761336994.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:34.096Z,1761336994.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 171.450577 m, bearing: 358.655355 deg, approach rate: -0.575054 m/s, LOS rate: 0.034290 deg/s, cmd heading: 5.992117 deg, new cmd heading: 6.041875 deg. 2025-10-24T20:16:34.097Z,1761336994.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105451 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:34.137Z,1761336994.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502884 2025-10-24T20:16:34.390Z,1761336994.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755741 2025-10-24T20:16:34.428Z,1761336994.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991154,-0.099536,0.087787],[0.108635,0.988434,-0.105818],[-0.076239,0.114418,0.990503]] 2025-10-24T20:16:34.447Z,1761336994.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:34.450Z,1761336994.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 171.237686 m, bearing: 358.667938 deg, approach rate: -0.596376 m/s, LOS rate: 0.035293 deg/s, cmd heading: 6.041875 deg, new cmd heading: 6.079671 deg. 2025-10-24T20:16:34.451Z,1761336994.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106110 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:34.641Z,1761336994.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007218 2025-10-24T20:16:34.887Z,1761336994.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990440,-0.103996,0.090627],[0.113553,0.987688,-0.107603],[-0.078321,0.116865,0.990055]] 2025-10-24T20:16:34.896Z,1761336994.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261598 2025-10-24T20:16:34.979Z,1761336994.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:34.982Z,1761336994.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 170.940445 m, bearing: 358.681535 deg, approach rate: -0.558071 m/s, LOS rate: 0.025573 deg/s, cmd heading: 6.079671 deg, new cmd heading: 6.120533 deg. 2025-10-24T20:16:34.984Z,1761336994.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106823 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:35.145Z,1761336995.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510702 2025-10-24T20:16:35.261Z,1761336995.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989843,-0.107855,0.092616],[0.117689,0.987133,-0.108252],[-0.079749,0.118052,0.989800]] 2025-10-24T20:16:35.296Z,1761336995.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:35.298Z,1761336995.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:35.302Z,1761336995.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 170.762833 m, bearing: 358.689427 deg, approach rate: -0.557261 m/s, LOS rate: 0.024787 deg/s, cmd heading: 6.120533 deg, new cmd heading: 6.144234 deg. 2025-10-24T20:16:35.303Z,1761336995.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107237 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:35.401Z,1761336995.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766788 2025-10-24T20:16:35.653Z,1761336995.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018908 2025-10-24T20:16:35.660Z,1761336995.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989352,-0.110419,0.094821],[0.120596,0.986664,-0.109318],[-0.081486,0.119589,0.989474]] 2025-10-24T20:16:35.709Z,1761336995.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:35.711Z,1761336995.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 170.538986 m, bearing: 358.699170 deg, approach rate: -0.544517 m/s, LOS rate: 0.023731 deg/s, cmd heading: 6.144235 deg, new cmd heading: 6.173502 deg. 2025-10-24T20:16:35.717Z,1761336995.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107748 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:35.908Z,1761336995.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273454 2025-10-24T20:16:36.065Z,1761336996.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989129,-0.111390,0.095997],[0.121672,0.986578,-0.108901],[-0.082578,0.119397,0.989406]] 2025-10-24T20:16:36.116Z,1761336996.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:36.119Z,1761336996.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 170.306839 m, bearing: 358.705106 deg, approach rate: -0.571269 m/s, LOS rate: 0.014627 deg/s, cmd heading: 6.173502 deg, new cmd heading: 6.191333 deg. 2025-10-24T20:16:36.121Z,1761336996.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108059 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:36.158Z,1761336996.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523652 2025-10-24T20:16:36.409Z,1761336996.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774834 2025-10-24T20:16:36.468Z,1761336996.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989034,-0.111600,0.096737],[0.121825,0.986748,-0.107175],[-0.083495,0.117785,0.989523]] 2025-10-24T20:16:36.514Z,1761336996.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:36.521Z,1761336996.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 170.095932 m, bearing: 358.710507 deg, approach rate: -0.528907 m/s, LOS rate: 0.013561 deg/s, cmd heading: 6.191333 deg, new cmd heading: 6.207556 deg. 2025-10-24T20:16:36.522Z,1761336996.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108342 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:36.661Z,1761336996.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027243 2025-10-24T20:16:36.878Z,1761336996.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988812,-0.113095,0.097266],[0.123247,0.986739,-0.105621],[-0.084031,0.116427,0.989638]] 2025-10-24T20:16:36.916Z,1761336996.916 [DAT](INFO): DAT read: Rx Time:20:16:35.6454 2025-10-24T20:16:36.918Z,1761336996.918 [DAT](INFO): Rx dataTimestamp_ set to:1761336996.916880 2025-10-24T20:16:36.922Z,1761336996.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285371 2025-10-24T20:16:36.991Z,1761336996.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:36.998Z,1761336996.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 169.833694 m, bearing: 358.717118 deg, approach rate: -0.549510 m/s, LOS rate: 0.013874 deg/s, cmd heading: 6.207556 deg, new cmd heading: 6.227419 deg. 2025-10-24T20:16:37.004Z,1761336997.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108689 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:37.165Z,1761336997.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530817 2025-10-24T20:16:37.367Z,1761336997.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:37.369Z,1761336997.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-24T20:16:37.372Z,1761336997.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.250992 m, nav range: 169.606445 m, bearing: 358.718070 deg, approach rate: -0.600967 m/s, LOS rate: 0.002522 deg/s, cmd heading: 6.227419 deg, new cmd heading: 6.230280 deg. 2025-10-24T20:16:37.373Z,1761336997.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108739 target range: 217.250992 and range: 218.40 m. 2025-10-24T20:16:37.425Z,1761336997.425 [DAT](INFO): DAT read: 20:16:35.6454 LVL= 19056, 23329, 12066, 22419, AGC= 64, IDX= 108,-0.24,-2.362, 2.781,-1.696,-2.373, PHS= 0.100,-1.082, 0.674, RAW= 168.7, 4.0, CAL= 169.1, -5.0, ROT= 340.9, 5.0 2025-10-24T20:16:37.426Z,1761336997.426 [DAT](INFO): got valid direction response: 20:16:35.6454 LVL= 19056, 23329, 12066, 22419, AGC= 64, IDX= 108,-0.24,-2.362, 2.781,-1.696,-2.373, PHS= 0.100,-1.082, 0.674, RAW= 168.7, 4.0, CAL= 169.1, -5.0, ROT= 340.9, 5.0 2025-10-24T20:16:37.428Z,1761336997.428 [DAT](INFO): DAT read: Bearing 340.9, 5.0 (Local) 2025-10-24T20:16:37.428Z,1761336997.428 [DAT](INFO): Local bearing/azimuth received: Bearing 340.9, 5.0 (Local) 2025-10-24T20:16:37.430Z,1761336997.430 [DAT](INFO): DAT read: Range 10 to 50 : 217.7 m (Round-trip 290.3 ms) speed 0.0 m/s 2025-10-24T20:16:37.431Z,1761336997.431 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:37.434Z,1761336997.434 [DAT](INFO): direction in FSK: [0.941353,-0.325973,-0.087156] 2025-10-24T20:16:37.434Z,1761336997.434 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:37.442Z,1761336997.442 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:37.442Z,1761336997.442 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:37.442Z,1761336997.442 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:37.671Z,1761336997.671 [DAT](INFO): DAT read: user:280> 2025-10-24T20:16:37.672Z,1761336997.672 [DAT](INFO): DAT read: Tx time:20:16:37.0009 2025-10-24T20:16:37.672Z,1761336997.672 [DAT](INFO): Ping request sent. 2025-10-24T20:16:37.673Z,1761336997.673 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:37.673Z,1761336997.673 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:37.673Z,1761336997.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-24T20:16:37.700Z,1761336997.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988570,-0.114745,0.097787],[0.124711,0.986858,-0.102758],[-0.084711,0.113779,0.989888]] 2025-10-24T20:16:37.797Z,1761336997.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 217.699997 m, deltaT: 4.034252 s, deltaX: -0.699997 m, approachRate: -0.173513 m/s, rangeRepo size: 4 2025-10-24T20:16:37.799Z,1761336997.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 216.557526 m, bearing: 348.492616 deg, lat: 36.779871 deg, lon: -121.859330 deg, deltaT: 4.034252 s, deltaX: -0.693466 m, approachRate: -0.171895 m/s, posRepo size: 4 2025-10-24T20:16:37.804Z,1761336997.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:37.807Z,1761336997.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 192.902832 m, bearing: 358.875105 deg, approach rate: 0.000000 m/s, LOS rate: 0.002522 deg/s, cmd heading: 6.230280 deg, new cmd heading: 6.233446 deg. 2025-10-24T20:16:37.809Z,1761336997.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108794 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:37.925Z,1761336997.925 [DAT](INFO): DAT read: TxSync time:20:16:37.0001 2025-10-24T20:16:37.930Z,1761336997.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254757 2025-10-24T20:16:38.173Z,1761336998.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500194 2025-10-24T20:16:38.209Z,1761336998.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:38.211Z,1761336998.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 192.660049 m, bearing: 358.872817 deg, approach rate: -0.577036 m/s, LOS rate: -0.005445 deg/s, cmd heading: 6.233446 deg, new cmd heading: 6.226573 deg. 2025-10-24T20:16:38.217Z,1761336998.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108674 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:38.428Z,1761336998.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755762 2025-10-24T20:16:38.537Z,1761336998.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988127,-0.118693,0.097554],[0.127984,0.987192,-0.095247],[-0.084999,0.106602,0.990662]] 2025-10-24T20:16:38.556Z,1761336998.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:38.559Z,1761336998.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 192.459427 m, bearing: 358.870732 deg, approach rate: -0.577560 m/s, LOS rate: -0.006008 deg/s, cmd heading: 6.226573 deg, new cmd heading: 6.220312 deg. 2025-10-24T20:16:38.560Z,1761336998.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108565 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:38.678Z,1761336998.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005734 2025-10-24T20:16:38.931Z,1761336998.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258339 2025-10-24T20:16:38.946Z,1761336998.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987923,-0.120839,0.096985],[0.129993,0.987014,-0.094372],[-0.084322,0.105839,0.990802]] 2025-10-24T20:16:39.003Z,1761336999.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:39.006Z,1761336999.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 192.210464 m, bearing: 358.867989 deg, approach rate: -0.557484 m/s, LOS rate: -0.006151 deg/s, cmd heading: 6.220312 deg, new cmd heading: 6.212071 deg. 2025-10-24T20:16:39.007Z,1761336999.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108421 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:39.181Z,1761336999.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508129 2025-10-24T20:16:39.418Z,1761336999.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987572,-0.123186,0.097607],[0.132264,0.986866,-0.092743],[-0.084901,0.104501,0.990894]] 2025-10-24T20:16:39.434Z,1761336999.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761063 2025-10-24T20:16:39.480Z,1761336999.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:39.483Z,1761336999.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:39.486Z,1761336999.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 191.943542 m, bearing: 358.864237 deg, approach rate: -0.556474 m/s, LOS rate: -0.007833 deg/s, cmd heading: 6.212071 deg, new cmd heading: 6.200799 deg. 2025-10-24T20:16:39.487Z,1761336999.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108224 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:39.686Z,1761336999.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013487 2025-10-24T20:16:39.824Z,1761336999.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987396,-0.124269,0.098008],[0.133248,0.986886,-0.091106],[-0.085402,0.103017,0.991007]] 2025-10-24T20:16:39.844Z,1761336999.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:39.846Z,1761336999.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 191.742432 m, bearing: 358.861345 deg, approach rate: -0.556382 m/s, LOS rate: -0.008009 deg/s, cmd heading: 6.200799 deg, new cmd heading: 6.192115 deg. 2025-10-24T20:16:39.847Z,1761336999.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108073 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:39.937Z,1761336999.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264174 2025-10-24T20:16:40.189Z,1761337000.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516282 2025-10-24T20:16:40.239Z,1761337000.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987278,-0.125555,0.097559],[0.134361,0.986869,-0.089642],[-0.085023,0.101610,0.991184]] 2025-10-24T20:16:40.303Z,1761337000.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:40.309Z,1761337000.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 191.499268 m, bearing: 358.858115 deg, approach rate: -0.530086 m/s, LOS rate: -0.007049 deg/s, cmd heading: 6.192115 deg, new cmd heading: 6.182413 deg. 2025-10-24T20:16:40.310Z,1761337000.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107903 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:40.441Z,1761337000.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768177 2025-10-24T20:16:40.693Z,1761337000.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020526 2025-10-24T20:16:40.713Z,1761337000.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987339,-0.125866,0.096540],[0.134600,0.986802,-0.090024],[-0.083935,0.101878,0.991250]] 2025-10-24T20:16:40.762Z,1761337000.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:40.770Z,1761337000.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 191.236969 m, bearing: 358.854602 deg, approach rate: -0.570547 m/s, LOS rate: -0.007652 deg/s, cmd heading: 6.182413 deg, new cmd heading: 6.171860 deg. 2025-10-24T20:16:40.771Z,1761337000.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107719 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:40.948Z,1761337000.948 [DAT](INFO): DAT read: Rx Time:20:16:39.6937 2025-10-24T20:16:40.949Z,1761337000.949 [DAT](INFO): Rx dataTimestamp_ set to:1761337000.948243 2025-10-24T20:16:40.951Z,1761337000.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278338 2025-10-24T20:16:41.115Z,1761337001.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987454,-0.125774,0.095474],[0.134402,0.986825,-0.090069],[-0.082888,0.101771,0.991349]] 2025-10-24T20:16:41.170Z,1761337001.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 216.56 m. 2025-10-24T20:16:41.177Z,1761337001.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 216.557526 m, nav range: 191.000504 m, bearing: 358.856717 deg, approach rate: -0.579521 m/s, LOS rate: 0.005190 deg/s, cmd heading: 6.171860 deg, new cmd heading: 6.178213 deg. 2025-10-24T20:16:41.178Z,1761337001.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107830 target range: 216.557526 and range: 217.70 m. 2025-10-24T20:16:41.197Z,1761337001.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524189 2025-10-24T20:16:41.455Z,1761337001.455 [DAT](INFO): DAT read: 20:16:39.6937 LVL= 23280, 31601, 13298, 28131, AGC= 65, IDX= 108,-0.18,-1.052,-2.184,-0.378,-1.036, PHS= 0.072,-1.101, 0.654, RAW= 169.0, 4.9, CAL= 169.1, -4.3, ROT= 340.9, 4.3 2025-10-24T20:16:41.456Z,1761337001.456 [DAT](INFO): got valid direction response: 20:16:39.6937 LVL= 23280, 31601, 13298, 28131, AGC= 65, IDX= 108,-0.18,-1.052,-2.184,-0.378,-1.036, PHS= 0.072,-1.101, 0.654, RAW= 169.0, 4.9, CAL= 169.1, -4.3, ROT= 340.9, 4.3 2025-10-24T20:16:41.457Z,1761337001.457 [DAT](INFO): DAT read: Bearing 340.9, 4.3 (Local) 2025-10-24T20:16:41.457Z,1761337001.457 [DAT](INFO): Local bearing/azimuth received: Bearing 340.9, 4.3 (Local) 2025-10-24T20:16:41.459Z,1761337001.459 [DAT](INFO): DAT read: Range 10 to 50 : 216.3 m (Round-trip 288.5 ms) speed 1.0 m/s 2025-10-24T20:16:41.459Z,1761337001.459 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:41.461Z,1761337001.461 [DAT](INFO): direction in FSK: [0.942289,-0.326297,-0.074979] 2025-10-24T20:16:41.461Z,1761337001.461 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:41.485Z,1761337001.485 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:41.485Z,1761337001.485 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:41.485Z,1761337001.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:41.597Z,1761337001.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 216.300003 m, deltaT: 4.031262 s, deltaX: -1.399994 m, approachRate: -0.347284 m/s, rangeRepo size: 4 2025-10-24T20:16:41.599Z,1761337001.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 215.167938 m, bearing: 348.934256 deg, lat: 36.780005 deg, lon: -121.859439 deg, deltaT: 4.031262 s, deltaX: -1.389587 m, approachRate: -0.344703 m/s, posRepo size: 4 2025-10-24T20:16:41.608Z,1761337001.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:41.611Z,1761337001.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 206.094467 m, bearing: 356.257412 deg, approach rate: 0.000000 m/s, LOS rate: 0.005190 deg/s, cmd heading: 6.178213 deg, new cmd heading: 6.184774 deg. 2025-10-24T20:16:41.616Z,1761337001.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107945 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:41.701Z,1761337001.701 [DAT](INFO): DAT read: user:281> 2025-10-24T20:16:41.702Z,1761337001.702 [DAT](INFO): DAT read: Tx time:20:16:41.0510 2025-10-24T20:16:41.702Z,1761337001.702 [DAT](INFO): Ping request sent. 2025-10-24T20:16:41.702Z,1761337001.702 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:41.702Z,1761337001.702 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:41.703Z,1761337001.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762 2025-10-24T20:16:41.921Z,1761337001.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987956,-0.124024,0.092527],[0.132301,0.987167,-0.089433],[-0.080248,0.100597,0.991686]] 2025-10-24T20:16:41.937Z,1761337001.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:41.939Z,1761337001.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:41.942Z,1761337001.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 205.886444 m, bearing: 356.256639 deg, approach rate: -0.598175 m/s, LOS rate: -0.002226 deg/s, cmd heading: 6.184774 deg, new cmd heading: 6.182452 deg. 2025-10-24T20:16:41.943Z,1761337001.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107904 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:41.956Z,1761337001.956 [DAT](INFO): DAT read: TxSync time:20:16:41.0502 2025-10-24T20:16:41.958Z,1761337001.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255967 2025-10-24T20:16:42.207Z,1761337002.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504934 2025-10-24T20:16:42.325Z,1761337002.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988236,-0.123166,0.090662],[0.131230,0.987339,-0.089111],[-0.078539,0.099960,0.991887]] 2025-10-24T20:16:42.385Z,1761337002.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:42.387Z,1761337002.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 205.643494 m, bearing: 356.262042 deg, approach rate: -0.545832 m/s, LOS rate: 0.012154 deg/s, cmd heading: 6.182452 deg, new cmd heading: 6.198682 deg. 2025-10-24T20:16:42.392Z,1761337002.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108187 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:42.458Z,1761337002.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755451 2025-10-24T20:16:42.709Z,1761337002.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006570 2025-10-24T20:16:42.735Z,1761337002.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988129,-0.126349,0.087385],[0.132906,0.988378,-0.073788],[-0.077047,0.084526,0.993438]] 2025-10-24T20:16:42.763Z,1761337002.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:42.766Z,1761337002.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 205.416046 m, bearing: 356.267098 deg, approach rate: -0.600404 m/s, LOS rate: 0.013359 deg/s, cmd heading: 6.198682 deg, new cmd heading: 6.213865 deg. 2025-10-24T20:16:42.767Z,1761337002.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108452 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:42.961Z,1761337002.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259123 2025-10-24T20:16:43.213Z,1761337003.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510770 2025-10-24T20:16:43.218Z,1761337003.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988143,-0.127423,0.085653],[0.134060,0.987993,-0.076795],[-0.074840,0.087367,0.993361]] 2025-10-24T20:16:43.292Z,1761337003.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:43.295Z,1761337003.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 205.114548 m, bearing: 356.282202 deg, approach rate: -0.579113 m/s, LOS rate: 0.029055 deg/s, cmd heading: 6.213864 deg, new cmd heading: 6.259244 deg. 2025-10-24T20:16:43.300Z,1761337003.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109244 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:43.465Z,1761337003.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762652 2025-10-24T20:16:43.623Z,1761337003.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988029,-0.129439,0.083930],[0.136200,0.987400,-0.080565],[-0.072444,0.091032,0.993209]] 2025-10-24T20:16:43.642Z,1761337003.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:43.667Z,1761337003.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 204.898438 m, bearing: 356.292888 deg, approach rate: -0.603904 m/s, LOS rate: 0.029893 deg/s, cmd heading: 6.259244 deg, new cmd heading: 6.291336 deg. 2025-10-24T20:16:43.668Z,1761337003.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109805 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:43.717Z,1761337003.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014924 2025-10-24T20:16:43.969Z,1761337003.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267250 2025-10-24T20:16:44.157Z,1761337004.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:44.159Z,1761337004.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:44.162Z,1761337004.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 204.587311 m, bearing: 356.317115 deg, approach rate: -0.601294 m/s, LOS rate: 0.046894 deg/s, cmd heading: 6.291336 deg, new cmd heading: 6.364128 deg. 2025-10-24T20:16:44.163Z,1761337004.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111075 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:44.222Z,1761337004.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519453 2025-10-24T20:16:44.478Z,1761337004.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775991 2025-10-24T20:16:44.496Z,1761337004.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989837,-0.120601,0.075351],[0.127001,0.988091,-0.086874],[-0.063977,0.095561,0.993366]] 2025-10-24T20:16:44.514Z,1761337004.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:44.534Z,1761337004.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 204.373154 m, bearing: 356.334366 deg, approach rate: -0.603151 m/s, LOS rate: 0.048634 deg/s, cmd heading: 6.364129 deg, new cmd heading: 6.415934 deg. 2025-10-24T20:16:44.535Z,1761337004.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111979 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:44.729Z,1761337004.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026672 2025-10-24T20:16:44.902Z,1761337004.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990705,-0.115807,0.071363],[0.121885,0.988662,-0.087704],[-0.060397,0.095586,0.993587]] 2025-10-24T20:16:44.939Z,1761337004.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:44.946Z,1761337004.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 204.128235 m, bearing: 356.354505 deg, approach rate: -0.576341 m/s, LOS rate: 0.047448 deg/s, cmd heading: 6.415934 deg, new cmd heading: 6.476424 deg. 2025-10-24T20:16:44.947Z,1761337004.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113035 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:44.981Z,1761337004.981 [DAT](INFO): DAT read: Rx Time:20:16:43.7378 2025-10-24T20:16:44.981Z,1761337004.981 [DAT](INFO): Rx dataTimestamp_ set to:1761337004.981161 2025-10-24T20:16:44.983Z,1761337004.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280283 2025-10-24T20:16:45.234Z,1761337005.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531603 2025-10-24T20:16:45.379Z,1761337005.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991543,-0.110700,0.067729],[0.116493,0.989233,-0.088581],[-0.057194,0.095722,0.993764]] 2025-10-24T20:16:45.425Z,1761337005.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:45.427Z,1761337005.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 203.823166 m, bearing: 356.385490 deg, approach rate: -0.629664 m/s, LOS rate: 0.064048 deg/s, cmd heading: 6.476424 deg, new cmd heading: 6.569517 deg. 2025-10-24T20:16:45.429Z,1761337005.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114660 target range: 215.167938 and range: 216.30 m. 2025-10-24T20:16:45.486Z,1761337005.486 [DAT](INFO): DAT read: Range 10 to 50 : 212.0 m (Round-trip 282.7 ms) speed 0.5 m/s 2025-10-24T20:16:45.487Z,1761337005.487 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:16:45.487Z,1761337005.487 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:45.487Z,1761337005.487 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:45.488Z,1761337005.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:45.737Z,1761337005.737 [DAT](INFO): DAT read: user:282> 2025-10-24T20:16:45.738Z,1761337005.738 [DAT](INFO): DAT read: Tx time:20:16:45.0510 2025-10-24T20:16:45.738Z,1761337005.738 [DAT](INFO): Ping request sent. 2025-10-24T20:16:45.738Z,1761337005.738 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:45.738Z,1761337005.738 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:45.739Z,1761337005.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-24T20:16:45.770Z,1761337005.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 212.000000 m, deltaT: 4.036229 s, deltaX: -4.300003 m, approachRate: -1.065352 m/s, rangeRepo size: 4 2025-10-24T20:16:45.796Z,1761337005.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:45.799Z,1761337005.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 203.612976 m, bearing: 356.406895 deg, approach rate: -0.611917 m/s, LOS rate: 0.062380 deg/s, cmd heading: 6.569517 deg, new cmd heading: 6.633799 deg. 2025-10-24T20:16:45.805Z,1761337005.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115782 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:45.989Z,1761337005.989 [DAT](INFO): DAT read: TxSync time:20:16:45.0502 2025-10-24T20:16:45.990Z,1761337005.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251707 2025-10-24T20:16:46.137Z,1761337006.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992966,-0.101886,0.060314],[0.107111,0.990084,-0.090890],[-0.050455,0.096711,0.994033]] 2025-10-24T20:16:46.204Z,1761337006.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:46.206Z,1761337006.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:46.213Z,1761337006.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 203.361084 m, bearing: 356.433614 deg, approach rate: -0.573551 m/s, LOS rate: 0.060915 deg/s, cmd heading: 6.633799 deg, new cmd heading: 6.714056 deg. 2025-10-24T20:16:46.214Z,1761337006.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117182 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:46.241Z,1761337006.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503042 2025-10-24T20:16:46.493Z,1761337006.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754759 2025-10-24T20:16:46.531Z,1761337006.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993276,-0.101911,0.054925],[0.106163,0.991041,-0.081039],[-0.046174,0.086326,0.995196]] 2025-10-24T20:16:46.566Z,1761337006.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:46.569Z,1761337006.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 203.125854 m, bearing: 356.458741 deg, approach rate: -0.655573 m/s, LOS rate: 0.070108 deg/s, cmd heading: 6.714056 deg, new cmd heading: 6.789523 deg. 2025-10-24T20:16:46.570Z,1761337006.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118500 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:46.746Z,1761337006.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008339 2025-10-24T20:16:46.977Z,1761337006.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:46.980Z,1761337006.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 202.874146 m, bearing: 356.485696 deg, approach rate: -0.611192 m/s, LOS rate: 0.065534 deg/s, cmd heading: 6.789524 deg, new cmd heading: 6.870490 deg. 2025-10-24T20:16:46.981Z,1761337006.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119913 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:46.999Z,1761337006.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260979 2025-10-24T20:16:47.249Z,1761337007.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511083 2025-10-24T20:16:47.367Z,1761337007.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993976,-0.099024,0.046969],[0.102955,0.990572,-0.090377],[-0.037577,0.094668,0.994799]] 2025-10-24T20:16:47.417Z,1761337007.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:47.419Z,1761337007.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 202.605042 m, bearing: 356.510226 deg, approach rate: -0.614125 m/s, LOS rate: 0.056055 deg/s, cmd heading: 6.870490 deg, new cmd heading: 6.944179 deg. 2025-10-24T20:16:47.420Z,1761337007.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121199 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:47.502Z,1761337007.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763870 2025-10-24T20:16:47.757Z,1761337007.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019078 2025-10-24T20:16:47.779Z,1761337007.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994343,-0.096634,0.044081],[0.100437,0.990467,-0.094279],[-0.034550,0.098173,0.994569]] 2025-10-24T20:16:47.797Z,1761337007.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:47.799Z,1761337007.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 202.370575 m, bearing: 356.531817 deg, approach rate: -0.614804 m/s, LOS rate: 0.056679 deg/s, cmd heading: 6.944179 deg, new cmd heading: 7.009026 deg. 2025-10-24T20:16:47.800Z,1761337007.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122331 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:48.009Z,1761337008.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271386 2025-10-24T20:16:48.175Z,1761337008.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994734,-0.093976,0.040896],[0.097622,0.990300,-0.098871],[-0.031207,0.102343,0.994260]] 2025-10-24T20:16:48.227Z,1761337008.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:48.229Z,1761337008.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:48.248Z,1761337008.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 202.114822 m, bearing: 356.547953 deg, approach rate: -0.591371 m/s, LOS rate: 0.037357 deg/s, cmd heading: 7.009026 deg, new cmd heading: 7.057494 deg. 2025-10-24T20:16:48.250Z,1761337008.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123177 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:48.261Z,1761337008.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522839 2025-10-24T20:16:48.514Z,1761337008.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775700 2025-10-24T20:16:48.576Z,1761337008.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995023,-0.092498,0.037050],[0.095840,0.990171,-0.101868],[-0.027263,0.104912,0.994108]] 2025-10-24T20:16:48.596Z,1761337008.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:48.601Z,1761337008.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 201.897537 m, bearing: 356.561804 deg, approach rate: -0.591785 m/s, LOS rate: 0.037765 deg/s, cmd heading: 7.057494 deg, new cmd heading: 7.099092 deg. 2025-10-24T20:16:48.602Z,1761337008.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123903 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:48.765Z,1761337008.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026734 2025-10-24T20:16:48.991Z,1761337008.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995249,-0.091608,0.032982],[0.094600,0.989967,-0.104956],[-0.023037,0.107578,0.993930]] 2025-10-24T20:16:49.018Z,1761337009.018 [DAT](INFO): DAT read: Rx Time:20:16:47.7068 2025-10-24T20:16:49.019Z,1761337009.019 [DAT](INFO): Rx dataTimestamp_ set to:1761337009.018666 2025-10-24T20:16:49.019Z,1761337009.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281494 2025-10-24T20:16:49.024Z,1761337009.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:49.027Z,1761337009.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 201.646667 m, bearing: 356.577918 deg, approach rate: -0.586923 m/s, LOS rate: 0.037746 deg/s, cmd heading: 7.099092 deg, new cmd heading: 7.147494 deg. 2025-10-24T20:16:49.027Z,1761337009.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124747 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:49.269Z,1761337009.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530869 2025-10-24T20:16:49.380Z,1761337009.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995415,-0.091307,0.028504],[0.093864,0.989787,-0.107293],[-0.018416,0.109476,0.993819]] 2025-10-24T20:16:49.434Z,1761337009.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:49.437Z,1761337009.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 201.408936 m, bearing: 356.584051 deg, approach rate: -0.579307 m/s, LOS rate: 0.014964 deg/s, cmd heading: 7.147494 deg, new cmd heading: 7.165916 deg. 2025-10-24T20:16:49.438Z,1761337009.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125069 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:49.530Z,1761337009.530 [DAT](INFO): DAT read: 20:16:47.7068 LVL= 20096, 24289, 19218, 25955, AGC= 66, IDX= 124, 0.45,-0.558,-1.593,-0.297,-1.457, PHS= 0.987,-0.089, 1.157, RAW= 157.2, -31.8, CAL= 159.3, -37.8, ROT= 350.7, 37.8 2025-10-24T20:16:49.531Z,1761337009.531 [DAT](INFO): got valid direction response: 20:16:47.7068 LVL= 20096, 24289, 19218, 25955, AGC= 66, IDX= 124, 0.45,-0.558,-1.593,-0.297,-1.457, PHS= 0.987,-0.089, 1.157, RAW= 157.2, -31.8, CAL= 159.3, -37.8, ROT= 350.7, 37.8 2025-10-24T20:16:49.534Z,1761337009.534 [DAT](INFO): DAT read: Bearing 350.7, 37.8 (Local) 2025-10-24T20:16:49.534Z,1761337009.534 [DAT](INFO): Local bearing/azimuth received: Bearing 350.7, 37.8 (Local) 2025-10-24T20:16:49.541Z,1761337009.541 [DAT](INFO): DAT read: Range 10 to 50 : 188.7 m (Round-trip 251.6 ms) speed -0.2 m/s 2025-10-24T20:16:49.542Z,1761337009.542 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:49.543Z,1761337009.543 [DAT](INFO): direction in FSK: [0.779769,-0.127692,-0.612907] 2025-10-24T20:16:49.543Z,1761337009.543 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:49.555Z,1761337009.555 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:49.555Z,1761337009.555 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:49.555Z,1761337009.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:49.773Z,1761337009.773 [DAT](INFO): DAT read: user:283> 2025-10-24T20:16:49.773Z,1761337009.773 [DAT](INFO): DAT read: Tx time:20:16:49.1010 2025-10-24T20:16:49.774Z,1761337009.774 [DAT](INFO): Ping request sent. 2025-10-24T20:16:49.774Z,1761337009.774 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:49.774Z,1761337009.774 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:49.775Z,1761337009.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-24T20:16:49.825Z,1761337009.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995473,-0.091923,0.024150],[0.094032,0.989518,-0.109596],[-0.013823,0.111371,0.993683]] 2025-10-24T20:16:49.920Z,1761337009.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 188.699997 m, deltaT: 4.036531 s, deltaX: -23.300003 m, approachRate: -5.772284 m/s, rangeRepo size: 4 2025-10-24T20:16:49.921Z,1761337009.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:49.923Z,1761337009.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 201.152893 m, bearing: 356.590663 deg, approach rate: -0.536740 m/s, LOS rate: 0.013879 deg/s, cmd heading: 7.165916 deg, new cmd heading: 7.185778 deg. 2025-10-24T20:16:49.932Z,1761337009.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125415 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:50.025Z,1761337010.025 [DAT](INFO): DAT read: TxSync time:20:16:49.1002 2025-10-24T20:16:50.026Z,1761337010.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251945 2025-10-24T20:16:50.262Z,1761337010.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995352,-0.094206,0.019972],[0.095864,0.989009,-0.112570],[-0.009147,0.113961,0.993443]] 2025-10-24T20:16:50.277Z,1761337010.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503105 2025-10-24T20:16:50.325Z,1761337010.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:50.327Z,1761337010.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:50.330Z,1761337010.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 200.901901 m, bearing: 356.583169 deg, approach rate: -0.603544 m/s, LOS rate: -0.018044 deg/s, cmd heading: 7.185778 deg, new cmd heading: 7.163267 deg. 2025-10-24T20:16:50.331Z,1761337010.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125023 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:50.529Z,1761337010.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754887 2025-10-24T20:16:50.764Z,1761337010.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994872,-0.100534,0.011089],[0.101135,0.990198,-0.096334],[-0.001296,0.096961,0.995287]] 2025-10-24T20:16:50.781Z,1761337010.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007051 2025-10-24T20:16:50.787Z,1761337010.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:50.789Z,1761337010.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 200.647202 m, bearing: 356.575087 deg, approach rate: -0.554032 m/s, LOS rate: -0.017602 deg/s, cmd heading: 7.163267 deg, new cmd heading: 7.138990 deg. 2025-10-24T20:16:50.790Z,1761337010.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124599 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:51.034Z,1761337011.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259968 2025-10-24T20:16:51.171Z,1761337011.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994461,-0.104797,0.008046],[0.105074,0.989400,-0.100232],[0.002543,0.100522,0.994932]] 2025-10-24T20:16:51.223Z,1761337011.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:51.230Z,1761337011.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 200.409836 m, bearing: 356.557922 deg, approach rate: -0.545326 m/s, LOS rate: -0.039483 deg/s, cmd heading: 7.138990 deg, new cmd heading: 7.087433 deg. 2025-10-24T20:16:51.249Z,1761337011.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123699 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:51.285Z,1761337011.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511025 2025-10-24T20:16:51.539Z,1761337011.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764547 2025-10-24T20:16:51.638Z,1761337011.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993952,-0.109674,0.005628],[0.109668,0.988597,-0.103194],[0.005754,0.103187,0.994645]] 2025-10-24T20:16:51.678Z,1761337011.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:51.681Z,1761337011.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 200.173492 m, bearing: 356.540467 deg, approach rate: -0.518364 m/s, LOS rate: -0.038328 deg/s, cmd heading: 7.087433 deg, new cmd heading: 7.035007 deg. 2025-10-24T20:16:51.682Z,1761337011.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122784 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:51.789Z,1761337011.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015251 2025-10-24T20:16:52.036Z,1761337012.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993322,-0.115319,0.003513],[0.115031,0.987586,-0.106965],[0.008865,0.106655,0.994257]] 2025-10-24T20:16:52.041Z,1761337012.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267256 2025-10-24T20:16:52.057Z,1761337012.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:52.060Z,1761337012.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 199.956390 m, bearing: 356.524052 deg, approach rate: -0.572652 m/s, LOS rate: -0.043345 deg/s, cmd heading: 7.035006 deg, new cmd heading: 6.985708 deg. 2025-10-24T20:16:52.061Z,1761337012.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121924 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:52.293Z,1761337012.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519582 2025-10-24T20:16:52.440Z,1761337012.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992585,-0.121543,0.001290],[0.120946,0.986545,-0.110005],[0.012097,0.109345,0.993930]] 2025-10-24T20:16:52.490Z,1761337012.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:52.492Z,1761337012.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:52.495Z,1761337012.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 199.721909 m, bearing: 356.501961 deg, approach rate: -0.538831 m/s, LOS rate: -0.050823 deg/s, cmd heading: 6.985708 deg, new cmd heading: 6.919358 deg. 2025-10-24T20:16:52.496Z,1761337012.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120766 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:52.546Z,1761337012.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772439 2025-10-24T20:16:52.797Z,1761337012.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022841 2025-10-24T20:16:52.881Z,1761337012.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:52.885Z,1761337012.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 199.512894 m, bearing: 356.482222 deg, approach rate: -0.538027 m/s, LOS rate: -0.050864 deg/s, cmd heading: 6.919358 deg, new cmd heading: 6.860078 deg. 2025-10-24T20:16:52.887Z,1761337012.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119731 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:53.049Z,1761337013.049 [DAT](INFO): DAT read: Rx Time:20:16:51.7861 2025-10-24T20:16:53.051Z,1761337013.051 [DAT](INFO): Rx dataTimestamp_ set to:1761337013.049960 2025-10-24T20:16:53.051Z,1761337013.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277272 2025-10-24T20:16:53.254Z,1761337013.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990966,-0.134066,-0.003510],[0.132789,0.984525,-0.114358],[0.018787,0.112859,0.993433]] 2025-10-24T20:16:53.301Z,1761337013.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527233 2025-10-24T20:16:53.330Z,1761337013.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:53.337Z,1761337013.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 199.270355 m, bearing: 356.458953 deg, approach rate: -0.539773 m/s, LOS rate: -0.051849 deg/s, cmd heading: 6.860078 deg, new cmd heading: 6.790186 deg. 2025-10-24T20:16:53.338Z,1761337013.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118511 target range: 215.167938 and range: 212.00 m. 2025-10-24T20:16:53.554Z,1761337013.554 [DAT](INFO): DAT read: Range 10 to 50 : 210.6 m (Round-trip 280.8 ms) speed 1.0 m/s 2025-10-24T20:16:53.555Z,1761337013.555 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:16:53.555Z,1761337013.555 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:53.555Z,1761337013.555 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:53.556Z,1761337013.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:53.698Z,1761337013.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 210.600006 m, deltaT: 8.068175 s, deltaX: -1.399994 m, approachRate: -0.173521 m/s, rangeRepo size: 4 2025-10-24T20:16:53.700Z,1761337013.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:53.702Z,1761337013.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 199.057205 m, bearing: 356.438455 deg, approach rate: -0.579965 m/s, LOS rate: -0.055833 deg/s, cmd heading: 6.790186 deg, new cmd heading: 6.728627 deg. 2025-10-24T20:16:53.703Z,1761337013.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117437 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:53.807Z,1761337013.807 [DAT](INFO): DAT read: user:284> 2025-10-24T20:16:53.808Z,1761337013.808 [DAT](INFO): DAT read: Tx time:20:16:53.1011 2025-10-24T20:16:53.808Z,1761337013.808 [DAT](INFO): Ping request sent. 2025-10-24T20:16:53.808Z,1761337013.808 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:53.809Z,1761337013.809 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:53.809Z,1761337013.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-24T20:16:54.056Z,1761337014.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989962,-0.141085,-0.008351],[0.139172,0.983420,-0.116256],[0.024614,0.113927,0.993184]] 2025-10-24T20:16:54.061Z,1761337014.061 [DAT](INFO): DAT read: TxSync time:20:16:53.1003 2025-10-24T20:16:54.062Z,1761337014.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253091 2025-10-24T20:16:54.079Z,1761337014.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:54.082Z,1761337014.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 198.845566 m, bearing: 356.417614 deg, approach rate: -0.554891 m/s, LOS rate: -0.054701 deg/s, cmd heading: 6.728627 deg, new cmd heading: 6.666037 deg. 2025-10-24T20:16:54.083Z,1761337014.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116344 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:54.313Z,1761337014.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504649 2025-10-24T20:16:54.456Z,1761337014.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989990,-0.140503,-0.013347],[0.138555,0.985532,-0.097618],[0.026869,0.094792,0.995134]] 2025-10-24T20:16:54.514Z,1761337014.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:54.520Z,1761337014.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:54.523Z,1761337014.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 198.596436 m, bearing: 356.399248 deg, approach rate: -0.570664 m/s, LOS rate: -0.042122 deg/s, cmd heading: 6.666037 deg, new cmd heading: 6.610870 deg. 2025-10-24T20:16:54.528Z,1761337014.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115381 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:54.565Z,1761337014.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756655 2025-10-24T20:16:54.817Z,1761337014.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008674 2025-10-24T20:16:54.948Z,1761337014.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989784,-0.141873,-0.014152],[0.139833,0.985319,-0.097942],[0.027840,0.094962,0.995091]] 2025-10-24T20:16:54.979Z,1761337014.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:54.981Z,1761337014.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 198.326828 m, bearing: 356.379210 deg, approach rate: -0.582076 m/s, LOS rate: -0.043320 deg/s, cmd heading: 6.610871 deg, new cmd heading: 6.550676 deg. 2025-10-24T20:16:54.982Z,1761337014.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114331 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:55.070Z,1761337015.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261894 2025-10-24T20:16:55.321Z,1761337015.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512358 2025-10-24T20:16:55.358Z,1761337015.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989675,-0.142457,-0.015765],[0.140284,0.985331,-0.097179],[0.029377,0.093964,0.995142]] 2025-10-24T20:16:55.407Z,1761337015.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:55.410Z,1761337015.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 198.068176 m, bearing: 356.370733 deg, approach rate: -0.604300 m/s, LOS rate: -0.019831 deg/s, cmd heading: 6.550676 deg, new cmd heading: 6.525212 deg. 2025-10-24T20:16:55.411Z,1761337015.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113886 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:55.573Z,1761337015.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764368 2025-10-24T20:16:55.802Z,1761337015.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989356,-0.144515,-0.017049],[0.142208,0.985040,-0.097333],[0.030860,0.093873,0.995106]] 2025-10-24T20:16:55.825Z,1761337015.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016250 2025-10-24T20:16:55.836Z,1761337015.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:55.839Z,1761337015.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 197.817810 m, bearing: 356.362363 deg, approach rate: -0.588874 m/s, LOS rate: -0.019712 deg/s, cmd heading: 6.525212 deg, new cmd heading: 6.500070 deg. 2025-10-24T20:16:55.844Z,1761337015.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113448 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:56.077Z,1761337016.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268371 2025-10-24T20:16:56.262Z,1761337016.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989352,-0.144330,-0.018725],[0.141866,0.985089,-0.097331],[0.032494,0.093638,0.995076]] 2025-10-24T20:16:56.329Z,1761337016.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520512 2025-10-24T20:16:56.330Z,1761337016.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:56.334Z,1761337016.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 197.487747 m, bearing: 356.368130 deg, approach rate: -0.665268 m/s, LOS rate: 0.011642 deg/s, cmd heading: 6.500070 deg, new cmd heading: 6.517399 deg. 2025-10-24T20:16:56.335Z,1761337016.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113750 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:56.583Z,1761337016.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774539 2025-10-24T20:16:56.647Z,1761337016.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989714,-0.141611,-0.020298],[0.139012,0.985498,-0.097308],[0.033783,0.093485,0.995047]] 2025-10-24T20:16:56.665Z,1761337016.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:56.670Z,1761337016.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:56.675Z,1761337016.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 197.267776 m, bearing: 356.372168 deg, approach rate: -0.647435 m/s, LOS rate: 0.011897 deg/s, cmd heading: 6.517399 deg, new cmd heading: 6.529525 deg. 2025-10-24T20:16:56.677Z,1761337016.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113962 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:56.834Z,1761337016.834 [DAT](INFO): DAT read: Rx Time:20:16:55.7187 2025-10-24T20:16:56.834Z,1761337016.834 [DAT](INFO): Rx dataTimestamp_ set to:1761337016.833714 2025-10-24T20:16:56.835Z,1761337016.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026092 2025-10-24T20:16:57.045Z,1761337017.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990392,-0.136564,-0.021782],[0.133892,0.986331,-0.096044],[0.034601,0.092205,0.995139]] 2025-10-24T20:16:57.086Z,1761337017.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277406 2025-10-24T20:16:57.101Z,1761337017.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:57.108Z,1761337017.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 197.008499 m, bearing: 356.377340 deg, approach rate: -0.598239 m/s, LOS rate: 0.011950 deg/s, cmd heading: 6.529525 deg, new cmd heading: 6.545063 deg. 2025-10-24T20:16:57.109Z,1761337017.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114233 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:57.374Z,1761337017.374 [DAT](INFO): DAT read: 20:16:55.7187 LVL= 19248, 22849, 16722, 30291, AGC= 67, IDX= 263,-0.40,-1.221,-2.220,-0.516,-1.222, PHS= 0.088,-0.951, 0.703, RAW= 171.6, 2.2, CAL= 172.2, -6.4, ROT= 337.8, 6.4 2025-10-24T20:16:57.375Z,1761337017.375 [DAT](INFO): got valid direction response: 20:16:55.7187 LVL= 19248, 22849, 16722, 30291, AGC= 67, IDX= 263,-0.40,-1.221,-2.220,-0.516,-1.222, PHS= 0.088,-0.951, 0.703, RAW= 171.6, 2.2, CAL= 172.2, -6.4, ROT= 337.8, 6.4 2025-10-24T20:16:57.381Z,1761337017.381 [DAT](INFO): DAT read: Bearing 337.8, 6.4 (Local) 2025-10-24T20:16:57.381Z,1761337017.381 [DAT](INFO): Local bearing/azimuth received: Bearing 337.8, 6.4 (Local) 2025-10-24T20:16:57.383Z,1761337017.383 [DAT](INFO): DAT read: Range 10 to 50 : 160.0 m (Round-trip 213.4 ms) speed 0.4 m/s 2025-10-24T20:16:57.385Z,1761337017.385 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:16:57.386Z,1761337017.386 [DAT](INFO): direction in FSK: [0.920100,-0.375486,-0.111469] 2025-10-24T20:16:57.387Z,1761337017.387 [DAT](INFO): publishing direction and range info 2025-10-24T20:16:57.405Z,1761337017.405 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:16:57.406Z,1761337017.406 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:16:57.406Z,1761337017.406 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:16:57.448Z,1761337017.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991011,-0.131768,-0.023101],[0.129031,0.987080,-0.095000],[0.035321,0.091165,0.995209]] 2025-10-24T20:16:57.574Z,1761337017.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 160.000000 m, deltaT: 3.785614 s, deltaX: -50.600006 m, approachRate: -13.366393 m/s, rangeRepo size: 4 2025-10-24T20:16:57.574Z,1761337017.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:57.581Z,1761337017.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 196.686020 m, bearing: 356.395317 deg, approach rate: -0.683550 m/s, LOS rate: 0.038166 deg/s, cmd heading: 6.545063 deg, new cmd heading: 6.599080 deg. 2025-10-24T20:16:57.583Z,1761337017.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115176 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:57.589Z,1761337017.589 [DAT](INFO): DAT read: user:285> 2025-10-24T20:16:57.590Z,1761337017.590 [DAT](INFO): DAT read: Tx time:20:16:56.9511 2025-10-24T20:16:57.590Z,1761337017.590 [DAT](INFO): Ping request sent. 2025-10-24T20:16:57.590Z,1761337017.590 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:16:57.590Z,1761337017.590 [DAT](INFO): publishing transmit ping time 2025-10-24T20:16:57.591Z,1761337017.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748 2025-10-24T20:16:57.841Z,1761337017.841 [DAT](INFO): DAT read: TxSync time:20:16:56.9503 2025-10-24T20:16:57.842Z,1761337017.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251764 2025-10-24T20:16:57.885Z,1761337017.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992275,-0.121510,-0.025007],[0.118697,0.988528,-0.093398],[0.036069,0.089709,0.995315]] 2025-10-24T20:16:57.944Z,1761337017.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:57.947Z,1761337017.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 196.431259 m, bearing: 356.410375 deg, approach rate: -0.685986 m/s, LOS rate: 0.040601 deg/s, cmd heading: 6.599080 deg, new cmd heading: 6.644316 deg. 2025-10-24T20:16:57.952Z,1761337017.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115965 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:58.095Z,1761337018.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504785 2025-10-24T20:16:58.345Z,1761337018.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754818 2025-10-24T20:16:58.375Z,1761337018.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992728,-0.117353,-0.026828],[0.114488,0.989263,-0.090841],[0.037201,0.087109,0.995504]] 2025-10-24T20:16:58.445Z,1761337018.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:58.447Z,1761337018.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 196.086105 m, bearing: 356.439106 deg, approach rate: -0.689589 m/s, LOS rate: 0.057503 deg/s, cmd heading: 6.644316 deg, new cmd heading: 6.730660 deg. 2025-10-24T20:16:58.449Z,1761337018.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117472 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:58.598Z,1761337018.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007801 2025-10-24T20:16:58.771Z,1761337018.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993141,-0.113360,-0.028652],[0.110267,0.989542,-0.092994],[0.038894,0.089196,0.995254]] 2025-10-24T20:16:58.806Z,1761337018.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:16:58.812Z,1761337018.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:58.815Z,1761337018.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 195.841385 m, bearing: 356.459848 deg, approach rate: -0.665924 m/s, LOS rate: 0.056513 deg/s, cmd heading: 6.730660 deg, new cmd heading: 6.792964 deg. 2025-10-24T20:16:58.821Z,1761337018.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118560 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:58.850Z,1761337018.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259285 2025-10-24T20:16:59.101Z,1761337019.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510741 2025-10-24T20:16:59.304Z,1761337019.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:59.306Z,1761337019.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 195.498642 m, bearing: 356.488990 deg, approach rate: -0.704532 m/s, LOS rate: 0.060008 deg/s, cmd heading: 6.792964 deg, new cmd heading: 6.880543 deg. 2025-10-24T20:16:59.307Z,1761337019.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120088 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:59.353Z,1761337019.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762933 2025-10-24T20:16:59.605Z,1761337019.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014770 2025-10-24T20:16:59.623Z,1761337019.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994255,-0.102679,-0.030246],[0.099352,0.990387,-0.096245],[0.039837,0.092687,0.994898]] 2025-10-24T20:16:59.678Z,1761337019.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:16:59.681Z,1761337019.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 195.249435 m, bearing: 356.513957 deg, approach rate: -0.657641 m/s, LOS rate: 0.065969 deg/s, cmd heading: 6.880543 deg, new cmd heading: 6.955538 deg. 2025-10-24T20:16:59.682Z,1761337019.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121397 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:16:59.857Z,1761337019.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266835 2025-10-24T20:17:00.080Z,1761337020.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:00.082Z,1761337020.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 194.979675 m, bearing: 356.541059 deg, approach rate: -0.699326 m/s, LOS rate: 0.070357 deg/s, cmd heading: 6.955538 deg, new cmd heading: 7.036957 deg. 2025-10-24T20:17:00.083Z,1761337020.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122818 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:00.109Z,1761337020.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518994 2025-10-24T20:17:00.361Z,1761337020.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771289 2025-10-24T20:17:00.434Z,1761337020.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994884,-0.095767,-0.032157],[0.092129,0.990703,-0.100098],[0.041444,0.096624,0.994458]] 2025-10-24T20:17:00.497Z,1761337020.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:00.505Z,1761337020.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 194.706070 m, bearing: 356.566608 deg, approach rate: -0.631090 m/s, LOS rate: 0.059014 deg/s, cmd heading: 7.036957 deg, new cmd heading: 7.113712 deg. 2025-10-24T20:17:00.506Z,1761337020.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124158 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:00.613Z,1761337020.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022925 2025-10-24T20:17:00.831Z,1761337020.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995020,-0.094019,-0.033098],[0.090183,0.990608,-0.102779],[0.042450,0.099282,0.994153]] 2025-10-24T20:17:00.850Z,1761337020.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:00.852Z,1761337020.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:00.855Z,1761337020.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 194.467712 m, bearing: 356.589064 deg, approach rate: -0.671725 m/s, LOS rate: 0.063359 deg/s, cmd heading: 7.113712 deg, new cmd heading: 7.181161 deg. 2025-10-24T20:17:00.856Z,1761337020.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125335 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:00.865Z,1761337020.865 [DAT](INFO): DAT read: Rx Time:20:16:59.5650 2025-10-24T20:17:00.866Z,1761337020.866 [DAT](INFO): Rx dataTimestamp_ set to:1761337020.865460 2025-10-24T20:17:00.867Z,1761337020.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276938 2025-10-24T20:17:01.118Z,1761337021.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528022 2025-10-24T20:17:01.236Z,1761337021.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995131,-0.092530,-0.033958],[0.088481,0.990434,-0.105882],[0.043430,0.102361,0.993799]] 2025-10-24T20:17:01.326Z,1761337021.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:01.334Z,1761337021.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 194.175964 m, bearing: 356.616770 deg, approach rate: -0.615086 m/s, LOS rate: 0.058501 deg/s, cmd heading: 7.181161 deg, new cmd heading: 7.264406 deg. 2025-10-24T20:17:01.335Z,1761337021.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.126788 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:01.394Z,1761337021.394 [DAT](INFO): DAT read: 20:16:59.5650 LVL= 18512, 30449, 12706, 24915, AGC= 67, IDX= 401,-0.36,-2.201, 3.122,-1.598,-2.271, PHS= 0.157,-0.843, 0.670, RAW= 169.4, 0.2, CAL= 170.7, -8.0, ROT= 339.3, 8.0 2025-10-24T20:17:01.397Z,1761337021.397 [DAT](INFO): got valid direction response: 20:16:59.5650 LVL= 18512, 30449, 12706, 24915, AGC= 67, IDX= 401,-0.36,-2.201, 3.122,-1.598,-2.271, PHS= 0.157,-0.843, 0.670, RAW= 169.4, 0.2, CAL= 170.7, -8.0, ROT= 339.3, 8.0 2025-10-24T20:17:01.398Z,1761337021.398 [DAT](INFO): DAT read: Bearing 339.3, 8.0 (Local) 2025-10-24T20:17:01.399Z,1761337021.399 [DAT](INFO): Local bearing/azimuth received: Bearing 339.3, 8.0 (Local) 2025-10-24T20:17:01.401Z,1761337021.401 [DAT](INFO): DAT read: Range 10 to 50 : 157.2 m (Round-trip 209.7 ms) speed 0.3 m/s 2025-10-24T20:17:01.402Z,1761337021.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:01.403Z,1761337021.403 [DAT](INFO): direction in FSK: [0.926340,-0.350035,-0.139173] 2025-10-24T20:17:01.403Z,1761337021.403 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:01.428Z,1761337021.428 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:01.428Z,1761337021.428 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:01.428Z,1761337021.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:01.629Z,1761337021.629 [DAT](INFO): DAT read: user:286> 2025-10-24T20:17:01.630Z,1761337021.630 [DAT](INFO): DAT read: Tx time:20:17:00.9511 2025-10-24T20:17:01.631Z,1761337021.631 [DAT](INFO): Ping request sent. 2025-10-24T20:17:01.631Z,1761337021.631 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:01.631Z,1761337021.631 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:01.632Z,1761337021.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001428 2025-10-24T20:17:01.702Z,1761337021.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995065,-0.092896,-0.034875],[0.088584,0.990021,-0.109596],[0.044708,0.105966,0.993364]] 2025-10-24T20:17:01.770Z,1761337021.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 157.199997 m, deltaT: 7.825375 s, deltaX: -53.400009 m, approachRate: -6.823955 m/s, rangeRepo size: 4 2025-10-24T20:17:01.770Z,1761337021.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:01.777Z,1761337021.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 193.894958 m, bearing: 356.636795 deg, approach rate: -0.634515 m/s, LOS rate: 0.045282 deg/s, cmd heading: 7.264406 deg, new cmd heading: 7.324568 deg. 2025-10-24T20:17:01.781Z,1761337021.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127838 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:01.882Z,1761337021.882 [DAT](INFO): DAT read: TxSync time:20:17:00.9503 2025-10-24T20:17:01.884Z,1761337021.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252703 2025-10-24T20:17:02.080Z,1761337022.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994950,-0.093696,-0.035998],[0.089082,0.989541,-0.113456],[0.046251,0.109676,0.992891]] 2025-10-24T20:17:02.098Z,1761337022.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:02.101Z,1761337022.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 193.672684 m, bearing: 356.652632 deg, approach rate: -0.675932 m/s, LOS rate: 0.048216 deg/s, cmd heading: 7.324568 deg, new cmd heading: 7.372134 deg. 2025-10-24T20:17:02.103Z,1761337022.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128668 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:02.134Z,1761337022.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502506 2025-10-24T20:17:02.385Z,1761337022.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753969 2025-10-24T20:17:02.509Z,1761337022.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:17:02.562Z,1761337022.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:02.565Z,1761337022.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 193.401657 m, bearing: 356.662244 deg, approach rate: -0.583773 m/s, LOS rate: 0.020731 deg/s, cmd heading: 7.372134 deg, new cmd heading: 7.401008 deg. 2025-10-24T20:17:02.567Z,1761337022.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129172 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:02.637Z,1761337022.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006314 2025-10-24T20:17:02.887Z,1761337022.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993994,-0.102680,-0.037861],[0.097939,0.988994,-0.110899],[0.048831,0.106525,0.993110]] 2025-10-24T20:17:02.890Z,1761337022.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259482 2025-10-24T20:17:02.912Z,1761337022.912 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:02.914Z,1761337022.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:02.938Z,1761337022.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 193.176773 m, bearing: 356.669641 deg, approach rate: -0.638761 m/s, LOS rate: 0.021035 deg/s, cmd heading: 7.401008 deg, new cmd heading: 7.423225 deg. 2025-10-24T20:17:02.939Z,1761337022.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129560 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:03.141Z,1761337023.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510688 2025-10-24T20:17:03.324Z,1761337023.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993236,-0.109791,-0.037801],[0.104640,0.987428,-0.118475],[0.050333,0.113718,0.992237]] 2025-10-24T20:17:03.393Z,1761337023.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762088 2025-10-24T20:17:03.418Z,1761337023.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:03.429Z,1761337023.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 192.909256 m, bearing: 356.667999 deg, approach rate: -0.530764 m/s, LOS rate: -0.003262 deg/s, cmd heading: 7.423225 deg, new cmd heading: 7.418292 deg. 2025-10-24T20:17:03.430Z,1761337023.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129474 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:03.513Z,1761337023.513 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:17:03.650Z,1761337023.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018837 2025-10-24T20:17:03.733Z,1761337023.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992479,-0.116538,-0.037483],[0.111072,0.985979,-0.124536],[0.051471,0.119436,0.991507]] 2025-10-24T20:17:03.753Z,1761337023.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:03.755Z,1761337023.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 192.698166 m, bearing: 356.666302 deg, approach rate: -0.632576 m/s, LOS rate: -0.005091 deg/s, cmd heading: 7.418292 deg, new cmd heading: 7.413195 deg. 2025-10-24T20:17:03.772Z,1761337023.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129385 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:03.898Z,1761337023.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266846 2025-10-24T20:17:04.132Z,1761337024.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991968,-0.120785,-0.037564],[0.115114,0.985111,-0.127692],[0.052428,0.122342,0.991102]] 2025-10-24T20:17:04.149Z,1761337024.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518185 2025-10-24T20:17:04.155Z,1761337024.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:04.158Z,1761337024.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 192.468384 m, bearing: 356.664176 deg, approach rate: -0.570060 m/s, LOS rate: -0.005280 deg/s, cmd heading: 7.413194 deg, new cmd heading: 7.406809 deg. 2025-10-24T20:17:04.161Z,1761337024.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129273 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:04.401Z,1761337024.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770230 2025-10-24T20:17:04.536Z,1761337024.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991448,-0.124953,-0.037661],[0.119153,0.984414,-0.129349],[0.053237,0.123756,0.990884]] 2025-10-24T20:17:04.588Z,1761337024.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:04.590Z,1761337024.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 192.222626 m, bearing: 356.651433 deg, approach rate: -0.568030 m/s, LOS rate: -0.029491 deg/s, cmd heading: 7.406809 deg, new cmd heading: 7.368531 deg. 2025-10-24T20:17:04.591Z,1761337024.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128605 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:04.655Z,1761337024.655 [DAT](INFO): DAT read: Rx Time:20:17:03.5618 2025-10-24T20:17:04.655Z,1761337024.655 [DAT](INFO): Rx dataTimestamp_ set to:1761337024.655006 2025-10-24T20:17:04.656Z,1761337024.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025279 2025-10-24T20:17:04.905Z,1761337024.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274445 2025-10-24T20:17:05.043Z,1761337025.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990535,-0.131776,-0.038405],[0.125836,0.983583,-0.129344],[0.054819,0.123287,0.990856]] 2025-10-24T20:17:05.063Z,1761337025.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:05.065Z,1761337025.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.17 m. 2025-10-24T20:17:05.067Z,1761337025.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.167938 m, nav range: 191.951492 m, bearing: 356.636769 deg, approach rate: -0.568389 m/s, LOS rate: -0.030784 deg/s, cmd heading: 7.368531 deg, new cmd heading: 7.324477 deg. 2025-10-24T20:17:05.068Z,1761337025.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127836 target range: 215.167938 and range: 210.60 m. 2025-10-24T20:17:05.164Z,1761337025.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532421 2025-10-24T20:17:05.419Z,1761337025.419 [DAT](INFO): DAT read: 20:17:03.5618 LVL= 26784, 32753, 16834, 32755, AGC= 58, IDX= 415, 0.15, 0.412,-0.532, 1.153, 0.351, PHS= 0.150,-0.836, 0.799, RAW= 173.2, -1.6, CAL= 174.5, -9.3, ROT= 335.5, 9.3 2025-10-24T20:17:05.421Z,1761337025.421 [DAT](INFO): got valid direction response: 20:17:03.5618 LVL= 26784, 32753, 16834, 32755, AGC= 58, IDX= 415, 0.15, 0.412,-0.532, 1.153, 0.351, PHS= 0.150,-0.836, 0.799, RAW= 173.2, -1.6, CAL= 174.5, -9.3, ROT= 335.5, 9.3 2025-10-24T20:17:05.422Z,1761337025.422 [DAT](INFO): DAT read: Bearing 335.5, 9.3 (Local) 2025-10-24T20:17:05.422Z,1761337025.422 [DAT](INFO): Local bearing/azimuth received: Bearing 335.5, 9.3 (Local) 2025-10-24T20:17:05.423Z,1761337025.423 [DAT](INFO): DAT read: Range 10 to 50 : 154.8 m (Round-trip 206.5 ms) speed 0.5 m/s 2025-10-24T20:17:05.436Z,1761337025.436 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:05.437Z,1761337025.437 [DAT](INFO): direction in FSK: [0.898001,-0.409242,-0.161604] 2025-10-24T20:17:05.437Z,1761337025.437 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:05.443Z,1761337025.443 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:05.443Z,1761337025.443 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:05.443Z,1761337025.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:05.574Z,1761337025.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.800003 m, deltaT: 11.859586 s, deltaX: -55.800003 m, approachRate: -4.705055 m/s, rangeRepo size: 4 2025-10-24T20:17:05.580Z,1761337025.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 153.990509 m, bearing: 344.205548 deg, lat: 36.779613 deg, lon: -121.859743 deg, deltaT: 23.963990 s, deltaX: -61.177429 m, approachRate: -2.552890 m/s, posRepo size: 4 2025-10-24T20:17:05.581Z,1761337025.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:05.601Z,1761337025.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 152.688248 m, bearing: 345.418302 deg, approach rate: 0.000000 m/s, LOS rate: -0.030784 deg/s, cmd heading: 7.324477 deg, new cmd heading: 7.278428 deg. 2025-10-24T20:17:05.602Z,1761337025.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127033 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:05.665Z,1761337025.665 [DAT](INFO): DAT read: user:287> 2025-10-24T20:17:05.667Z,1761337025.667 [DAT](INFO): DAT read: Tx time:20:17:05.0011 2025-10-24T20:17:05.667Z,1761337025.667 [DAT](INFO): Ping request sent. 2025-10-24T20:17:05.667Z,1761337025.667 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:05.667Z,1761337025.667 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:05.669Z,1761337025.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001942 2025-10-24T20:17:05.920Z,1761337025.920 [DAT](INFO): DAT read: TxSync time:20:17:05.0003 2025-10-24T20:17:05.921Z,1761337025.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253604 2025-10-24T20:17:06.006Z,1761337026.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989823,-0.136892,-0.038867],[0.130969,0.983167,-0.127394],[0.055652,0.121007,0.991090]] 2025-10-24T20:17:06.033Z,1761337026.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:06.035Z,1761337026.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 152.434402 m, bearing: 345.372476 deg, approach rate: -0.541655 m/s, LOS rate: -0.097945 deg/s, cmd heading: 7.278429 deg, new cmd heading: 7.140724 deg. 2025-10-24T20:17:06.037Z,1761337026.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124629 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:06.170Z,1761337026.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502864 2025-10-24T20:17:06.421Z,1761337026.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753937 2025-10-24T20:17:06.457Z,1761337026.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989421,-0.139463,-0.039951],[0.133613,0.983305,-0.123531],[0.056512,0.116886,0.991536]] 2025-10-24T20:17:06.570Z,1761337026.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:06.577Z,1761337026.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 152.156555 m, bearing: 345.318219 deg, approach rate: -0.516375 m/s, LOS rate: -0.101021 deg/s, cmd heading: 7.140724 deg, new cmd heading: 6.977654 deg. 2025-10-24T20:17:06.578Z,1761337026.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121783 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:06.673Z,1761337026.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005848 2025-10-24T20:17:06.925Z,1761337026.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257785 2025-10-24T20:17:07.042Z,1761337027.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988729,-0.144058,-0.040762],[0.138241,0.982998,-0.120844],[0.057478,0.113847,0.991834]] 2025-10-24T20:17:07.061Z,1761337027.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:07.063Z,1761337027.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 151.895691 m, bearing: 345.266477 deg, approach rate: -0.531633 m/s, LOS rate: -0.105630 deg/s, cmd heading: 6.977654 deg, new cmd heading: 6.822162 deg. 2025-10-24T20:17:07.081Z,1761337027.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119069 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:07.177Z,1761337027.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509877 2025-10-24T20:17:07.429Z,1761337027.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761911 2025-10-24T20:17:07.438Z,1761337027.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988486,-0.145948,-0.039939],[0.140299,0.982888,-0.119360],[0.056676,0.112382,0.992047]] 2025-10-24T20:17:07.501Z,1761337027.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:07.503Z,1761337027.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:07.510Z,1761337027.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 151.656235 m, bearing: 345.222764 deg, approach rate: -0.541788 m/s, LOS rate: -0.099060 deg/s, cmd heading: 6.822162 deg, new cmd heading: 6.690816 deg. 2025-10-24T20:17:07.510Z,1761337027.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116777 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:07.681Z,1761337027.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013673 2025-10-24T20:17:07.862Z,1761337027.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:07.866Z,1761337027.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 151.453094 m, bearing: 345.185560 deg, approach rate: -0.564710 m/s, LOS rate: -0.103562 deg/s, cmd heading: 6.690816 deg, new cmd heading: 6.579055 deg. 2025-10-24T20:17:07.867Z,1761337027.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114826 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:07.934Z,1761337027.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266690 2025-10-24T20:17:08.185Z,1761337028.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517816 2025-10-24T20:17:08.241Z,1761337028.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988389,-0.146736,-0.039445],[0.141447,0.983375,-0.113867],[0.055498,0.106966,0.992713]] 2025-10-24T20:17:08.266Z,1761337028.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:08.274Z,1761337028.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 151.234192 m, bearing: 345.145240 deg, approach rate: -0.543220 m/s, LOS rate: -0.100202 deg/s, cmd heading: 6.579055 deg, new cmd heading: 6.457919 deg. 2025-10-24T20:17:08.277Z,1761337028.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112712 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:08.437Z,1761337028.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769921 2025-10-24T20:17:08.689Z,1761337028.689 [DAT](INFO): DAT read: Rx Time:20:17:07.6089 2025-10-24T20:17:08.689Z,1761337028.689 [DAT](INFO): Rx dataTimestamp_ set to:1761337028.689114 2025-10-24T20:17:08.690Z,1761337028.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022940 2025-10-24T20:17:08.712Z,1761337028.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:08.715Z,1761337028.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 150.981461 m, bearing: 345.106919 deg, approach rate: -0.587163 m/s, LOS rate: -0.089179 deg/s, cmd heading: 6.457919 deg, new cmd heading: 6.342764 deg. 2025-10-24T20:17:08.720Z,1761337028.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110702 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:08.942Z,1761337028.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275069 2025-10-24T20:17:09.039Z,1761337029.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988732,-0.144496,-0.039104],[0.139670,0.984475,-0.106305],[0.053857,0.099646,0.993564]] 2025-10-24T20:17:09.059Z,1761337029.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.99 m. 2025-10-24T20:17:09.061Z,1761337029.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 153.990509 m, nav range: 150.768250 m, bearing: 345.074688 deg, approach rate: -0.587643 m/s, LOS rate: -0.088959 deg/s, cmd heading: 6.342764 deg, new cmd heading: 6.245935 deg. 2025-10-24T20:17:09.062Z,1761337029.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109012 target range: 153.990509 and range: 154.80 m. 2025-10-24T20:17:09.196Z,1761337029.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528229 2025-10-24T20:17:09.452Z,1761337029.452 [DAT](INFO): DAT read: 20:17:07.6090 LVL= 24128, 30689, 15650, 32755, AGC= 65, IDX= 418,-0.25,-1.479,-2.405,-0.802,-1.516, PHS= 0.124,-0.843, 0.711, RAW= 171.9, 0.1, CAL= 173.0, -8.0, ROT= 337.0, 8.0 2025-10-24T20:17:09.453Z,1761337029.453 [DAT](INFO): got valid direction response: 20:17:07.6090 LVL= 24128, 30689, 15650, 32755, AGC= 65, IDX= 418,-0.25,-1.479,-2.405,-0.802,-1.516, PHS= 0.124,-0.843, 0.711, RAW= 171.9, 0.1, CAL= 173.0, -8.0, ROT= 337.0, 8.0 2025-10-24T20:17:09.454Z,1761337029.454 [DAT](INFO): DAT read: Bearing 337.0, 8.0 (Local) 2025-10-24T20:17:09.454Z,1761337029.454 [DAT](INFO): Local bearing/azimuth received: Bearing 337.0, 8.0 (Local) 2025-10-24T20:17:09.456Z,1761337029.456 [DAT](INFO): DAT read: Range 10 to 50 : 152.7 m (Round-trip 203.7 ms) speed 0.5 m/s 2025-10-24T20:17:09.456Z,1761337029.456 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:09.457Z,1761337029.457 [DAT](INFO): direction in FSK: [0.911547,-0.386929,-0.139173] 2025-10-24T20:17:09.457Z,1761337029.457 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:09.486Z,1761337029.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988969,-0.142851,-0.039160],[0.138214,0.985051,-0.102813],[0.053261,0.096267,0.993930]] 2025-10-24T20:17:09.489Z,1761337029.489 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:09.489Z,1761337029.489 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:09.489Z,1761337029.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:09.595Z,1761337029.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.699997 m, deltaT: 4.032524 s, deltaX: -2.100006 m, approachRate: -0.520767 m/s, rangeRepo size: 4 2025-10-24T20:17:09.602Z,1761337029.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.900864 m, bearing: 345.947320 deg, lat: 36.779613 deg, lon: -121.859731 deg, deltaT: 4.032524 s, deltaX: -2.089645 m, approachRate: -0.518198 m/s, posRepo size: 4 2025-10-24T20:17:09.602Z,1761337029.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:09.609Z,1761337029.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 150.167389 m, bearing: 345.441438 deg, approach rate: 0.000000 m/s, LOS rate: -0.088959 deg/s, cmd heading: 6.245935 deg, new cmd heading: 6.102906 deg. 2025-10-24T20:17:09.610Z,1761337029.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106516 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:09.700Z,1761337029.700 [DAT](INFO): DAT read: user:288> 2025-10-24T20:17:09.701Z,1761337029.701 [DAT](INFO): DAT read: Tx time:20:17:09.0512 2025-10-24T20:17:09.701Z,1761337029.701 [DAT](INFO): Ping request sent. 2025-10-24T20:17:09.701Z,1761337029.701 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:09.701Z,1761337029.701 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:09.702Z,1761337029.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-24T20:17:09.910Z,1761337029.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989335,-0.140278,-0.039212],[0.135840,0.985756,-0.099164],[0.052564,0.092779,0.994298]] 2025-10-24T20:17:09.940Z,1761337029.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:09.942Z,1761337029.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:09.950Z,1761337029.950 [DAT](INFO): DAT read: TxSync time:20:17:09.0504 2025-10-24T20:17:09.950Z,1761337029.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249311 2025-10-24T20:17:09.956Z,1761337029.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 149.943253 m, bearing: 345.419760 deg, approach rate: -0.645262 m/s, LOS rate: -0.062502 deg/s, cmd heading: 6.102906 deg, new cmd heading: 6.037774 deg. 2025-10-24T20:17:09.957Z,1761337029.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105379 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:10.202Z,1761337030.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500751 2025-10-24T20:17:10.298Z,1761337030.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989622,-0.138250,-0.039170],[0.133918,0.986198,-0.097359],[0.052089,0.091103,0.994478]] 2025-10-24T20:17:10.337Z,1761337030.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:10.344Z,1761337030.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 149.699600 m, bearing: 345.396325 deg, approach rate: -0.616821 m/s, LOS rate: -0.059423 deg/s, cmd heading: 6.037774 deg, new cmd heading: 5.967355 deg. 2025-10-24T20:17:10.345Z,1761337030.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104150 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:10.455Z,1761337030.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753874 2025-10-24T20:17:10.705Z,1761337030.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003588 2025-10-24T20:17:10.711Z,1761337030.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989729,-0.137337,-0.039695],[0.133364,0.987005,-0.089635],[0.051489,0.083421,0.995183]] 2025-10-24T20:17:10.750Z,1761337030.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:10.789Z,1761337030.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 149.422134 m, bearing: 345.380552 deg, approach rate: -0.671268 m/s, LOS rate: -0.038232 deg/s, cmd heading: 5.967355 deg, new cmd heading: 5.919946 deg. 2025-10-24T20:17:10.790Z,1761337030.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103323 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:10.957Z,1761337030.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256147 2025-10-24T20:17:11.103Z,1761337031.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989858,-0.136355,-0.039849],[0.132319,0.987053,-0.090658],[0.051694,0.084466,0.995085]] 2025-10-24T20:17:11.132Z,1761337031.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:11.135Z,1761337031.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 149.175308 m, bearing: 345.366561 deg, approach rate: -0.647472 m/s, LOS rate: -0.036760 deg/s, cmd heading: 5.919946 deg, new cmd heading: 5.877905 deg. 2025-10-24T20:17:11.136Z,1761337031.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102589 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:11.211Z,1761337031.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509121 2025-10-24T20:17:11.462Z,1761337031.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760651 2025-10-24T20:17:11.507Z,1761337031.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990393,-0.132641,-0.039084],[0.128698,0.987562,-0.090317],[0.050578,0.084419,0.995146]] 2025-10-24T20:17:11.578Z,1761337031.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:11.581Z,1761337031.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 148.873398 m, bearing: 345.359221 deg, approach rate: -0.676591 m/s, LOS rate: -0.016482 deg/s, cmd heading: 5.877905 deg, new cmd heading: 5.855841 deg. 2025-10-24T20:17:11.581Z,1761337031.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102204 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:11.713Z,1761337031.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011965 2025-10-24T20:17:11.915Z,1761337031.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990870,-0.129261,-0.038313],[0.125369,0.987948,-0.090786],[0.049587,0.085154,0.995133]] 2025-10-24T20:17:11.934Z,1761337031.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:11.953Z,1761337031.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 148.632568 m, bearing: 345.353653 deg, approach rate: -0.676550 m/s, LOS rate: -0.015667 deg/s, cmd heading: 5.855841 deg, new cmd heading: 5.839110 deg. 2025-10-24T20:17:11.957Z,1761337031.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101912 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:11.965Z,1761337031.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263744 2025-10-24T20:17:12.218Z,1761337032.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516879 2025-10-24T20:17:12.318Z,1761337032.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991465,-0.124905,-0.037371],[0.121068,0.988410,-0.091586],[0.048377,0.086280,0.995096]] 2025-10-24T20:17:12.354Z,1761337032.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:12.358Z,1761337032.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:12.363Z,1761337032.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 148.351669 m, bearing: 345.347600 deg, approach rate: -0.662970 m/s, LOS rate: -0.014315 deg/s, cmd heading: 5.839110 deg, new cmd heading: 5.820915 deg. 2025-10-24T20:17:12.364Z,1761337032.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101594 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:12.473Z,1761337032.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771523 2025-10-24T20:17:12.724Z,1761337032.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022263 2025-10-24T20:17:12.768Z,1761337032.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:12.770Z,1761337032.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 148.065857 m, bearing: 345.347169 deg, approach rate: -0.696791 m/s, LOS rate: -0.001052 deg/s, cmd heading: 5.820915 deg, new cmd heading: 5.819620 deg. 2025-10-24T20:17:12.771Z,1761337032.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101572 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:12.973Z,1761337032.973 [DAT](INFO): DAT read: Rx Time:20:17:11.6553 2025-10-24T20:17:12.973Z,1761337032.973 [DAT](INFO): Rx dataTimestamp_ set to:1761337032.973027 2025-10-24T20:17:12.974Z,1761337032.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272707 2025-10-24T20:17:13.123Z,1761337033.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992585,-0.116113,-0.035948],[0.112405,0.989388,-0.092071],[0.046257,0.087347,0.995103]] 2025-10-24T20:17:13.142Z,1761337033.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.90 m. 2025-10-24T20:17:13.161Z,1761337033.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.900864 m, nav range: 147.809433 m, bearing: 345.347644 deg, approach rate: -0.684308 m/s, LOS rate: 0.001271 deg/s, cmd heading: 5.819620 deg, new cmd heading: 5.821049 deg. 2025-10-24T20:17:13.162Z,1761337033.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101596 target range: 151.900864 and range: 152.70 m. 2025-10-24T20:17:13.226Z,1761337033.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524734 2025-10-24T20:17:13.495Z,1761337033.495 [DAT](INFO): DAT read: 20:17:11.6553 LVL= 21968, 27937, 14706, 29907, AGC= 63, IDX= 396,-0.16, 0.750,-0.118, 1.440, 0.732, PHS= 0.106,-0.803, 0.705, RAW= 173.3, -0.1, CAL= 174.3, -8.2, ROT= 335.7, 8.2 2025-10-24T20:17:13.496Z,1761337033.496 [DAT](INFO): got valid direction response: 20:17:11.6553 LVL= 21968, 27937, 14706, 29907, AGC= 63, IDX= 396,-0.16, 0.750,-0.118, 1.440, 0.732, PHS= 0.106,-0.803, 0.705, RAW= 173.3, -0.1, CAL= 174.3, -8.2, ROT= 335.7, 8.2 2025-10-24T20:17:13.497Z,1761337033.497 [DAT](INFO): DAT read: Bearing 335.7, 8.2 (Local) 2025-10-24T20:17:13.498Z,1761337033.498 [DAT](INFO): Local bearing/azimuth received: Bearing 335.7, 8.2 (Local) 2025-10-24T20:17:13.500Z,1761337033.500 [DAT](INFO): DAT read: Range 10 to 50 : 150.0 m (Round-trip 200.0 ms) speed 0.5 m/s 2025-10-24T20:17:13.500Z,1761337033.500 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:13.501Z,1761337033.501 [DAT](INFO): direction in FSK: [0.902085,-0.407307,-0.142629] 2025-10-24T20:17:13.502Z,1761337033.502 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:13.505Z,1761337033.505 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:13.505Z,1761337033.505 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:13.506Z,1761337033.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:13.702Z,1761337033.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 150.000000 m, deltaT: 4.037500 s, deltaX: -2.699997 m, approachRate: -0.668730 m/s, rangeRepo size: 4 2025-10-24T20:17:13.709Z,1761337033.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 149.214325 m, bearing: 343.073149 deg, lat: 36.779613 deg, lon: -121.859749 deg, deltaT: 4.037500 s, deltaX: -2.686539 m, approachRate: -0.665397 m/s, posRepo size: 4 2025-10-24T20:17:13.710Z,1761337033.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:13.717Z,1761337033.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 147.839096 m, bearing: 344.768613 deg, approach rate: 0.000000 m/s, LOS rate: 0.001271 deg/s, cmd heading: 5.821049 deg, new cmd heading: 5.823182 deg. 2025-10-24T20:17:13.717Z,1761337033.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101634 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:13.734Z,1761337033.734 [DAT](INFO): DAT read: user:289> 2025-10-24T20:17:13.734Z,1761337033.734 [DAT](INFO): DAT read: Tx time:20:17:13.0512 2025-10-24T20:17:13.735Z,1761337033.735 [DAT](INFO): Ping request sent. 2025-10-24T20:17:13.735Z,1761337033.735 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:13.735Z,1761337033.735 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:13.736Z,1761337033.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-24T20:17:13.985Z,1761337033.985 [DAT](INFO): DAT read: TxSync time:20:17:13.0504 2025-10-24T20:17:13.986Z,1761337033.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250932 2025-10-24T20:17:13.992Z,1761337033.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993490,-0.108503,-0.034700],[0.104801,0.989952,-0.094930],[0.044652,0.090676,0.994879]] 2025-10-24T20:17:14.011Z,1761337034.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:14.045Z,1761337034.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 147.616302 m, bearing: 344.770729 deg, approach rate: -0.719731 m/s, LOS rate: 0.006846 deg/s, cmd heading: 5.823182 deg, new cmd heading: 5.829540 deg. 2025-10-24T20:17:14.046Z,1761337034.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101745 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:14.237Z,1761337034.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501969 2025-10-24T20:17:14.494Z,1761337034.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756579 2025-10-24T20:17:14.507Z,1761337034.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:14.522Z,1761337034.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:14.529Z,1761337034.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 147.324371 m, bearing: 344.773511 deg, approach rate: -0.571904 m/s, LOS rate: 0.005461 deg/s, cmd heading: 5.829540 deg, new cmd heading: 5.837903 deg. 2025-10-24T20:17:14.530Z,1761337034.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101891 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:14.741Z,1761337034.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006402 2025-10-24T20:17:14.881Z,1761337034.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:14.889Z,1761337034.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 147.048294 m, bearing: 344.774082 deg, approach rate: -0.779452 m/s, LOS rate: 0.001615 deg/s, cmd heading: 5.837903 deg, new cmd heading: 5.839619 deg. 2025-10-24T20:17:14.891Z,1761337034.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101921 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:14.994Z,1761337034.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259287 2025-10-24T20:17:15.199Z,1761337035.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993515,-0.108167,-0.035035],[0.104455,0.990028,-0.094522],[0.044910,0.090249,0.994906]] 2025-10-24T20:17:15.240Z,1761337035.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:15.243Z,1761337035.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 146.812057 m, bearing: 344.774606 deg, approach rate: -0.648508 m/s, LOS rate: 0.001442 deg/s, cmd heading: 5.839619 deg, new cmd heading: 5.841194 deg. 2025-10-24T20:17:15.245Z,1761337035.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510087 2025-10-24T20:17:15.249Z,1761337035.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101948 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:15.501Z,1761337035.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765537 2025-10-24T20:17:15.603Z,1761337035.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993507,-0.108527,-0.034137],[0.104722,0.989622,-0.098401],[0.044462,0.094187,0.994561]] 2025-10-24T20:17:15.657Z,1761337035.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:15.659Z,1761337035.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 146.538437 m, bearing: 344.770643 deg, approach rate: -0.657203 m/s, LOS rate: -0.009538 deg/s, cmd heading: 5.841194 deg, new cmd heading: 5.829281 deg. 2025-10-24T20:17:15.660Z,1761337035.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101740 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:15.750Z,1761337035.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015530 2025-10-24T20:17:16.001Z,1761337036.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266235 2025-10-24T20:17:16.022Z,1761337036.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993848,-0.105873,-0.032512],[0.102100,0.989587,-0.101458],[0.042915,0.097514,0.994308]] 2025-10-24T20:17:16.081Z,1761337036.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:16.085Z,1761337036.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 146.292282 m, bearing: 344.767306 deg, approach rate: -0.581614 m/s, LOS rate: -0.007896 deg/s, cmd heading: 5.829280 deg, new cmd heading: 5.819255 deg. 2025-10-24T20:17:16.085Z,1761337036.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101565 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:16.253Z,1761337036.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517961 2025-10-24T20:17:16.427Z,1761337036.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993935,-0.105167,-0.032152],[0.101386,0.989550,-0.102530],[0.042599,0.098648,0.994210]] 2025-10-24T20:17:16.450Z,1761337036.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:16.453Z,1761337036.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 146.042603 m, bearing: 344.763977 deg, approach rate: -0.674604 m/s, LOS rate: -0.009012 deg/s, cmd heading: 5.819255 deg, new cmd heading: 5.809248 deg. 2025-10-24T20:17:16.454Z,1761337036.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101391 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:16.508Z,1761337036.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772852 2025-10-24T20:17:16.757Z,1761337036.757 [DAT](INFO): DAT read: Rx Time:20:17:15.6517 2025-10-24T20:17:16.757Z,1761337036.757 [DAT](INFO): Rx dataTimestamp_ set to:1761337036.757003 2025-10-24T20:17:16.758Z,1761337036.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023046 2025-10-24T20:17:16.834Z,1761337036.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994108,-0.103679,-0.031634],[0.099916,0.989601,-0.103476],[0.042033,0.099706,0.994129]] 2025-10-24T20:17:16.883Z,1761337036.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:16.891Z,1761337036.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:16.896Z,1761337036.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 145.783569 m, bearing: 344.751989 deg, approach rate: -0.587260 m/s, LOS rate: -0.027226 deg/s, cmd heading: 5.809248 deg, new cmd heading: 5.773222 deg. 2025-10-24T20:17:16.897Z,1761337036.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100762 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:17.010Z,1761337037.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275567 2025-10-24T20:17:17.219Z,1761337037.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994196,-0.102925,-0.031314],[0.099189,0.989654,-0.103669],[0.041660,0.099961,0.994119]] 2025-10-24T20:17:17.291Z,1761337037.291 [DAT](INFO): DAT read: 20:17:15.6517 LVL= 21792, 27681, 15298, 30307, AGC= 63, IDX= 407, 0.33, 2.205, 1.114, 2.851, 2.115, PHS= 0.178,-0.954, 0.733, RAW= 168.8, 0.6, CAL= 170.0, -7.7, ROT= 340.0, 7.7 2025-10-24T20:17:17.300Z,1761337037.300 [DAT](INFO): got valid direction response: 20:17:15.6517 LVL= 21792, 27681, 15298, 30307, AGC= 63, IDX= 407, 0.33, 2.205, 1.114, 2.851, 2.115, PHS= 0.178,-0.954, 0.733, RAW= 168.8, 0.6, CAL= 170.0, -7.7, ROT= 340.0, 7.7 2025-10-24T20:17:17.301Z,1761337037.301 [DAT](INFO): DAT read: Bearing 340.0, 7.7 (Local) 2025-10-24T20:17:17.302Z,1761337037.302 [DAT](INFO): Local bearing/azimuth received: Bearing 340.0, 7.7 (Local) 2025-10-24T20:17:17.303Z,1761337037.303 [DAT](INFO): DAT read: Range 10 to 50 : 147.2 m (Round-trip 196.3 ms) speed 0.1 m/s 2025-10-24T20:17:17.307Z,1761337037.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.21 m. 2025-10-24T20:17:17.312Z,1761337037.312 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:17.313Z,1761337037.313 [DAT](INFO): direction in FSK: [0.931220,-0.338936,-0.133986] 2025-10-24T20:17:17.313Z,1761337037.313 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:17.326Z,1761337037.326 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:17.327Z,1761337037.327 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:17.327Z,1761337037.327 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:17.339Z,1761337037.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 149.214325 m, nav range: 145.535156 m, bearing: 344.740525 deg, approach rate: -0.596476 m/s, LOS rate: -0.027574 deg/s, cmd heading: 5.773222 deg, new cmd heading: 5.738771 deg. 2025-10-24T20:17:17.340Z,1761337037.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100160 target range: 149.214325 and range: 150.00 m. 2025-10-24T20:17:17.516Z,1761337037.516 [DAT](INFO): DAT read: user:290> 2025-10-24T20:17:17.519Z,1761337037.519 [DAT](INFO): DAT read: Tx time:20:17:16.8512 2025-10-24T20:17:17.521Z,1761337037.521 [DAT](INFO): Ping request sent. 2025-10-24T20:17:17.521Z,1761337037.521 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:17.522Z,1761337037.522 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:17.524Z,1761337037.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002610 2025-10-24T20:17:17.628Z,1761337037.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994257,-0.102424,-0.031021],[0.098738,0.989744,-0.103232],[0.041276,0.099576,0.994173]] 2025-10-24T20:17:17.734Z,1761337037.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.199997 m, deltaT: 3.778959 s, deltaX: -2.800003 m, approachRate: -0.740946 m/s, rangeRepo size: 4 2025-10-24T20:17:17.735Z,1761337037.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.428650 m, bearing: 346.608578 deg, lat: 36.779613 deg, lon: -121.859749 deg, deltaT: 3.778959 s, deltaX: -2.785675 m, approachRate: -0.737154 m/s, posRepo size: 4 2025-10-24T20:17:17.740Z,1761337037.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:17.743Z,1761337037.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 145.298843 m, bearing: 344.722214 deg, approach rate: 0.000000 m/s, LOS rate: -0.027574 deg/s, cmd heading: 5.738771 deg, new cmd heading: 5.703580 deg. 2025-10-24T20:17:17.748Z,1761337037.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099546 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:17.765Z,1761337037.765 [DAT](INFO): DAT read: TxSync time:20:17:16.8504 2025-10-24T20:17:17.767Z,1761337037.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246035 2025-10-24T20:17:18.018Z,1761337038.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497085 2025-10-24T20:17:18.035Z,1761337038.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994159,-0.103555,-0.030402],[0.099617,0.988850,-0.110685],[0.041525,0.107010,0.993390]] 2025-10-24T20:17:18.054Z,1761337038.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:18.058Z,1761337038.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 145.106964 m, bearing: 344.707223 deg, approach rate: -0.596840 m/s, LOS rate: -0.046691 deg/s, cmd heading: 5.703581 deg, new cmd heading: 5.658549 deg. 2025-10-24T20:17:18.059Z,1761337038.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098760 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:18.272Z,1761337038.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751031 2025-10-24T20:17:18.426Z,1761337038.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994317,-0.101895,-0.030851],[0.098009,0.989251,-0.108516],[0.041576,0.104876,0.993616]] 2025-10-24T20:17:18.525Z,1761337038.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003555 2025-10-24T20:17:18.585Z,1761337038.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:18.592Z,1761337038.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 144.848389 m, bearing: 344.687132 deg, approach rate: -0.487263 m/s, LOS rate: -0.037927 deg/s, cmd heading: 5.658549 deg, new cmd heading: 5.598169 deg. 2025-10-24T20:17:18.593Z,1761337038.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097706 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:18.778Z,1761337038.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257187 2025-10-24T20:17:18.871Z,1761337038.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994410,-0.100857,-0.031259],[0.097003,0.989530,-0.106869],[0.041710,0.103239,0.993782]] 2025-10-24T20:17:18.921Z,1761337038.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:18.923Z,1761337038.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:18.925Z,1761337038.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 144.618362 m, bearing: 344.669297 deg, approach rate: -0.681460 m/s, LOS rate: -0.052921 deg/s, cmd heading: 5.598169 deg, new cmd heading: 5.544578 deg. 2025-10-24T20:17:18.926Z,1761337038.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096771 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:19.025Z,1761337039.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504395 2025-10-24T20:17:19.274Z,1761337039.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994509,-0.100158,-0.030331],[0.096434,0.989666,-0.106119],[0.040646,0.102611,0.993891]] 2025-10-24T20:17:19.277Z,1761337039.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756605 2025-10-24T20:17:19.292Z,1761337039.292 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:17:19.298Z,1761337039.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:19.300Z,1761337039.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 144.407806 m, bearing: 344.652971 deg, approach rate: -0.561591 m/s, LOS rate: -0.043610 deg/s, cmd heading: 5.544578 deg, new cmd heading: 5.495527 deg. 2025-10-24T20:17:19.301Z,1761337039.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095915 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:19.532Z,1761337039.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010556 2025-10-24T20:17:19.676Z,1761337039.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994528,-0.100200,-0.029553],[0.096586,0.989733,-0.105353],[0.039806,0.101922,0.993996]] 2025-10-24T20:17:19.731Z,1761337039.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:19.751Z,1761337039.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 144.170853 m, bearing: 344.624140 deg, approach rate: -0.546399 m/s, LOS rate: -0.066590 deg/s, cmd heading: 5.495527 deg, new cmd heading: 5.408894 deg. 2025-10-24T20:17:19.753Z,1761337039.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094403 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:19.781Z,1761337039.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260407 2025-10-24T20:17:20.034Z,1761337040.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513248 2025-10-24T20:17:20.087Z,1761337040.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994411,-0.101477,-0.029158],[0.097934,0.989699,-0.104423],[0.039454,0.100984,0.994105]] 2025-10-24T20:17:20.106Z,1761337040.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:20.109Z,1761337040.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 143.967270 m, bearing: 344.599171 deg, approach rate: -0.542918 m/s, LOS rate: -0.066682 deg/s, cmd heading: 5.408894 deg, new cmd heading: 5.333881 deg. 2025-10-24T20:17:20.110Z,1761337040.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093094 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:20.285Z,1761337040.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764353 2025-10-24T20:17:20.493Z,1761337040.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994357,-0.102086,-0.028857],[0.098609,0.989732,-0.103470],[0.039124,0.100040,0.994214]] 2025-10-24T20:17:20.534Z,1761337040.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:20.538Z,1761337040.538 [DAT](INFO): DAT read: Rx Time:20:17:19.4490 2025-10-24T20:17:20.539Z,1761337040.539 [DAT](INFO): Rx dataTimestamp_ set to:1761337040.538700 2025-10-24T20:17:20.542Z,1761337040.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020699 2025-10-24T20:17:20.551Z,1761337040.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 143.738312 m, bearing: 344.570938 deg, approach rate: -0.534898 m/s, LOS rate: -0.066064 deg/s, cmd heading: 5.333881 deg, new cmd heading: 5.249047 deg. 2025-10-24T20:17:20.572Z,1761337040.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091613 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:20.789Z,1761337040.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268263 2025-10-24T20:17:20.909Z,1761337040.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994226,-0.103415,-0.028645],[0.099985,0.989681,-0.102639],[0.038963,0.099183,0.994306]] 2025-10-24T20:17:20.962Z,1761337040.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:20.964Z,1761337040.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.43 m. 2025-10-24T20:17:20.970Z,1761337040.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.428650 m, nav range: 143.499512 m, bearing: 344.541564 deg, approach rate: -0.555649 m/s, LOS rate: -0.068463 deg/s, cmd heading: 5.249047 deg, new cmd heading: 5.160778 deg. 2025-10-24T20:17:20.971Z,1761337040.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090073 target range: 146.428650 and range: 147.20 m. 2025-10-24T20:17:21.044Z,1761337041.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523189 2025-10-24T20:17:21.299Z,1761337041.299 [DAT](INFO): DAT read: 20:17:19.4491 LVL= 23760, 26977, 16242, 31091, AGC= 64, IDX= 411, 0.02, 3.053, 2.070,-2.565, 3.011, PHS= 0.130,-0.894, 0.704, RAW= 170.8, 0.9, CAL= 171.7, -7.5, ROT= 338.3, 7.5 2025-10-24T20:17:21.301Z,1761337041.301 [DAT](INFO): got valid direction response: 20:17:19.4491 LVL= 23760, 26977, 16242, 31091, AGC= 64, IDX= 411, 0.02, 3.053, 2.070,-2.565, 3.011, PHS= 0.130,-0.894, 0.704, RAW= 170.8, 0.9, CAL= 171.7, -7.5, ROT= 338.3, 7.5 2025-10-24T20:17:21.302Z,1761337041.302 [DAT](INFO): DAT read: Bearing 338.3, 7.5 (Local) 2025-10-24T20:17:21.302Z,1761337041.302 [DAT](INFO): Local bearing/azimuth received: Bearing 338.3, 7.5 (Local) 2025-10-24T20:17:21.303Z,1761337041.303 [DAT](INFO): DAT read: Range 10 to 50 : 145.2 m (Round-trip 193.6 ms) speed 0.7 m/s 2025-10-24T20:17:21.304Z,1761337041.304 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:21.305Z,1761337041.305 [DAT](INFO): direction in FSK: [0.921184,-0.366584,-0.130526] 2025-10-24T20:17:21.305Z,1761337041.305 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:21.309Z,1761337041.309 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:21.309Z,1761337041.309 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:21.309Z,1761337041.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:21.312Z,1761337041.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994199,-0.103736,-0.028429],[0.100331,0.989661,-0.102497],[0.038768,0.099050,0.994327]] 2025-10-24T20:17:21.382Z,1761337041.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 145.199997 m, deltaT: 4.031143 s, deltaX: -2.000000 m, approachRate: -0.496137 m/s, rangeRepo size: 4 2025-10-24T20:17:21.395Z,1761337041.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 144.437546 m, bearing: 344.977168 deg, lat: 36.779615 deg, lon: -121.859736 deg, deltaT: 4.031143 s, deltaX: -1.991104 m, approachRate: -0.493930 m/s, posRepo size: 4 2025-10-24T20:17:21.400Z,1761337041.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:21.409Z,1761337041.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 143.204498 m, bearing: 344.977409 deg, approach rate: 0.000000 m/s, LOS rate: -0.068463 deg/s, cmd heading: 5.160778 deg, new cmd heading: 5.075045 deg. 2025-10-24T20:17:21.410Z,1761337041.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088576 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:21.549Z,1761337041.549 [DAT](INFO): DAT read: user:291> 2025-10-24T20:17:21.552Z,1761337041.552 [DAT](INFO): DAT read: Tx time:20:17:20.8513 2025-10-24T20:17:21.553Z,1761337041.553 [DAT](INFO): Ping request sent. 2025-10-24T20:17:21.554Z,1761337041.554 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:21.554Z,1761337041.554 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:21.557Z,1761337041.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002682 2025-10-24T20:17:21.715Z,1761337041.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994118,-0.104594,-0.028095],[0.101216,0.989565,-0.102551],[0.038528,0.099104,0.994331]] 2025-10-24T20:17:21.797Z,1761337041.797 [DAT](INFO): DAT read: TxSync time:20:17:20.8505 2025-10-24T20:17:21.798Z,1761337041.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244671 2025-10-24T20:17:21.825Z,1761337041.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:21.833Z,1761337041.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 142.948547 m, bearing: 344.948503 deg, approach rate: -0.576519 m/s, LOS rate: -0.065224 deg/s, cmd heading: 5.075045 deg, new cmd heading: 4.988174 deg. 2025-10-24T20:17:21.834Z,1761337041.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087060 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:22.050Z,1761337042.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496753 2025-10-24T20:17:22.139Z,1761337042.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:22.142Z,1761337042.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 142.763077 m, bearing: 344.927490 deg, approach rate: -0.592166 m/s, LOS rate: -0.067178 deg/s, cmd heading: 4.988174 deg, new cmd heading: 4.925052 deg. 2025-10-24T20:17:22.143Z,1761337042.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085958 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:22.301Z,1761337042.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747502 2025-10-24T20:17:22.502Z,1761337042.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994064,-0.104851,-0.029039],[0.101247,0.989214,-0.105854],[0.039825,0.102286,0.993958]] 2025-10-24T20:17:22.555Z,1761337042.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001707 2025-10-24T20:17:22.559Z,1761337042.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:22.570Z,1761337042.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 142.545029 m, bearing: 344.902696 deg, approach rate: -0.518137 m/s, LOS rate: -0.059007 deg/s, cmd heading: 4.925052 deg, new cmd heading: 4.850556 deg. 2025-10-24T20:17:22.578Z,1761337042.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084658 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:22.806Z,1761337042.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252784 2025-10-24T20:17:22.917Z,1761337042.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994239,-0.102782,-0.030396],[0.099150,0.989686,-0.103393],[0.040710,0.099783,0.994176]] 2025-10-24T20:17:23.007Z,1761337043.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:23.017Z,1761337043.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:23.024Z,1761337043.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 142.284409 m, bearing: 344.879253 deg, approach rate: -0.569215 m/s, LOS rate: -0.051295 deg/s, cmd heading: 4.850556 deg, new cmd heading: 4.780098 deg. 2025-10-24T20:17:23.025Z,1761337043.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.083428 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:23.057Z,1761337043.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503503 2025-10-24T20:17:23.309Z,1761337043.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755450 2025-10-24T20:17:23.323Z,1761337043.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994461,-0.100488,-0.030823],[0.096924,0.990160,-0.100939],[0.040663,0.097393,0.994415]] 2025-10-24T20:17:23.342Z,1761337043.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:23.345Z,1761337043.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 142.080124 m, bearing: 344.861020 deg, approach rate: -0.629438 m/s, LOS rate: -0.056259 deg/s, cmd heading: 4.780098 deg, new cmd heading: 4.725322 deg. 2025-10-24T20:17:23.346Z,1761337043.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082472 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:23.561Z,1761337043.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007359 2025-10-24T20:17:23.718Z,1761337043.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994555,-0.099433,-0.031196],[0.095907,0.990429,-0.099260],[0.040767,0.095727,0.994572]] 2025-10-24T20:17:23.763Z,1761337043.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:23.786Z,1761337043.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 141.835678 m, bearing: 344.842618 deg, approach rate: -0.584613 m/s, LOS rate: -0.044085 deg/s, cmd heading: 4.725322 deg, new cmd heading: 4.670021 deg. 2025-10-24T20:17:23.787Z,1761337043.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081507 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:23.813Z,1761337043.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259754 2025-10-24T20:17:24.065Z,1761337044.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511554 2025-10-24T20:17:24.125Z,1761337044.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994627,-0.098637,-0.031419],[0.095151,0.990643,-0.097835],[0.040775,0.094320,0.994707]] 2025-10-24T20:17:24.149Z,1761337044.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:24.152Z,1761337044.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 141.602615 m, bearing: 344.825094 deg, approach rate: -0.599269 m/s, LOS rate: -0.045136 deg/s, cmd heading: 4.670021 deg, new cmd heading: 4.617360 deg. 2025-10-24T20:17:24.153Z,1761337044.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.080588 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:24.317Z,1761337044.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763696 2025-10-24T20:17:24.372Z,1761337044.372 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:17:24.526Z,1761337044.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994640,-0.098421,-0.031700],[0.094958,0.990775,-0.096681],[0.040923,0.093153,0.994811]] 2025-10-24T20:17:24.563Z,1761337044.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:24.569Z,1761337044.569 [DAT](INFO): DAT read: Rx Time:20:17:23.4459 2025-10-24T20:17:24.569Z,1761337044.569 [DAT](INFO): Rx dataTimestamp_ set to:1761337044.569148 2025-10-24T20:17:24.570Z,1761337044.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016720 2025-10-24T20:17:24.585Z,1761337044.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 141.367905 m, bearing: 344.807411 deg, approach rate: -0.566155 m/s, LOS rate: -0.042724 deg/s, cmd heading: 4.617360 deg, new cmd heading: 4.564224 deg. 2025-10-24T20:17:24.589Z,1761337044.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079661 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:24.821Z,1761337044.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267747 2025-10-24T20:17:24.927Z,1761337044.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994648,-0.098337,-0.031703],[0.094906,0.990858,-0.095881],[0.040842,0.092359,0.994888]] 2025-10-24T20:17:24.976Z,1761337044.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.44 m. 2025-10-24T20:17:24.979Z,1761337044.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.437546 m, nav range: 141.110718 m, bearing: 344.791600 deg, approach rate: -0.623430 m/s, LOS rate: -0.038395 deg/s, cmd heading: 4.564224 deg, new cmd heading: 4.516706 deg. 2025-10-24T20:17:24.980Z,1761337044.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078831 target range: 144.437546 and range: 145.20 m. 2025-10-24T20:17:25.087Z,1761337045.087 [DAT](INFO): DAT read: 20:17:23.4459 LVL= 24992, 27841, 15826, 32707, AGC= 64, IDX= 412,-0.36, 1.970, 1.002, 2.660, 1.972, PHS= 0.086,-0.922, 0.685, RAW= 171.6, 2.2, CAL= 172.2, -6.4, ROT= 337.8, 6.4 2025-10-24T20:17:25.093Z,1761337045.093 [DAT](INFO): got valid direction response: 20:17:23.4459 LVL= 24992, 27841, 15826, 32707, AGC= 64, IDX= 412,-0.36, 1.970, 1.002, 2.660, 1.972, PHS= 0.086,-0.922, 0.685, RAW= 171.6, 2.2, CAL= 172.2, -6.4, ROT= 337.8, 6.4 2025-10-24T20:17:25.094Z,1761337045.094 [DAT](INFO): DAT read: Bearing 337.8, 6.4 (Local) 2025-10-24T20:17:25.094Z,1761337045.094 [DAT](INFO): Local bearing/azimuth received: Bearing 337.8, 6.4 (Local) 2025-10-24T20:17:25.096Z,1761337045.096 [DAT](INFO): DAT read: Range 10 to 50 : 142.8 m (Round-trip 190.5 ms) speed 0.5 m/s 2025-10-24T20:17:25.096Z,1761337045.096 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:25.097Z,1761337045.097 [DAT](INFO): direction in FSK: [0.920100,-0.375486,-0.111469] 2025-10-24T20:17:25.098Z,1761337045.098 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:25.110Z,1761337045.110 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:25.110Z,1761337045.110 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:25.111Z,1761337045.111 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:25.325Z,1761337045.325 [DAT](INFO): DAT read: user:292> 2025-10-24T20:17:25.326Z,1761337045.326 [DAT](INFO): DAT read: Tx time:20:17:24.6513 2025-10-24T20:17:25.326Z,1761337045.326 [DAT](INFO): Ping request sent. 2025-10-24T20:17:25.326Z,1761337045.326 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:25.326Z,1761337045.326 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:25.327Z,1761337045.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-24T20:17:25.427Z,1761337045.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.800003 m, deltaT: 3.783038 s, deltaX: -2.399994 m, approachRate: -0.634409 m/s, rangeRepo size: 4 2025-10-24T20:17:25.438Z,1761337045.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 142.047516 m, bearing: 343.998959 deg, lat: 36.779615 deg, lon: -121.859736 deg, deltaT: 3.783038 s, deltaX: -2.390030 m, approachRate: -0.631775 m/s, posRepo size: 4 2025-10-24T20:17:25.438Z,1761337045.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:25.445Z,1761337045.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 140.848251 m, bearing: 344.775406 deg, approach rate: 0.000000 m/s, LOS rate: -0.038395 deg/s, cmd heading: 4.516706 deg, new cmd heading: 4.464777 deg. 2025-10-24T20:17:25.446Z,1761337045.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077925 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:25.577Z,1761337045.577 [DAT](INFO): DAT read: TxSync time:20:17:24.6505 2025-10-24T20:17:25.578Z,1761337045.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251969 2025-10-24T20:17:25.818Z,1761337045.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:25.820Z,1761337045.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:25.823Z,1761337045.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 140.595596 m, bearing: 344.761167 deg, approach rate: -0.641864 m/s, LOS rate: -0.036240 deg/s, cmd heading: 4.464777 deg, new cmd heading: 4.421982 deg. 2025-10-24T20:17:25.824Z,1761337045.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077178 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:25.829Z,1761337045.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502905 2025-10-24T20:17:26.081Z,1761337046.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755051 2025-10-24T20:17:26.147Z,1761337046.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994499,-0.099332,-0.033234],[0.095840,0.990956,-0.093919],[0.042262,0.090218,0.995025]] 2025-10-24T20:17:26.171Z,1761337046.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:26.178Z,1761337046.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 140.377533 m, bearing: 344.748761 deg, approach rate: -0.621111 m/s, LOS rate: -0.035390 deg/s, cmd heading: 4.421982 deg, new cmd heading: 4.384708 deg. 2025-10-24T20:17:26.181Z,1761337046.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076528 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:26.334Z,1761337046.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007487 2025-10-24T20:17:26.557Z,1761337046.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994401,-0.100113,-0.033819],[0.096548,0.990850,-0.094311],[0.042952,0.090518,0.994968]] 2025-10-24T20:17:26.576Z,1761337046.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:26.581Z,1761337046.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 140.127548 m, bearing: 344.734414 deg, approach rate: -0.619867 m/s, LOS rate: -0.035638 deg/s, cmd heading: 4.384708 deg, new cmd heading: 4.341590 deg. 2025-10-24T20:17:26.583Z,1761337046.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075775 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:26.586Z,1761337046.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260001 2025-10-24T20:17:26.837Z,1761337046.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736 2025-10-24T20:17:27.008Z,1761337047.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:27.011Z,1761337047.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 139.857819 m, bearing: 344.721731 deg, approach rate: -0.622862 m/s, LOS rate: -0.029344 deg/s, cmd heading: 4.341590 deg, new cmd heading: 4.303468 deg. 2025-10-24T20:17:27.012Z,1761337047.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075110 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:27.090Z,1761337047.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763679 2025-10-24T20:17:27.341Z,1761337047.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014672 2025-10-24T20:17:27.361Z,1761337047.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994372,-0.100686,-0.032978],[0.097191,0.990778,-0.094407],[0.042179,0.090671,0.994987]] 2025-10-24T20:17:27.391Z,1761337047.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:27.394Z,1761337047.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 139.619125 m, bearing: 344.710401 deg, approach rate: -0.622786 m/s, LOS rate: -0.029611 deg/s, cmd heading: 4.303467 deg, new cmd heading: 4.269420 deg. 2025-10-24T20:17:27.395Z,1761337047.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074515 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:27.594Z,1761337047.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267982 2025-10-24T20:17:27.764Z,1761337047.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994480,-0.099732,-0.032620],[0.096315,0.990957,-0.093418],[0.041641,0.089760,0.995093]] 2025-10-24T20:17:27.838Z,1761337047.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:27.840Z,1761337047.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:27.842Z,1761337047.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 139.334122 m, bearing: 344.700147 deg, approach rate: -0.635362 m/s, LOS rate: -0.022906 deg/s, cmd heading: 4.269420 deg, new cmd heading: 4.238595 deg. 2025-10-24T20:17:27.843Z,1761337047.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073977 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:27.851Z,1761337047.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523995 2025-10-24T20:17:28.101Z,1761337048.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774712 2025-10-24T20:17:28.169Z,1761337048.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994501,-0.099577,-0.032436],[0.096173,0.990962,-0.093513],[0.041455,0.089880,0.995089]] 2025-10-24T20:17:28.188Z,1761337048.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:28.190Z,1761337048.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 139.112137 m, bearing: 344.692144 deg, approach rate: -0.637886 m/s, LOS rate: -0.023035 deg/s, cmd heading: 4.238595 deg, new cmd heading: 4.214546 deg. 2025-10-24T20:17:28.191Z,1761337048.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073558 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:28.353Z,1761337048.353 [DAT](INFO): DAT read: Rx Time:20:17:27.2427 2025-10-24T20:17:28.354Z,1761337048.354 [DAT](INFO): Rx dataTimestamp_ set to:1761337048.353468 2025-10-24T20:17:28.355Z,1761337048.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028428 2025-10-24T20:17:28.605Z,1761337048.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278833 2025-10-24T20:17:28.606Z,1761337048.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.05 m. 2025-10-24T20:17:28.653Z,1761337048.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.047516 m, nav range: 138.846283 m, bearing: 344.682525 deg, approach rate: -0.638550 m/s, LOS rate: -0.023147 deg/s, cmd heading: 4.214546 deg, new cmd heading: 4.185635 deg. 2025-10-24T20:17:28.654Z,1761337048.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073053 target range: 142.047516 and range: 142.80 m. 2025-10-24T20:17:28.879Z,1761337048.879 [DAT](INFO): DAT read: 20:17:27.2427 LVL= 23408, 32497, 16162, 30611, AGC= 62, IDX= 410, 0.16,-3.095, 2.158,-2.456, 3.088, PHS= 0.188,-0.883, 0.735, RAW= 169.4, -0.6, CAL= 170.9, -8.7, ROT= 339.1, 8.7 2025-10-24T20:17:28.881Z,1761337048.881 [DAT](INFO): got valid direction response: 20:17:27.2427 LVL= 23408, 32497, 16162, 30611, AGC= 62, IDX= 410, 0.16,-3.095, 2.158,-2.456, 3.088, PHS= 0.188,-0.883, 0.735, RAW= 169.4, -0.6, CAL= 170.9, -8.7, ROT= 339.1, 8.7 2025-10-24T20:17:28.883Z,1761337048.883 [DAT](INFO): DAT read: Bearing 339.1, 8.7 (Local) 2025-10-24T20:17:28.883Z,1761337048.883 [DAT](INFO): Local bearing/azimuth received: Bearing 339.1, 8.7 (Local) 2025-10-24T20:17:28.886Z,1761337048.886 [DAT](INFO): DAT read: Range 10 to 50 : 140.4 m (Round-trip 187.3 ms) speed 0.4 m/s 2025-10-24T20:17:28.886Z,1761337048.886 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:28.888Z,1761337048.888 [DAT](INFO): direction in FSK: [0.923455,-0.352633,-0.151261] 2025-10-24T20:17:28.889Z,1761337048.889 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:28.894Z,1761337048.894 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:28.894Z,1761337048.894 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:28.895Z,1761337048.895 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:29.109Z,1761337049.109 [DAT](INFO): DAT read: user:293> 2025-10-24T20:17:29.110Z,1761337049.110 [DAT](INFO): DAT read: Tx time:20:17:28.4513 2025-10-24T20:17:29.110Z,1761337049.110 [DAT](INFO): Ping request sent. 2025-10-24T20:17:29.110Z,1761337049.110 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:29.110Z,1761337049.110 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:29.111Z,1761337049.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-24T20:17:29.125Z,1761337049.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 140.399994 m, deltaT: 3.782327 s, deltaX: -2.400009 m, approachRate: -0.634532 m/s, rangeRepo size: 4 2025-10-24T20:17:29.127Z,1761337049.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.658417 m, bearing: 345.576735 deg, lat: 36.779615 deg, lon: -121.859736 deg, deltaT: 3.782327 s, deltaX: -2.389099 m, approachRate: -0.631648 m/s, posRepo size: 4 2025-10-24T20:17:29.136Z,1761337049.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:29.138Z,1761337049.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 138.535172 m, bearing: 344.675348 deg, approach rate: 0.000000 m/s, LOS rate: -0.023147 deg/s, cmd heading: 4.185636 deg, new cmd heading: 4.149484 deg. 2025-10-24T20:17:29.139Z,1761337049.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072422 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:29.361Z,1761337049.361 [DAT](INFO): DAT read: TxSync time:20:17:28.4505 2025-10-24T20:17:29.362Z,1761337049.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251516 2025-10-24T20:17:29.498Z,1761337049.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:29.501Z,1761337049.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 138.280518 m, bearing: 344.669450 deg, approach rate: -0.681958 m/s, LOS rate: -0.015826 deg/s, cmd heading: 4.149485 deg, new cmd heading: 4.131756 deg. 2025-10-24T20:17:29.502Z,1761337049.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072113 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:29.613Z,1761337049.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502683 2025-10-24T20:17:29.865Z,1761337049.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754704 2025-10-24T20:17:29.920Z,1761337049.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:29.922Z,1761337049.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:29.925Z,1761337049.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 138.006378 m, bearing: 344.665094 deg, approach rate: -0.646016 m/s, LOS rate: -0.010285 deg/s, cmd heading: 4.131756 deg, new cmd heading: 4.118663 deg. 2025-10-24T20:17:29.926Z,1761337049.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071884 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:30.117Z,1761337050.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007061 2025-10-24T20:17:30.254Z,1761337050.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994562,-0.098519,-0.033757],[0.095152,0.991391,-0.089943],[0.042327,0.086242,0.995375]] 2025-10-24T20:17:30.274Z,1761337050.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:30.296Z,1761337050.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 137.778824 m, bearing: 344.661587 deg, approach rate: -0.647735 m/s, LOS rate: -0.010000 deg/s, cmd heading: 4.118663 deg, new cmd heading: 4.108123 deg. 2025-10-24T20:17:30.297Z,1761337050.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071700 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:30.370Z,1761337050.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259333 2025-10-24T20:17:30.621Z,1761337050.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510643 2025-10-24T20:17:30.656Z,1761337050.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994702,-0.097406,-0.032877],[0.094027,0.991297,-0.092136],[0.041566,0.088556,0.995204]] 2025-10-24T20:17:30.753Z,1761337050.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:30.762Z,1761337050.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 137.503540 m, bearing: 344.657440 deg, approach rate: -0.582027 m/s, LOS rate: -0.008786 deg/s, cmd heading: 4.108124 deg, new cmd heading: 4.095658 deg. 2025-10-24T20:17:30.763Z,1761337050.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071483 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:30.874Z,1761337050.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763484 2025-10-24T20:17:31.056Z,1761337051.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994878,-0.095871,-0.032045],[0.092588,0.991472,-0.091709],[0.040564,0.088272,0.995270]] 2025-10-24T20:17:31.111Z,1761337051.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:31.114Z,1761337051.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 137.234238 m, bearing: 344.654001 deg, approach rate: -0.739143 m/s, LOS rate: -0.009456 deg/s, cmd heading: 4.095658 deg, new cmd heading: 4.085322 deg. 2025-10-24T20:17:31.115Z,1761337051.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071302 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:31.125Z,1761337051.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014854 2025-10-24T20:17:31.377Z,1761337051.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266535 2025-10-24T20:17:31.456Z,1761337051.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994956,-0.095175,-0.031681],[0.091923,0.991523,-0.091824],[0.040151,0.088449,0.995271]] 2025-10-24T20:17:31.476Z,1761337051.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:31.478Z,1761337051.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 136.997604 m, bearing: 344.651034 deg, approach rate: -0.648812 m/s, LOS rate: -0.008149 deg/s, cmd heading: 4.085322 deg, new cmd heading: 4.076406 deg. 2025-10-24T20:17:31.479Z,1761337051.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071147 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:31.630Z,1761337051.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520288 2025-10-24T20:17:31.859Z,1761337051.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995121,-0.093572,-0.031295],[0.090354,0.991654,-0.091970],[0.039639,0.088694,0.995270]] 2025-10-24T20:17:31.882Z,1761337051.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771345 2025-10-24T20:17:31.925Z,1761337051.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:31.927Z,1761337051.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:31.931Z,1761337051.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 136.713684 m, bearing: 344.645008 deg, approach rate: -0.628736 m/s, LOS rate: -0.013373 deg/s, cmd heading: 4.076405 deg, new cmd heading: 4.058288 deg. 2025-10-24T20:17:31.932Z,1761337051.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070830 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:32.134Z,1761337052.134 [DAT](INFO): DAT read: Rx Time:20:17:31.0395 2025-10-24T20:17:32.134Z,1761337052.134 [DAT](INFO): Rx dataTimestamp_ set to:1761337052.133947 2025-10-24T20:17:32.135Z,1761337052.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024611 2025-10-24T20:17:32.262Z,1761337052.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995252,-0.092265,-0.031001],[0.089062,0.991735,-0.092361],[0.039267,0.089161,0.995243]] 2025-10-24T20:17:32.305Z,1761337052.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:32.310Z,1761337052.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 136.489182 m, bearing: 344.640345 deg, approach rate: -0.594767 m/s, LOS rate: -0.012373 deg/s, cmd heading: 4.058288 deg, new cmd heading: 4.044277 deg. 2025-10-24T20:17:32.311Z,1761337052.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070586 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:32.386Z,1761337052.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275848 2025-10-24T20:17:32.640Z,1761337052.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529418 2025-10-24T20:17:32.700Z,1761337052.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995405,-0.090713,-0.030645],[0.087554,0.991886,-0.092179],[0.038758,0.089073,0.995271]] 2025-10-24T20:17:32.750Z,1761337052.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.66 m. 2025-10-24T20:17:32.772Z,1761337052.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.658417 m, nav range: 136.213303 m, bearing: 344.634772 deg, approach rate: -0.623399 m/s, LOS rate: -0.012619 deg/s, cmd heading: 4.044277 deg, new cmd heading: 4.027524 deg. 2025-10-24T20:17:32.780Z,1761337052.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070294 target range: 139.658417 and range: 140.40 m. 2025-10-24T20:17:32.898Z,1761337052.898 [DAT](INFO): DAT read: 20:17:31.0395 LVL= 26688, 32753, 21602, 32755, AGC= 66, IDX= 408, 0.36, 0.008,-1.026, 0.629,-0.078, PHS= 0.174,-0.901, 0.704, RAW= 168.9, 0.3, CAL= 170.2, -7.9, ROT= 339.8, 7.9 2025-10-24T20:17:32.900Z,1761337052.900 [DAT](INFO): got valid direction response: 20:17:31.0395 LVL= 26688, 32753, 21602, 32755, AGC= 66, IDX= 408, 0.36, 0.008,-1.026, 0.629,-0.078, PHS= 0.174,-0.901, 0.704, RAW= 168.9, 0.3, CAL= 170.2, -7.9, ROT= 339.8, 7.9 2025-10-24T20:17:32.902Z,1761337052.902 [DAT](INFO): DAT read: Bearing 339.8, 7.9 (Local) 2025-10-24T20:17:32.902Z,1761337052.902 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 7.9 (Local) 2025-10-24T20:17:32.911Z,1761337052.911 [DAT](INFO): DAT read: Range 10 to 50 : 137.9 m (Round-trip 183.9 ms) speed 0.7 m/s 2025-10-24T20:17:32.917Z,1761337052.917 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:32.918Z,1761337052.918 [DAT](INFO): direction in FSK: [0.929586,-0.342021,-0.137445] 2025-10-24T20:17:32.918Z,1761337052.918 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:32.934Z,1761337052.934 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:32.934Z,1761337052.934 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:32.935Z,1761337052.935 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:33.077Z,1761337053.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995526,-0.089501,-0.030285],[0.086385,0.992002,-0.092027],[0.038280,0.088999,0.995296]] 2025-10-24T20:17:33.141Z,1761337053.141 [DAT](INFO): DAT read: user:294> 2025-10-24T20:17:33.142Z,1761337053.142 [DAT](INFO): DAT read: Tx time:20:17:32.4530 2025-10-24T20:17:33.142Z,1761337053.142 [DAT](INFO): Ping request sent. 2025-10-24T20:17:33.142Z,1761337053.142 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:17:33.142Z,1761337053.142 [DAT](INFO): publishing transmit ping time 2025-10-24T20:17:33.143Z,1761337053.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-24T20:17:33.152Z,1761337053.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.899994 m, deltaT: 4.031039 s, deltaX: -2.500000 m, approachRate: -0.620188 m/s, rangeRepo size: 4 2025-10-24T20:17:33.154Z,1761337053.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.168854 m, bearing: 345.611334 deg, lat: 36.779617 deg, lon: -121.859711 deg, deltaT: 4.031039 s, deltaX: -2.489563 m, approachRate: -0.617598 m/s, posRepo size: 4 2025-10-24T20:17:33.155Z,1761337053.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:33.162Z,1761337053.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 135.634964 m, bearing: 345.545764 deg, approach rate: 0.000000 m/s, LOS rate: -0.012619 deg/s, cmd heading: 4.027523 deg, new cmd heading: 4.012379 deg. 2025-10-24T20:17:33.163Z,1761337053.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070029 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:33.394Z,1761337053.394 [DAT](INFO): DAT read: TxSync time:20:17:32.4522 2025-10-24T20:17:33.395Z,1761337053.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252677 2025-10-24T20:17:33.570Z,1761337053.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:33.577Z,1761337053.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 135.401047 m, bearing: 345.540108 deg, approach rate: -0.552832 m/s, LOS rate: -0.013392 deg/s, cmd heading: 4.012379 deg, new cmd heading: 3.995380 deg. 2025-10-24T20:17:33.578Z,1761337053.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069733 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:33.645Z,1761337053.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502831 2025-10-24T20:17:33.646Z,1761337053.646 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:17:33.897Z,1761337053.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755300 2025-10-24T20:17:34.075Z,1761337054.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:34.082Z,1761337054.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:34.087Z,1761337054.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 135.078186 m, bearing: 345.521901 deg, approach rate: -0.634895 m/s, LOS rate: -0.035888 deg/s, cmd heading: 3.995380 deg, new cmd heading: 3.940630 deg. 2025-10-24T20:17:34.089Z,1761337054.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068777 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:34.150Z,1761337054.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007804 2025-10-24T20:17:34.401Z,1761337054.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258932 2025-10-24T20:17:34.426Z,1761337054.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995880,-0.084971,-0.031656],[0.081657,0.992184,-0.094354],[0.039426,0.091381,0.995035]] 2025-10-24T20:17:34.446Z,1761337054.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:34.450Z,1761337054.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 134.858582 m, bearing: 345.509911 deg, approach rate: -0.598775 m/s, LOS rate: -0.032747 deg/s, cmd heading: 3.940630 deg, new cmd heading: 3.904600 deg. 2025-10-24T20:17:34.451Z,1761337054.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068148 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:34.648Z,1761337054.648 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:17:34.657Z,1761337054.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515097 2025-10-24T20:17:34.858Z,1761337054.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996073,-0.082925,-0.031013],[0.079716,0.992437,-0.093350],[0.038520,0.090511,0.995150]] 2025-10-24T20:17:34.905Z,1761337054.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763383 2025-10-24T20:17:34.934Z,1761337054.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:34.940Z,1761337054.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 134.586914 m, bearing: 345.486216 deg, approach rate: -0.556812 m/s, LOS rate: -0.048663 deg/s, cmd heading: 3.904600 deg, new cmd heading: 3.833372 deg. 2025-10-24T20:17:34.941Z,1761337054.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066905 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:35.157Z,1761337055.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015237 2025-10-24T20:17:35.255Z,1761337055.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996206,-0.081818,-0.029657],[0.078754,0.992559,-0.092869],[0.037035,0.090181,0.995237]] 2025-10-24T20:17:35.291Z,1761337055.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:35.294Z,1761337055.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 134.387024 m, bearing: 345.468806 deg, approach rate: -0.559467 m/s, LOS rate: -0.048800 deg/s, cmd heading: 3.833372 deg, new cmd heading: 3.781065 deg. 2025-10-24T20:17:35.295Z,1761337055.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065992 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:35.409Z,1761337055.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267178 2025-10-24T20:17:35.659Z,1761337055.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996235,-0.081945,-0.028305],[0.078990,0.992507,-0.093226],[0.035733,0.090639,0.995243]] 2025-10-24T20:17:35.661Z,1761337055.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518679 2025-10-24T20:17:35.708Z,1761337055.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:35.711Z,1761337055.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 134.146484 m, bearing: 345.447758 deg, approach rate: -0.578743 m/s, LOS rate: -0.050733 deg/s, cmd heading: 3.781066 deg, new cmd heading: 3.717808 deg. 2025-10-24T20:17:35.711Z,1761337055.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064888 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:35.913Z,1761337055.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770729 2025-10-24T20:17:36.063Z,1761337056.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996249,-0.082324,-0.026669],[0.079506,0.992438,-0.093515],[0.034166,0.091044,0.995261]] 2025-10-24T20:17:36.110Z,1761337056.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:36.113Z,1761337056.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:36.136Z,1761337056.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 133.916245 m, bearing: 345.421658 deg, approach rate: -0.567037 m/s, LOS rate: -0.064390 deg/s, cmd heading: 3.717808 deg, new cmd heading: 3.639373 deg. 2025-10-24T20:17:36.137Z,1761337056.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063519 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:36.168Z,1761337056.168 [DAT](INFO): DAT read: Rx Time:20:17:35.0380 2025-10-24T20:17:36.169Z,1761337056.169 [DAT](INFO): Rx dataTimestamp_ set to:1761337056.168309 2025-10-24T20:17:36.169Z,1761337056.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027069 2025-10-24T20:17:36.418Z,1761337056.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275818 2025-10-24T20:17:36.469Z,1761337056.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996238,-0.083036,-0.024779],[0.080368,0.992311,-0.094123],[0.032404,0.091778,0.995252]] 2025-10-24T20:17:36.512Z,1761337056.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:36.515Z,1761337056.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 133.708374 m, bearing: 345.397928 deg, approach rate: -0.520057 m/s, LOS rate: -0.059460 deg/s, cmd heading: 3.639373 deg, new cmd heading: 3.568073 deg. 2025-10-24T20:17:36.521Z,1761337056.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062275 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:36.682Z,1761337056.682 [DAT](INFO): DAT read: 20:17:35.0380 LVL= 24672, 32753, 16626, 32755, AGC= 63, IDX= 409,-0.18, 0.284,-0.682, 0.912, 0.266, PHS= 0.106,-0.901, 0.643, RAW= 170.0, 2.3, CAL= 170.7, -6.3, ROT= 339.3, 6.3 2025-10-24T20:17:36.683Z,1761337056.683 [DAT](INFO): got valid direction response: 20:17:35.0380 LVL= 24672, 32753, 16626, 32755, AGC= 63, IDX= 409,-0.18, 0.284,-0.682, 0.912, 0.266, PHS= 0.106,-0.901, 0.643, RAW= 170.0, 2.3, CAL= 170.7, -6.3, ROT= 339.3, 6.3 2025-10-24T20:17:36.683Z,1761337056.683 [DAT](INFO): DAT read: $Error in header 2025-10-24T20:17:36.685Z,1761337056.685 [DAT](INFO): Received a bad header 2025-10-24T20:17:36.700Z,1761337056.700 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-24T20:17:36.701Z,1761337056.701 [DAT](INFO): direction in FSK: [0.929795,-0.351341,-0.109734] 2025-10-24T20:17:36.720Z,1761337056.720 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:36.720Z,1761337056.720 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:36.720Z,1761337056.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:36.873Z,1761337056.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996203,-0.084031,-0.022773],[0.081522,0.992151,-0.094819],[0.030562,0.092602,0.995234]] 2025-10-24T20:17:36.921Z,1761337056.921 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:36.921Z,1761337056.921 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:36.921Z,1761337056.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:36.963Z,1761337056.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:36.970Z,1761337056.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 133.463715 m, bearing: 345.367096 deg, approach rate: -0.543075 m/s, LOS rate: -0.068565 deg/s, cmd heading: 3.568073 deg, new cmd heading: 3.475406 deg. 2025-10-24T20:17:36.971Z,1761337056.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060657 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:37.172Z,1761337057.172 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:37.173Z,1761337057.173 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:37.173Z,1761337057.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:37.275Z,1761337057.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996184,-0.084726,-0.020934],[0.082368,0.992029,-0.095363],[0.028847,0.093275,0.995222]] 2025-10-24T20:17:37.294Z,1761337057.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:37.297Z,1761337057.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 133.268509 m, bearing: 345.342333 deg, approach rate: -0.589695 m/s, LOS rate: -0.074915 deg/s, cmd heading: 3.475406 deg, new cmd heading: 3.401009 deg. 2025-10-24T20:17:37.298Z,1761337057.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059359 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:37.425Z,1761337057.425 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:37.425Z,1761337057.425 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:37.425Z,1761337057.425 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:37.677Z,1761337057.677 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:37.677Z,1761337057.677 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:37.677Z,1761337057.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:37.684Z,1761337057.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996236,-0.084593,-0.018914],[0.082430,0.992042,-0.095171],[0.026814,0.093254,0.995281]] 2025-10-24T20:17:37.735Z,1761337057.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:37.737Z,1761337057.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 133.033630 m, bearing: 345.312428 deg, approach rate: -0.532859 m/s, LOS rate: -0.067963 deg/s, cmd heading: 3.401009 deg, new cmd heading: 3.311137 deg. 2025-10-24T20:17:37.738Z,1761337057.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057790 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:37.928Z,1761337057.928 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:37.929Z,1761337057.929 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:37.929Z,1761337057.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:38.086Z,1761337058.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996229,-0.085075,-0.017050],[0.083077,0.991958,-0.095484],[0.025036,0.093708,0.995285]] 2025-10-24T20:17:38.127Z,1761337058.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:38.146Z,1761337058.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:38.153Z,1761337058.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 132.809006 m, bearing: 345.285634 deg, approach rate: -0.546528 m/s, LOS rate: -0.065303 deg/s, cmd heading: 3.311137 deg, new cmd heading: 3.230618 deg. 2025-10-24T20:17:38.154Z,1761337058.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056385 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:38.181Z,1761337058.181 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:38.181Z,1761337058.181 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:38.181Z,1761337058.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:38.433Z,1761337058.433 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:38.433Z,1761337058.433 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:38.433Z,1761337058.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:38.488Z,1761337058.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996304,-0.084524,-0.015269],[0.082711,0.992056,-0.094778],[0.023159,0.093164,0.995381]] 2025-10-24T20:17:38.526Z,1761337058.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:38.533Z,1761337058.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 132.594391 m, bearing: 345.259983 deg, approach rate: -0.564586 m/s, LOS rate: -0.067588 deg/s, cmd heading: 3.230618 deg, new cmd heading: 3.153541 deg. 2025-10-24T20:17:38.542Z,1761337058.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055040 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:38.686Z,1761337058.686 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:38.686Z,1761337058.686 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:38.687Z,1761337058.687 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:38.903Z,1761337058.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996320,-0.084641,-0.013500],[0.083006,0.992090,-0.094164],[0.021363,0.092697,0.995465]] 2025-10-24T20:17:38.937Z,1761337058.937 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:38.937Z,1761337058.937 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:38.937Z,1761337058.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:38.957Z,1761337058.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:38.959Z,1761337058.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 132.343307 m, bearing: 345.236404 deg, approach rate: -0.582491 m/s, LOS rate: -0.054805 deg/s, cmd heading: 3.153541 deg, new cmd heading: 3.082670 deg. 2025-10-24T20:17:38.961Z,1761337058.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053803 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:39.189Z,1761337059.189 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:39.189Z,1761337059.189 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:39.189Z,1761337059.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:39.296Z,1761337059.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996445,-0.083409,-0.011805],[0.081966,0.992321,-0.092629],[0.019440,0.091332,0.995631]] 2025-10-24T20:17:39.320Z,1761337059.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:39.323Z,1761337059.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 132.135284 m, bearing: 345.216907 deg, approach rate: -0.572740 m/s, LOS rate: -0.053764 deg/s, cmd heading: 3.082669 deg, new cmd heading: 3.024087 deg. 2025-10-24T20:17:39.324Z,1761337059.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052780 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:39.441Z,1761337059.441 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:39.441Z,1761337059.441 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:39.441Z,1761337059.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:39.696Z,1761337059.696 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:39.696Z,1761337059.696 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:39.697Z,1761337059.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:39.757Z,1761337059.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996603,-0.081849,-0.009105],[0.080682,0.992546,-0.091335],[0.016513,0.090290,0.995779]] 2025-10-24T20:17:39.855Z,1761337059.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:39.874Z,1761337059.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 131.861221 m, bearing: 345.191296 deg, approach rate: -0.516801 m/s, LOS rate: -0.048395 deg/s, cmd heading: 3.024087 deg, new cmd heading: 2.947094 deg. 2025-10-24T20:17:39.882Z,1761337059.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051436 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:39.945Z,1761337059.945 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:39.945Z,1761337059.945 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:39.945Z,1761337059.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:40.147Z,1761337060.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996723,-0.080522,-0.007692],[0.079503,0.992732,-0.090346],[0.014911,0.089438,0.995881]] 2025-10-24T20:17:40.196Z,1761337060.196 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:40.197Z,1761337060.197 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:40.197Z,1761337060.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:40.206Z,1761337060.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:40.213Z,1761337060.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:40.220Z,1761337060.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 131.631607 m, bearing: 345.179793 deg, approach rate: -0.633466 m/s, LOS rate: -0.031790 deg/s, cmd heading: 2.947094 deg, new cmd heading: 2.912525 deg. 2025-10-24T20:17:40.221Z,1761337060.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050833 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:40.449Z,1761337060.449 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:40.449Z,1761337060.449 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:40.449Z,1761337060.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:40.547Z,1761337060.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996831,-0.079278,-0.006489],[0.078381,0.992890,-0.089584],[0.013545,0.088791,0.995958]] 2025-10-24T20:17:40.582Z,1761337060.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:40.585Z,1761337060.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 131.397202 m, bearing: 345.168133 deg, approach rate: -0.635552 m/s, LOS rate: -0.031672 deg/s, cmd heading: 2.912525 deg, new cmd heading: 2.877481 deg. 2025-10-24T20:17:40.586Z,1761337060.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050222 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:40.702Z,1761337060.702 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:40.702Z,1761337060.702 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:40.702Z,1761337060.702 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:40.953Z,1761337060.953 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:40.953Z,1761337060.953 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:40.953Z,1761337060.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:41.020Z,1761337061.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:41.023Z,1761337061.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 131.128708 m, bearing: 345.163683 deg, approach rate: -0.612550 m/s, LOS rate: -0.010173 deg/s, cmd heading: 2.877481 deg, new cmd heading: 2.864104 deg. 2025-10-24T20:17:41.024Z,1761337061.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049988 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:41.204Z,1761337061.204 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:41.205Z,1761337061.205 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:41.205Z,1761337061.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:41.355Z,1761337061.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997169,-0.075071,-0.004316],[0.074409,0.993397,-0.087325],[0.010843,0.086757,0.996171]] 2025-10-24T20:17:41.386Z,1761337061.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:41.389Z,1761337061.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 130.904144 m, bearing: 345.160363 deg, approach rate: -0.612770 m/s, LOS rate: -0.009075 deg/s, cmd heading: 2.864104 deg, new cmd heading: 2.854126 deg. 2025-10-24T20:17:41.390Z,1761337061.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049814 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:41.457Z,1761337061.457 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:41.457Z,1761337061.457 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:41.457Z,1761337061.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:41.709Z,1761337061.709 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:41.709Z,1761337061.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:41.709Z,1761337061.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:41.759Z,1761337061.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997380,-0.072257,-0.003471],[0.071692,0.993716,-0.085958],[0.009661,0.085484,0.996293]] 2025-10-24T20:17:41.798Z,1761337061.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:41.805Z,1761337061.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 130.663483 m, bearing: 345.157094 deg, approach rate: -0.585083 m/s, LOS rate: -0.007960 deg/s, cmd heading: 2.854126 deg, new cmd heading: 2.844304 deg. 2025-10-24T20:17:41.806Z,1761337061.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049642 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:41.962Z,1761337061.962 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:41.962Z,1761337061.962 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:41.963Z,1761337061.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:42.163Z,1761337062.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997552,-0.069889,-0.002465],[0.069423,0.993912,-0.085552],[0.008429,0.085172,0.996331]] 2025-10-24T20:17:42.207Z,1761337062.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:42.210Z,1761337062.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:42.213Z,1761337062.213 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:42.213Z,1761337062.213 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:42.213Z,1761337062.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:42.214Z,1761337062.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 130.391342 m, bearing: 345.159718 deg, approach rate: -0.660747 m/s, LOS rate: 0.006382 deg/s, cmd heading: 2.844304 deg, new cmd heading: 2.852190 deg. 2025-10-24T20:17:42.215Z,1761337062.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049780 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:42.466Z,1761337062.466 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:42.466Z,1761337062.466 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:42.466Z,1761337062.466 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:42.568Z,1761337062.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997745,-0.067110,-0.001383],[0.066745,0.994081,-0.085717],[0.007127,0.085431,0.996319]] 2025-10-24T20:17:42.607Z,1761337062.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:42.614Z,1761337062.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 130.144760 m, bearing: 345.162397 deg, approach rate: -0.619872 m/s, LOS rate: 0.006748 deg/s, cmd heading: 2.852189 deg, new cmd heading: 2.860242 deg. 2025-10-24T20:17:42.620Z,1761337062.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049921 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:42.717Z,1761337062.717 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:42.717Z,1761337062.717 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:42.717Z,1761337062.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:42.969Z,1761337062.969 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:17:42.969Z,1761337062.969 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:17:42.969Z,1761337062.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-24T20:17:42.990Z,1761337062.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997932,-0.064277,-0.000469],[0.064002,0.994288,-0.085409],[0.005956,0.085202,0.996346]] 2025-10-24T20:17:43.050Z,1761337063.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:43.057Z,1761337063.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 129.868408 m, bearing: 345.167895 deg, approach rate: -0.624183 m/s, LOS rate: 0.012444 deg/s, cmd heading: 2.860242 deg, new cmd heading: 2.876771 deg. 2025-10-24T20:17:43.058Z,1761337063.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050209 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:43.220Z,1761337063.220 [DAT](INFO): Reached modem response timeout 2025-10-24T20:17:43.221Z,1761337063.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:43.221Z,1761337063.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:43.376Z,1761337063.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998089,-0.061787,0.000483],[0.061607,0.994525,-0.084411],[0.004735,0.084279,0.996431]] 2025-10-24T20:17:43.412Z,1761337063.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:43.415Z,1761337063.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 129.633514 m, bearing: 345.172845 deg, approach rate: -0.649308 m/s, LOS rate: 0.013709 deg/s, cmd heading: 2.876771 deg, new cmd heading: 2.891649 deg. 2025-10-24T20:17:43.421Z,1761337063.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050469 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:43.473Z,1761337063.473 [DAT](INFO): DAT read: 2025-10-24T20:17:43.473Z,1761337063.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:43.725Z,1761337063.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:43.781Z,1761337063.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998202,-0.059929,0.001187],[0.059811,0.994544,-0.085473],[0.003942,0.085390,0.996340]] 2025-10-24T20:17:43.813Z,1761337063.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:43.815Z,1761337063.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 129.369263 m, bearing: 345.178640 deg, approach rate: -0.659437 m/s, LOS rate: 0.014492 deg/s, cmd heading: 2.891649 deg, new cmd heading: 2.909071 deg. 2025-10-24T20:17:43.816Z,1761337063.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050773 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:43.977Z,1761337063.977 [DAT](INFO): DAT read: Response Not Received 2025-10-24T20:17:43.977Z,1761337063.977 [DAT](INFO): response not received 2025-10-24T20:17:43.978Z,1761337063.978 [DAT](INFO): DAT read: user:296>Tx time:20:17:43.4015 2025-10-24T20:17:43.978Z,1761337063.978 [DAT](ERROR): No response from remote modem. 2025-10-24T20:17:43.979Z,1761337063.979 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:43.979Z,1761337063.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:44.184Z,1761337064.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998287,-0.058483,0.001671],[0.058407,0.994496,-0.086979],[0.003425,0.086928,0.996209]] 2025-10-24T20:17:44.230Z,1761337064.230 [DAT](INFO): DAT read: 2025-10-24T20:17:44.231Z,1761337064.231 [DAT](INFO): DAT read: TxSync time:20:17:43.4007 2025-10-24T20:17:44.233Z,1761337064.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:44.253Z,1761337064.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:44.255Z,1761337064.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:44.262Z,1761337064.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 129.110062 m, bearing: 345.182568 deg, approach rate: -0.585604 m/s, LOS rate: 0.008892 deg/s, cmd heading: 2.909071 deg, new cmd heading: 2.920878 deg. 2025-10-24T20:17:44.263Z,1761337064.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050979 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:44.481Z,1761337064.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:44.595Z,1761337064.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998384,-0.056830,0.000574],[0.056655,0.994408,-0.089118],[0.004494,0.089007,0.996021]] 2025-10-24T20:17:44.635Z,1761337064.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:44.651Z,1761337064.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 128.851562 m, bearing: 345.186687 deg, approach rate: -0.680392 m/s, LOS rate: 0.010862 deg/s, cmd heading: 2.920878 deg, new cmd heading: 2.933259 deg. 2025-10-24T20:17:44.656Z,1761337064.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051195 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:44.733Z,1761337064.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:44.985Z,1761337064.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:44.997Z,1761337064.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998420,-0.056183,-0.000199],[0.055967,0.994891,-0.084017],[0.004918,0.083874,0.996464]] 2025-10-24T20:17:45.057Z,1761337065.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:45.059Z,1761337065.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 128.603348 m, bearing: 345.185011 deg, approach rate: -0.619516 m/s, LOS rate: -0.004190 deg/s, cmd heading: 2.933259 deg, new cmd heading: 2.928222 deg. 2025-10-24T20:17:45.064Z,1761337065.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051107 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:45.237Z,1761337065.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:45.397Z,1761337065.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998303,-0.058223,0.000622],[0.058054,0.994473,-0.087481],[0.004475,0.087368,0.996166]] 2025-10-24T20:17:45.417Z,1761337065.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:45.419Z,1761337065.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 128.367432 m, bearing: 345.183180 deg, approach rate: -0.619261 m/s, LOS rate: -0.004816 deg/s, cmd heading: 2.928222 deg, new cmd heading: 2.922719 deg. 2025-10-24T20:17:45.421Z,1761337065.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051011 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:45.489Z,1761337065.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:45.741Z,1761337065.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:45.807Z,1761337065.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998281,-0.058567,0.002010],[0.058509,0.994199,-0.090248],[0.003288,0.090211,0.995917]] 2025-10-24T20:17:45.847Z,1761337065.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:45.850Z,1761337065.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 128.113846 m, bearing: 345.181142 deg, approach rate: -0.589379 m/s, LOS rate: -0.004746 deg/s, cmd heading: 2.922719 deg, new cmd heading: 2.916592 deg. 2025-10-24T20:17:45.851Z,1761337065.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050904 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:45.993Z,1761337065.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:46.205Z,1761337066.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998288,-0.058371,0.003725],[0.058465,0.993994,-0.092513],[0.001697,0.092572,0.995705]] 2025-10-24T20:17:46.245Z,1761337066.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:46.262Z,1761337066.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:46.264Z,1761337066.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:46.268Z,1761337066.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 127.846184 m, bearing: 345.174142 deg, approach rate: -0.642672 m/s, LOS rate: -0.016842 deg/s, cmd heading: 2.916592 deg, new cmd heading: 2.895549 deg. 2025-10-24T20:17:46.269Z,1761337066.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050537 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:46.498Z,1761337066.498 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:46.607Z,1761337066.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998272,-0.058535,0.005116],[0.058756,0.993845,-0.093911],[0.000412,0.094049,0.995568]] 2025-10-24T20:17:46.646Z,1761337066.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:46.649Z,1761337066.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 127.612373 m, bearing: 345.167969 deg, approach rate: -0.612071 m/s, LOS rate: -0.016190 deg/s, cmd heading: 2.895549 deg, new cmd heading: 2.876994 deg. 2025-10-24T20:17:46.650Z,1761337066.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050213 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:46.749Z,1761337066.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:47.001Z,1761337067.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:47.016Z,1761337067.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998327,-0.057475,0.006363],[0.057820,0.993855,-0.094391],[-0.000898,0.094601,0.995515]] 2025-10-24T20:17:47.067Z,1761337067.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:47.070Z,1761337067.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 127.364349 m, bearing: 345.150642 deg, approach rate: -0.588897 m/s, LOS rate: -0.041221 deg/s, cmd heading: 2.876994 deg, new cmd heading: 2.824912 deg. 2025-10-24T20:17:47.070Z,1761337067.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049304 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:47.253Z,1761337067.253 [DAT](INFO): DAT read: Rx Time:20:17:45.9776 2025-10-24T20:17:47.254Z,1761337067.254 [DAT](INFO): Rx dataTimestamp_ set to:1761337067.253268 2025-10-24T20:17:47.254Z,1761337067.254 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:47.505Z,1761337067.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:47.518Z,1761337067.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998339,-0.057116,0.007493],[0.057571,0.993779,-0.095339],[-0.002001,0.095612,0.995417]] 2025-10-24T20:17:47.703Z,1761337067.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.17 m. 2025-10-24T20:17:47.706Z,1761337067.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.168854 m, nav range: 127.015030 m, bearing: 345.126160 deg, approach rate: -0.549121 m/s, LOS rate: -0.038590 deg/s, cmd heading: 2.824912 deg, new cmd heading: 2.751265 deg. 2025-10-24T20:17:47.707Z,1761337067.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048019 target range: 137.168854 and range: 137.90 m. 2025-10-24T20:17:47.766Z,1761337067.766 [DAT](INFO): DAT read: 20:17:45.9776 LVL= 21232, 28065, 16626, 29507, AGC= 66, IDX= 365, 0.29,-1.839,-3.044,-1.332,-1.965, PHS= 0.214,-1.032, 0.630, RAW= 163.9, 2.5, CAL= 164.9, -6.3, ROT= 345.1, 6.3 2025-10-24T20:17:47.767Z,1761337067.767 [DAT](INFO): got valid direction response: 20:17:45.9776 LVL= 21232, 28065, 16626, 29507, AGC= 66, IDX= 365, 0.29,-1.839,-3.044,-1.332,-1.965, PHS= 0.214,-1.032, 0.630, RAW= 163.9, 2.5, CAL= 164.9, -6.3, ROT= 345.1, 6.3 2025-10-24T20:17:47.769Z,1761337067.769 [DAT](INFO): DAT read: Bearing 345.1, 6.3 (Local) 2025-10-24T20:17:47.769Z,1761337067.769 [DAT](INFO): Local bearing/azimuth received: Bearing 345.1, 6.3 (Local) 2025-10-24T20:17:47.772Z,1761337067.772 [DAT](INFO): DAT read: Range 10 to 50 : 128.9 m (Round-trip 171.9 ms) speed 0.4 m/s 2025-10-24T20:17:47.776Z,1761337067.776 [DAT](INFO): DAT read: user:297>Tx time:20:17:47.0515 2025-10-24T20:17:47.777Z,1761337067.777 [DAT](INFO): DAT read: TxSync time:20:17:47.0507 2025-10-24T20:17:47.778Z,1761337067.778 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:47.779Z,1761337067.779 [DAT](INFO): direction in FSK: [0.960540,-0.255580,-0.109734] 2025-10-24T20:17:47.779Z,1761337067.779 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:47.782Z,1761337067.782 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:47.783Z,1761337067.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:47.790Z,1761337067.790 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:17:48.009Z,1761337068.009 [DAT](INFO): DAT read: 2025-10-24T20:17:48.009Z,1761337068.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:48.114Z,1761337068.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 128.899994 m, deltaT: 14.868076 s, deltaX: -9.000000 m, approachRate: -0.605324 m/s, rangeRepo size: 4 2025-10-24T20:17:48.117Z,1761337068.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 128.210770 m, bearing: 349.048200 deg, lat: 36.779617 deg, lon: -121.859711 deg, deltaT: 14.868076 s, deltaX: -8.958084 m, approachRate: -0.602505 m/s, posRepo size: 4 2025-10-24T20:17:48.117Z,1761337068.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.21 m. 2025-10-24T20:17:48.132Z,1761337068.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.210770 m, nav range: 126.755295 m, bearing: 345.101870 deg, approach rate: 0.000000 m/s, LOS rate: -0.038590 deg/s, cmd heading: 2.751265 deg, new cmd heading: 2.703785 deg. 2025-10-24T20:17:48.133Z,1761337068.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047190 target range: 128.210770 and range: 128.90 m. 2025-10-24T20:17:48.261Z,1761337068.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:48.425Z,1761337068.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998449,-0.055189,0.007314],[0.055623,0.994433,-0.089491],[-0.002335,0.089759,0.995961]] 2025-10-24T20:17:48.441Z,1761337068.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:48.443Z,1761337068.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.21 m. 2025-10-24T20:17:48.446Z,1761337068.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.210770 m, nav range: 126.562592 m, bearing: 345.083968 deg, approach rate: -0.583059 m/s, LOS rate: -0.054248 deg/s, cmd heading: 2.703785 deg, new cmd heading: 2.649997 deg. 2025-10-24T20:17:48.447Z,1761337068.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.046251 target range: 128.210770 and range: 128.90 m. 2025-10-24T20:17:48.513Z,1761337068.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:48.765Z,1761337068.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:48.830Z,1761337068.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998356,-0.056793,0.007681],[0.057258,0.994166,-0.091408],[-0.002444,0.091697,0.995784]] 2025-10-24T20:17:48.861Z,1761337068.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.21 m. 2025-10-24T20:17:48.864Z,1761337068.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.210770 m, nav range: 126.323845 m, bearing: 345.061523 deg, approach rate: -0.571740 m/s, LOS rate: -0.053853 deg/s, cmd heading: 2.649997 deg, new cmd heading: 2.582534 deg. 2025-10-24T20:17:48.865Z,1761337068.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045074 target range: 128.210770 and range: 128.90 m. 2025-10-24T20:17:49.019Z,1761337069.019 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:49.231Z,1761337069.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998225,-0.058844,0.009131],[0.059440,0.993855,-0.093379],[-0.003580,0.093756,0.995589]] 2025-10-24T20:17:49.268Z,1761337069.268 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:49.281Z,1761337069.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.21 m. 2025-10-24T20:17:49.285Z,1761337069.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.210770 m, nav range: 126.085396 m, bearing: 345.036190 deg, approach rate: -0.567489 m/s, LOS rate: -0.060404 deg/s, cmd heading: 2.582534 deg, new cmd heading: 2.506392 deg. 2025-10-24T20:17:49.286Z,1761337069.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043745 target range: 128.210770 and range: 128.90 m. 2025-10-24T20:17:49.522Z,1761337069.522 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:49.635Z,1761337069.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998161,-0.059621,0.010907],[0.060388,0.993673,-0.094694],[-0.005192,0.095179,0.995447]] 2025-10-24T20:17:49.655Z,1761337069.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.21 m. 2025-10-24T20:17:49.658Z,1761337069.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.210770 m, nav range: 125.876160 m, bearing: 345.013782 deg, approach rate: -0.559401 m/s, LOS rate: -0.060008 deg/s, cmd heading: 2.506392 deg, new cmd heading: 2.439057 deg. 2025-10-24T20:17:49.659Z,1761337069.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042570 target range: 128.210770 and range: 128.90 m. 2025-10-24T20:17:49.773Z,1761337069.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:50.030Z,1761337070.030 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:50.047Z,1761337070.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998128,-0.059935,0.012206],[0.060830,0.993556,-0.095635],[-0.006395,0.096199,0.995342]] 2025-10-24T20:17:50.096Z,1761337070.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.21 m. 2025-10-24T20:17:50.100Z,1761337070.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.210770 m, nav range: 125.632927 m, bearing: 344.988715 deg, approach rate: -0.551936 m/s, LOS rate: -0.056991 deg/s, cmd heading: 2.439057 deg, new cmd heading: 2.363710 deg. 2025-10-24T20:17:50.101Z,1761337070.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041255 target range: 128.210770 and range: 128.90 m. 2025-10-24T20:17:50.280Z,1761337070.280 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:50.442Z,1761337070.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998189,-0.058704,0.013102],[0.059691,0.993628,-0.095601],[-0.007406,0.096210,0.995333]] 2025-10-24T20:17:50.459Z,1761337070.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:50.462Z,1761337070.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.21 m. 2025-10-24T20:17:50.465Z,1761337070.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.210770 m, nav range: 125.431992 m, bearing: 344.968042 deg, approach rate: -0.549116 m/s, LOS rate: -0.056586 deg/s, cmd heading: 2.363710 deg, new cmd heading: 2.301592 deg. 2025-10-24T20:17:50.467Z,1761337070.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040170 target range: 128.210770 and range: 128.90 m. 2025-10-24T20:17:50.533Z,1761337070.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:50.785Z,1761337070.785 [DAT](INFO): DAT read: Rx Time:20:17:49.6249 2025-10-24T20:17:50.785Z,1761337070.785 [DAT](INFO): Rx dataTimestamp_ set to:1761337070.784956 2025-10-24T20:17:50.786Z,1761337070.786 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:50.847Z,1761337070.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998253,-0.057496,0.013615],[0.058535,0.993731,-0.095253],[-0.008053,0.095883,0.995360]] 2025-10-24T20:17:50.864Z,1761337070.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.21 m. 2025-10-24T20:17:50.882Z,1761337070.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 128.210770 m, nav range: 125.210297 m, bearing: 344.945279 deg, approach rate: -0.550846 m/s, LOS rate: -0.056659 deg/s, cmd heading: 2.301591 deg, new cmd heading: 2.233183 deg. 2025-10-24T20:17:50.888Z,1761337070.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038976 target range: 128.210770 and range: 128.90 m. 2025-10-24T20:17:51.039Z,1761337071.039 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:51.272Z,1761337071.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998349,-0.055688,0.014103],[0.056768,0.993980,-0.093709],[-0.008800,0.094355,0.995500]] 2025-10-24T20:17:51.295Z,1761337071.295 [DAT](INFO): DAT read: 20:17:49.6249 LVL= 22832, 29889, 18818, 32611, AGC= 64, IDX= 417, 0.27, 1.514, 0.283, 2.038, 1.416, PHS= 0.186,-1.086, 0.619, RAW= 164.2, 3.7, CAL= 164.8, -5.3, ROT= 345.2, 5.3 2025-10-24T20:17:51.296Z,1761337071.296 [DAT](INFO): got valid direction response: 20:17:49.6249 LVL= 22832, 29889, 18818, 32611, AGC= 64, IDX= 417, 0.27, 1.514, 0.283, 2.038, 1.416, PHS= 0.186,-1.086, 0.619, RAW= 164.2, 3.7, CAL= 164.8, -5.3, ROT= 345.2, 5.3 2025-10-24T20:17:51.297Z,1761337071.297 [DAT](INFO): DAT read: Bearing 345.2, 5.3 (Local) 2025-10-24T20:17:51.297Z,1761337071.297 [DAT](INFO): Local bearing/azimuth received: Bearing 345.2, 5.3 (Local) 2025-10-24T20:17:51.300Z,1761337071.300 [DAT](INFO): DAT read: Range 10 to 50 : 126.9 m (Round-trip 169.2 ms) speed 0.3 m/s 2025-10-24T20:17:51.301Z,1761337071.301 [DAT](INFO): DAT read: user:298>Tx time:20:17:50.7015 2025-10-24T20:17:51.301Z,1761337071.301 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:51.302Z,1761337071.302 [DAT](INFO): direction in FSK: [0.962690,-0.254354,-0.092371] 2025-10-24T20:17:51.303Z,1761337071.303 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:51.310Z,1761337071.310 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:51.311Z,1761337071.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:51.389Z,1761337071.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 126.900002 m, deltaT: 3.531509 s, deltaX: -1.999992 m, approachRate: -0.566328 m/s, rangeRepo size: 4 2025-10-24T20:17:51.391Z,1761337071.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.220619 m, bearing: 348.988784 deg, lat: 36.779621 deg, lon: -121.859711 deg, deltaT: 3.531509 s, deltaX: -1.990150 m, approachRate: -0.563541 m/s, posRepo size: 4 2025-10-24T20:17:51.391Z,1761337071.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:51.410Z,1761337071.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 125.279327 m, bearing: 344.997086 deg, approach rate: 0.000000 m/s, LOS rate: -0.056659 deg/s, cmd heading: 2.233183 deg, new cmd heading: 2.145596 deg. 2025-10-24T20:17:51.411Z,1761337071.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037448 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:51.541Z,1761337071.541 [DAT](INFO): DAT read: 2025-10-24T20:17:51.542Z,1761337071.542 [DAT](INFO): DAT read: TxSync time:20:17:50.7007 2025-10-24T20:17:51.542Z,1761337071.542 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:51.678Z,1761337071.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998421,-0.054217,0.014680],[0.055352,0.994117,-0.093102],[-0.009546,0.093768,0.995548]] 2025-10-24T20:17:51.706Z,1761337071.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:51.713Z,1761337071.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 125.082878 m, bearing: 344.981791 deg, approach rate: -0.601889 m/s, LOS rate: -0.046937 deg/s, cmd heading: 2.145596 deg, new cmd heading: 2.099637 deg. 2025-10-24T20:17:51.714Z,1761337071.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036646 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:51.798Z,1761337071.798 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:52.051Z,1761337072.051 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:52.079Z,1761337072.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998499,-0.053245,0.012818],[0.054199,0.994306,-0.091754],[-0.007859,0.092311,0.995699]] 2025-10-24T20:17:52.152Z,1761337072.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:52.155Z,1761337072.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 124.845627 m, bearing: 344.969704 deg, approach rate: -0.536960 m/s, LOS rate: -0.027407 deg/s, cmd heading: 2.099637 deg, new cmd heading: 2.063308 deg. 2025-10-24T20:17:52.161Z,1761337072.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036012 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:52.301Z,1761337072.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:52.489Z,1761337072.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998600,-0.051211,0.013236],[0.052219,0.994334,-0.092588],[-0.008420,0.093149,0.995617]] 2025-10-24T20:17:52.507Z,1761337072.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:52.510Z,1761337072.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:52.513Z,1761337072.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 124.625175 m, bearing: 344.958628 deg, approach rate: -0.609360 m/s, LOS rate: -0.030668 deg/s, cmd heading: 2.063308 deg, new cmd heading: 2.030023 deg. 2025-10-24T20:17:52.513Z,1761337072.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035431 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:52.553Z,1761337072.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:52.805Z,1761337072.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:52.894Z,1761337072.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998614,-0.050789,0.013767],[0.051851,0.994331,-0.092832],[-0.008974,0.093418,0.995587]] 2025-10-24T20:17:52.938Z,1761337072.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:52.945Z,1761337072.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 124.385590 m, bearing: 344.946587 deg, approach rate: -0.558974 m/s, LOS rate: -0.028148 deg/s, cmd heading: 2.030023 deg, new cmd heading: 1.993830 deg. 2025-10-24T20:17:52.946Z,1761337072.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034799 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:53.059Z,1761337073.059 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:53.308Z,1761337073.308 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:53.366Z,1761337073.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:53.369Z,1761337073.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 124.144447 m, bearing: 344.944731 deg, approach rate: -0.564985 m/s, LOS rate: -0.004357 deg/s, cmd heading: 1.993830 deg, new cmd heading: 1.988251 deg. 2025-10-24T20:17:53.370Z,1761337073.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034702 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:53.561Z,1761337073.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:53.696Z,1761337073.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998801,-0.046302,0.015913],[0.047575,0.994611,-0.092120],[-0.011562,0.092767,0.995621]] 2025-10-24T20:17:53.737Z,1761337073.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:53.739Z,1761337073.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 123.929192 m, bearing: 344.943508 deg, approach rate: -0.587347 m/s, LOS rate: -0.003343 deg/s, cmd heading: 1.988251 deg, new cmd heading: 1.984575 deg. 2025-10-24T20:17:53.744Z,1761337073.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034637 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:53.813Z,1761337073.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:54.068Z,1761337074.068 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:54.106Z,1761337074.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998909,-0.043594,0.016768],[0.044943,0.994843,-0.090929],[-0.012718,0.091584,0.995716]] 2025-10-24T20:17:54.169Z,1761337074.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:54.177Z,1761337074.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 123.657364 m, bearing: 344.948872 deg, approach rate: -0.620995 m/s, LOS rate: 0.012281 deg/s, cmd heading: 1.984575 deg, new cmd heading: 2.000702 deg. 2025-10-24T20:17:54.178Z,1761337074.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034919 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:54.317Z,1761337074.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:54.509Z,1761337074.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998999,-0.041337,0.017108],[0.042713,0.995032,-0.089924],[-0.013306,0.090565,0.995802]] 2025-10-24T20:17:54.526Z,1761337074.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:54.528Z,1761337074.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:54.531Z,1761337074.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 123.433983 m, bearing: 344.953541 deg, approach rate: -0.622752 m/s, LOS rate: 0.013041 deg/s, cmd heading: 2.000702 deg, new cmd heading: 2.014736 deg. 2025-10-24T20:17:54.533Z,1761337074.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035164 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:54.570Z,1761337074.570 [DAT](INFO): DAT read: Rx Time:20:17:53.2721 2025-10-24T20:17:54.570Z,1761337074.570 [DAT](INFO): Rx dataTimestamp_ set to:1761337074.569799 2025-10-24T20:17:54.571Z,1761337074.571 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:54.821Z,1761337074.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:54.927Z,1761337074.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999104,-0.038503,0.017584],[0.039935,0.995138,-0.090029],[-0.014032,0.090651,0.995784]] 2025-10-24T20:17:54.956Z,1761337074.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.22 m. 2025-10-24T20:17:54.958Z,1761337074.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.220619 m, nav range: 123.175926 m, bearing: 344.959293 deg, approach rate: -0.603432 m/s, LOS rate: 0.013478 deg/s, cmd heading: 2.014736 deg, new cmd heading: 2.032028 deg. 2025-10-24T20:17:54.959Z,1761337074.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035466 target range: 126.220619 and range: 126.90 m. 2025-10-24T20:17:55.102Z,1761337075.102 [DAT](INFO): DAT read: 20:17:53.2721 LVL= 22208, 25697, 14834, 32147, AGC= 66, IDX= 420, 0.22,-2.395, 2.607,-1.915,-2.523, PHS= 0.216,-1.106, 0.605, RAW= 162.5, 3.7, CAL= 163.3, -5.3, ROT= 346.7, 5.3 2025-10-24T20:17:55.110Z,1761337075.110 [DAT](INFO): got valid direction response: 20:17:53.2721 LVL= 22208, 25697, 14834, 32147, AGC= 66, IDX= 420, 0.22,-2.395, 2.607,-1.915,-2.523, PHS= 0.216,-1.106, 0.605, RAW= 162.5, 3.7, CAL= 163.3, -5.3, ROT= 346.7, 5.3 2025-10-24T20:17:55.119Z,1761337075.119 [DAT](INFO): DAT read: Bearing 346.7, 5.3 (Local) 2025-10-24T20:17:55.124Z,1761337075.124 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, 5.3 (Local) 2025-10-24T20:17:55.126Z,1761337075.126 [DAT](INFO): DAT read: Range 10 to 50 : 124.8 m (Round-trip 166.4 ms) speed 0.5 m/s 2025-10-24T20:17:55.127Z,1761337075.127 [DAT](INFO): DAT read: user:299>Tx time:20:17:54.3516 2025-10-24T20:17:55.132Z,1761337075.132 [DAT](INFO): DAT read: TxSync time:20:17:54.3508 2025-10-24T20:17:55.133Z,1761337075.133 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:55.134Z,1761337075.134 [DAT](INFO): direction in FSK: [0.969018,-0.229066,-0.092371] 2025-10-24T20:17:55.134Z,1761337075.134 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:55.142Z,1761337075.142 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:55.142Z,1761337075.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:55.325Z,1761337075.325 [DAT](INFO): DAT read: 2025-10-24T20:17:55.325Z,1761337075.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:55.403Z,1761337075.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.800003 m, deltaT: 3.786546 s, deltaX: -2.099998 m, approachRate: -0.554595 m/s, rangeRepo size: 4 2025-10-24T20:17:55.409Z,1761337075.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 124.132607 m, bearing: 349.490406 deg, lat: 36.779637 deg, lon: -121.859616 deg, deltaT: 3.786546 s, deltaX: -2.088013 m, approachRate: -0.551429 m/s, posRepo size: 4 2025-10-24T20:17:55.409Z,1761337075.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m. 2025-10-24T20:17:55.416Z,1761337075.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.132607 m, nav range: 122.814888 m, bearing: 348.975713 deg, approach rate: 0.000000 m/s, LOS rate: 0.013478 deg/s, cmd heading: 2.032028 deg, new cmd heading: 2.050072 deg. 2025-10-24T20:17:55.417Z,1761337075.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035781 target range: 124.132607 and range: 124.80 m. 2025-10-24T20:17:55.577Z,1761337075.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:55.758Z,1761337075.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m. 2025-10-24T20:17:55.761Z,1761337075.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.132607 m, nav range: 122.582130 m, bearing: 348.991145 deg, approach rate: -0.654096 m/s, LOS rate: 0.043450 deg/s, cmd heading: 2.050072 deg, new cmd heading: 2.096457 deg. 2025-10-24T20:17:55.762Z,1761337075.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036590 target range: 124.132607 and range: 124.80 m. 2025-10-24T20:17:55.829Z,1761337075.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:56.083Z,1761337076.083 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:56.157Z,1761337076.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999230,-0.035809,0.016035],[0.036972,0.996164,-0.079315],[-0.013133,0.079847,0.996721]] 2025-10-24T20:17:56.253Z,1761337076.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m. 2025-10-24T20:17:56.255Z,1761337076.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.132607 m, nav range: 122.270721 m, bearing: 349.011327 deg, approach rate: -0.628953 m/s, LOS rate: 0.040865 deg/s, cmd heading: 2.096457 deg, new cmd heading: 2.157156 deg. 2025-10-24T20:17:56.261Z,1761337076.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037649 target range: 124.132607 and range: 124.80 m. 2025-10-24T20:17:56.333Z,1761337076.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:56.585Z,1761337076.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:56.611Z,1761337076.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:56.631Z,1761337076.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m. 2025-10-24T20:17:56.645Z,1761337076.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.132607 m, nav range: 122.035217 m, bearing: 349.026658 deg, approach rate: -0.623492 m/s, LOS rate: 0.040669 deg/s, cmd heading: 2.157156 deg, new cmd heading: 2.203240 deg. 2025-10-24T20:17:56.646Z,1761337076.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038454 target range: 124.132607 and range: 124.80 m. 2025-10-24T20:17:56.837Z,1761337076.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:56.974Z,1761337076.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999119,-0.038057,0.017664],[0.039462,0.995383,-0.087498],[-0.014253,0.088118,0.996008]] 2025-10-24T20:17:57.009Z,1761337077.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m. 2025-10-24T20:17:57.011Z,1761337077.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.132607 m, nav range: 121.782516 m, bearing: 349.042815 deg, approach rate: -0.668584 m/s, LOS rate: 0.042837 deg/s, cmd heading: 2.203240 deg, new cmd heading: 2.251812 deg. 2025-10-24T20:17:57.012Z,1761337077.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039302 target range: 124.132607 and range: 124.80 m. 2025-10-24T20:17:57.093Z,1761337077.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:57.341Z,1761337077.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:57.373Z,1761337077.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999114,-0.037818,0.018458],[0.039348,0.995061,-0.091128],[-0.014921,0.091774,0.995668]] 2025-10-24T20:17:57.422Z,1761337077.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m. 2025-10-24T20:17:57.425Z,1761337077.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.132607 m, nav range: 121.518097 m, bearing: 349.052863 deg, approach rate: -0.639475 m/s, LOS rate: 0.024352 deg/s, cmd heading: 2.251812 deg, new cmd heading: 2.282020 deg. 2025-10-24T20:17:57.426Z,1761337077.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039829 target range: 124.132607 and range: 124.80 m. 2025-10-24T20:17:57.593Z,1761337077.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:57.787Z,1761337077.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999181,-0.035672,0.019094],[0.037303,0.994946,-0.093222],[-0.015672,0.093858,0.995462]] 2025-10-24T20:17:57.807Z,1761337077.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m. 2025-10-24T20:17:57.810Z,1761337077.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.132607 m, nav range: 121.271629 m, bearing: 349.062498 deg, approach rate: -0.640206 m/s, LOS rate: 0.025079 deg/s, cmd heading: 2.282020 deg, new cmd heading: 2.310985 deg. 2025-10-24T20:17:57.811Z,1761337077.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040334 target range: 124.132607 and range: 124.80 m. 2025-10-24T20:17:57.845Z,1761337077.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:58.101Z,1761337078.101 [DAT](INFO): DAT read: Rx Time:20:17:56.9190 2025-10-24T20:17:58.103Z,1761337078.103 [DAT](INFO): Rx dataTimestamp_ set to:1761337078.102281 2025-10-24T20:17:58.105Z,1761337078.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:58.179Z,1761337078.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999234,-0.034105,0.019185],[0.035777,0.994844,-0.094902],[-0.015849,0.095516,0.995302]] 2025-10-24T20:17:58.229Z,1761337078.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.13 m. 2025-10-24T20:17:58.249Z,1761337078.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 124.132607 m, nav range: 120.996819 m, bearing: 349.064356 deg, approach rate: -0.650649 m/s, LOS rate: 0.004408 deg/s, cmd heading: 2.310985 deg, new cmd heading: 2.316570 deg. 2025-10-24T20:17:58.250Z,1761337078.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040432 target range: 124.132607 and range: 124.80 m. 2025-10-24T20:17:58.349Z,1761337078.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:58.595Z,1761337078.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999300,-0.031874,0.019559],[0.033604,0.994844,-0.095689],[-0.016408,0.096279,0.995219]] 2025-10-24T20:17:58.607Z,1761337078.607 [DAT](INFO): DAT read: 20:17:56.9190 LVL= 24864, 32753, 19602, 30499, AGC= 67, IDX= 404, 0.46, 0.436,-0.763, 0.945, 0.354, PHS= 0.170,-1.070, 0.588, RAW= 164.0, 4.2, CAL= 164.6, -4.9, ROT= 345.4, 4.9 2025-10-24T20:17:58.608Z,1761337078.608 [DAT](INFO): got valid direction response: 20:17:56.9190 LVL= 24864, 32753, 19602, 30499, AGC= 67, IDX= 404, 0.46, 0.436,-0.763, 0.945, 0.354, PHS= 0.170,-1.070, 0.588, RAW= 164.0, 4.2, CAL= 164.6, -4.9, ROT= 345.4, 4.9 2025-10-24T20:17:58.609Z,1761337078.609 [DAT](INFO): DAT read: Bearing 345.4, 4.9 (Local) 2025-10-24T20:17:58.609Z,1761337078.609 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, 4.9 (Local) 2025-10-24T20:17:58.611Z,1761337078.611 [DAT](INFO): DAT read: Range 10 to 50 : 122.4 m (Round-trip 163.2 ms) speed 0.6 m/s 2025-10-24T20:17:58.612Z,1761337078.612 [DAT](INFO): DAT read: user:300>Tx time:20:17:58.0016 2025-10-24T20:17:58.613Z,1761337078.613 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:17:58.614Z,1761337078.614 [DAT](INFO): direction in FSK: [0.964172,-0.251148,-0.085417] 2025-10-24T20:17:58.614Z,1761337078.614 [DAT](INFO): publishing direction and range info 2025-10-24T20:17:58.618Z,1761337078.618 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:58.618Z,1761337078.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:17:58.714Z,1761337078.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 122.400002 m, deltaT: 3.525478 s, deltaX: -2.400002 m, approachRate: -0.680759 m/s, rangeRepo size: 4 2025-10-24T20:17:58.721Z,1761337078.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.742668 m, bearing: 347.822891 deg, lat: 36.779637 deg, lon: -121.859616 deg, deltaT: 3.525478 s, deltaX: -2.389938 m, approachRate: -0.677905 m/s, posRepo size: 4 2025-10-24T20:17:58.723Z,1761337078.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:17:58.730Z,1761337078.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 120.697975 m, bearing: 349.066692 deg, approach rate: 0.000000 m/s, LOS rate: 0.004408 deg/s, cmd heading: 2.316571 deg, new cmd heading: 2.322967 deg. 2025-10-24T20:17:58.737Z,1761337078.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040543 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:17:58.853Z,1761337078.853 [DAT](INFO): DAT read: 2025-10-24T20:17:58.854Z,1761337078.854 [DAT](INFO): DAT read: TxSync time:20:17:58.0008 2025-10-24T20:17:58.854Z,1761337078.854 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:59.017Z,1761337079.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999330,-0.030899,0.019626],[0.032655,0.994792,-0.096554],[-0.016540,0.097130,0.995134]] 2025-10-24T20:17:59.055Z,1761337079.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:17:59.059Z,1761337079.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:17:59.069Z,1761337079.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 120.466927 m, bearing: 349.068607 deg, approach rate: -0.668466 m/s, LOS rate: 0.005553 deg/s, cmd heading: 2.322967 deg, new cmd heading: 2.328725 deg. 2025-10-24T20:17:59.070Z,1761337079.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040644 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:17:59.105Z,1761337079.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:59.357Z,1761337079.357 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:59.400Z,1761337079.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999402,-0.029196,0.018510],[0.030859,0.994803,-0.097027],[-0.015581,0.097540,0.995110]] 2025-10-24T20:17:59.461Z,1761337079.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:17:59.463Z,1761337079.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 120.214287 m, bearing: 349.064103 deg, approach rate: -0.628385 m/s, LOS rate: -0.011227 deg/s, cmd heading: 2.328725 deg, new cmd heading: 2.315184 deg. 2025-10-24T20:17:59.466Z,1761337079.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040408 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:17:59.609Z,1761337079.609 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:17:59.799Z,1761337079.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999490,-0.026544,0.017766],[0.028214,0.994440,-0.101458],[-0.014974,0.101908,0.994681]] 2025-10-24T20:17:59.832Z,1761337079.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:17:59.835Z,1761337079.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 119.971687 m, bearing: 349.060058 deg, approach rate: -0.654126 m/s, LOS rate: -0.010930 deg/s, cmd heading: 2.315184 deg, new cmd heading: 2.303023 deg. 2025-10-24T20:17:59.837Z,1761337079.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040195 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:17:59.860Z,1761337079.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:00.115Z,1761337080.115 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:00.204Z,1761337080.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999550,-0.024917,0.016729],[0.026479,0.994557,-0.100770],[-0.014127,0.101167,0.994769]] 2025-10-24T20:18:00.275Z,1761337080.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:18:00.283Z,1761337080.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 119.698303 m, bearing: 349.044785 deg, approach rate: -0.616250 m/s, LOS rate: -0.034505 deg/s, cmd heading: 2.303023 deg, new cmd heading: 2.257101 deg. 2025-10-24T20:18:00.288Z,1761337080.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039394 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:18:00.365Z,1761337080.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:00.617Z,1761337080.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:00.618Z,1761337080.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999550,-0.024268,0.017625],[0.025917,0.994619,-0.100309],[-0.015096,0.100720,0.994800]] 2025-10-24T20:18:00.641Z,1761337080.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:18:00.643Z,1761337080.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 119.468750 m, bearing: 349.031970 deg, approach rate: -0.627975 m/s, LOS rate: -0.035126 deg/s, cmd heading: 2.257101 deg, new cmd heading: 2.218581 deg. 2025-10-24T20:18:00.645Z,1761337080.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038722 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:18:00.869Z,1761337080.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:01.017Z,1761337081.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999472,-0.026387,0.018953],[0.028174,0.994467,-0.101199],[-0.016178,0.101679,0.994686]] 2025-10-24T20:18:01.057Z,1761337081.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:18:01.059Z,1761337081.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 119.220116 m, bearing: 349.017760 deg, approach rate: -0.598042 m/s, LOS rate: -0.034251 deg/s, cmd heading: 2.218581 deg, new cmd heading: 2.175862 deg. 2025-10-24T20:18:01.064Z,1761337081.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037976 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:18:01.121Z,1761337081.121 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:01.373Z,1761337081.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:01.425Z,1761337081.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999428,-0.027770,0.019314],[0.029601,0.994337,-0.102064],[-0.016371,0.102577,0.994590]] 2025-10-24T20:18:01.481Z,1761337081.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:01.484Z,1761337081.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:18:01.487Z,1761337081.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 118.948425 m, bearing: 348.994930 deg, approach rate: -0.635665 m/s, LOS rate: -0.053536 deg/s, cmd heading: 2.175862 deg, new cmd heading: 2.107216 deg. 2025-10-24T20:18:01.488Z,1761337081.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036778 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:18:01.627Z,1761337081.627 [DAT](INFO): DAT read: Rx Time:20:18:00.5660 2025-10-24T20:18:01.627Z,1761337081.627 [DAT](INFO): Rx dataTimestamp_ set to:1761337081.626822 2025-10-24T20:18:01.627Z,1761337081.627 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:01.819Z,1761337081.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999375,-0.029183,0.019970],[0.031095,0.994164,-0.103298],[-0.016839,0.103855,0.994450]] 2025-10-24T20:18:01.850Z,1761337081.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:18:01.852Z,1761337081.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 118.726006 m, bearing: 348.975995 deg, approach rate: -0.608293 m/s, LOS rate: -0.051882 deg/s, cmd heading: 2.107216 deg, new cmd heading: 2.050304 deg. 2025-10-24T20:18:01.853Z,1761337081.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035785 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:18:01.877Z,1761337081.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:02.129Z,1761337082.129 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:02.298Z,1761337082.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.74 m. 2025-10-24T20:18:02.301Z,1761337082.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.742668 m, nav range: 118.457672 m, bearing: 348.949978 deg, approach rate: -0.598432 m/s, LOS rate: -0.058153 deg/s, cmd heading: 2.050305 deg, new cmd heading: 1.972078 deg. 2025-10-24T20:18:02.302Z,1761337082.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034419 target range: 121.742668 and range: 122.40 m. 2025-10-24T20:18:02.394Z,1761337082.394 [DAT](INFO): DAT read: 20:18:00.5660 LVL= 22464, 28785, 16530, 29411, AGC= 64, IDX= 405,-0.05,-0.910,-2.104,-0.437,-0.971, PHS= 0.149,-1.086, 0.531, RAW= 163.1, 5.6, CAL= 163.2, -3.8, ROT= 346.8, 3.8 2025-10-24T20:18:02.395Z,1761337082.395 [DAT](INFO): got valid direction response: 20:18:00.5660 LVL= 22464, 28785, 16530, 29411, AGC= 64, IDX= 405,-0.05,-0.910,-2.104,-0.437,-0.971, PHS= 0.149,-1.086, 0.531, RAW= 163.1, 5.6, CAL= 163.2, -3.8, ROT= 346.8, 3.8 2025-10-24T20:18:02.396Z,1761337082.396 [DAT](INFO): DAT read: Bearing 346.8, 3.8 (Local) 2025-10-24T20:18:02.397Z,1761337082.397 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, 3.8 (Local) 2025-10-24T20:18:02.399Z,1761337082.399 [DAT](INFO): DAT read: Range 10 to 50 : 120.1 m (Round-trip 160.2 ms) speed 0.5 m/s 2025-10-24T20:18:02.401Z,1761337082.401 [DAT](INFO): DAT read: user:301>Tx time:20:18:01.6516 2025-10-24T20:18:02.401Z,1761337082.401 [DAT](INFO): DAT read: TxSync time:20:18:01.6508 2025-10-24T20:18:02.402Z,1761337082.402 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:02.403Z,1761337082.403 [DAT](INFO): direction in FSK: [0.971438,-0.227849,-0.066274] 2025-10-24T20:18:02.403Z,1761337082.403 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:02.407Z,1761337082.407 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:02.407Z,1761337082.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:02.627Z,1761337082.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999325,-0.030613,0.020329],[0.032570,0.994021,-0.104220],[-0.017017,0.104811,0.994346]] 2025-10-24T20:18:02.633Z,1761337082.633 [DAT](INFO): DAT read: 2025-10-24T20:18:02.633Z,1761337082.633 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:02.680Z,1761337082.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 120.099998 m, deltaT: 3.780681 s, deltaX: -2.300003 m, approachRate: -0.608357 m/s, rangeRepo size: 4 2025-10-24T20:18:02.683Z,1761337082.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 119.456253 m, bearing: 349.104944 deg, lat: 36.779638 deg, lon: -121.859615 deg, deltaT: 3.780681 s, deltaX: -2.286415 m, approachRate: -0.604763 m/s, posRepo size: 4 2025-10-24T20:18:02.683Z,1761337082.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:02.686Z,1761337082.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 118.279205 m, bearing: 348.991649 deg, approach rate: 0.000000 m/s, LOS rate: -0.058153 deg/s, cmd heading: 1.972078 deg, new cmd heading: 1.905570 deg. 2025-10-24T20:18:02.687Z,1761337082.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033258 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:02.885Z,1761337082.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:03.071Z,1761337083.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:03.077Z,1761337083.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 118.042564 m, bearing: 348.968479 deg, approach rate: -0.604303 m/s, LOS rate: -0.059288 deg/s, cmd heading: 1.905570 deg, new cmd heading: 1.835920 deg. 2025-10-24T20:18:03.078Z,1761337083.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032043 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:03.137Z,1761337083.137 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:03.390Z,1761337083.390 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:03.438Z,1761337083.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999422,-0.028328,0.018767],[0.030247,0.993313,-0.111417],[-0.015486,0.111920,0.993597]] 2025-10-24T20:18:03.486Z,1761337083.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:03.489Z,1761337083.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:03.491Z,1761337083.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 117.794212 m, bearing: 348.949286 deg, approach rate: -0.594165 m/s, LOS rate: -0.046015 deg/s, cmd heading: 1.835920 deg, new cmd heading: 1.778219 deg. 2025-10-24T20:18:03.493Z,1761337083.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031036 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:03.641Z,1761337083.641 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:03.841Z,1761337083.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999508,-0.025009,0.018909],[0.026910,0.993776,-0.108100],[-0.016088,0.108555,0.993960]] 2025-10-24T20:18:03.862Z,1761337083.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:03.864Z,1761337083.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 117.571251 m, bearing: 348.932374 deg, approach rate: -0.597790 m/s, LOS rate: -0.045427 deg/s, cmd heading: 1.778219 deg, new cmd heading: 1.727389 deg. 2025-10-24T20:18:03.866Z,1761337083.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030149 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:03.893Z,1761337083.893 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:04.145Z,1761337084.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:04.254Z,1761337084.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999522,-0.023797,0.019719],[0.025754,0.994060,-0.105746],[-0.017085,0.106203,0.994198]] 2025-10-24T20:18:04.295Z,1761337084.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:04.318Z,1761337084.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 117.309509 m, bearing: 348.920685 deg, approach rate: -0.604756 m/s, LOS rate: -0.027069 deg/s, cmd heading: 1.727389 deg, new cmd heading: 1.692242 deg. 2025-10-24T20:18:04.319Z,1761337084.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029535 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:04.397Z,1761337084.397 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:04.651Z,1761337084.651 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:04.664Z,1761337084.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999527,-0.023078,0.020335],[0.025070,0.994275,-0.103868],[-0.017822,0.104328,0.994383]] 2025-10-24T20:18:04.694Z,1761337084.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:04.697Z,1761337084.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 117.067841 m, bearing: 348.909942 deg, approach rate: -0.604544 m/s, LOS rate: -0.026930 deg/s, cmd heading: 1.692242 deg, new cmd heading: 1.659946 deg. 2025-10-24T20:18:04.698Z,1761337084.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028972 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:04.769Z,1761337084.769 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:18:04.905Z,1761337084.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:05.055Z,1761337085.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999503,-0.023683,0.020819],[0.025706,0.994353,-0.102959],[-0.018263,0.103443,0.994468]] 2025-10-24T20:18:05.073Z,1761337085.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:05.075Z,1761337085.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 116.838982 m, bearing: 348.899661 deg, approach rate: -0.605085 m/s, LOS rate: -0.027234 deg/s, cmd heading: 1.659946 deg, new cmd heading: 1.629045 deg. 2025-10-24T20:18:05.076Z,1761337085.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028432 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:05.158Z,1761337085.158 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:05.409Z,1761337085.409 [DAT](INFO): DAT read: Rx Time:20:18:04.2131 2025-10-24T20:18:05.409Z,1761337085.409 [DAT](INFO): Rx dataTimestamp_ set to:1761337085.409043 2025-10-24T20:18:05.410Z,1761337085.410 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:05.467Z,1761337085.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999505,-0.023420,0.021005],[0.025435,0.994516,-0.101441],[-0.018514,0.101925,0.994620]] 2025-10-24T20:18:05.510Z,1761337085.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:05.513Z,1761337085.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:05.516Z,1761337085.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 116.575096 m, bearing: 348.897927 deg, approach rate: -0.599460 m/s, LOS rate: -0.003949 deg/s, cmd heading: 1.629045 deg, new cmd heading: 1.623830 deg. 2025-10-24T20:18:05.517Z,1761337085.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028341 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:05.661Z,1761337085.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:05.772Z,1761337085.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:18:05.877Z,1761337085.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999476,-0.024183,0.021531],[0.026247,0.994498,-0.101411],[-0.018960,0.101923,0.994612]] 2025-10-24T20:18:05.906Z,1761337085.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.46 m. 2025-10-24T20:18:05.909Z,1761337085.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 119.456253 m, nav range: 116.340324 m, bearing: 348.896284 deg, approach rate: -0.596690 m/s, LOS rate: -0.004183 deg/s, cmd heading: 1.623830 deg, new cmd heading: 1.618892 deg. 2025-10-24T20:18:05.910Z,1761337085.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028255 target range: 119.456253 and range: 120.10 m. 2025-10-24T20:18:05.920Z,1761337085.920 [DAT](INFO): DAT read: 20:18:04.2131 LVL= 18896, 25681, 15970, 22051, AGC= 66, IDX= 408,-0.13, 1.960, 0.709, 2.447, 1.890, PHS= 0.159,-1.133, 0.555, RAW= 163.0, 5.5, CAL= 163.1, -3.8, ROT= 346.9, 3.8 2025-10-24T20:18:05.921Z,1761337085.921 [DAT](INFO): got valid direction response: 20:18:04.2131 LVL= 18896, 25681, 15970, 22051, AGC= 66, IDX= 408,-0.13, 1.960, 0.709, 2.447, 1.890, PHS= 0.159,-1.133, 0.555, RAW= 163.0, 5.5, CAL= 163.1, -3.8, ROT= 346.9, 3.8 2025-10-24T20:18:05.922Z,1761337085.922 [DAT](INFO): DAT read: Bearing 346.9, 3.8 (Local) 2025-10-24T20:18:05.922Z,1761337085.922 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, 3.8 (Local) 2025-10-24T20:18:05.936Z,1761337085.936 [DAT](INFO): DAT read: Range 10 to 50 : 118.0 m (Round-trip 157.4 ms) speed 0.8 m/s 2025-10-24T20:18:05.937Z,1761337085.937 [DAT](INFO): DAT read: user:302>Tx time:20:18:05.3016 2025-10-24T20:18:05.938Z,1761337085.938 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:05.939Z,1761337085.939 [DAT](INFO): direction in FSK: [0.971835,-0.226153,-0.066274] 2025-10-24T20:18:05.939Z,1761337085.939 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:05.960Z,1761337085.960 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:05.961Z,1761337085.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:06.168Z,1761337086.168 [DAT](INFO): DAT read: 2025-10-24T20:18:06.169Z,1761337086.169 [DAT](INFO): DAT read: TxSync time:20:18:05.3008 2025-10-24T20:18:06.171Z,1761337086.171 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:06.285Z,1761337086.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999458,-0.024594,0.021894],[0.026689,0.994507,-0.101206],[-0.019284,0.101736,0.994624]] 2025-10-24T20:18:06.335Z,1761337086.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.000000 m, deltaT: 3.531391 s, deltaX: -2.099998 m, approachRate: -0.594666 m/s, rangeRepo size: 4 2025-10-24T20:18:06.337Z,1761337086.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 117.369301 m, bearing: 348.849300 deg, lat: 36.779642 deg, lon: -121.859615 deg, deltaT: 3.531391 s, deltaX: -2.086952 m, approachRate: -0.590972 m/s, posRepo size: 4 2025-10-24T20:18:06.338Z,1761337086.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:06.340Z,1761337086.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 116.517723 m, bearing: 348.947527 deg, approach rate: 0.000000 m/s, LOS rate: -0.004183 deg/s, cmd heading: 1.618892 deg, new cmd heading: 1.613523 deg. 2025-10-24T20:18:06.341Z,1761337086.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028161 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:06.417Z,1761337086.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:06.669Z,1761337086.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:06.677Z,1761337086.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999486,-0.024720,0.020397],[0.026422,0.995779,-0.087895],[-0.018138,0.088389,0.995921]] 2025-10-24T20:18:06.696Z,1761337086.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:06.700Z,1761337086.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 116.291374 m, bearing: 348.955247 deg, approach rate: -0.625686 m/s, LOS rate: 0.021382 deg/s, cmd heading: 1.613523 deg, new cmd heading: 1.636728 deg. 2025-10-24T20:18:06.701Z,1761337086.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028566 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:06.920Z,1761337086.920 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:07.075Z,1761337087.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999395,-0.027973,0.020675],[0.029742,0.995414,-0.090915],[-0.018037,0.091475,0.995644]] 2025-10-24T20:18:07.095Z,1761337087.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:07.098Z,1761337087.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 116.044807 m, bearing: 348.963253 deg, approach rate: -0.617354 m/s, LOS rate: 0.020088 deg/s, cmd heading: 1.636728 deg, new cmd heading: 1.660797 deg. 2025-10-24T20:18:07.099Z,1761337087.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028986 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:07.173Z,1761337087.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:07.425Z,1761337087.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:07.477Z,1761337087.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999302,-0.030978,0.020883],[0.032812,0.995017,-0.094151],[-0.017862,0.094771,0.995339]] 2025-10-24T20:18:07.534Z,1761337087.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:07.536Z,1761337087.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:07.539Z,1761337087.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 115.774849 m, bearing: 348.975897 deg, approach rate: -0.612509 m/s, LOS rate: 0.028755 deg/s, cmd heading: 1.660797 deg, new cmd heading: 1.698818 deg. 2025-10-24T20:18:07.540Z,1761337087.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029650 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:07.677Z,1761337087.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:07.887Z,1761337087.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999175,-0.033951,0.022278],[0.035957,0.994649,-0.096853],[-0.018871,0.097574,0.995049]] 2025-10-24T20:18:07.929Z,1761337087.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:07.936Z,1761337087.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:07.939Z,1761337087.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 115.534424 m, bearing: 348.986808 deg, approach rate: -0.601302 m/s, LOS rate: 0.027343 deg/s, cmd heading: 1.698818 deg, new cmd heading: 1.731617 deg. 2025-10-24T20:18:07.939Z,1761337087.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030222 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:08.181Z,1761337088.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:08.311Z,1761337088.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999153,-0.034132,0.022998],[0.036220,0.994579,-0.097473],[-0.019547,0.098223,0.994972]] 2025-10-24T20:18:08.362Z,1761337088.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:08.366Z,1761337088.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 115.261398 m, bearing: 349.002350 deg, approach rate: -0.639989 m/s, LOS rate: 0.036518 deg/s, cmd heading: 1.731617 deg, new cmd heading: 1.778354 deg. 2025-10-24T20:18:08.367Z,1761337088.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031038 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:08.433Z,1761337088.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:08.685Z,1761337088.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:08.690Z,1761337088.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999129,-0.034630,0.023262],[0.036763,0.994447,-0.098604],[-0.019718,0.099373,0.994855]] 2025-10-24T20:18:08.725Z,1761337088.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:08.727Z,1761337088.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 115.044701 m, bearing: 349.014671 deg, approach rate: -0.598054 m/s, LOS rate: 0.034068 deg/s, cmd heading: 1.778354 deg, new cmd heading: 1.815386 deg. 2025-10-24T20:18:08.733Z,1761337088.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031684 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:08.937Z,1761337088.937 [DAT](INFO): DAT read: Rx Time:20:18:07.8602 2025-10-24T20:18:08.937Z,1761337088.937 [DAT](INFO): Rx dataTimestamp_ set to:1761337088.937054 2025-10-24T20:18:08.938Z,1761337088.938 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:09.093Z,1761337089.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999171,-0.033272,0.023451],[0.035427,0.994514,-0.098421],[-0.020048,0.099170,0.994869]] 2025-10-24T20:18:09.126Z,1761337089.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:09.129Z,1761337089.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 114.783897 m, bearing: 349.029741 deg, approach rate: -0.650314 m/s, LOS rate: 0.037663 deg/s, cmd heading: 1.815386 deg, new cmd heading: 1.860699 deg. 2025-10-24T20:18:09.129Z,1761337089.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032475 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:09.189Z,1761337089.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:09.443Z,1761337089.443 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:09.556Z,1761337089.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:09.559Z,1761337089.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.37 m. 2025-10-24T20:18:09.561Z,1761337089.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 117.369301 m, nav range: 114.510925 m, bearing: 349.045472 deg, approach rate: -0.630842 m/s, LOS rate: 0.036441 deg/s, cmd heading: 1.860699 deg, new cmd heading: 1.908005 deg. 2025-10-24T20:18:09.562Z,1761337089.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033301 target range: 117.369301 and range: 118.00 m. 2025-10-24T20:18:09.703Z,1761337089.703 [DAT](INFO): DAT read: 20:18:07.8602 LVL= 22480, 29169, 16034, 32755, AGC= 67, IDX= 409, 0.00,-2.933, 2.122,-2.458,-3.072, PHS= 0.228,-1.042, 0.612, RAW= 162.8, 2.7, CAL= 163.9, -6.2, ROT= 346.1, 6.2 2025-10-24T20:18:09.704Z,1761337089.704 [DAT](INFO): got valid direction response: 20:18:07.8602 LVL= 22480, 29169, 16034, 32755, AGC= 67, IDX= 409, 0.00,-2.933, 2.122,-2.458,-3.072, PHS= 0.228,-1.042, 0.612, RAW= 162.8, 2.7, CAL= 163.9, -6.2, ROT= 346.1, 6.2 2025-10-24T20:18:09.705Z,1761337089.705 [DAT](INFO): DAT read: Bearing 346.1, 6.2 (Local) 2025-10-24T20:18:09.706Z,1761337089.706 [DAT](INFO): Local bearing/azimuth received: Bearing 346.1, 6.2 (Local) 2025-10-24T20:18:09.707Z,1761337089.707 [DAT](INFO): DAT read: Range 10 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.4 m/s 2025-10-24T20:18:09.717Z,1761337089.717 [DAT](INFO): DAT read: user:303>Tx time:20:18:08.9517 2025-10-24T20:18:09.718Z,1761337089.718 [DAT](INFO): DAT read: TxSync time:20:18:08.9509 2025-10-24T20:18:09.719Z,1761337089.719 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:09.724Z,1761337089.724 [DAT](INFO): direction in FSK: [0.965039,-0.238823,-0.107999] 2025-10-24T20:18:09.724Z,1761337089.724 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:09.732Z,1761337089.732 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:09.733Z,1761337089.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:09.905Z,1761337089.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999255,-0.030668,0.023435],[0.032826,0.994637,-0.098076],[-0.020301,0.098772,0.994903]] 2025-10-24T20:18:09.943Z,1761337089.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 115.699997 m, deltaT: 3.782087 s, deltaX: -2.300003 m, approachRate: -0.608131 m/s, rangeRepo size: 4 2025-10-24T20:18:09.945Z,1761337089.945 [DAT](INFO): DAT read: 2025-10-24T20:18:09.945Z,1761337089.945 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:09.947Z,1761337089.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.080803 m, bearing: 348.607718 deg, lat: 36.779642 deg, lon: -121.859618 deg, deltaT: 3.782087 s, deltaX: -2.288498 m, approachRate: -0.605089 m/s, posRepo size: 4 2025-10-24T20:18:09.949Z,1761337089.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:09.952Z,1761337089.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 114.312691 m, bearing: 348.947367 deg, approach rate: 0.000000 m/s, LOS rate: 0.036441 deg/s, cmd heading: 1.908005 deg, new cmd heading: 1.949977 deg. 2025-10-24T20:18:09.953Z,1761337089.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034034 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:10.197Z,1761337090.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:10.339Z,1761337090.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999336,-0.029113,0.021896],[0.031060,0.995030,-0.094611],[-0.019033,0.095228,0.995274]] 2025-10-24T20:18:10.388Z,1761337090.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:10.391Z,1761337090.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 114.028183 m, bearing: 348.958684 deg, approach rate: -0.637948 m/s, LOS rate: 0.025440 deg/s, cmd heading: 1.949977 deg, new cmd heading: 1.984014 deg. 2025-10-24T20:18:10.412Z,1761337090.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034628 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:10.450Z,1761337090.450 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:10.701Z,1761337090.701 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:10.710Z,1761337090.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999319,-0.029940,0.021572],[0.031878,0.994876,-0.095944],[-0.018589,0.096567,0.995153]] 2025-10-24T20:18:10.747Z,1761337090.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:10.753Z,1761337090.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 113.810341 m, bearing: 348.967289 deg, approach rate: -0.608205 m/s, LOS rate: 0.024071 deg/s, cmd heading: 1.984014 deg, new cmd heading: 2.009878 deg. 2025-10-24T20:18:10.754Z,1761337090.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035079 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:10.956Z,1761337090.956 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:11.112Z,1761337091.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999353,-0.029083,0.021152],[0.031002,0.994813,-0.096882],[-0.018225,0.097475,0.995071]] 2025-10-24T20:18:11.134Z,1761337091.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:11.137Z,1761337091.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 113.555779 m, bearing: 348.977493 deg, approach rate: -0.656916 m/s, LOS rate: 0.026391 deg/s, cmd heading: 2.009878 deg, new cmd heading: 2.040558 deg. 2025-10-24T20:18:11.138Z,1761337091.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035614 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:11.207Z,1761337091.207 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:11.457Z,1761337091.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:11.641Z,1761337091.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:11.643Z,1761337091.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:11.646Z,1761337091.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 113.240219 m, bearing: 348.980262 deg, approach rate: -0.619649 m/s, LOS rate: 0.005452 deg/s, cmd heading: 2.040559 deg, new cmd heading: 2.048888 deg. 2025-10-24T20:18:11.647Z,1761337091.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035760 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:11.709Z,1761337091.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:11.923Z,1761337091.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999339,-0.028251,0.022880],[0.030345,0.994821,-0.097010],[-0.020021,0.097640,0.995020]] 2025-10-24T20:18:11.943Z,1761337091.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:11.946Z,1761337091.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 113.054672 m, bearing: 348.981961 deg, approach rate: -0.619183 m/s, LOS rate: 0.005678 deg/s, cmd heading: 2.048888 deg, new cmd heading: 2.053993 deg. 2025-10-24T20:18:11.947Z,1761337091.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035849 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:11.961Z,1761337091.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:12.213Z,1761337092.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:12.364Z,1761337092.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999325,-0.028340,0.023372],[0.030488,0.994781,-0.097376],[-0.020490,0.098023,0.994973]] 2025-10-24T20:18:12.438Z,1761337092.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:12.446Z,1761337092.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 112.775200 m, bearing: 348.978766 deg, approach rate: -0.565045 m/s, LOS rate: -0.006476 deg/s, cmd heading: 2.053993 deg, new cmd heading: 2.044383 deg. 2025-10-24T20:18:12.447Z,1761337092.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035681 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:12.466Z,1761337092.466 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:12.717Z,1761337092.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:12.751Z,1761337092.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999296,-0.028974,0.023831],[0.031180,0.994687,-0.098110],[-0.020862,0.098784,0.994890]] 2025-10-24T20:18:12.805Z,1761337092.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:12.807Z,1761337092.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 112.549858 m, bearing: 348.976096 deg, approach rate: -0.613604 m/s, LOS rate: -0.007283 deg/s, cmd heading: 2.044383 deg, new cmd heading: 2.036359 deg. 2025-10-24T20:18:12.813Z,1761337092.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035541 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:12.969Z,1761337092.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:13.186Z,1761337093.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:13.205Z,1761337093.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 112.298195 m, bearing: 348.973103 deg, approach rate: -0.660379 m/s, LOS rate: -0.007873 deg/s, cmd heading: 2.036359 deg, new cmd heading: 2.027358 deg. 2025-10-24T20:18:13.206Z,1761337093.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035384 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:13.221Z,1761337093.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:13.472Z,1761337093.472 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:13.560Z,1761337093.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999270,-0.029388,0.024414],[0.031670,0.994580,-0.099031],[-0.021371,0.099732,0.994785]] 2025-10-24T20:18:13.647Z,1761337093.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:13.651Z,1761337093.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:13.654Z,1761337093.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 112.017815 m, bearing: 348.961124 deg, approach rate: -0.603101 m/s, LOS rate: -0.025831 deg/s, cmd heading: 2.027358 deg, new cmd heading: 1.991331 deg. 2025-10-24T20:18:13.655Z,1761337093.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034755 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:13.725Z,1761337093.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:13.952Z,1761337093.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999260,-0.029285,0.024918],[0.031620,0.994571,-0.099135],[-0.021879,0.099850,0.994762]] 2025-10-24T20:18:13.977Z,1761337093.977 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:13.979Z,1761337093.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:13.983Z,1761337093.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 111.813629 m, bearing: 348.952368 deg, approach rate: -0.621626 m/s, LOS rate: -0.026706 deg/s, cmd heading: 1.991331 deg, new cmd heading: 1.965015 deg. 2025-10-24T20:18:14.004Z,1761337094.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034296 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:14.228Z,1761337094.228 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:14.394Z,1761337094.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999222,-0.030255,0.025305],[0.032635,0.994487,-0.099648],[-0.022151,0.100396,0.994701]] 2025-10-24T20:18:14.452Z,1761337094.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:14.455Z,1761337094.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 111.532845 m, bearing: 348.934619 deg, approach rate: -0.594047 m/s, LOS rate: -0.037645 deg/s, cmd heading: 1.965015 deg, new cmd heading: 1.911634 deg. 2025-10-24T20:18:14.456Z,1761337094.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033364 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:14.480Z,1761337094.480 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:14.733Z,1761337094.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:14.762Z,1761337094.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999227,-0.029820,0.025600],[0.032209,0.994601,-0.098652],[-0.022520,0.099401,0.994793]] 2025-10-24T20:18:14.785Z,1761337094.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:14.787Z,1761337094.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 111.335785 m, bearing: 348.922154 deg, approach rate: -0.591829 m/s, LOS rate: -0.037501 deg/s, cmd heading: 1.911634 deg, new cmd heading: 1.874175 deg. 2025-10-24T20:18:14.789Z,1761337094.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032711 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:14.985Z,1761337094.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:15.165Z,1761337095.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999205,-0.030381,0.025808],[0.032798,0.994540,-0.099070],[-0.022657,0.099837,0.994746]] 2025-10-24T20:18:15.191Z,1761337095.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:15.194Z,1761337095.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 111.094772 m, bearing: 348.906774 deg, approach rate: -0.592974 m/s, LOS rate: -0.037924 deg/s, cmd heading: 1.874175 deg, new cmd heading: 1.827933 deg. 2025-10-24T20:18:15.195Z,1761337095.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031903 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:15.237Z,1761337095.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:15.489Z,1761337095.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:15.569Z,1761337095.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999187,-0.030476,0.026384],[0.032950,0.994537,-0.099052],[-0.023221,0.099841,0.994732]] 2025-10-24T20:18:15.641Z,1761337095.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:15.643Z,1761337095.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 110.849197 m, bearing: 348.887863 deg, approach rate: -0.546584 m/s, LOS rate: -0.042183 deg/s, cmd heading: 1.827933 deg, new cmd heading: 1.771075 deg. 2025-10-24T20:18:15.650Z,1761337095.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030911 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:15.746Z,1761337095.746 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:15.977Z,1761337095.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999166,-0.031102,0.026457],[0.033585,0.994493,-0.099273],[-0.023224,0.100079,0.994708]] 2025-10-24T20:18:15.994Z,1761337095.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:15.997Z,1761337095.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:15.997Z,1761337095.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:16.001Z,1761337096.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 110.619598 m, bearing: 348.870028 deg, approach rate: -0.646889 m/s, LOS rate: -0.050353 deg/s, cmd heading: 1.771075 deg, new cmd heading: 1.717460 deg. 2025-10-24T20:18:16.002Z,1761337096.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029975 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:16.249Z,1761337096.249 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:16.501Z,1761337096.501 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:16.503Z,1761337096.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:16.506Z,1761337096.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 110.330986 m, bearing: 348.849917 deg, approach rate: -0.568545 m/s, LOS rate: -0.039721 deg/s, cmd heading: 1.717460 deg, new cmd heading: 1.656970 deg. 2025-10-24T20:18:16.507Z,1761337096.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028920 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:16.753Z,1761337096.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:16.823Z,1761337096.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:16.826Z,1761337096.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 110.126984 m, bearing: 348.835637 deg, approach rate: -0.637585 m/s, LOS rate: -0.044713 deg/s, cmd heading: 1.656970 deg, new cmd heading: 1.614050 deg. 2025-10-24T20:18:16.827Z,1761337096.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028170 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:17.005Z,1761337097.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:17.186Z,1761337097.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999175,-0.030651,0.026650],[0.033117,0.994669,-0.097657],[-0.023515,0.098459,0.994863]] 2025-10-24T20:18:17.210Z,1761337097.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:17.213Z,1761337097.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 109.896042 m, bearing: 348.819470 deg, approach rate: -0.596641 m/s, LOS rate: -0.041856 deg/s, cmd heading: 1.614050 deg, new cmd heading: 1.565447 deg. 2025-10-24T20:18:17.214Z,1761337097.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.027322 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:17.257Z,1761337097.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:17.509Z,1761337097.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:17.594Z,1761337097.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999187,-0.030362,0.026515],[0.032796,0.994765,-0.096781],[-0.023437,0.097572,0.994952]] 2025-10-24T20:18:17.640Z,1761337097.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:17.643Z,1761337097.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 109.640366 m, bearing: 348.805245 deg, approach rate: -0.595256 m/s, LOS rate: -0.033195 deg/s, cmd heading: 1.565447 deg, new cmd heading: 1.522673 deg. 2025-10-24T20:18:17.643Z,1761337097.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026576 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:17.761Z,1761337097.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:18.011Z,1761337098.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999209,-0.029695,0.026434],[0.032105,0.994864,-0.095997],[-0.023447,0.096769,0.995031]] 2025-10-24T20:18:18.013Z,1761337098.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:18.030Z,1761337098.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:18.033Z,1761337098.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:18.035Z,1761337098.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 109.406906 m, bearing: 348.792288 deg, approach rate: -0.595733 m/s, LOS rate: -0.033134 deg/s, cmd heading: 1.522673 deg, new cmd heading: 1.483718 deg. 2025-10-24T20:18:18.057Z,1761337098.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025896 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:18.265Z,1761337098.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:18.451Z,1761337098.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999221,-0.029515,0.026213],[0.031877,0.994985,-0.094812],[-0.023283,0.095574,0.995150]] 2025-10-24T20:18:18.499Z,1761337098.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:18.502Z,1761337098.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 109.117928 m, bearing: 348.782340 deg, approach rate: -0.619433 m/s, LOS rate: -0.021382 deg/s, cmd heading: 1.483718 deg, new cmd heading: 1.453793 deg. 2025-10-24T20:18:18.503Z,1761337098.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025373 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:18.517Z,1761337098.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:18.773Z,1761337098.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:18.800Z,1761337098.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999253,-0.028396,0.026215],[0.030736,0.995132,-0.093630],[-0.023429,0.094366,0.995262]] 2025-10-24T20:18:18.819Z,1761337098.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:18.822Z,1761337098.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 108.920006 m, bearing: 348.775622 deg, approach rate: -0.616657 m/s, LOS rate: -0.020968 deg/s, cmd heading: 1.453793 deg, new cmd heading: 1.433604 deg. 2025-10-24T20:18:18.823Z,1761337098.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025021 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:19.020Z,1761337099.020 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:19.212Z,1761337099.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999264,-0.028454,0.025736],[0.030737,0.995177,-0.093151],[-0.022961,0.093874,0.995319]] 2025-10-24T20:18:19.241Z,1761337099.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:19.243Z,1761337099.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 108.658836 m, bearing: 348.766723 deg, approach rate: -0.619434 m/s, LOS rate: -0.021156 deg/s, cmd heading: 1.433604 deg, new cmd heading: 1.406844 deg. 2025-10-24T20:18:19.245Z,1761337099.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024554 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:19.286Z,1761337099.286 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:19.537Z,1761337099.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:19.605Z,1761337099.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999273,-0.028470,0.025353],[0.030709,0.995210,-0.092817],[-0.022590,0.093528,0.995360]] 2025-10-24T20:18:19.644Z,1761337099.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:19.646Z,1761337099.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 108.399246 m, bearing: 348.765600 deg, approach rate: -0.644370 m/s, LOS rate: -0.002794 deg/s, cmd heading: 1.406844 deg, new cmd heading: 1.403467 deg. 2025-10-24T20:18:19.647Z,1761337099.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024495 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:19.789Z,1761337099.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:20.009Z,1761337100.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999282,-0.028424,0.025036],[0.030630,0.995229,-0.092633],[-0.022284,0.093333,0.995386]] 2025-10-24T20:18:20.029Z,1761337100.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:20.033Z,1761337100.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 108.152260 m, bearing: 348.764538 deg, approach rate: -0.642897 m/s, LOS rate: -0.002771 deg/s, cmd heading: 1.403467 deg, new cmd heading: 1.400273 deg. 2025-10-24T20:18:20.034Z,1761337100.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024439 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:20.041Z,1761337100.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:20.293Z,1761337100.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:20.460Z,1761337100.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999330,-0.027247,0.024451],[0.029413,0.995221,-0.093109],[-0.021797,0.093766,0.995356]] 2025-10-24T20:18:20.519Z,1761337100.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:20.521Z,1761337100.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:20.523Z,1761337100.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 107.829880 m, bearing: 348.769369 deg, approach rate: -0.653931 m/s, LOS rate: 0.009829 deg/s, cmd heading: 1.400273 deg, new cmd heading: 1.414809 deg. 2025-10-24T20:18:20.524Z,1761337100.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024693 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:20.545Z,1761337100.545 [DAT](INFO): DAT read: Response Not Received 2025-10-24T20:18:20.545Z,1761337100.545 [DAT](INFO): response not received 2025-10-24T20:18:20.546Z,1761337100.546 [DAT](INFO): DAT read: user:304>Tx time:20:18:19.9018 2025-10-24T20:18:20.546Z,1761337100.546 [DAT](ERROR): No response from remote modem. 2025-10-24T20:18:20.547Z,1761337100.547 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:20.547Z,1761337100.547 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:20.797Z,1761337100.797 [DAT](INFO): DAT read: 2025-10-24T20:18:20.797Z,1761337100.797 [DAT](INFO): DAT read: TxSync time:20:18:19.9010 2025-10-24T20:18:20.798Z,1761337100.798 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:20.815Z,1761337100.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999353,-0.026815,0.023979],[0.028941,0.995226,-0.093210],[-0.021365,0.093844,0.995358]] 2025-10-24T20:18:20.867Z,1761337100.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:20.875Z,1761337100.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 107.623512 m, bearing: 348.772528 deg, approach rate: -0.595895 m/s, LOS rate: 0.009137 deg/s, cmd heading: 1.414810 deg, new cmd heading: 1.424303 deg. 2025-10-24T20:18:20.882Z,1761337100.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024859 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:21.049Z,1761337101.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:21.222Z,1761337101.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999383,-0.027255,0.022170],[0.028964,0.996307,-0.080826],[-0.019886,0.081418,0.996482]] 2025-10-24T20:18:21.240Z,1761337101.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:21.243Z,1761337101.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 107.357697 m, bearing: 348.776715 deg, approach rate: -0.711938 m/s, LOS rate: 0.011243 deg/s, cmd heading: 1.424303 deg, new cmd heading: 1.436895 deg. 2025-10-24T20:18:21.244Z,1761337101.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025079 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:21.301Z,1761337101.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:21.553Z,1761337101.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:21.623Z,1761337101.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999333,-0.029059,0.022122],[0.030836,0.995923,-0.084776],[-0.019568,0.085402,0.996154]] 2025-10-24T20:18:21.671Z,1761337101.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:21.673Z,1761337101.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 107.069366 m, bearing: 348.783331 deg, approach rate: -0.670237 m/s, LOS rate: 0.015421 deg/s, cmd heading: 1.436895 deg, new cmd heading: 1.456798 deg. 2025-10-24T20:18:21.674Z,1761337101.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025426 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:21.804Z,1761337101.804 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:22.032Z,1761337102.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999258,-0.031494,0.022190],[0.033348,0.995486,-0.088861],[-0.019292,0.089535,0.995797]] 2025-10-24T20:18:22.051Z,1761337102.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:22.054Z,1761337102.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 106.814537 m, bearing: 348.788834 deg, approach rate: -0.669471 m/s, LOS rate: 0.014492 deg/s, cmd heading: 1.456798 deg, new cmd heading: 1.473347 deg. 2025-10-24T20:18:22.055Z,1761337102.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025715 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:22.057Z,1761337102.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:22.309Z,1761337102.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:22.440Z,1761337102.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999220,-0.032344,0.022649],[0.034284,0.995234,-0.091295],[-0.019588,0.092001,0.995566]] 2025-10-24T20:18:22.522Z,1761337102.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:22.529Z,1761337102.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:22.535Z,1761337102.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 106.504341 m, bearing: 348.795391 deg, approach rate: -0.649796 m/s, LOS rate: 0.013776 deg/s, cmd heading: 1.473347 deg, new cmd heading: 1.493076 deg. 2025-10-24T20:18:22.535Z,1761337102.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026059 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:22.562Z,1761337102.562 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:22.813Z,1761337102.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:22.844Z,1761337102.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999233,-0.031894,0.022733],[0.033864,0.995154,-0.092310],[-0.019679,0.093009,0.995471]] 2025-10-24T20:18:22.915Z,1761337102.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:22.922Z,1761337102.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 106.256775 m, bearing: 348.800315 deg, approach rate: -0.641912 m/s, LOS rate: 0.012796 deg/s, cmd heading: 1.493076 deg, new cmd heading: 1.507881 deg. 2025-10-24T20:18:22.923Z,1761337102.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026317 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:23.065Z,1761337103.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:23.240Z,1761337103.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999305,-0.029411,0.022911],[0.031400,0.995270,-0.091930],[-0.020098,0.092586,0.995502]] 2025-10-24T20:18:23.275Z,1761337103.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:23.278Z,1761337103.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 106.009300 m, bearing: 348.805594 deg, approach rate: -0.686461 m/s, LOS rate: 0.014676 deg/s, cmd heading: 1.507881 deg, new cmd heading: 1.523754 deg. 2025-10-24T20:18:23.279Z,1761337103.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026595 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:23.317Z,1761337103.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:23.569Z,1761337103.569 [DAT](INFO): DAT read: Rx Time:20:18:22.4482 2025-10-24T20:18:23.569Z,1761337103.569 [DAT](INFO): Rx dataTimestamp_ set to:1761337103.569050 2025-10-24T20:18:23.570Z,1761337103.570 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:23.643Z,1761337103.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999320,-0.028826,0.023001],[0.030837,0.995233,-0.092518],[-0.020225,0.093164,0.995445]] 2025-10-24T20:18:23.698Z,1761337103.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.08 m. 2025-10-24T20:18:23.719Z,1761337103.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.080803 m, nav range: 105.729126 m, bearing: 348.805357 deg, approach rate: -0.663357 m/s, LOS rate: -0.000561 deg/s, cmd heading: 1.523754 deg, new cmd heading: 1.523043 deg. 2025-10-24T20:18:23.728Z,1761337103.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026582 target range: 115.080803 and range: 115.70 m. 2025-10-24T20:18:23.821Z,1761337103.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:24.090Z,1761337104.090 [DAT](INFO): DAT read: 20:18:22.4482 LVL= 26032, 32753, 20514, 32755, AGC= 71, IDX= 284, 0.10, 2.927, 1.704,-2.900, 2.819, PHS= 0.196,-1.068, 0.560, RAW= 162.3, 4.3, CAL= 162.9, -4.9, ROT= 347.1, 4.9 2025-10-24T20:18:24.091Z,1761337104.091 [DAT](INFO): got valid direction response: 20:18:22.4482 LVL= 26032, 32753, 20514, 32755, AGC= 71, IDX= 284, 0.10, 2.927, 1.704,-2.900, 2.819, PHS= 0.196,-1.068, 0.560, RAW= 162.3, 4.3, CAL= 162.9, -4.9, ROT= 347.1, 4.9 2025-10-24T20:18:24.096Z,1761337104.096 [DAT](INFO): DAT read: Bearing 347.1, 4.9 (Local) 2025-10-24T20:18:24.097Z,1761337104.097 [DAT](INFO): Local bearing/azimuth received: Bearing 347.1, 4.9 (Local) 2025-10-24T20:18:24.099Z,1761337104.099 [DAT](INFO): DAT read: Range 10 to 50 : 106.5 m (Round-trip 142.1 ms) speed 0.5 m/s 2025-10-24T20:18:24.103Z,1761337104.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999364,-0.027371,0.022855],[0.029379,0.995259,-0.092716],[-0.020208,0.093328,0.995430]] 2025-10-24T20:18:24.108Z,1761337104.108 [DAT](INFO): DAT read: user:305>Tx time:20:18:23.5519 2025-10-24T20:18:24.109Z,1761337104.109 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:24.110Z,1761337104.110 [DAT](INFO): direction in FSK: [0.971199,-0.222434,-0.085417] 2025-10-24T20:18:24.110Z,1761337104.110 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:24.146Z,1761337104.146 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:24.146Z,1761337104.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:24.202Z,1761337104.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.500000 m, deltaT: 14.379402 s, deltaX: -9.199997 m, approachRate: -0.639804 m/s, rangeRepo size: 4 2025-10-24T20:18:24.208Z,1761337104.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 105.935112 m, bearing: 349.257270 deg, lat: 36.779641 deg, lon: -121.859618 deg, deltaT: 14.379402 s, deltaX: -9.145691 m, approachRate: -0.636027 m/s, posRepo size: 4 2025-10-24T20:18:24.209Z,1761337104.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:24.211Z,1761337104.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 105.265808 m, bearing: 348.788091 deg, approach rate: 0.000000 m/s, LOS rate: -0.000561 deg/s, cmd heading: 1.523043 deg, new cmd heading: 1.522194 deg. 2025-10-24T20:18:24.213Z,1761337104.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026567 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:24.325Z,1761337104.325 [DAT](INFO): DAT read: 2025-10-24T20:18:24.326Z,1761337104.326 [DAT](INFO): DAT read: TxSync time:20:18:23.5511 2025-10-24T20:18:24.326Z,1761337104.326 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:24.517Z,1761337104.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999407,-0.025849,0.022740],[0.027850,0.995313,-0.092609],[-0.020240,0.093187,0.995443]] 2025-10-24T20:18:24.577Z,1761337104.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:24.578Z,1761337104.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:24.580Z,1761337104.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:24.584Z,1761337104.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 104.996353 m, bearing: 348.784347 deg, approach rate: -0.710704 m/s, LOS rate: -0.009901 deg/s, cmd heading: 1.522194 deg, new cmd heading: 1.510933 deg. 2025-10-24T20:18:24.585Z,1761337104.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026371 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:24.830Z,1761337104.830 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:24.893Z,1761337104.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999487,-0.024276,0.020872],[0.026105,0.995382,-0.092375],[-0.018533,0.092873,0.995506]] 2025-10-24T20:18:24.916Z,1761337104.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:24.919Z,1761337104.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 104.780472 m, bearing: 348.781539 deg, approach rate: -0.643504 m/s, LOS rate: -0.008388 deg/s, cmd heading: 1.510933 deg, new cmd heading: 1.502491 deg. 2025-10-24T20:18:24.923Z,1761337104.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026223 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:25.081Z,1761337105.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:25.284Z,1761337105.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999487,-0.024681,0.020418],[0.026478,0.995314,-0.093002],[-0.018027,0.093494,0.995457]] 2025-10-24T20:18:25.326Z,1761337105.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:25.333Z,1761337105.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:25.334Z,1761337105.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 104.527870 m, bearing: 348.778184 deg, approach rate: -0.616652 m/s, LOS rate: -0.008209 deg/s, cmd heading: 1.502491 deg, new cmd heading: 1.492403 deg. 2025-10-24T20:18:25.335Z,1761337105.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026047 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:25.585Z,1761337105.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:25.689Z,1761337105.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999512,-0.024171,0.019804],[0.025925,0.995261,-0.093715],[-0.017445,0.094183,0.995402]] 2025-10-24T20:18:25.727Z,1761337105.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:25.730Z,1761337105.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 104.271904 m, bearing: 348.767296 deg, approach rate: -0.637850 m/s, LOS rate: -0.027199 deg/s, cmd heading: 1.492403 deg, new cmd heading: 1.459659 deg. 2025-10-24T20:18:25.731Z,1761337105.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025476 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:25.837Z,1761337105.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:26.089Z,1761337106.089 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:26.093Z,1761337106.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999503,-0.023824,0.020651],[0.025650,0.995317,-0.093204],[-0.018334,0.093687,0.995433]] 2025-10-24T20:18:26.113Z,1761337106.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:26.117Z,1761337106.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 104.035088 m, bearing: 348.757212 deg, approach rate: -0.613152 m/s, LOS rate: -0.026168 deg/s, cmd heading: 1.459659 deg, new cmd heading: 1.429339 deg. 2025-10-24T20:18:26.118Z,1761337106.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024947 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:26.340Z,1761337106.340 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:26.499Z,1761337106.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999474,-0.024385,0.021359],[0.026282,0.995263,-0.093597],[-0.018975,0.094109,0.995381]] 2025-10-24T20:18:26.583Z,1761337106.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:26.589Z,1761337106.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:26.596Z,1761337106.596 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:26.596Z,1761337106.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 103.752251 m, bearing: 348.745009 deg, approach rate: -0.594248 m/s, LOS rate: -0.025710 deg/s, cmd heading: 1.429339 deg, new cmd heading: 1.392628 deg. 2025-10-24T20:18:26.597Z,1761337106.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024306 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:26.845Z,1761337106.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:26.912Z,1761337106.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999471,-0.024238,0.021679],[0.026168,0.995257,-0.093693],[-0.019305,0.094211,0.995365]] 2025-10-24T20:18:26.967Z,1761337106.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:26.971Z,1761337106.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 103.514206 m, bearing: 348.732171 deg, approach rate: -0.629145 m/s, LOS rate: -0.034008 deg/s, cmd heading: 1.392628 deg, new cmd heading: 1.354027 deg. 2025-10-24T20:18:26.972Z,1761337106.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023632 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:27.098Z,1761337107.098 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:27.308Z,1761337107.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999444,-0.025172,0.021863],[0.027123,0.995195,-0.094077],[-0.019390,0.094618,0.995325]] 2025-10-24T20:18:27.339Z,1761337107.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:27.342Z,1761337107.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 103.289154 m, bearing: 348.719858 deg, approach rate: -0.605951 m/s, LOS rate: -0.033225 deg/s, cmd heading: 1.354027 deg, new cmd heading: 1.317007 deg. 2025-10-24T20:18:27.342Z,1761337107.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022986 target range: 105.935112 and range: 106.50 m. 2025-10-24T20:18:27.350Z,1761337107.350 [DAT](INFO): DAT read: Rx Time:20:18:26.0952 2025-10-24T20:18:27.351Z,1761337107.351 [DAT](INFO): Rx dataTimestamp_ set to:1761337107.350243 2025-10-24T20:18:27.351Z,1761337107.351 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:27.601Z,1761337107.601 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:27.735Z,1761337107.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999466,-0.024274,0.021872],[0.026217,0.995279,-0.093444],[-0.019501,0.093968,0.995384]] 2025-10-24T20:18:27.859Z,1761337107.859 [DAT](INFO): DAT read: 20:18:26.0952 LVL= 28976, 32753, 25394, 32755, AGC= 70, IDX= 413, 0.10,-1.043,-2.285,-0.614,-1.153, PHS= 0.198,-1.085, 0.536, RAW= 161.4, 4.8, CAL= 161.9, -4.5, ROT= 348.1, 4.5 2025-10-24T20:18:27.861Z,1761337107.861 [DAT](INFO): got valid direction response: 20:18:26.0952 LVL= 28976, 32753, 25394, 32755, AGC= 70, IDX= 413, 0.10,-1.043,-2.285,-0.614,-1.153, PHS= 0.198,-1.085, 0.536, RAW= 161.4, 4.8, CAL= 161.9, -4.5, ROT= 348.1, 4.5 2025-10-24T20:18:27.862Z,1761337107.862 [DAT](INFO): DAT read: Bearing 348.1, 4.5 (Local) 2025-10-24T20:18:27.862Z,1761337107.862 [DAT](INFO): Local bearing/azimuth received: Bearing 348.1, 4.5 (Local) 2025-10-24T20:18:27.864Z,1761337107.864 [DAT](INFO): DAT read: Range 10 to 50 : 104.3 m (Round-trip 139.1 ms) speed 0.5 m/s 2025-10-24T20:18:27.866Z,1761337107.866 [DAT](INFO): DAT read: Tx time:20:18:27.1519 2025-10-24T20:18:27.866Z,1761337107.866 [DAT](INFO): Ping request sent. 2025-10-24T20:18:27.866Z,1761337107.866 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:18:27.867Z,1761337107.867 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:27.868Z,1761337107.868 [DAT](INFO): direction in FSK: [0.975493,-0.205568,-0.078459] 2025-10-24T20:18:27.869Z,1761337107.869 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:27.869Z,1761337107.869 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:27.878Z,1761337107.878 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:27.878Z,1761337107.878 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:27.892Z,1761337107.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.300003 m, deltaT: 3.778342 s, deltaX: -2.199997 m, approachRate: -0.582265 m/s, rangeRepo size: 4 2025-10-24T20:18:27.893Z,1761337107.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:27.902Z,1761337107.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 102.991394 m, bearing: 348.701799 deg, approach rate: -0.543587 m/s, LOS rate: -0.033064 deg/s, cmd heading: 1.317007 deg, new cmd heading: 1.262673 deg. 2025-10-24T20:18:27.903Z,1761337107.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022038 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:28.105Z,1761337108.105 [DAT](INFO): DAT read: user:306>TxSync time:20:18:27.1511 2025-10-24T20:18:28.190Z,1761337108.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999451,-0.024861,0.021905],[0.026809,0.995244,-0.093651],[-0.019473,0.094187,0.995364]] 2025-10-24T20:18:28.251Z,1761337108.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:28.258Z,1761337108.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 102.768326 m, bearing: 348.688125 deg, approach rate: -0.612063 m/s, LOS rate: -0.037600 deg/s, cmd heading: 1.262673 deg, new cmd heading: 1.221562 deg. 2025-10-24T20:18:28.259Z,1761337108.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021320 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:28.634Z,1761337108.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999489,-0.024494,0.020523],[0.026298,0.995339,-0.092783],[-0.018155,0.093275,0.995475]] 2025-10-24T20:18:28.676Z,1761337108.676 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-24T20:18:28.676Z,1761337108.676 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-24T20:18:28.676Z,1761337108.676 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-24T20:18:28.696Z,1761337108.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:28.699Z,1761337108.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:28.719Z,1761337108.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 102.480103 m, bearing: 348.670456 deg, approach rate: -0.644777 m/s, LOS rate: -0.039638 deg/s, cmd heading: 1.221562 deg, new cmd heading: 1.168407 deg. 2025-10-24T20:18:28.728Z,1761337108.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020393 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:28.860Z,1761337108.860 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:28.861Z,1761337108.861 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:28.861Z,1761337108.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:28.972Z,1761337108.972 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-24T20:18:29.084Z,1761337109.084 [RDI_Pathfinder](INFO): Powering down 2025-10-24T20:18:29.107Z,1761337109.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:29.110Z,1761337109.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 102.237633 m, bearing: 348.655514 deg, approach rate: -0.593213 m/s, LOS rate: -0.036642 deg/s, cmd heading: 1.168407 deg, new cmd heading: 1.123476 deg. 2025-10-24T20:18:29.110Z,1761337109.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019608 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:29.113Z,1761337109.113 [DAT](INFO): DAT read: 2025-10-24T20:18:29.114Z,1761337109.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247264 2025-10-24T20:18:29.368Z,1761337109.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501336 2025-10-24T20:18:29.399Z,1761337109.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999407,-0.028380,0.019480],[0.030034,0.995432,-0.090628],[-0.016819,0.091159,0.995694]] 2025-10-24T20:18:29.480Z,1761337109.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:29.482Z,1761337109.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 102.030800 m, bearing: 348.642280 deg, approach rate: -0.579585 m/s, LOS rate: -0.037160 deg/s, cmd heading: 1.123476 deg, new cmd heading: 1.083693 deg. 2025-10-24T20:18:29.483Z,1761337109.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018914 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:29.622Z,1761337109.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755627 2025-10-24T20:18:29.803Z,1761337109.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999378,-0.028674,0.020524],[0.030429,0.995378,-0.091083],[-0.017817,0.091651,0.995632]] 2025-10-24T20:18:29.837Z,1761337109.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:29.840Z,1761337109.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 101.803314 m, bearing: 348.627609 deg, approach rate: -0.608840 m/s, LOS rate: -0.039354 deg/s, cmd heading: 1.083693 deg, new cmd heading: 1.039581 deg. 2025-10-24T20:18:29.841Z,1761337109.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018144 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:29.874Z,1761337109.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007356 2025-10-24T20:18:29.969Z,1761337109.969 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-24T20:18:29.969Z,1761337109.969 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-24T20:18:30.125Z,1761337110.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258491 2025-10-24T20:18:30.208Z,1761337110.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999355,-0.029227,0.020876],[0.031028,0.995286,-0.091888],[-0.018092,0.092476,0.995551]] 2025-10-24T20:18:30.211Z,1761337110.211 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-24T20:18:30.234Z,1761337110.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:30.257Z,1761337110.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 101.567230 m, bearing: 348.612229 deg, approach rate: -0.594821 m/s, LOS rate: -0.038840 deg/s, cmd heading: 1.039581 deg, new cmd heading: 0.993334 deg. 2025-10-24T20:18:30.258Z,1761337110.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017337 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:30.377Z,1761337110.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510766 2025-10-24T20:18:30.618Z,1761337110.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999407,-0.027358,0.020912],[0.029163,0.995375,-0.091528],[-0.018312,0.092083,0.995583]] 2025-10-24T20:18:30.631Z,1761337110.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764629 2025-10-24T20:18:30.662Z,1761337110.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:30.666Z,1761337110.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 101.312378 m, bearing: 348.595820 deg, approach rate: -0.595673 m/s, LOS rate: -0.038449 deg/s, cmd heading: 0.993334 deg, new cmd heading: 0.943983 deg. 2025-10-24T20:18:30.667Z,1761337110.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016476 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:30.881Z,1761337110.881 [DAT](INFO): DAT read: Rx Time:20:18:29.6923 2025-10-24T20:18:30.882Z,1761337110.882 [DAT](INFO): Rx dataTimestamp_ set to:1761337110.881621 2025-10-24T20:18:30.883Z,1761337110.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016587 2025-10-24T20:18:31.022Z,1761337111.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999469,-0.025299,0.020545],[0.027065,0.995505,-0.090764],[-0.018157,0.091272,0.995660]] 2025-10-24T20:18:31.039Z,1761337111.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:31.041Z,1761337111.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.94 m. 2025-10-24T20:18:31.043Z,1761337111.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 105.935112 m, nav range: 101.087608 m, bearing: 348.581554 deg, approach rate: -0.593197 m/s, LOS rate: -0.037736 deg/s, cmd heading: 0.943983 deg, new cmd heading: 0.901088 deg. 2025-10-24T20:18:31.045Z,1761337111.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015727 target range: 105.935112 and range: 104.30 m. 2025-10-24T20:18:31.134Z,1761337111.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267948 2025-10-24T20:18:31.391Z,1761337111.391 [DAT](INFO): DAT read: 20:18:29.6923 LVL= 23152, 31665, 20114, 32755, AGC= 67, IDX= 160,-0.01, 2.893, 1.625,-2.972, 2.775, PHS= 0.206,-1.103, 0.532, RAW= 160.9, 4.9, CAL= 161.4, -4.3, ROT= 348.6, 4.3 2025-10-24T20:18:31.392Z,1761337111.392 [DAT](INFO): got valid direction response: 20:18:29.6923 LVL= 23152, 31665, 20114, 32755, AGC= 67, IDX= 160,-0.01, 2.893, 1.625,-2.972, 2.775, PHS= 0.206,-1.103, 0.532, RAW= 160.9, 4.9, CAL= 161.4, -4.3, ROT= 348.6, 4.3 2025-10-24T20:18:31.393Z,1761337111.393 [DAT](INFO): DAT read: Bearing 348.6, 4.3 (Local) 2025-10-24T20:18:31.394Z,1761337111.394 [DAT](INFO): Local bearing/azimuth received: Bearing 348.6, 4.3 (Local) 2025-10-24T20:18:31.395Z,1761337111.395 [DAT](INFO): DAT read: Range 10 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.8 m/s 2025-10-24T20:18:31.397Z,1761337111.397 [DAT](INFO): DAT read: Tx time:20:18:30.7519 2025-10-24T20:18:31.397Z,1761337111.397 [DAT](INFO): Ping request sent. 2025-10-24T20:18:31.397Z,1761337111.397 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:18:31.397Z,1761337111.397 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:31.401Z,1761337111.401 [DAT](INFO): direction in FSK: [0.977512,-0.197101,-0.074979] 2025-10-24T20:18:31.402Z,1761337111.402 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:31.452Z,1761337111.452 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:31.455Z,1761337111.455 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:31.455Z,1761337111.455 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:31.470Z,1761337111.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999525,-0.023432,0.020014],[0.025146,0.995609,-0.090168],[-0.017813,0.090628,0.995725]] 2025-10-24T20:18:31.555Z,1761337111.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.199997 m, deltaT: 3.532036 s, deltaX: -2.100006 m, approachRate: -0.594560 m/s, rangeRepo size: 4 2025-10-24T20:18:31.561Z,1761337111.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.661400 m, bearing: 350.450504 deg, lat: 36.779643 deg, lon: -121.859608 deg, deltaT: 7.310378 s, deltaX: -4.273712 m, approachRate: -0.584609 m/s, posRepo size: 4 2025-10-24T20:18:31.561Z,1761337111.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:31.572Z,1761337111.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 100.911438 m, bearing: 349.084435 deg, approach rate: 0.000000 m/s, LOS rate: -0.037736 deg/s, cmd heading: 0.901088 deg, new cmd heading: 0.843125 deg. 2025-10-24T20:18:31.573Z,1761337111.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014715 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:31.638Z,1761337111.638 [DAT](INFO): DAT read: user:307>TxSync time:20:18:30.7511 2025-10-24T20:18:31.856Z,1761337111.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999593,-0.021399,0.018872],[0.023015,0.995672,-0.090038],[-0.016864,0.090436,0.995759]] 2025-10-24T20:18:31.886Z,1761337111.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:31.906Z,1761337111.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 100.706192 m, bearing: 349.072846 deg, approach rate: -0.628217 m/s, LOS rate: -0.035544 deg/s, cmd heading: 0.843125 deg, new cmd heading: 0.808287 deg. 2025-10-24T20:18:31.907Z,1761337111.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014107 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:32.259Z,1761337112.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999619,-0.021083,0.017830],[0.022540,0.996052,-0.085865],[-0.015949,0.086235,0.996147]] 2025-10-24T20:18:32.284Z,1761337112.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:32.287Z,1761337112.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 100.462601 m, bearing: 349.059116 deg, approach rate: -0.603001 m/s, LOS rate: -0.034071 deg/s, cmd heading: 0.808287 deg, new cmd heading: 0.766997 deg. 2025-10-24T20:18:32.288Z,1761337112.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013387 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:32.673Z,1761337112.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999634,-0.021047,0.016993],[0.022450,0.995944,-0.087133],[-0.015090,0.087483,0.996052]] 2025-10-24T20:18:32.691Z,1761337112.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:32.694Z,1761337112.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 100.219307 m, bearing: 349.045341 deg, approach rate: -0.596702 m/s, LOS rate: -0.033865 deg/s, cmd heading: 0.766997 deg, new cmd heading: 0.725573 deg. 2025-10-24T20:18:32.695Z,1761337112.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012664 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:33.070Z,1761337113.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999662,-0.019120,0.017603],[0.020595,0.995923,-0.087826],[-0.015852,0.088159,0.995980]] 2025-10-24T20:18:33.087Z,1761337113.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:33.090Z,1761337113.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:33.093Z,1761337113.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 99.983200 m, bearing: 349.032160 deg, approach rate: -0.592761 m/s, LOS rate: -0.033170 deg/s, cmd heading: 0.725573 deg, new cmd heading: 0.685937 deg. 2025-10-24T20:18:33.094Z,1761337113.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011972 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:33.150Z,1761337113.150 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:33.150Z,1761337113.150 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:33.150Z,1761337113.150 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:33.401Z,1761337113.401 [DAT](INFO): DAT read: 2025-10-24T20:18:33.401Z,1761337113.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004177 2025-10-24T20:18:33.484Z,1761337113.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999683,-0.017565,0.018061],[0.019110,0.995823,-0.089279],[-0.016418,0.089595,0.995843]] 2025-10-24T20:18:33.518Z,1761337113.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:33.524Z,1761337113.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 99.736679 m, bearing: 349.018537 deg, approach rate: -0.576155 m/s, LOS rate: -0.031917 deg/s, cmd heading: 0.685937 deg, new cmd heading: 0.644967 deg. 2025-10-24T20:18:33.525Z,1761337113.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011257 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:33.653Z,1761337113.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255842 2025-10-24T20:18:33.897Z,1761337113.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999711,-0.015793,0.018142],[0.017361,0.995810,-0.089787],[-0.016648,0.090076,0.995796]] 2025-10-24T20:18:33.908Z,1761337113.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511243 2025-10-24T20:18:33.937Z,1761337113.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:33.939Z,1761337113.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 99.485191 m, bearing: 349.004823 deg, approach rate: -0.599886 m/s, LOS rate: -0.032795 deg/s, cmd heading: 0.644967 deg, new cmd heading: 0.603721 deg. 2025-10-24T20:18:33.945Z,1761337113.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010537 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:34.164Z,1761337114.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766275 2025-10-24T20:18:34.326Z,1761337114.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999742,-0.014028,0.017879],[0.015576,0.995858,-0.089579],[-0.016548,0.089835,0.995819]] 2025-10-24T20:18:34.361Z,1761337114.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:34.363Z,1761337114.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 99.225311 m, bearing: 348.990850 deg, approach rate: -0.614324 m/s, LOS rate: -0.033118 deg/s, cmd heading: 0.603721 deg, new cmd heading: 0.561691 deg. 2025-10-24T20:18:34.365Z,1761337114.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009803 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:34.414Z,1761337114.414 [DAT](INFO): DAT read: Rx Time:20:18:33.2893 2025-10-24T20:18:34.415Z,1761337114.415 [DAT](INFO): Rx dataTimestamp_ set to:1761337114.414525 2025-10-24T20:18:34.417Z,1761337114.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019548 2025-10-24T20:18:34.665Z,1761337114.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267727 2025-10-24T20:18:34.731Z,1761337114.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999763,-0.012893,0.017526],[0.014416,0.995860,-0.089746],[-0.016296,0.089977,0.995811]] 2025-10-24T20:18:34.751Z,1761337114.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.66 m. 2025-10-24T20:18:34.754Z,1761337114.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.661400 m, nav range: 98.992935 m, bearing: 348.978449 deg, approach rate: -0.594169 m/s, LOS rate: -0.031783 deg/s, cmd heading: 0.561691 deg, new cmd heading: 0.524401 deg. 2025-10-24T20:18:34.755Z,1761337114.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009153 target range: 101.661400 and range: 102.20 m. 2025-10-24T20:18:34.930Z,1761337114.930 [DAT](INFO): DAT read: 20:18:33.2893 LVL= 24416, 28769, 24802, 30323, AGC= 70, IDX= 160,-0.15, 0.984,-0.280, 1.420, 0.854, PHS= 0.219,-1.087, 0.563, RAW= 161.4, 4.1, CAL= 162.1, -5.0, ROT= 347.9, 5.0 2025-10-24T20:18:34.931Z,1761337114.931 [DAT](INFO): got valid direction response: 20:18:33.2893 LVL= 24416, 28769, 24802, 30323, AGC= 70, IDX= 160,-0.15, 0.984,-0.280, 1.420, 0.854, PHS= 0.219,-1.087, 0.563, RAW= 161.4, 4.1, CAL= 162.1, -5.0, ROT= 347.9, 5.0 2025-10-24T20:18:34.946Z,1761337114.946 [DAT](INFO): DAT read: Bearing 347.9, 5.0 (Local) 2025-10-24T20:18:34.946Z,1761337114.946 [DAT](INFO): Local bearing/azimuth received: Bearing 347.9, 5.0 (Local) 2025-10-24T20:18:34.955Z,1761337114.955 [DAT](INFO): DAT read: Range 10 to 50 : 99.9 m (Round-trip 133.2 ms) speed 0.6 m/s 2025-10-24T20:18:34.961Z,1761337114.961 [DAT](INFO): DAT read: Tx time:20:18:34.3520 2025-10-24T20:18:34.962Z,1761337114.962 [DAT](INFO): Ping request sent. 2025-10-24T20:18:34.962Z,1761337114.962 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:18:34.963Z,1761337114.963 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:34.975Z,1761337114.975 [DAT](INFO): direction in FSK: [0.974062,-0.208821,-0.087156] 2025-10-24T20:18:34.975Z,1761337114.975 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:34.981Z,1761337114.981 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:35.024Z,1761337115.024 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:35.024Z,1761337115.024 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:35.128Z,1761337115.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999780,-0.012472,0.016866],[0.013953,0.995776,-0.090752],[-0.015663,0.090967,0.995731]] 2025-10-24T20:18:35.169Z,1761337115.169 [DAT](INFO): DAT read: user:308>TxSync time:20:18:34.3512 2025-10-24T20:18:35.189Z,1761337115.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.535461 s, deltaX: -2.299995 m, approachRate: -0.650550 m/s, rangeRepo size: 4 2025-10-24T20:18:35.191Z,1761337115.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.374489 m, bearing: 349.174495 deg, lat: 36.779643 deg, lon: -121.859604 deg, deltaT: 3.535461 s, deltaX: -2.286911 m, approachRate: -0.646849 m/s, posRepo size: 4 2025-10-24T20:18:35.191Z,1761337115.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:35.199Z,1761337115.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 98.643867 m, bearing: 349.174617 deg, approach rate: 0.000000 m/s, LOS rate: -0.031783 deg/s, cmd heading: 0.524401 deg, new cmd heading: 0.483148 deg. 2025-10-24T20:18:35.204Z,1761337115.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008433 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:35.533Z,1761337115.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999817,-0.011111,0.015560],[0.012484,0.995764,-0.091093],[-0.014482,0.091270,0.995721]] 2025-10-24T20:18:35.551Z,1761337115.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:35.554Z,1761337115.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:35.572Z,1761337115.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 98.408455 m, bearing: 349.162683 deg, approach rate: -0.636285 m/s, LOS rate: -0.032334 deg/s, cmd heading: 0.483148 deg, new cmd heading: 0.447259 deg. 2025-10-24T20:18:35.573Z,1761337115.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007806 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:35.673Z,1761337115.673 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:35.673Z,1761337115.673 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:35.673Z,1761337115.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:35.893Z,1761337115.893 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:18:35.925Z,1761337115.925 [DAT](INFO): DAT read: 2025-10-24T20:18:35.925Z,1761337115.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963353 2025-10-24T20:18:35.955Z,1761337115.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999826,-0.011948,0.014322],[0.013183,0.995898,-0.089523],[-0.013194,0.089696,0.995882]] 2025-10-24T20:18:35.987Z,1761337115.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:36.005Z,1761337116.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 98.151329 m, bearing: 349.149483 deg, approach rate: -0.593725 m/s, LOS rate: -0.030559 deg/s, cmd heading: 0.447259 deg, new cmd heading: 0.407557 deg. 2025-10-24T20:18:36.006Z,1761337116.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007113 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:36.177Z,1761337116.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214723 2025-10-24T20:18:36.340Z,1761337116.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999827,-0.013328,0.012984],[0.014457,0.995735,-0.091118],[-0.011714,0.091290,0.995755]] 2025-10-24T20:18:36.375Z,1761337116.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:36.378Z,1761337116.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 97.928009 m, bearing: 349.137787 deg, approach rate: -0.575174 m/s, LOS rate: -0.030194 deg/s, cmd heading: 0.407557 deg, new cmd heading: 0.372387 deg. 2025-10-24T20:18:36.379Z,1761337116.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006499 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:36.430Z,1761337116.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467341 2025-10-24T20:18:36.681Z,1761337116.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718860 2025-10-24T20:18:36.750Z,1761337116.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999816,-0.013944,0.013190],[0.015108,0.995582,-0.092676],[-0.011839,0.092858,0.995609]] 2025-10-24T20:18:36.768Z,1761337116.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:36.771Z,1761337116.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 97.684540 m, bearing: 349.124873 deg, approach rate: -0.619464 m/s, LOS rate: -0.032940 deg/s, cmd heading: 0.372387 deg, new cmd heading: 0.333548 deg. 2025-10-24T20:18:36.792Z,1761337116.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005822 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:36.897Z,1761337116.897 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:18:36.933Z,1761337116.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971103 2025-10-24T20:18:37.147Z,1761337117.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999808,-0.014494,0.013188],[0.015670,0.995455,-0.093936],[-0.011766,0.094124,0.995491]] 2025-10-24T20:18:37.185Z,1761337117.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223147 2025-10-24T20:18:37.187Z,1761337117.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:37.190Z,1761337117.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 97.447372 m, bearing: 349.112146 deg, approach rate: -0.566283 m/s, LOS rate: -0.030463 deg/s, cmd heading: 0.333548 deg, new cmd heading: 0.295273 deg. 2025-10-24T20:18:37.190Z,1761337117.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005153 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:37.437Z,1761337117.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474878 2025-10-24T20:18:37.557Z,1761337117.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999805,-0.014835,0.013027],[0.015999,0.995411,-0.094349],[-0.011567,0.094539,0.995454]] 2025-10-24T20:18:37.574Z,1761337117.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:37.579Z,1761337117.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:37.582Z,1761337117.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 97.202400 m, bearing: 349.098884 deg, approach rate: -0.624673 m/s, LOS rate: -0.033903 deg/s, cmd heading: 0.295273 deg, new cmd heading: 0.255387 deg. 2025-10-24T20:18:37.583Z,1761337117.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004457 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:37.690Z,1761337117.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728184 2025-10-24T20:18:37.941Z,1761337117.941 [DAT](INFO): DAT read: Rx Time:20:18:36.8863 2025-10-24T20:18:37.941Z,1761337117.941 [DAT](INFO): Rx dataTimestamp_ set to:1761337117.940955 2025-10-24T20:18:37.942Z,1761337117.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979837 2025-10-24T20:18:37.958Z,1761337117.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999799,-0.015491,0.012714],[0.016636,0.995286,-0.095544],[-0.011174,0.095736,0.995344]] 2025-10-24T20:18:37.978Z,1761337117.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:37.984Z,1761337117.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 96.963158 m, bearing: 349.085770 deg, approach rate: -0.600178 m/s, LOS rate: -0.032979 deg/s, cmd heading: 0.255387 deg, new cmd heading: 0.215949 deg. 2025-10-24T20:18:37.985Z,1761337117.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003769 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:38.193Z,1761337118.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230974 2025-10-24T20:18:38.375Z,1761337118.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999815,-0.014806,0.012273],[0.015908,0.995337,-0.095138],[-0.010807,0.095315,0.995388]] 2025-10-24T20:18:38.395Z,1761337118.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-24T20:18:38.397Z,1761337118.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.374489 m, nav range: 96.714546 m, bearing: 349.072184 deg, approach rate: -0.595960 m/s, LOS rate: -0.032652 deg/s, cmd heading: 0.215949 deg, new cmd heading: 0.175086 deg. 2025-10-24T20:18:38.399Z,1761337118.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003056 target range: 99.374489 and range: 99.90 m. 2025-10-24T20:18:38.445Z,1761337118.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482850 2025-10-24T20:18:38.707Z,1761337118.707 [DAT](INFO): DAT read: 20:18:36.8863 LVL= 25872, 31185, 19666, 31347, AGC= 70, IDX= 417,-0.22, 2.818, 1.539,-3.060, 2.684, PHS= 0.222,-1.098, 0.536, RAW= 160.5, 4.6, CAL= 161.1, -4.6, ROT= 348.9, 4.6 2025-10-24T20:18:38.708Z,1761337118.708 [DAT](INFO): got valid direction response: 20:18:36.8863 LVL= 25872, 31185, 19666, 31347, AGC= 70, IDX= 417,-0.22, 2.818, 1.539,-3.060, 2.684, PHS= 0.222,-1.098, 0.536, RAW= 160.5, 4.6, CAL= 161.1, -4.6, ROT= 348.9, 4.6 2025-10-24T20:18:38.709Z,1761337118.709 [DAT](INFO): DAT read: Bearing 348.9, 4.6 (Local) 2025-10-24T20:18:38.709Z,1761337118.709 [DAT](INFO): Local bearing/azimuth received: Bearing 348.9, 4.6 (Local) 2025-10-24T20:18:38.711Z,1761337118.711 [DAT](INFO): DAT read: Range 10 to 50 : 97.5 m (Round-trip 130.1 ms) speed 0.5 m/s 2025-10-24T20:18:38.714Z,1761337118.714 [DAT](INFO): DAT read: user:309>Tx time:20:18:37.9520 2025-10-24T20:18:38.715Z,1761337118.715 [DAT](INFO): DAT read: TxSync time:20:18:37.9512 2025-10-24T20:18:38.716Z,1761337118.716 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:38.717Z,1761337118.717 [DAT](INFO): direction in FSK: [0.978132,-0.191902,-0.080199] 2025-10-24T20:18:38.717Z,1761337118.717 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:38.721Z,1761337118.721 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:38.721Z,1761337118.721 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:38.721Z,1761337118.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:38.862Z,1761337118.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.500000 m, deltaT: 3.776856 s, deltaX: -2.400002 m, approachRate: -0.635450 m/s, rangeRepo size: 4 2025-10-24T20:18:38.869Z,1761337118.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.987656 m, bearing: 350.280924 deg, lat: 36.779646 deg, lon: -121.859591 deg, deltaT: 3.776856 s, deltaX: -2.386833 m, approachRate: -0.631963 m/s, posRepo size: 4 2025-10-24T20:18:38.870Z,1761337118.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:38.878Z,1761337118.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 96.564735 m, bearing: 349.768897 deg, approach rate: 0.000000 m/s, LOS rate: -0.032652 deg/s, cmd heading: 0.175086 deg, new cmd heading: 0.129367 deg. 2025-10-24T20:18:38.879Z,1761337118.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002258 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:38.950Z,1761337118.950 [DAT](INFO): DAT read: 2025-10-24T20:18:38.950Z,1761337118.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.988529 2025-10-24T20:18:39.171Z,1761337119.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999846,-0.013752,0.010888],[0.014729,0.995330,-0.095396],[-0.009525,0.095541,0.995380]] 2025-10-24T20:18:39.201Z,1761337119.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.239002 2025-10-24T20:18:39.207Z,1761337119.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:39.213Z,1761337119.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 96.350235 m, bearing: 349.758813 deg, approach rate: -0.621503 m/s, LOS rate: -0.029285 deg/s, cmd heading: 0.129367 deg, new cmd heading: 0.099046 deg. 2025-10-24T20:18:39.215Z,1761337119.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001729 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:39.457Z,1761337119.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.494545 2025-10-24T20:18:39.571Z,1761337119.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999864,-0.013470,0.009541],[0.014235,0.996262,-0.085205],[-0.008358,0.085329,0.996318]] 2025-10-24T20:18:39.589Z,1761337119.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:39.591Z,1761337119.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:39.593Z,1761337119.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 96.118126 m, bearing: 349.747965 deg, approach rate: -0.604142 m/s, LOS rate: -0.028302 deg/s, cmd heading: 0.099046 deg, new cmd heading: 0.066425 deg. 2025-10-24T20:18:39.594Z,1761337119.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001159 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:39.706Z,1761337119.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.743491 2025-10-24T20:18:39.957Z,1761337119.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.994726 2025-10-24T20:18:39.979Z,1761337119.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999841,-0.015253,0.009225],[0.016005,0.995997,-0.087941],[-0.007846,0.088075,0.996083]] 2025-10-24T20:18:39.997Z,1761337119.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:40.001Z,1761337120.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 95.874664 m, bearing: 349.736258 deg, approach rate: -0.598827 m/s, LOS rate: -0.028870 deg/s, cmd heading: 0.066425 deg, new cmd heading: 0.031213 deg. 2025-10-24T20:18:40.002Z,1761337120.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000545 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:40.209Z,1761337120.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.246766 2025-10-24T20:18:40.385Z,1761337120.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999815,-0.016843,0.009294],[0.017615,0.995749,-0.090411],[-0.007732,0.090558,0.995861]] 2025-10-24T20:18:40.462Z,1761337120.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.499673 2025-10-24T20:18:40.489Z,1761337120.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:40.491Z,1761337120.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 95.602516 m, bearing: 349.722822 deg, approach rate: -0.553802 m/s, LOS rate: -0.027419 deg/s, cmd heading: 0.031213 deg, new cmd heading: 359.990791 deg. 2025-10-24T20:18:40.496Z,1761337120.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.283025 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:40.716Z,1761337120.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.753714 2025-10-24T20:18:40.787Z,1761337120.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999785,-0.018292,0.009795],[0.019108,0.995660,-0.091079],[-0.008086,0.091247,0.995795]] 2025-10-24T20:18:40.836Z,1761337120.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:40.839Z,1761337120.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 95.375137 m, bearing: 349.711329 deg, approach rate: -0.654910 m/s, LOS rate: -0.033181 deg/s, cmd heading: 359.990803 deg, new cmd heading: 359.956242 deg. 2025-10-24T20:18:40.840Z,1761337120.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282422 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:40.966Z,1761337120.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.003481 2025-10-24T20:18:41.195Z,1761337121.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999794,-0.017779,0.009783],[0.018599,0.995647,-0.091335],[-0.008117,0.091498,0.995772]] 2025-10-24T20:18:41.214Z,1761337121.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:41.217Z,1761337121.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.255128 2025-10-24T20:18:41.220Z,1761337121.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 95.148682 m, bearing: 349.699897 deg, approach rate: -0.598725 m/s, LOS rate: -0.030299 deg/s, cmd heading: 359.956242 deg, new cmd heading: 359.921863 deg. 2025-10-24T20:18:41.221Z,1761337121.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281822 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:41.471Z,1761337121.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.508907 2025-10-24T20:18:41.596Z,1761337121.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999818,-0.016617,0.009392],[0.017409,0.995631,-0.091737],[-0.007827,0.091884,0.995739]] 2025-10-24T20:18:41.616Z,1761337121.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:41.619Z,1761337121.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:41.621Z,1761337121.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 94.908333 m, bearing: 349.687875 deg, approach rate: -0.594389 m/s, LOS rate: -0.029805 deg/s, cmd heading: 359.921873 deg, new cmd heading: 359.885716 deg. 2025-10-24T20:18:41.622Z,1761337121.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281191 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:41.722Z,1761337121.722 [DAT](INFO): DAT read: Rx Time:20:18:40.4834 2025-10-24T20:18:41.722Z,1761337121.722 [DAT](INFO): Rx dataTimestamp_ set to:1761337121.722041 2025-10-24T20:18:41.723Z,1761337121.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.760914 2025-10-24T20:18:41.973Z,1761337121.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.011055 2025-10-24T20:18:41.999Z,1761337121.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999849,-0.014875,0.009035],[0.015641,0.995672,-0.091610],[-0.007633,0.091738,0.995754]] 2025-10-24T20:18:42.039Z,1761337122.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.99 m. 2025-10-24T20:18:42.046Z,1761337122.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.987656 m, nav range: 94.661446 m, bearing: 349.675729 deg, approach rate: -0.587188 m/s, LOS rate: -0.028964 deg/s, cmd heading: 359.885727 deg, new cmd heading: 359.849193 deg. 2025-10-24T20:18:42.047Z,1761337122.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280553 target range: 96.987656 and range: 97.50 m. 2025-10-24T20:18:42.234Z,1761337122.234 [DAT](INFO): DAT read: 20:18:40.4834 LVL= 22816, 32753, 17682, 31571, AGC= 68, IDX= 420, 0.10, 2.884, 1.623,-3.031, 2.729, PHS= 0.243,-1.059, 0.520, RAW= 159.4, 4.1, CAL= 160.3, -5.0, ROT= 349.7, 5.0 2025-10-24T20:18:42.235Z,1761337122.235 [DAT](INFO): got valid direction response: 20:18:40.4834 LVL= 22816, 32753, 17682, 31571, AGC= 68, IDX= 420, 0.10, 2.884, 1.623,-3.031, 2.729, PHS= 0.243,-1.059, 0.520, RAW= 159.4, 4.1, CAL= 160.3, -5.0, ROT= 349.7, 5.0 2025-10-24T20:18:42.236Z,1761337122.236 [DAT](INFO): DAT read: Bearing 349.7, 5.0 (Local) 2025-10-24T20:18:42.237Z,1761337122.237 [DAT](INFO): Local bearing/azimuth received: Bearing 349.7, 5.0 (Local) 2025-10-24T20:18:42.238Z,1761337122.238 [DAT](INFO): DAT read: Range 10 to 50 : 95.4 m (Round-trip 127.3 ms) speed 0.8 m/s 2025-10-24T20:18:42.239Z,1761337122.239 [DAT](INFO): DAT read: user:310>Tx time:20:18:41.5520 2025-10-24T20:18:42.240Z,1761337122.240 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:42.241Z,1761337122.241 [DAT](INFO): direction in FSK: [0.980141,-0.178122,-0.087156] 2025-10-24T20:18:42.241Z,1761337122.241 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:42.246Z,1761337122.246 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:42.246Z,1761337122.246 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:42.246Z,1761337122.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:42.479Z,1761337122.479 [DAT](INFO): DAT read: 2025-10-24T20:18:42.483Z,1761337122.483 [DAT](INFO): DAT read: TxSync time:20:18:41.5512 2025-10-24T20:18:42.486Z,1761337122.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.523794 2025-10-24T20:18:42.509Z,1761337122.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.400002 m, deltaT: 3.529895 s, deltaX: -2.099998 m, approachRate: -0.594918 m/s, rangeRepo size: 4 2025-10-24T20:18:42.511Z,1761337122.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.899597 m, bearing: 351.083955 deg, lat: 36.779647 deg, lon: -121.859581 deg, deltaT: 3.529895 s, deltaX: -2.088058 m, approachRate: -0.591536 m/s, posRepo size: 4 2025-10-24T20:18:42.511Z,1761337122.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:42.518Z,1761337122.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 94.406799 m, bearing: 350.165553 deg, approach rate: 0.000000 m/s, LOS rate: -0.028964 deg/s, cmd heading: 359.849199 deg, new cmd heading: 359.808817 deg. 2025-10-24T20:18:42.519Z,1761337122.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279849 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:42.729Z,1761337122.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.766913 2025-10-24T20:18:42.905Z,1761337122.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:42.908Z,1761337122.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 94.145805 m, bearing: 350.153975 deg, approach rate: -0.649813 m/s, LOS rate: -0.028907 deg/s, cmd heading: 359.808819 deg, new cmd heading: 359.773988 deg. 2025-10-24T20:18:42.909Z,1761337122.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279241 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:42.981Z,1761337122.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.018932 2025-10-24T20:18:43.213Z,1761337123.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999958,-0.007277,0.005598],[0.007656,0.997451,-0.070938],[-0.005068,0.070978,0.997465]] 2025-10-24T20:18:43.234Z,1761337123.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.271751 2025-10-24T20:18:43.235Z,1761337123.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:43.238Z,1761337123.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 93.939148 m, bearing: 350.145857 deg, approach rate: -0.627021 m/s, LOS rate: -0.024685 deg/s, cmd heading: 359.773985 deg, new cmd heading: 359.749578 deg. 2025-10-24T20:18:43.239Z,1761337123.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278815 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:43.488Z,1761337123.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.525032 2025-10-24T20:18:43.635Z,1761337123.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999964,-0.006811,0.004987],[0.007161,0.997249,-0.073773],[-0.004471,0.073806,0.997263]] 2025-10-24T20:18:43.691Z,1761337123.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:43.693Z,1761337123.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:43.695Z,1761337123.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 93.651588 m, bearing: 350.176474 deg, approach rate: -0.628106 m/s, LOS rate: 0.067081 deg/s, cmd heading: 359.749588 deg, new cmd heading: 359.841720 deg. 2025-10-24T20:18:43.712Z,1761337123.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280423 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:43.738Z,1761337123.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.775943 2025-10-24T20:18:43.990Z,1761337123.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.028160 2025-10-24T20:18:44.036Z,1761337124.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999963,-0.006961,0.004981],[0.007327,0.996960,-0.077571],[-0.004426,0.077605,0.996974]] 2025-10-24T20:18:44.056Z,1761337124.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:44.058Z,1761337124.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 93.425201 m, bearing: 350.200643 deg, approach rate: -0.623726 m/s, LOS rate: 0.066752 deg/s, cmd heading: 359.841714 deg, new cmd heading: 359.914398 deg. 2025-10-24T20:18:44.059Z,1761337124.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281691 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:44.241Z,1761337124.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.279100 2025-10-24T20:18:44.434Z,1761337124.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999948,-0.008880,0.005099],[0.009270,0.996550,-0.082473],[-0.004349,0.082516,0.996580]] 2025-10-24T20:18:44.496Z,1761337124.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.533188 2025-10-24T20:18:44.525Z,1761337124.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:44.527Z,1761337124.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 93.167313 m, bearing: 350.227934 deg, approach rate: -0.549859 m/s, LOS rate: 0.058349 deg/s, cmd heading: 359.914387 deg, new cmd heading: 359.996486 deg. 2025-10-24T20:18:44.530Z,1761337124.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.283124 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:44.746Z,1761337124.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.783770 2025-10-24T20:18:44.837Z,1761337124.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,-0.007486,0.004477],[0.007850,0.996106,-0.087811],[-0.003802,0.087842,0.996127]] 2025-10-24T20:18:44.929Z,1761337124.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:44.936Z,1761337124.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 92.884651 m, bearing: 350.260513 deg, approach rate: -0.708329 m/s, LOS rate: 0.081888 deg/s, cmd heading: 359.996486 deg, new cmd heading: 0.094518 deg. 2025-10-24T20:18:44.937Z,1761337124.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001650 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:44.997Z,1761337124.997 [DAT](INFO): Reached modem response timeout 2025-10-24T20:18:44.997Z,1761337124.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:44.998Z,1761337124.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:45.234Z,1761337125.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999983,-0.004524,0.003754],[0.004839,0.996051,-0.088655],[-0.003338,0.088671,0.996055]] 2025-10-24T20:18:45.261Z,1761337125.261 [DAT](INFO): DAT read: Rx Time:20:18:44.0805 2025-10-24T20:18:45.261Z,1761337125.261 [DAT](INFO): Rx dataTimestamp_ set to:1761337125.261192 2025-10-24T20:18:45.262Z,1761337125.262 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:45.270Z,1761337125.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:45.273Z,1761337125.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 92.671661 m, bearing: 350.285596 deg, approach rate: -0.614749 m/s, LOS rate: 0.072565 deg/s, cmd heading: 0.094518 deg, new cmd heading: 0.169942 deg. 2025-10-24T20:18:45.274Z,1761337125.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002966 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:45.515Z,1761337125.515 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:18:45.642Z,1761337125.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999993,-0.001869,0.003272],[0.002160,0.995847,-0.091018],[-0.003089,0.091025,0.995844]] 2025-10-24T20:18:45.750Z,1761337125.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:45.756Z,1761337125.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.90 m. 2025-10-24T20:18:45.758Z,1761337125.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.899597 m, nav range: 92.367119 m, bearing: 350.319571 deg, approach rate: -0.632728 m/s, LOS rate: 0.070820 deg/s, cmd heading: 0.169942 deg, new cmd heading: 0.272202 deg. 2025-10-24T20:18:45.759Z,1761337125.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004751 target range: 94.899597 and range: 95.40 m. 2025-10-24T20:18:45.777Z,1761337125.777 [DAT](INFO): DAT read: 20:18:44.0805 LVL= 21872, 31201, 18098, 32755, AGC= 68, IDX= 406,-0.06,-3.137, 1.847,-2.812, 2.977, PHS= 0.256,-1.083, 0.491, RAW= 157.9, 4.6, CAL= 158.9, -4.5, ROT= 351.1, 4.5 2025-10-24T20:18:45.778Z,1761337125.778 [DAT](INFO): got valid direction response: 20:18:44.0805 LVL= 21872, 31201, 18098, 32755, AGC= 68, IDX= 406,-0.06,-3.137, 1.847,-2.812, 2.977, PHS= 0.256,-1.083, 0.491, RAW= 157.9, 4.6, CAL= 158.9, -4.5, ROT= 351.1, 4.5 2025-10-24T20:18:45.779Z,1761337125.779 [DAT](INFO): DAT read: Bearing 351.1, 4.5 (Local) 2025-10-24T20:18:45.798Z,1761337125.798 [DAT](INFO): Local bearing/azimuth received: Bearing 351.1, 4.5 (Local) 2025-10-24T20:18:45.799Z,1761337125.799 [DAT](INFO): DAT read: Range 10 to 50 : 93.3 m (Round-trip 124.4 ms) speed 0.8 m/s 2025-10-24T20:18:45.824Z,1761337125.824 [DAT](INFO): DAT read: user:311> 2025-10-24T20:18:45.825Z,1761337125.825 [DAT](INFO): DAT read: Tx time:20:18:45.1520 2025-10-24T20:18:45.825Z,1761337125.825 [DAT](INFO): Ping request sent. 2025-10-24T20:18:45.825Z,1761337125.825 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:18:45.826Z,1761337125.826 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:45.827Z,1761337125.827 [DAT](INFO): direction in FSK: [0.984914,-0.154233,-0.078459] 2025-10-24T20:18:45.827Z,1761337125.827 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:45.827Z,1761337125.827 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:45.835Z,1761337125.835 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:45.840Z,1761337125.840 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:46.017Z,1761337126.017 [DAT](INFO): DAT read: TxSync time:20:18:45.1513 2025-10-24T20:18:46.062Z,1761337126.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999995,0.001676,0.002718],[-0.001421,0.995805,-0.091487],[-0.002860,0.091483,0.995802]] 2025-10-24T20:18:46.116Z,1761337126.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 93.300003 m, deltaT: 3.538047 s, deltaX: -2.099998 m, approachRate: -0.593547 m/s, rangeRepo size: 4 2025-10-24T20:18:46.118Z,1761337126.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 92.811264 m, bearing: 351.461140 deg, lat: 36.779648 deg, lon: -121.859581 deg, deltaT: 3.538047 s, deltaX: -2.088333 m, approachRate: -0.590250 m/s, posRepo size: 4 2025-10-24T20:18:46.119Z,1761337126.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.81 m. 2025-10-24T20:18:46.122Z,1761337126.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.811264 m, nav range: 92.257652 m, bearing: 350.393792 deg, approach rate: 0.000000 m/s, LOS rate: 0.070820 deg/s, cmd heading: 0.272202 deg, new cmd heading: 0.347698 deg. 2025-10-24T20:18:46.123Z,1761337126.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006068 target range: 92.811264 and range: 93.30 m. 2025-10-24T20:18:46.459Z,1761337126.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999983,0.005753,0.000514],[-0.005678,0.995441,-0.095214],[-0.001060,0.095210,0.995457]] 2025-10-24T20:18:46.577Z,1761337126.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.81 m. 2025-10-24T20:18:46.588Z,1761337126.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.811264 m, nav range: 91.968018 m, bearing: 350.428002 deg, approach rate: -0.615584 m/s, LOS rate: 0.072940 deg/s, cmd heading: 0.347698 deg, new cmd heading: 0.450653 deg. 2025-10-24T20:18:46.589Z,1761337126.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007865 target range: 92.811264 and range: 93.30 m. 2025-10-24T20:18:47.067Z,1761337127.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.81 m. 2025-10-24T20:18:47.070Z,1761337127.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.811264 m, nav range: 91.659004 m, bearing: 350.459037 deg, approach rate: -0.631362 m/s, LOS rate: 0.063622 deg/s, cmd heading: 0.450653 deg, new cmd heading: 0.544070 deg. 2025-10-24T20:18:47.071Z,1761337127.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009496 target range: 92.811264 and range: 93.30 m. 2025-10-24T20:18:47.415Z,1761337127.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999940,0.010928,-0.001249],[-0.010997,0.995459,-0.094559],[0.000210,0.094567,0.995518]] 2025-10-24T20:18:47.435Z,1761337127.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.81 m. 2025-10-24T20:18:47.437Z,1761337127.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.811264 m, nav range: 91.429634 m, bearing: 350.482998 deg, approach rate: -0.623502 m/s, LOS rate: 0.065296 deg/s, cmd heading: 0.544070 deg, new cmd heading: 0.616132 deg. 2025-10-24T20:18:47.438Z,1761337127.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010754 target range: 92.811264 and range: 93.30 m. 2025-10-24T20:18:47.934Z,1761337127.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:47.941Z,1761337127.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.81 m. 2025-10-24T20:18:47.949Z,1761337127.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.811264 m, nav range: 91.136871 m, bearing: 350.506692 deg, approach rate: -0.577803 m/s, LOS rate: 0.046913 deg/s, cmd heading: 0.616132 deg, new cmd heading: 0.687443 deg. 2025-10-24T20:18:47.950Z,1761337127.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011998 target range: 92.811264 and range: 93.30 m. 2025-10-24T20:18:48.033Z,1761337128.033 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:48.033Z,1761337128.033 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:48.033Z,1761337128.033 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:48.226Z,1761337128.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999934,0.011498,-0.000590],[-0.011501,0.995171,-0.097479],[-0.000534,0.097479,0.995237]] 2025-10-24T20:18:48.255Z,1761337128.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.81 m. 2025-10-24T20:18:48.258Z,1761337128.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.811264 m, nav range: 90.930252 m, bearing: 350.523559 deg, approach rate: -0.658071 m/s, LOS rate: 0.053843 deg/s, cmd heading: 0.687443 deg, new cmd heading: 0.738159 deg. 2025-10-24T20:18:48.259Z,1761337128.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012883 target range: 92.811264 and range: 93.30 m. 2025-10-24T20:18:48.289Z,1761337128.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463989 2025-10-24T20:18:48.545Z,1761337128.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718653 2025-10-24T20:18:48.641Z,1761337128.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999946,0.010405,-0.000647],[-0.010418,0.994994,-0.099390],[-0.000390,0.099392,0.995048]] 2025-10-24T20:18:48.697Z,1761337128.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.81 m. 2025-10-24T20:18:48.701Z,1761337128.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.811264 m, nav range: 90.662682 m, bearing: 350.536811 deg, approach rate: -0.605662 m/s, LOS rate: 0.030085 deg/s, cmd heading: 0.738159 deg, new cmd heading: 0.778032 deg. 2025-10-24T20:18:48.702Z,1761337128.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013579 target range: 92.811264 and range: 93.30 m. 2025-10-24T20:18:48.793Z,1761337128.793 [DAT](INFO): DAT read: Rx Time:20:18:47.6776 2025-10-24T20:18:48.793Z,1761337128.793 [DAT](INFO): Rx dataTimestamp_ set to:1761337128.793160 2025-10-24T20:18:48.794Z,1761337128.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968598 2025-10-24T20:18:49.045Z,1761337129.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219209 2025-10-24T20:18:49.074Z,1761337129.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.81 m. 2025-10-24T20:18:49.076Z,1761337129.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 92.811264 m, nav range: 90.434296 m, bearing: 350.548184 deg, approach rate: -0.606672 m/s, LOS rate: 0.030289 deg/s, cmd heading: 0.778032 deg, new cmd heading: 0.812239 deg. 2025-10-24T20:18:49.077Z,1761337129.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014176 target range: 92.811264 and range: 93.30 m. 2025-10-24T20:18:49.319Z,1761337129.319 [DAT](INFO): DAT read: 20:18:47.6776 LVL= 20080, 28593, 17330, 32755, AGC= 67, IDX= 406, 0.46, 0.500,-0.816, 0.772, 0.247, PHS= 0.340,-1.016, 0.521, RAW= 156.2, 2.2, CAL= 158.1, -6.7, ROT= 351.9, 6.7 2025-10-24T20:18:49.321Z,1761337129.321 [DAT](INFO): got valid direction response: 20:18:47.6776 LVL= 20080, 28593, 17330, 32755, AGC= 67, IDX= 406, 0.46, 0.500,-0.816, 0.772, 0.247, PHS= 0.340,-1.016, 0.521, RAW= 156.2, 2.2, CAL= 158.1, -6.7, ROT= 351.9, 6.7 2025-10-24T20:18:49.322Z,1761337129.322 [DAT](INFO): DAT read: Bearing 351.9, 6.7 (Local) 2025-10-24T20:18:49.322Z,1761337129.322 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 6.7 (Local) 2025-10-24T20:18:49.324Z,1761337129.324 [DAT](INFO): DAT read: Range 10 to 50 : 90.9 m (Round-trip 121.3 ms) speed 0.6 m/s 2025-10-24T20:18:49.325Z,1761337129.325 [DAT](INFO): DAT read: user:312> 2025-10-24T20:18:49.326Z,1761337129.326 [DAT](INFO): DAT read: Tx time:20:18:48.7521 2025-10-24T20:18:49.327Z,1761337129.327 [DAT](INFO): Ping request sent. 2025-10-24T20:18:49.327Z,1761337129.327 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:18:49.327Z,1761337129.327 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:49.329Z,1761337129.329 [DAT](INFO): direction in FSK: [0.983262,-0.139939,-0.116671] 2025-10-24T20:18:49.329Z,1761337129.329 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:49.330Z,1761337129.330 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:49.370Z,1761337129.370 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:49.370Z,1761337129.370 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:49.441Z,1761337129.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999970,0.007717,-0.000551],[-0.007733,0.994695,-0.102580],[-0.000243,0.102581,0.994725]] 2025-10-24T20:18:49.510Z,1761337129.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 90.900002 m, deltaT: 3.535714 s, deltaX: -2.400002 m, approachRate: -0.678788 m/s, rangeRepo size: 4 2025-10-24T20:18:49.511Z,1761337129.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 90.424248 m, bearing: 352.183712 deg, lat: 36.779647 deg, lon: -121.859564 deg, deltaT: 3.535714 s, deltaX: -2.387016 m, approachRate: -0.675116 m/s, posRepo size: 4 2025-10-24T20:18:49.517Z,1761337129.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:49.519Z,1761337129.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 89.813606 m, bearing: 351.453522 deg, approach rate: 0.000000 m/s, LOS rate: 0.030289 deg/s, cmd heading: 0.812239 deg, new cmd heading: 0.851793 deg. 2025-10-24T20:18:49.526Z,1761337129.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014867 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:49.553Z,1761337129.553 [DAT](INFO): DAT read: TxSync time:20:18:48.7513 2025-10-24T20:18:49.000Z,1761337130.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:50.002Z,1761337130.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:50.008Z,1761337130.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 89.490097 m, bearing: 351.471642 deg, approach rate: -0.656129 m/s, LOS rate: 0.036883 deg/s, cmd heading: 0.851793 deg, new cmd heading: 0.906349 deg. 2025-10-24T20:18:50.009Z,1761337130.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015819 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:50.053Z,1761337130.053 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:50.053Z,1761337130.053 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:50.053Z,1761337130.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:50.281Z,1761337130.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999985,0.005032,-0.002350],[-0.005250,0.994536,-0.104266],[0.001813,0.104277,0.994547]] 2025-10-24T20:18:50.302Z,1761337130.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:50.305Z,1761337130.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978431 2025-10-24T20:18:50.307Z,1761337130.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 89.306946 m, bearing: 351.481649 deg, approach rate: -0.609846 m/s, LOS rate: 0.033389 deg/s, cmd heading: 0.906349 deg, new cmd heading: 0.936432 deg. 2025-10-24T20:18:50.328Z,1761337130.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016344 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:50.560Z,1761337130.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232399 2025-10-24T20:18:50.685Z,1761337130.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999995,0.001691,-0.002723],[-0.001971,0.994310,-0.106510],[0.002528,0.106515,0.994308]] 2025-10-24T20:18:50.780Z,1761337130.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:50.788Z,1761337130.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 89.036926 m, bearing: 351.496404 deg, approach rate: -0.569999 m/s, LOS rate: 0.031243 deg/s, cmd heading: 0.936432 deg, new cmd heading: 0.980832 deg. 2025-10-24T20:18:50.789Z,1761337130.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017119 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:50.809Z,1761337130.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482203 2025-10-24T20:18:51.061Z,1761337131.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734129 2025-10-24T20:18:51.095Z,1761337131.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999996,0.000315,-0.002863],[-0.000623,0.994137,-0.108125],[0.002812,0.108127,0.994133]] 2025-10-24T20:18:51.149Z,1761337131.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:51.152Z,1761337131.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 88.802902 m, bearing: 351.509044 deg, approach rate: -0.627296 m/s, LOS rate: 0.033970 deg/s, cmd heading: 0.980832 deg, new cmd heading: 1.018852 deg. 2025-10-24T20:18:51.153Z,1761337131.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017782 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:51.313Z,1761337131.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986161 2025-10-24T20:18:51.491Z,1761337131.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999996,-0.002089,-0.001751],[0.001885,0.993990,-0.109458],[0.001969,0.109454,0.993990]] 2025-10-24T20:18:51.556Z,1761337131.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:51.559Z,1761337131.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 88.573036 m, bearing: 351.521138 deg, approach rate: -0.571797 m/s, LOS rate: 0.030162 deg/s, cmd heading: 1.018852 deg, new cmd heading: 1.055228 deg. 2025-10-24T20:18:51.565Z,1761337131.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238777 2025-10-24T20:18:51.566Z,1761337131.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018417 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:51.817Z,1761337131.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490080 2025-10-24T20:18:51.937Z,1761337131.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999984,-0.005634,-0.000538],[0.005540,0.993828,-0.110793],[0.001159,0.110788,0.993843]] 2025-10-24T20:18:52.001Z,1761337132.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:52.003Z,1761337132.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:52.006Z,1761337132.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 88.272568 m, bearing: 351.539625 deg, approach rate: -0.664486 m/s, LOS rate: 0.041022 deg/s, cmd heading: 1.055228 deg, new cmd heading: 1.110876 deg. 2025-10-24T20:18:52.007Z,1761337132.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019388 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:52.069Z,1761337132.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742530 2025-10-24T20:18:52.326Z,1761337132.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999099 2025-10-24T20:18:52.350Z,1761337132.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:52.354Z,1761337132.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 88.050743 m, bearing: 351.553354 deg, approach rate: -0.638927 m/s, LOS rate: 0.039645 deg/s, cmd heading: 1.110876 deg, new cmd heading: 1.152168 deg. 2025-10-24T20:18:52.354Z,1761337132.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020109 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:52.577Z,1761337132.577 [DAT](INFO): DAT read: Rx Time:20:18:51.2748 2025-10-24T20:18:52.578Z,1761337132.578 [DAT](INFO): Rx dataTimestamp_ set to:1761337132.577136 2025-10-24T20:18:52.580Z,1761337132.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252755 2025-10-24T20:18:52.729Z,1761337132.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999981,-0.006132,-0.000242],[0.006067,0.993820,-0.110841],[0.000920,0.110838,0.993838]] 2025-10-24T20:18:52.778Z,1761337132.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 90.42 m. 2025-10-24T20:18:52.782Z,1761337132.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 90.424248 m, nav range: 87.788513 m, bearing: 351.574524 deg, approach rate: -0.612831 m/s, LOS rate: 0.049622 deg/s, cmd heading: 1.152168 deg, new cmd heading: 1.215868 deg. 2025-10-24T20:18:52.783Z,1761337132.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021221 target range: 90.424248 and range: 90.90 m. 2025-10-24T20:18:52.825Z,1761337132.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498816 2025-10-24T20:18:53.085Z,1761337133.085 [DAT](INFO): DAT read: 20:18:51.2748 LVL= 20528, 29265, 16578, 31651, AGC= 66, IDX= 409, 0.34,-2.415, 2.574,-2.110,-2.623, PHS= 0.296,-1.039, 0.509, RAW= 157.3, 3.3, CAL= 158.7, -5.7, ROT= 351.3, 5.7 2025-10-24T20:18:53.086Z,1761337133.086 [DAT](INFO): got valid direction response: 20:18:51.2748 LVL= 20528, 29265, 16578, 31651, AGC= 66, IDX= 409, 0.34,-2.415, 2.574,-2.110,-2.623, PHS= 0.296,-1.039, 0.509, RAW= 157.3, 3.3, CAL= 158.7, -5.7, ROT= 351.3, 5.7 2025-10-24T20:18:53.087Z,1761337133.087 [DAT](INFO): DAT read: Bearing 351.3, 5.7 (Local) 2025-10-24T20:18:53.088Z,1761337133.088 [DAT](INFO): Local bearing/azimuth received: Bearing 351.3, 5.7 (Local) 2025-10-24T20:18:53.089Z,1761337133.089 [DAT](INFO): DAT read: Range 10 to 50 : 88.8 m (Round-trip 118.5 ms) speed 0.5 m/s 2025-10-24T20:18:53.090Z,1761337133.090 [DAT](INFO): DAT read: user:313> 2025-10-24T20:18:53.091Z,1761337133.091 [DAT](INFO): DAT read: Tx time:20:18:52.3521 2025-10-24T20:18:53.091Z,1761337133.091 [DAT](INFO): Ping request sent. 2025-10-24T20:18:53.091Z,1761337133.091 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:18:53.092Z,1761337133.092 [DAT](INFO): DAT read: TxSync time:20:18:52.3513 2025-10-24T20:18:53.093Z,1761337133.093 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:53.094Z,1761337133.094 [DAT](INFO): direction in FSK: [0.983606,-0.150513,-0.099320] 2025-10-24T20:18:53.094Z,1761337133.094 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:53.094Z,1761337133.094 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:53.106Z,1761337133.106 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:53.106Z,1761337133.106 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:53.166Z,1761337133.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999963,-0.008553,-0.000285],[0.008469,0.993841,-0.110492],[0.001228,0.110486,0.993877]] 2025-10-24T20:18:53.234Z,1761337133.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 88.800003 m, deltaT: 3.777754 s, deltaX: -2.099998 m, approachRate: -0.555885 m/s, rangeRepo size: 4 2025-10-24T20:18:53.241Z,1761337133.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.335190 m, bearing: 352.464622 deg, lat: 36.779649 deg, lon: -121.859562 deg, deltaT: 3.777754 s, deltaX: -2.089058 m, approachRate: -0.552989 m/s, posRepo size: 4 2025-10-24T20:18:53.241Z,1761337133.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:53.248Z,1761337133.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 87.685898 m, bearing: 351.763524 deg, approach rate: 0.000000 m/s, LOS rate: 0.049622 deg/s, cmd heading: 1.215868 deg, new cmd heading: 1.283623 deg. 2025-10-24T20:18:53.249Z,1761337133.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022403 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:53.523Z,1761337133.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999954,-0.009362,-0.002157],[0.009128,0.995846,-0.090599],[0.002996,0.090576,0.995885]] 2025-10-24T20:18:53.563Z,1761337133.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:53.566Z,1761337133.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 87.469353 m, bearing: 351.781368 deg, approach rate: -0.657241 m/s, LOS rate: 0.054290 deg/s, cmd heading: 1.283623 deg, new cmd heading: 1.337285 deg. 2025-10-24T20:18:53.567Z,1761337133.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023340 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:53.927Z,1761337133.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999942,-0.010551,-0.002107],[0.010306,0.995527,-0.093909],[0.003088,0.093882,0.995578]] 2025-10-24T20:18:53.938Z,1761337133.938 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412201658,35.0, +11.6, 0.,A, 0.00, 93.26, 87.09, 85.73326,-32768,V 2025-10-24T20:18:53.958Z,1761337133.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:53.961Z,1761337133.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 87.230247 m, bearing: 351.800947 deg, approach rate: -0.604847 m/s, LOS rate: 0.049665 deg/s, cmd heading: 1.337285 deg, new cmd heading: 1.396185 deg. 2025-10-24T20:18:53.962Z,1761337133.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024368 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:54.323Z,1761337134.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999920,-0.012444,-0.002176],[0.012177,0.995284,-0.096238],[0.003363,0.096204,0.995356]] 2025-10-24T20:18:54.359Z,1761337134.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:54.362Z,1761337134.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:54.366Z,1761337134.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 86.980278 m, bearing: 351.821191 deg, approach rate: -0.619907 m/s, LOS rate: 0.050347 deg/s, cmd heading: 1.396185 deg, new cmd heading: 1.457091 deg. 2025-10-24T20:18:54.367Z,1761337134.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025431 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:54.589Z,1761337134.589 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:54.589Z,1761337134.589 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:54.590Z,1761337134.590 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:54.727Z,1761337134.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999874,-0.015743,-0.001897],[0.015478,0.994973,-0.098939],[0.003445,0.098897,0.995092]] 2025-10-24T20:18:54.777Z,1761337134.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:54.779Z,1761337134.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 86.721970 m, bearing: 351.849573 deg, approach rate: -0.622148 m/s, LOS rate: 0.068562 deg/s, cmd heading: 1.457091 deg, new cmd heading: 1.542490 deg. 2025-10-24T20:18:54.796Z,1761337134.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026922 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:54.841Z,1761337134.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749572 2025-10-24T20:18:55.093Z,1761337135.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001389 2025-10-24T20:18:55.130Z,1761337135.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999806,-0.019632,-0.001393],[0.019384,0.994481,-0.103107],[0.003410,0.103060,0.994669]] 2025-10-24T20:18:55.170Z,1761337135.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:55.176Z,1761337135.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 86.481766 m, bearing: 351.875431 deg, approach rate: -0.611405 m/s, LOS rate: 0.066001 deg/s, cmd heading: 1.542490 deg, new cmd heading: 1.620280 deg. 2025-10-24T20:18:55.177Z,1761337135.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028279 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:55.345Z,1761337135.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253842 2025-10-24T20:18:55.536Z,1761337135.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999740,-0.022773,-0.001114],[0.022528,0.994154,-0.105596],[0.003512,0.105544,0.994409]] 2025-10-24T20:18:55.578Z,1761337135.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:55.585Z,1761337135.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 86.236290 m, bearing: 351.901450 deg, approach rate: -0.600986 m/s, LOS rate: 0.063882 deg/s, cmd heading: 1.620280 deg, new cmd heading: 1.698558 deg. 2025-10-24T20:18:55.586Z,1761337135.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029645 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:55.597Z,1761337135.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505684 2025-10-24T20:18:55.850Z,1761337135.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758554 2025-10-24T20:18:55.964Z,1761337135.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999713,-0.023942,-0.001198],[0.023674,0.993918,-0.107552],[0.003765,0.107492,0.994199]] 2025-10-24T20:18:56.024Z,1761337136.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:56.026Z,1761337136.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 85.957939 m, bearing: 351.926392 deg, approach rate: -0.648314 m/s, LOS rate: 0.058282 deg/s, cmd heading: 1.698558 deg, new cmd heading: 1.773628 deg. 2025-10-24T20:18:56.027Z,1761337136.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030956 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:56.102Z,1761337136.102 [DAT](INFO): DAT read: Rx Time:20:18:54.8717 2025-10-24T20:18:56.102Z,1761337136.102 [DAT](INFO): Rx dataTimestamp_ set to:1761337136.101933 2025-10-24T20:18:56.103Z,1761337136.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011726 2025-10-24T20:18:56.353Z,1761337136.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261571 2025-10-24T20:18:56.358Z,1761337136.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999712,-0.023958,-0.001345],[0.023672,0.993842,-0.108249],[0.003930,0.108186,0.994123]] 2025-10-24T20:18:56.376Z,1761337136.376 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:56.379Z,1761337136.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.34 m. 2025-10-24T20:18:56.382Z,1761337136.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.335190 m, nav range: 85.729187 m, bearing: 351.947005 deg, approach rate: -0.616383 m/s, LOS rate: 0.055690 deg/s, cmd heading: 1.773628 deg, new cmd heading: 1.835631 deg. 2025-10-24T20:18:56.383Z,1761337136.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032038 target range: 88.335190 and range: 88.80 m. 2025-10-24T20:18:56.613Z,1761337136.613 [DAT](INFO): DAT read: 20:18:54.8717 LVL= 21808, 27601, 16610, 28915, AGC= 68, IDX= 411, 0.20,-2.959, 1.984,-2.633, 3.108, PHS= 0.305,-1.077, 0.540, RAW= 157.7, 3.1, CAL= 159.1, -5.9, ROT= 350.9, 5.9 2025-10-24T20:18:56.618Z,1761337136.618 [DAT](INFO): got valid direction response: 20:18:54.8717 LVL= 21808, 27601, 16610, 28915, AGC= 68, IDX= 411, 0.20,-2.959, 1.984,-2.633, 3.108, PHS= 0.305,-1.077, 0.540, RAW= 157.7, 3.1, CAL= 159.1, -5.9, ROT= 350.9, 5.9 2025-10-24T20:18:56.619Z,1761337136.619 [DAT](INFO): DAT read: Bearing 350.9, 5.9 (Local) 2025-10-24T20:18:56.619Z,1761337136.619 [DAT](INFO): Local bearing/azimuth received: Bearing 350.9, 5.9 (Local) 2025-10-24T20:18:56.621Z,1761337136.621 [DAT](INFO): DAT read: Range 10 to 50 : 86.6 m (Round-trip 115.5 ms) speed 0.7 m/s 2025-10-24T20:18:56.621Z,1761337136.621 [DAT](INFO): DAT read: user:314> 2025-10-24T20:18:56.622Z,1761337136.622 [DAT](INFO): DAT read: Tx time:20:18:55.9521 2025-10-24T20:18:56.622Z,1761337136.622 [DAT](INFO): Ping request sent. 2025-10-24T20:18:56.622Z,1761337136.622 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:18:56.623Z,1761337136.623 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:18:56.626Z,1761337136.626 [DAT](INFO): direction in FSK: [0.982183,-0.157321,-0.102793] 2025-10-24T20:18:56.631Z,1761337136.631 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:56.632Z,1761337136.632 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:56.646Z,1761337136.646 [DAT](INFO): publishing transmit ping time 2025-10-24T20:18:56.647Z,1761337136.647 [DAT](INFO): publishing direction and range info 2025-10-24T20:18:56.857Z,1761337136.857 [DAT](INFO): DAT read: TxSync time:20:18:55.9513 2025-10-24T20:18:56.906Z,1761337136.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.599998 m, deltaT: 3.526190 s, deltaX: -2.200005 m, approachRate: -0.623904 m/s, rangeRepo size: 4 2025-10-24T20:18:56.912Z,1761337136.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.147766 m, bearing: 352.946626 deg, lat: 36.779651 deg, lon: -121.859551 deg, deltaT: 3.526190 s, deltaX: -2.187424 m, approachRate: -0.620336 m/s, posRepo size: 4 2025-10-24T20:18:56.913Z,1761337136.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.15 m. 2025-10-24T20:18:56.915Z,1761337136.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.147766 m, nav range: 85.521782 m, bearing: 352.603574 deg, approach rate: 0.000000 m/s, LOS rate: 0.055690 deg/s, cmd heading: 1.835631 deg, new cmd heading: 1.923631 deg. 2025-10-24T20:18:56.920Z,1761337136.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033574 target range: 86.147766 and range: 86.60 m. 2025-10-24T20:18:57.185Z,1761337137.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999771,-0.021177,-0.003165],[0.020709,0.993882,-0.108491],[0.005443,0.108401,0.994092]] 2025-10-24T20:18:57.220Z,1761337137.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.15 m. 2025-10-24T20:18:57.223Z,1761337137.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.147766 m, nav range: 85.310921 m, bearing: 352.621514 deg, approach rate: -0.670488 m/s, LOS rate: 0.057188 deg/s, cmd heading: 1.923631 deg, new cmd heading: 1.977587 deg. 2025-10-24T20:18:57.224Z,1761337137.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034515 target range: 86.147766 and range: 86.60 m. 2025-10-24T20:18:57.589Z,1761337137.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999799,-0.019743,-0.003450],[0.019258,0.994021,-0.107474],[0.005552,0.107386,0.994202]] 2025-10-24T20:18:57.609Z,1761337137.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.15 m. 2025-10-24T20:18:57.611Z,1761337137.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.147766 m, nav range: 85.060669 m, bearing: 352.643182 deg, approach rate: -0.643286 m/s, LOS rate: 0.055863 deg/s, cmd heading: 1.977587 deg, new cmd heading: 2.042782 deg. 2025-10-24T20:18:57.613Z,1761337137.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035653 target range: 86.147766 and range: 86.60 m. 2025-10-24T20:18:57.997Z,1761337137.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999819,-0.018577,-0.004180],[0.018032,0.994244,-0.105615],[0.006118,0.105521,0.994398]] 2025-10-24T20:18:58.050Z,1761337138.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.15 m. 2025-10-24T20:18:58.053Z,1761337138.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.147766 m, nav range: 84.789719 m, bearing: 352.663516 deg, approach rate: -0.614907 m/s, LOS rate: 0.046294 deg/s, cmd heading: 2.042782 deg, new cmd heading: 2.103978 deg. 2025-10-24T20:18:58.054Z,1761337138.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036721 target range: 86.147766 and range: 86.60 m. 2025-10-24T20:18:58.401Z,1761337138.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999831,-0.018015,-0.003526],[0.017547,0.994346,-0.104724],[0.005392,0.104645,0.994495]] 2025-10-24T20:18:58.418Z,1761337138.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:18:58.420Z,1761337138.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.15 m. 2025-10-24T20:18:58.423Z,1761337138.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.147766 m, nav range: 84.558296 m, bearing: 352.681075 deg, approach rate: -0.623612 m/s, LOS rate: 0.047446 deg/s, cmd heading: 2.103978 deg, new cmd heading: 2.156799 deg. 2025-10-24T20:18:58.424Z,1761337138.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037643 target range: 86.147766 and range: 86.60 m. 2025-10-24T20:18:58.622Z,1761337138.622 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:18:58.622Z,1761337138.622 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:18:58.623Z,1761337138.623 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:18:58.799Z,1761337138.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999846,-0.017266,-0.003064],[0.016853,0.994407,-0.104266],[0.004847,0.104199,0.994545]] 2025-10-24T20:18:58.812Z,1761337138.812 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,251024125.0, +11.6, 0.0,1495.5, 0 2025-10-24T20:18:58.829Z,1761337138.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.15 m. 2025-10-24T20:18:58.833Z,1761337138.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.147766 m, nav range: 84.304268 m, bearing: 352.700588 deg, approach rate: -0.621651 m/s, LOS rate: 0.047896 deg/s, cmd heading: 2.156799 deg, new cmd heading: 2.215516 deg. 2025-10-24T20:18:58.834Z,1761337138.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038668 target range: 86.147766 and range: 86.60 m. 2025-10-24T20:18:58.874Z,1761337138.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251087 2025-10-24T20:18:59.125Z,1761337139.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502291 2025-10-24T20:18:59.203Z,1761337139.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999839,-0.017614,-0.003292],[0.017172,0.994351,-0.104743],[0.005118,0.104670,0.994494]] 2025-10-24T20:18:59.223Z,1761337139.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.15 m. 2025-10-24T20:18:59.242Z,1761337139.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.147766 m, nav range: 84.060593 m, bearing: 352.719359 deg, approach rate: -0.618811 m/s, LOS rate: 0.047805 deg/s, cmd heading: 2.215516 deg, new cmd heading: 2.271990 deg. 2025-10-24T20:18:59.243Z,1761337139.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039654 target range: 86.147766 and range: 86.60 m. 2025-10-24T20:18:59.377Z,1761337139.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754519 2025-10-24T20:18:59.610Z,1761337139.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999840,-0.017571,-0.003311],[0.017121,0.994216,-0.106028],[0.005154,0.105954,0.994358]] 2025-10-24T20:18:59.629Z,1761337139.629 [DAT](INFO): DAT read: Rx Time:20:18:58.4689 2025-10-24T20:18:59.629Z,1761337139.629 [DAT](INFO): Rx dataTimestamp_ set to:1761337139.629214 2025-10-24T20:18:59.630Z,1761337139.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007564 2025-10-24T20:18:59.632Z,1761337139.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.15 m. 2025-10-24T20:18:59.635Z,1761337139.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.147766 m, nav range: 83.808708 m, bearing: 352.738871 deg, approach rate: -0.616953 m/s, LOS rate: 0.047937 deg/s, cmd heading: 2.271990 deg, new cmd heading: 2.330704 deg. 2025-10-24T20:18:59.635Z,1761337139.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040678 target range: 86.147766 and range: 86.60 m. 2025-10-24T20:18:59.882Z,1761337139.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259203 2025-10-24T20:19:00.023Z,1761337140.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999823,-0.018498,-0.003510],[0.018021,0.994186,-0.106156],[0.005453,0.106074,0.994343]] 2025-10-24T20:19:00.139Z,1761337140.139 [DAT](INFO): DAT read: 20:18:58.4689 LVL= 24176, 25969, 19762, 31987, AGC= 68, IDX= 413, 0.21,-1.918, 3.057,-1.565,-2.120, PHS= 0.290,-1.060, 0.551, RAW= 158.7, 2.9, CAL= 160.0, -6.0, ROT= 350.0, 6.0 2025-10-24T20:19:00.140Z,1761337140.140 [DAT](INFO): got valid direction response: 20:18:58.4689 LVL= 24176, 25969, 19762, 31987, AGC= 68, IDX= 413, 0.21,-1.918, 3.057,-1.565,-2.120, PHS= 0.290,-1.060, 0.551, RAW= 158.7, 2.9, CAL= 160.0, -6.0, ROT= 350.0, 6.0 2025-10-24T20:19:00.141Z,1761337140.141 [DAT](INFO): DAT read: Bearing 350.0, 6.0 (Local) 2025-10-24T20:19:00.141Z,1761337140.141 [DAT](INFO): Local bearing/azimuth received: Bearing 350.0, 6.0 (Local) 2025-10-24T20:19:00.143Z,1761337140.143 [DAT](INFO): DAT read: Range 10 to 50 : 84.3 m (Round-trip 112.5 ms) speed 0.6 m/s 2025-10-24T20:19:00.144Z,1761337140.144 [DAT](INFO): DAT read: user:315> 2025-10-24T20:19:00.145Z,1761337140.145 [DAT](INFO): DAT read: Tx time:20:18:59.5522 2025-10-24T20:19:00.145Z,1761337140.145 [DAT](INFO): Ping request sent. 2025-10-24T20:19:00.145Z,1761337140.145 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:00.145Z,1761337140.145 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:00.146Z,1761337140.146 [DAT](INFO): direction in FSK: [0.979413,-0.172697,-0.104528] 2025-10-24T20:19:00.146Z,1761337140.146 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:00.147Z,1761337140.147 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:00.151Z,1761337140.151 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:00.151Z,1761337140.151 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:00.170Z,1761337140.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 3.528279 s, deltaX: -2.299995 m, approachRate: -0.651875 m/s, rangeRepo size: 4 2025-10-24T20:19:00.177Z,1761337140.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.860558 m, bearing: 351.724495 deg, lat: 36.779651 deg, lon: -121.859551 deg, deltaT: 3.528279 s, deltaX: -2.287209 m, approachRate: -0.648250 m/s, posRepo size: 4 2025-10-24T20:19:00.177Z,1761337140.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:00.184Z,1761337140.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 83.476730 m, bearing: 352.755602 deg, approach rate: 0.000000 m/s, LOS rate: 0.047937 deg/s, cmd heading: 2.330704 deg, new cmd heading: 2.408145 deg. 2025-10-24T20:19:00.185Z,1761337140.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042030 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:00.385Z,1761337140.385 [DAT](INFO): DAT read: TxSync time:20:18:59.5514 2025-10-24T20:19:00.470Z,1761337140.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999809,-0.019203,-0.003700],[0.018697,0.994081,-0.107019],[0.005733,0.106930,0.994250]] 2025-10-24T20:19:00.503Z,1761337140.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:00.510Z,1761337140.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:00.516Z,1761337140.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 83.234978 m, bearing: 352.767748 deg, approach rate: -0.711269 m/s, LOS rate: 0.035840 deg/s, cmd heading: 2.408145 deg, new cmd heading: 2.444690 deg. 2025-10-24T20:19:00.517Z,1761337140.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042668 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:00.637Z,1761337140.637 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:00.637Z,1761337140.637 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:00.637Z,1761337140.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:00.859Z,1761337140.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999792,-0.019779,-0.005004],[0.019129,0.994049,-0.107243],[0.007096,0.107125,0.994220]] 2025-10-24T20:19:00.890Z,1761337140.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744392 2025-10-24T20:19:00.958Z,1761337140.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:00.963Z,1761337140.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 82.930237 m, bearing: 352.780534 deg, approach rate: -0.679502 m/s, LOS rate: 0.028613 deg/s, cmd heading: 2.444690 deg, new cmd heading: 2.483187 deg. 2025-10-24T20:19:00.964Z,1761337140.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043340 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:01.142Z,1761337141.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997036 2025-10-24T20:19:01.270Z,1761337141.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999800,-0.019141,-0.005744],[0.018376,0.993522,-0.112143],[0.007854,0.112015,0.993675]] 2025-10-24T20:19:01.289Z,1761337141.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:01.291Z,1761337141.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 82.710388 m, bearing: 352.789885 deg, approach rate: -0.664408 m/s, LOS rate: 0.028337 deg/s, cmd heading: 2.483187 deg, new cmd heading: 2.511317 deg. 2025-10-24T20:19:01.293Z,1761337141.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043831 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:01.393Z,1761337141.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248160 2025-10-24T20:19:01.645Z,1761337141.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499837 2025-10-24T20:19:01.668Z,1761337141.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999815,-0.017919,-0.007017],[0.017037,0.993771,-0.110128],[0.008947,0.109988,0.993893]] 2025-10-24T20:19:01.687Z,1761337141.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:01.690Z,1761337141.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 82.445274 m, bearing: 352.801497 deg, approach rate: -0.666023 m/s, LOS rate: 0.029264 deg/s, cmd heading: 2.511317 deg, new cmd heading: 2.546263 deg. 2025-10-24T20:19:01.691Z,1761337141.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.044441 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:01.897Z,1761337141.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752472 2025-10-24T20:19:02.072Z,1761337142.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999807,-0.018546,-0.006457],[0.017724,0.993782,-0.109925],[0.008456,0.109790,0.993919]] 2025-10-24T20:19:02.131Z,1761337142.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:02.138Z,1761337142.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 82.160324 m, bearing: 352.816475 deg, approach rate: -0.642000 m/s, LOS rate: 0.033863 deg/s, cmd heading: 2.546264 deg, new cmd heading: 2.591353 deg. 2025-10-24T20:19:02.139Z,1761337142.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045228 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:02.151Z,1761337142.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005460 2025-10-24T20:19:02.401Z,1761337142.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256414 2025-10-24T20:19:02.480Z,1761337142.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999799,-0.019102,-0.006005],[0.018331,0.993830,-0.109393],[0.008057,0.109261,0.993980]] 2025-10-24T20:19:02.502Z,1761337142.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:02.505Z,1761337142.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 81.899971 m, bearing: 352.830146 deg, approach rate: -0.701105 m/s, LOS rate: 0.036933 deg/s, cmd heading: 2.591353 deg, new cmd heading: 2.632498 deg. 2025-10-24T20:19:02.506Z,1761337142.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045946 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:02.653Z,1761337142.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507883 2025-10-24T20:19:02.905Z,1761337142.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760255 2025-10-24T20:19:03.000Z,1761337143.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:03.002Z,1761337143.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:03.009Z,1761337143.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 81.568024 m, bearing: 352.843994 deg, approach rate: -0.663608 m/s, LOS rate: 0.027796 deg/s, cmd heading: 2.632498 deg, new cmd heading: 2.674210 deg. 2025-10-24T20:19:03.010Z,1761337143.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.046674 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:03.159Z,1761337143.159 [DAT](INFO): DAT read: Rx Time:20:19:02.0658 2025-10-24T20:19:03.159Z,1761337143.159 [DAT](INFO): Rx dataTimestamp_ set to:1761337143.158861 2025-10-24T20:19:03.161Z,1761337143.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015509 2025-10-24T20:19:03.283Z,1761337143.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999724,-0.022779,-0.005727],[0.022005,0.993607,-0.110732],[0.008213,0.110575,0.993834]] 2025-10-24T20:19:03.321Z,1761337143.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:03.323Z,1761337143.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 81.348282 m, bearing: 352.852641 deg, approach rate: -0.689615 m/s, LOS rate: 0.027210 deg/s, cmd heading: 2.674210 deg, new cmd heading: 2.700220 deg. 2025-10-24T20:19:03.325Z,1761337143.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047128 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:03.409Z,1761337143.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263978 2025-10-24T20:19:03.664Z,1761337143.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518509 2025-10-24T20:19:03.721Z,1761337143.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999674,-0.024897,-0.005642],[0.024118,0.993536,-0.110930],[0.008367,0.110757,0.993812]] 2025-10-24T20:19:03.817Z,1761337143.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m. 2025-10-24T20:19:03.821Z,1761337143.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.860558 m, nav range: 81.066711 m, bearing: 352.863366 deg, approach rate: -0.571154 m/s, LOS rate: 0.021830 deg/s, cmd heading: 2.700220 deg, new cmd heading: 2.732506 deg. 2025-10-24T20:19:03.822Z,1761337143.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047691 target range: 83.860558 and range: 84.30 m. 2025-10-24T20:19:03.921Z,1761337143.921 [DAT](INFO): DAT read: 20:19:02.0658 LVL= 25392, 32753, 18530, 32755, AGC= 68, IDX= 412, 0.35,-2.570, 2.397,-2.226,-2.776, PHS= 0.293,-1.064, 0.546, RAW= 158.4, 3.0, CAL= 159.8, -6.0, ROT= 350.2, 6.0 2025-10-24T20:19:03.922Z,1761337143.922 [DAT](INFO): got valid direction response: 20:19:02.0658 LVL= 25392, 32753, 18530, 32755, AGC= 68, IDX= 412, 0.35,-2.570, 2.397,-2.226,-2.776, PHS= 0.293,-1.064, 0.546, RAW= 158.4, 3.0, CAL= 159.8, -6.0, ROT= 350.2, 6.0 2025-10-24T20:19:03.923Z,1761337143.923 [DAT](INFO): DAT read: Bearing 350.2, 6.0 (Local) 2025-10-24T20:19:03.924Z,1761337143.924 [DAT](INFO): Local bearing/azimuth received: Bearing 350.2, 6.0 (Local) 2025-10-24T20:19:03.925Z,1761337143.925 [DAT](INFO): DAT read: Range 10 to 50 : 82.0 m (Round-trip 109.4 ms) speed 0.8 m/s 2025-10-24T20:19:03.926Z,1761337143.926 [DAT](INFO): DAT read: user:316> 2025-10-24T20:19:03.927Z,1761337143.927 [DAT](INFO): DAT read: Tx time:20:19:03.1522 2025-10-24T20:19:03.927Z,1761337143.927 [DAT](INFO): Ping request sent. 2025-10-24T20:19:03.927Z,1761337143.927 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:03.928Z,1761337143.928 [DAT](INFO): DAT read: TxSync time:20:19:03.1514 2025-10-24T20:19:03.929Z,1761337143.929 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:03.930Z,1761337143.930 [DAT](INFO): direction in FSK: [0.980010,-0.169277,-0.104528] 2025-10-24T20:19:03.930Z,1761337143.930 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:03.930Z,1761337143.930 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:03.938Z,1761337143.938 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:03.938Z,1761337143.938 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:04.197Z,1761337144.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.000000 m, deltaT: 3.780319 s, deltaX: -2.300003 m, approachRate: -0.608415 m/s, rangeRepo size: 4 2025-10-24T20:19:04.199Z,1761337144.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.573112 m, bearing: 352.308966 deg, lat: 36.779651 deg, lon: -121.859551 deg, deltaT: 3.780319 s, deltaX: -2.287445 m, approachRate: -0.605093 m/s, posRepo size: 4 2025-10-24T20:19:04.204Z,1761337144.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:04.207Z,1761337144.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 80.788612 m, bearing: 352.872588 deg, approach rate: 0.000000 m/s, LOS rate: 0.021830 deg/s, cmd heading: 2.732506 deg, new cmd heading: 2.757252 deg. 2025-10-24T20:19:04.212Z,1761337144.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048123 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:04.495Z,1761337144.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999563,-0.028860,-0.006434],[0.027951,0.993225,-0.112799],[0.009645,0.112570,0.993597]] 2025-10-24T20:19:04.515Z,1761337144.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:04.518Z,1761337144.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 80.558723 m, bearing: 352.879616 deg, approach rate: -0.712701 m/s, LOS rate: 0.021849 deg/s, cmd heading: 2.757252 deg, new cmd heading: 2.778395 deg. 2025-10-24T20:19:04.519Z,1761337144.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048492 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:04.975Z,1761337144.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:04.994Z,1761337144.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 80.262352 m, bearing: 352.888103 deg, approach rate: -0.643806 m/s, LOS rate: 0.018505 deg/s, cmd heading: 2.778395 deg, new cmd heading: 2.803952 deg. 2025-10-24T20:19:04.994Z,1761337144.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048938 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:05.304Z,1761337145.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999273,-0.037522,-0.006767],[0.036546,0.993202,-0.110515],[0.010868,0.110188,0.993851]] 2025-10-24T20:19:05.333Z,1761337145.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:05.335Z,1761337145.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:05.337Z,1761337145.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 80.029594 m, bearing: 352.893394 deg, approach rate: -0.646710 m/s, LOS rate: 0.014744 deg/s, cmd heading: 2.803952 deg, new cmd heading: 2.819872 deg. 2025-10-24T20:19:05.338Z,1761337145.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049216 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:05.426Z,1761337145.426 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:05.426Z,1761337145.426 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:05.427Z,1761337145.427 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:05.677Z,1761337145.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749364 2025-10-24T20:19:05.715Z,1761337145.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999128,-0.041384,-0.005610],[0.040487,0.992781,-0.112901],[0.010242,0.112576,0.993590]] 2025-10-24T20:19:05.737Z,1761337145.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:05.745Z,1761337145.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 79.770287 m, bearing: 352.898571 deg, approach rate: -0.644285 m/s, LOS rate: 0.012904 deg/s, cmd heading: 2.819872 deg, new cmd heading: 2.835452 deg. 2025-10-24T20:19:05.746Z,1761337145.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049488 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:05.929Z,1761337145.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001770 2025-10-24T20:19:06.120Z,1761337146.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999000,-0.044476,-0.004602],[0.043667,0.992572,-0.113556],[0.009618,0.113241,0.993521]] 2025-10-24T20:19:06.177Z,1761337146.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:06.181Z,1761337146.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253594 2025-10-24T20:19:06.197Z,1761337146.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 79.493782 m, bearing: 352.903721 deg, approach rate: -0.630131 m/s, LOS rate: 0.011778 deg/s, cmd heading: 2.835452 deg, new cmd heading: 2.850957 deg. 2025-10-24T20:19:06.198Z,1761337146.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049759 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:06.433Z,1761337146.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506047 2025-10-24T20:19:06.523Z,1761337146.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998903,-0.046653,-0.004107],[0.045873,0.992318,-0.114891],[0.009435,0.114576,0.993370]] 2025-10-24T20:19:06.597Z,1761337146.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:06.601Z,1761337146.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 79.236794 m, bearing: 352.908116 deg, approach rate: -0.610453 m/s, LOS rate: 0.010474 deg/s, cmd heading: 2.850957 deg, new cmd heading: 2.864185 deg. 2025-10-24T20:19:06.602Z,1761337146.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049989 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:06.686Z,1761337146.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757876 2025-10-24T20:19:06.934Z,1761337146.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998739,-0.050086,-0.003569],[0.049341,0.992106,-0.115291],[0.009315,0.114969,0.993325]] 2025-10-24T20:19:06.937Z,1761337146.937 [DAT](INFO): DAT read: Rx Time:20:19:05.6626 2025-10-24T20:19:06.937Z,1761337146.937 [DAT](INFO): Rx dataTimestamp_ set to:1761337146.937204 2025-10-24T20:19:06.938Z,1761337146.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010647 2025-10-24T20:19:07.005Z,1761337147.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:07.008Z,1761337147.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 78.976532 m, bearing: 352.916120 deg, approach rate: -0.637229 m/s, LOS rate: 0.019662 deg/s, cmd heading: 2.864185 deg, new cmd heading: 2.888276 deg. 2025-10-24T20:19:07.009Z,1761337147.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050410 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:07.033Z,1761337147.033 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:19:07.189Z,1761337147.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261418 2025-10-24T20:19:07.329Z,1761337147.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998689,-0.051098,-0.003160],[0.050392,0.992029,-0.115495],[0.009036,0.115184,0.993303]] 2025-10-24T20:19:07.346Z,1761337147.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:07.349Z,1761337147.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.57 m. 2025-10-24T20:19:07.352Z,1761337147.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.573112 m, nav range: 78.763489 m, bearing: 352.922546 deg, approach rate: -0.620387 m/s, LOS rate: 0.018763 deg/s, cmd heading: 2.888276 deg, new cmd heading: 2.907606 deg. 2025-10-24T20:19:07.353Z,1761337147.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050747 target range: 81.573112 and range: 82.00 m. 2025-10-24T20:19:07.447Z,1761337147.447 [DAT](INFO): DAT read: 20:19:05.6626 LVL= 24240, 27697, 18322, 29539, AGC= 69, IDX= 413,-0.33,-0.520,-1.740,-0.113,-0.670, PHS= 0.238,-1.023, 0.554, RAW= 160.9, 3.2, CAL= 161.9, -5.8, ROT= 348.1, 5.8 2025-10-24T20:19:07.448Z,1761337147.448 [DAT](INFO): got valid direction response: 20:19:05.6626 LVL= 24240, 27697, 18322, 29539, AGC= 69, IDX= 413,-0.33,-0.520,-1.740,-0.113,-0.670, PHS= 0.238,-1.023, 0.554, RAW= 160.9, 3.2, CAL= 161.9, -5.8, ROT= 348.1, 5.8 2025-10-24T20:19:07.450Z,1761337147.450 [DAT](INFO): DAT read: Bearing 348.1, 5.8 (Local) 2025-10-24T20:19:07.450Z,1761337147.450 [DAT](INFO): Local bearing/azimuth received: Bearing 348.1, 5.8 (Local) 2025-10-24T20:19:07.457Z,1761337147.457 [DAT](INFO): DAT read: Range 10 to 50 : 79.7 m (Round-trip 106.3 ms) speed 0.6 m/s 2025-10-24T20:19:07.458Z,1761337147.458 [DAT](INFO): DAT read: user:317> 2025-10-24T20:19:07.459Z,1761337147.459 [DAT](INFO): DAT read: Tx time:20:19:06.7522 2025-10-24T20:19:07.459Z,1761337147.459 [DAT](INFO): Ping request sent. 2025-10-24T20:19:07.459Z,1761337147.459 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:07.460Z,1761337147.460 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:07.461Z,1761337147.461 [DAT](INFO): direction in FSK: [0.973500,-0.205148,-0.101056] 2025-10-24T20:19:07.461Z,1761337147.461 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:07.461Z,1761337147.461 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:07.474Z,1761337147.474 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:07.474Z,1761337147.474 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:07.694Z,1761337147.694 [DAT](INFO): DAT read: TxSync time:20:19:06.7514 2025-10-24T20:19:07.734Z,1761337147.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998612,-0.052548,-0.003457],[0.051804,0.992031,-0.114852],[0.009464,0.114514,0.993377]] 2025-10-24T20:19:07.758Z,1761337147.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.699997 m, deltaT: 3.527510 s, deltaX: -2.300003 m, approachRate: -0.652019 m/s, rangeRepo size: 4 2025-10-24T20:19:07.772Z,1761337147.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.285324 m, bearing: 351.812400 deg, lat: 36.779651 deg, lon: -121.859561 deg, deltaT: 3.527510 s, deltaX: -2.287788 m, approachRate: -0.648556 m/s, posRepo size: 4 2025-10-24T20:19:07.773Z,1761337147.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.29 m. 2025-10-24T20:19:07.775Z,1761337147.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.285324 m, nav range: 78.661469 m, bearing: 352.340094 deg, approach rate: 0.000000 m/s, LOS rate: 0.018763 deg/s, cmd heading: 2.907606 deg, new cmd heading: 2.930603 deg. 2025-10-24T20:19:07.781Z,1761337147.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051149 target range: 79.285324 and range: 79.70 m. 2025-10-24T20:19:08.037Z,1761337148.037 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:19:08.195Z,1761337148.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.29 m. 2025-10-24T20:19:08.199Z,1761337148.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.285324 m, nav range: 78.389862 m, bearing: 352.357174 deg, approach rate: -0.621184 m/s, LOS rate: 0.039201 deg/s, cmd heading: 2.930603 deg, new cmd heading: 2.982023 deg. 2025-10-24T20:19:08.199Z,1761337148.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052046 target range: 79.285324 and range: 79.70 m. 2025-10-24T20:19:08.544Z,1761337148.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998319,-0.057771,-0.004673],[0.056925,0.992475,-0.108412],[0.010901,0.107964,0.994095]] 2025-10-24T20:19:08.591Z,1761337148.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.29 m. 2025-10-24T20:19:08.599Z,1761337148.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.285324 m, nav range: 78.159332 m, bearing: 352.370987 deg, approach rate: -0.581548 m/s, LOS rate: 0.034948 deg/s, cmd heading: 2.982023 deg, new cmd heading: 3.023584 deg. 2025-10-24T20:19:08.603Z,1761337148.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052771 target range: 79.285324 and range: 79.70 m. 2025-10-24T20:19:08.939Z,1761337148.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998197,-0.059892,-0.004077],[0.059094,0.992306,-0.108797],[0.010562,0.108359,0.994056]] 2025-10-24T20:19:08.989Z,1761337148.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.29 m. 2025-10-24T20:19:08.991Z,1761337148.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.285324 m, nav range: 77.895920 m, bearing: 352.395462 deg, approach rate: -0.662288 m/s, LOS rate: 0.061743 deg/s, cmd heading: 3.023584 deg, new cmd heading: 3.097255 deg. 2025-10-24T20:19:08.992Z,1761337148.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054057 target range: 79.285324 and range: 79.70 m. 2025-10-24T20:19:09.343Z,1761337149.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998202,-0.059871,-0.002974],[0.059196,0.992337,-0.108457],[0.009444,0.108086,0.994097]] 2025-10-24T20:19:09.379Z,1761337149.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:09.381Z,1761337149.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.29 m. 2025-10-24T20:19:09.384Z,1761337149.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.285324 m, nav range: 77.652229 m, bearing: 352.418245 deg, approach rate: -0.621488 m/s, LOS rate: 0.058288 deg/s, cmd heading: 3.097255 deg, new cmd heading: 3.165821 deg. 2025-10-24T20:19:09.385Z,1761337149.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055254 target range: 79.285324 and range: 79.70 m. 2025-10-24T20:19:09.457Z,1761337149.457 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:09.457Z,1761337149.457 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:09.457Z,1761337149.457 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:09.709Z,1761337149.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249441 2025-10-24T20:19:09.747Z,1761337149.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998273,-0.058681,-0.002595],[0.058071,0.992612,-0.106532],[0.008827,0.106197,0.994306]] 2025-10-24T20:19:09.767Z,1761337149.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.29 m. 2025-10-24T20:19:09.770Z,1761337149.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.285324 m, nav range: 77.413094 m, bearing: 352.440989 deg, approach rate: -0.618532 m/s, LOS rate: 0.059008 deg/s, cmd heading: 3.165821 deg, new cmd heading: 3.234261 deg. 2025-10-24T20:19:09.771Z,1761337149.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056449 target range: 79.285324 and range: 79.70 m. 2025-10-24T20:19:09.961Z,1761337149.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501572 2025-10-24T20:19:10.150Z,1761337150.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998411,-0.056295,-0.002350],[0.055733,0.992845,-0.105604],[0.008279,0.105305,0.994405]] 2025-10-24T20:19:10.204Z,1761337150.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.29 m. 2025-10-24T20:19:10.207Z,1761337150.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.285324 m, nav range: 77.138313 m, bearing: 352.478586 deg, approach rate: -0.628792 m/s, LOS rate: 0.086342 deg/s, cmd heading: 3.234261 deg, new cmd heading: 3.347455 deg. 2025-10-24T20:19:10.208Z,1761337150.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058424 target range: 79.285324 and range: 79.70 m. 2025-10-24T20:19:10.213Z,1761337150.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753693 2025-10-24T20:19:10.466Z,1761337150.466 [DAT](INFO): DAT read: Rx Time:20:19:09.2596 2025-10-24T20:19:10.467Z,1761337150.467 [DAT](INFO): Rx dataTimestamp_ set to:1761337150.466555 2025-10-24T20:19:10.467Z,1761337150.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008089 2025-10-24T20:19:10.556Z,1761337150.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998560,-0.053590,-0.002567],[0.053028,0.993088,-0.104708],[0.008160,0.104421,0.994500]] 2025-10-24T20:19:10.583Z,1761337150.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.29 m. 2025-10-24T20:19:10.602Z,1761337150.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.285324 m, nav range: 76.901985 m, bearing: 352.511653 deg, approach rate: -0.625440 m/s, LOS rate: 0.087780 deg/s, cmd heading: 3.347455 deg, new cmd heading: 3.446960 deg. 2025-10-24T20:19:10.603Z,1761337150.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060161 target range: 79.285324 and range: 79.70 m. 2025-10-24T20:19:10.718Z,1761337150.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258350 2025-10-24T20:19:10.977Z,1761337150.977 [DAT](INFO): DAT read: 20:19:09.2596 LVL= 23712, 32753, 18322, 32755, AGC= 67, IDX= 414,-0.20, 1.687, 0.434, 2.106, 1.557, PHS= 0.218,-1.077, 0.545, RAW= 161.0, 4.3, CAL= 161.7, -4.9, ROT= 348.3, 4.9 2025-10-24T20:19:10.978Z,1761337150.978 [DAT](INFO): got valid direction response: 20:19:09.2596 LVL= 23712, 32753, 18322, 32755, AGC= 67, IDX= 414,-0.20, 1.687, 0.434, 2.106, 1.557, PHS= 0.218,-1.077, 0.545, RAW= 161.0, 4.3, CAL= 161.7, -4.9, ROT= 348.3, 4.9 2025-10-24T20:19:10.979Z,1761337150.979 [DAT](INFO): DAT read: Bearing 348.3, 4.9 (Local) 2025-10-24T20:19:10.979Z,1761337150.979 [DAT](INFO): Local bearing/azimuth received: Bearing 348.3, 4.9 (Local) 2025-10-24T20:19:10.985Z,1761337150.985 [DAT](INFO): DAT read: Range 10 to 50 : 77.4 m (Round-trip 103.3 ms) speed 0.7 m/s 2025-10-24T20:19:10.986Z,1761337150.986 [DAT](INFO): DAT read: user:318> 2025-10-24T20:19:10.986Z,1761337150.986 [DAT](INFO): DAT read: Tx time:20:19:10.3522 2025-10-24T20:19:10.987Z,1761337150.987 [DAT](INFO): Ping request sent. 2025-10-24T20:19:10.987Z,1761337150.987 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:10.987Z,1761337150.987 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:10.988Z,1761337150.988 [DAT](INFO): direction in FSK: [0.975644,-0.202047,-0.085417] 2025-10-24T20:19:10.988Z,1761337150.988 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:10.989Z,1761337150.989 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:10.993Z,1761337150.993 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:10.993Z,1761337150.993 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:11.114Z,1761337151.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 77.400002 m, deltaT: 3.528439 s, deltaX: -2.299995 m, approachRate: -0.651845 m/s, rangeRepo size: 4 2025-10-24T20:19:11.118Z,1761337151.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.996773 m, bearing: 351.914639 deg, lat: 36.779651 deg, lon: -121.859568 deg, deltaT: 3.528439 s, deltaX: -2.288551 m, approachRate: -0.648602 m/s, posRepo size: 4 2025-10-24T20:19:11.119Z,1761337151.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:11.134Z,1761337151.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 76.668793 m, bearing: 352.091283 deg, approach rate: 0.000000 m/s, LOS rate: 0.087780 deg/s, cmd heading: 3.446960 deg, new cmd heading: 3.586768 deg. 2025-10-24T20:19:11.135Z,1761337151.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062601 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:11.222Z,1761337151.222 [DAT](INFO): DAT read: TxSync time:20:19:10.3514 2025-10-24T20:19:11.417Z,1761337151.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998823,-0.048387,-0.003425],[0.047776,0.993508,-0.103240],[0.008398,0.102954,0.994651]] 2025-10-24T20:19:11.442Z,1761337151.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:11.448Z,1761337151.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:11.451Z,1761337151.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 76.446350 m, bearing: 352.128422 deg, approach rate: -0.673420 m/s, LOS rate: 0.112763 deg/s, cmd heading: 3.586768 deg, new cmd heading: 3.698511 deg. 2025-10-24T20:19:11.456Z,1761337151.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064551 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:11.473Z,1761337151.473 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:11.473Z,1761337151.473 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:11.473Z,1761337151.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:11.725Z,1761337151.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.737908 2025-10-24T20:19:11.809Z,1761337151.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998886,-0.046973,-0.004459],[0.046213,0.993018,-0.108535],[0.009526,0.108208,0.994083]] 2025-10-24T20:19:11.840Z,1761337151.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:11.842Z,1761337151.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 76.196854 m, bearing: 352.170538 deg, approach rate: -0.649551 m/s, LOS rate: 0.110004 deg/s, cmd heading: 3.698511 deg, new cmd heading: 3.825271 deg. 2025-10-24T20:19:11.843Z,1761337151.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066764 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:11.977Z,1761337151.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990130 2025-10-24T20:19:12.224Z,1761337152.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999045,-0.043388,-0.005231],[0.042579,0.993328,-0.107172],[0.009846,0.106847,0.994227]] 2025-10-24T20:19:12.229Z,1761337152.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241816 2025-10-24T20:19:12.288Z,1761337152.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:12.290Z,1761337152.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 75.917892 m, bearing: 352.217593 deg, approach rate: -0.633753 m/s, LOS rate: 0.107294 deg/s, cmd heading: 3.825270 deg, new cmd heading: 3.966954 deg. 2025-10-24T20:19:12.291Z,1761337152.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069236 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:12.481Z,1761337152.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493855 2025-10-24T20:19:12.616Z,1761337152.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999165,-0.040465,-0.005663],[0.039628,0.993468,-0.107006],[0.009956,0.106693,0.994242]] 2025-10-24T20:19:12.635Z,1761337152.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:12.638Z,1761337152.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 75.685959 m, bearing: 352.257533 deg, approach rate: -0.631328 m/s, LOS rate: 0.109051 deg/s, cmd heading: 3.966954 deg, new cmd heading: 4.087141 deg. 2025-10-24T20:19:12.639Z,1761337152.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071334 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:12.734Z,1761337152.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747105 2025-10-24T20:19:12.985Z,1761337152.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998179 2025-10-24T20:19:13.021Z,1761337153.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999242,-0.038601,-0.004987],[0.037836,0.993422,-0.108079],[0.009126,0.107809,0.994130]] 2025-10-24T20:19:13.072Z,1761337153.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:13.074Z,1761337153.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 75.408646 m, bearing: 352.294905 deg, approach rate: -0.635248 m/s, LOS rate: 0.085923 deg/s, cmd heading: 4.087141 deg, new cmd heading: 4.199669 deg. 2025-10-24T20:19:13.075Z,1761337153.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073298 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:13.238Z,1761337153.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250833 2025-10-24T20:19:13.426Z,1761337153.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999283,-0.037561,-0.004766],[0.036820,0.993375,-0.108855],[0.008823,0.108602,0.994046]] 2025-10-24T20:19:13.443Z,1761337153.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:13.445Z,1761337153.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:13.450Z,1761337153.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 75.170837 m, bearing: 352.327359 deg, approach rate: -0.636257 m/s, LOS rate: 0.087105 deg/s, cmd heading: 4.199669 deg, new cmd heading: 4.297338 deg. 2025-10-24T20:19:13.450Z,1761337153.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075003 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:13.489Z,1761337153.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502066 2025-10-24T20:19:13.741Z,1761337153.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753981 2025-10-24T20:19:13.865Z,1761337153.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:13.869Z,1761337153.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 74.904495 m, bearing: 352.363955 deg, approach rate: -0.634766 m/s, LOS rate: 0.087529 deg/s, cmd heading: 4.297338 deg, new cmd heading: 4.407517 deg. 2025-10-24T20:19:13.870Z,1761337153.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076926 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:13.994Z,1761337153.994 [DAT](INFO): DAT read: Rx Time:20:19:12.8565 2025-10-24T20:19:13.994Z,1761337153.994 [DAT](INFO): Rx dataTimestamp_ set to:1761337153.994179 2025-10-24T20:19:13.995Z,1761337153.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008484 2025-10-24T20:19:14.233Z,1761337154.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999223,-0.039071,-0.005120],[0.038252,0.992967,-0.112041],[0.009461,0.111758,0.993690]] 2025-10-24T20:19:14.245Z,1761337154.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258023 2025-10-24T20:19:14.309Z,1761337154.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.00 m. 2025-10-24T20:19:14.317Z,1761337154.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.996773 m, nav range: 74.643639 m, bearing: 352.385065 deg, approach rate: -0.594630 m/s, LOS rate: 0.048288 deg/s, cmd heading: 4.407517 deg, new cmd heading: 4.471068 deg. 2025-10-24T20:19:14.318Z,1761337154.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078035 target range: 76.996773 and range: 77.40 m. 2025-10-24T20:19:14.503Z,1761337154.503 [DAT](INFO): DAT read: 20:19:12.8565 LVL= 22000, 32273, 17426, 32755, AGC= 66, IDX= 413,-0.19,-0.969,-2.175,-0.568,-1.114, PHS= 0.232,-1.014, 0.543, RAW= 160.9, 3.4, CAL= 161.8, -5.6, ROT= 348.2, 5.6 2025-10-24T20:19:14.504Z,1761337154.504 [DAT](INFO): got valid direction response: 20:19:12.8565 LVL= 22000, 32273, 17426, 32755, AGC= 66, IDX= 413,-0.19,-0.969,-2.175,-0.568,-1.114, PHS= 0.232,-1.014, 0.543, RAW= 160.9, 3.4, CAL= 161.8, -5.6, ROT= 348.2, 5.6 2025-10-24T20:19:14.505Z,1761337154.505 [DAT](INFO): DAT read: Bearing 348.2, 5.6 (Local) 2025-10-24T20:19:14.506Z,1761337154.506 [DAT](INFO): Local bearing/azimuth received: Bearing 348.2, 5.6 (Local) 2025-10-24T20:19:14.507Z,1761337154.507 [DAT](INFO): DAT read: Range 10 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.5 m/s 2025-10-24T20:19:14.508Z,1761337154.508 [DAT](INFO): DAT read: user:319> 2025-10-24T20:19:14.509Z,1761337154.509 [DAT](INFO): DAT read: Tx time:20:19:13.9523 2025-10-24T20:19:14.509Z,1761337154.509 [DAT](INFO): Ping request sent. 2025-10-24T20:19:14.509Z,1761337154.509 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:14.509Z,1761337154.509 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:14.510Z,1761337154.510 [DAT](INFO): direction in FSK: [0.974196,-0.203520,-0.097583] 2025-10-24T20:19:14.511Z,1761337154.511 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:14.511Z,1761337154.511 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:14.515Z,1761337154.515 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:14.515Z,1761337154.515 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:14.734Z,1761337154.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 75.000000 m, deltaT: 3.527612 s, deltaX: -2.400002 m, approachRate: -0.680347 m/s, rangeRepo size: 4 2025-10-24T20:19:14.740Z,1761337154.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.610069 m, bearing: 351.092562 deg, lat: 36.779650 deg, lon: -121.859569 deg, deltaT: 3.527612 s, deltaX: -2.386703 m, approachRate: -0.676578 m/s, posRepo size: 4 2025-10-24T20:19:14.744Z,1761337154.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:14.747Z,1761337154.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 74.310844 m, bearing: 352.328860 deg, approach rate: 0.000000 m/s, LOS rate: 0.048288 deg/s, cmd heading: 4.471067 deg, new cmd heading: 4.533335 deg. 2025-10-24T20:19:14.749Z,1761337154.749 [DAT](INFO): DAT read: TxSync time:20:19:13.9515 2025-10-24T20:19:14.750Z,1761337154.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079122 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:15.045Z,1761337155.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999008,-0.044050,-0.006528],[0.042987,0.992220,-0.116836],[0.011624,0.116440,0.993130]] 2025-10-24T20:19:15.106Z,1761337155.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:15.109Z,1761337155.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 74.070381 m, bearing: 352.326110 deg, approach rate: -0.646158 m/s, LOS rate: -0.007414 deg/s, cmd heading: 4.533335 deg, new cmd heading: 4.525058 deg. 2025-10-24T20:19:15.110Z,1761337155.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078977 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:15.439Z,1761337155.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998827,-0.047625,-0.008713],[0.046209,0.991449,-0.122037],[0.014451,0.121491,0.992487]] 2025-10-24T20:19:15.456Z,1761337155.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:15.458Z,1761337155.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:15.461Z,1761337155.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 73.851044 m, bearing: 352.323031 deg, approach rate: -0.622320 m/s, LOS rate: -0.008761 deg/s, cmd heading: 4.525058 deg, new cmd heading: 4.515794 deg. 2025-10-24T20:19:15.462Z,1761337155.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078815 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:15.505Z,1761337155.505 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:15.505Z,1761337155.505 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:15.505Z,1761337155.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:15.757Z,1761337155.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247536 2025-10-24T20:19:15.846Z,1761337155.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998682,-0.050233,-0.010516],[0.048570,0.991272,-0.122557],[0.016580,0.121885,0.992406]] 2025-10-24T20:19:15.894Z,1761337155.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:15.902Z,1761337155.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 73.596489 m, bearing: 352.318966 deg, approach rate: -0.584851 m/s, LOS rate: -0.009372 deg/s, cmd heading: 4.515795 deg, new cmd heading: 4.503557 deg. 2025-10-24T20:19:15.903Z,1761337155.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078602 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:16.009Z,1761337156.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499728 2025-10-24T20:19:16.251Z,1761337156.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998451,-0.054490,-0.011265],[0.052667,0.990806,-0.124615],[0.017952,0.123829,0.992141]] 2025-10-24T20:19:16.261Z,1761337156.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751599 2025-10-24T20:19:16.318Z,1761337156.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:16.323Z,1761337156.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 73.327950 m, bearing: 352.292424 deg, approach rate: -0.633793 m/s, LOS rate: -0.062872 deg/s, cmd heading: 4.503557 deg, new cmd heading: 4.423640 deg. 2025-10-24T20:19:16.324Z,1761337156.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077207 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:16.513Z,1761337156.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003564 2025-10-24T20:19:16.647Z,1761337156.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998168,-0.059479,-0.011104],[0.057621,0.990416,-0.125523],[0.018464,0.124653,0.992029]] 2025-10-24T20:19:16.684Z,1761337156.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:16.690Z,1761337156.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 73.110107 m, bearing: 352.269890 deg, approach rate: -0.594796 m/s, LOS rate: -0.061709 deg/s, cmd heading: 4.423640 deg, new cmd heading: 4.355838 deg. 2025-10-24T20:19:16.691Z,1761337156.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076024 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:16.766Z,1761337156.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256740 2025-10-24T20:19:17.017Z,1761337157.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507607 2025-10-24T20:19:17.052Z,1761337157.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997847,-0.064520,-0.011774],[0.062517,0.989977,-0.126640],[0.019827,0.125632,0.991879]] 2025-10-24T20:19:17.116Z,1761337157.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:17.119Z,1761337157.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 72.861092 m, bearing: 352.226354 deg, approach rate: -0.575914 m/s, LOS rate: -0.101034 deg/s, cmd heading: 4.355838 deg, new cmd heading: 4.224782 deg. 2025-10-24T20:19:17.120Z,1761337157.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073736 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:17.269Z,1761337157.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759872 2025-10-24T20:19:17.457Z,1761337157.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997551,-0.068780,-0.012721],[0.066625,0.989712,-0.126613],[0.021298,0.125455,0.991871]] 2025-10-24T20:19:17.474Z,1761337157.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:17.476Z,1761337157.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:17.479Z,1761337157.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 72.645309 m, bearing: 352.187642 deg, approach rate: -0.598961 m/s, LOS rate: -0.107774 deg/s, cmd heading: 4.224782 deg, new cmd heading: 4.108302 deg. 2025-10-24T20:19:17.480Z,1761337157.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071703 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:17.521Z,1761337157.521 [DAT](INFO): DAT read: Rx Time:20:19:16.4536 2025-10-24T20:19:17.522Z,1761337157.522 [DAT](INFO): Rx dataTimestamp_ set to:1761337157.521533 2025-10-24T20:19:17.523Z,1761337157.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013342 2025-10-24T20:19:17.773Z,1761337157.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263505 2025-10-24T20:19:17.863Z,1761337157.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997181,-0.073761,-0.013751],[0.071455,0.989473,-0.125847],[0.022889,0.124509,0.991954]] 2025-10-24T20:19:17.914Z,1761337157.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.61 m. 2025-10-24T20:19:17.922Z,1761337157.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.610069 m, nav range: 72.398445 m, bearing: 352.142063 deg, approach rate: -0.563468 m/s, LOS rate: -0.104390 deg/s, cmd heading: 4.108302 deg, new cmd heading: 3.971099 deg. 2025-10-24T20:19:17.923Z,1761337157.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069309 target range: 74.610069 and range: 75.00 m. 2025-10-24T20:19:18.029Z,1761337158.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519301 2025-10-24T20:19:18.283Z,1761337158.283 [DAT](INFO): DAT read: 20:19:16.4536 LVL= 26688, 29617, 17970, 31843, AGC= 68, IDX= 415,-0.16,-1.329,-2.570,-0.851,-1.422, PHS= 0.182,-1.101, 0.569, RAW= 162.8, 4.7, CAL= 163.2, -4.5, ROT= 346.8, 4.5 2025-10-24T20:19:18.284Z,1761337158.284 [DAT](INFO): got valid direction response: 20:19:16.4536 LVL= 26688, 29617, 17970, 31843, AGC= 68, IDX= 415,-0.16,-1.329,-2.570,-0.851,-1.422, PHS= 0.182,-1.101, 0.569, RAW= 162.8, 4.7, CAL= 163.2, -4.5, ROT= 346.8, 4.5 2025-10-24T20:19:18.285Z,1761337158.285 [DAT](INFO): DAT read: Bearing 346.8, 4.5 (Local) 2025-10-24T20:19:18.286Z,1761337158.286 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, 4.5 (Local) 2025-10-24T20:19:18.287Z,1761337158.287 [DAT](INFO): DAT read: Range 10 to 50 : 72.8 m (Round-trip 97.1 ms) speed 0.5 m/s 2025-10-24T20:19:18.288Z,1761337158.288 [DAT](INFO): DAT read: user:320> 2025-10-24T20:19:18.289Z,1761337158.289 [DAT](INFO): DAT read: Tx time:20:19:17.5523 2025-10-24T20:19:18.289Z,1761337158.289 [DAT](INFO): Ping request sent. 2025-10-24T20:19:18.289Z,1761337158.289 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:18.290Z,1761337158.290 [DAT](INFO): DAT read: TxSync time:20:19:17.5515 2025-10-24T20:19:18.290Z,1761337158.290 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:18.291Z,1761337158.291 [DAT](INFO): direction in FSK: [0.970578,-0.227647,-0.078459] 2025-10-24T20:19:18.304Z,1761337158.304 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:18.305Z,1761337158.305 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:18.326Z,1761337158.326 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:18.326Z,1761337158.326 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:18.480Z,1761337158.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.800003 m, deltaT: 3.779981 s, deltaX: -2.199997 m, approachRate: -0.582013 m/s, rangeRepo size: 4 2025-10-24T20:19:18.483Z,1761337158.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.421570 m, bearing: 351.573458 deg, lat: 36.779650 deg, lon: -121.859570 deg, deltaT: 3.779981 s, deltaX: -2.188499 m, approachRate: -0.578971 m/s, posRepo size: 4 2025-10-24T20:19:18.488Z,1761337158.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:18.490Z,1761337158.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 72.097336 m, bearing: 351.968165 deg, approach rate: 0.000000 m/s, LOS rate: -0.104390 deg/s, cmd heading: 3.971098 deg, new cmd heading: 3.795348 deg. 2025-10-24T20:19:18.491Z,1761337158.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066241 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:18.750Z,1761337158.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996505,-0.081857,-0.016664],[0.079233,0.989379,-0.121868],[0.026462,0.120121,0.992406]] 2025-10-24T20:19:18.791Z,1761337158.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:18.799Z,1761337158.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 71.902969 m, bearing: 351.925480 deg, approach rate: -0.615742 m/s, LOS rate: -0.135587 deg/s, cmd heading: 3.795348 deg, new cmd heading: 3.666949 deg. 2025-10-24T20:19:18.804Z,1761337158.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064000 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:19.151Z,1761337159.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996170,-0.085093,-0.020105],[0.082201,0.989800,-0.116357],[0.029801,0.114259,0.993004]] 2025-10-24T20:19:19.219Z,1761337159.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:19.226Z,1761337159.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 71.657295 m, bearing: 351.875132 deg, approach rate: -0.574287 m/s, LOS rate: -0.118098 deg/s, cmd heading: 3.666949 deg, new cmd heading: 3.515386 deg. 2025-10-24T20:19:19.226Z,1761337159.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061355 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:19.563Z,1761337159.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995564,-0.091112,-0.023461],[0.087983,0.989928,-0.110911],[0.033330,0.108355,0.993553]] 2025-10-24T20:19:19.581Z,1761337159.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:19.583Z,1761337159.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:19.586Z,1761337159.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 71.444969 m, bearing: 351.830308 deg, approach rate: -0.582187 m/s, LOS rate: -0.123269 deg/s, cmd heading: 3.515386 deg, new cmd heading: 3.380516 deg. 2025-10-24T20:19:19.587Z,1761337159.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059001 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:19.790Z,1761337159.790 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:19.790Z,1761337159.790 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:19.791Z,1761337159.791 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:19.971Z,1761337159.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995398,-0.092862,-0.023672],[0.089789,0.990059,-0.108264],[0.033490,0.105640,0.993840]] 2025-10-24T20:19:20.044Z,1761337160.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754048 2025-10-24T20:19:20.075Z,1761337160.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:20.097Z,1761337160.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 71.194511 m, bearing: 351.776706 deg, approach rate: -0.510403 m/s, LOS rate: -0.109618 deg/s, cmd heading: 3.380516 deg, new cmd heading: 3.219145 deg. 2025-10-24T20:19:20.098Z,1761337160.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056185 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:20.296Z,1761337160.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006293 2025-10-24T20:19:20.440Z,1761337160.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:20.446Z,1761337160.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 70.953293 m, bearing: 351.739462 deg, approach rate: -0.659828 m/s, LOS rate: -0.102224 deg/s, cmd heading: 3.219145 deg, new cmd heading: 3.107033 deg. 2025-10-24T20:19:20.449Z,1761337160.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054228 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:20.545Z,1761337160.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255698 2025-10-24T20:19:20.776Z,1761337160.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995461,-0.091668,-0.025590],[0.088596,0.990762,-0.102667],[0.034765,0.099933,0.994387]] 2025-10-24T20:19:20.797Z,1761337160.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507616 2025-10-24T20:19:20.820Z,1761337160.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:20.823Z,1761337160.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 70.748825 m, bearing: 351.707958 deg, approach rate: -0.543463 m/s, LOS rate: -0.083980 deg/s, cmd heading: 3.107033 deg, new cmd heading: 3.012246 deg. 2025-10-24T20:19:20.828Z,1761337160.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052574 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:21.056Z,1761337161.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766290 2025-10-24T20:19:21.180Z,1761337161.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995626,-0.089565,-0.026592],[0.086544,0.991347,-0.098694],[0.035202,0.095961,0.994762]] 2025-10-24T20:19:21.248Z,1761337161.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:21.251Z,1761337161.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 70.477966 m, bearing: 351.691382 deg, approach rate: -0.627493 m/s, LOS rate: -0.038549 deg/s, cmd heading: 3.012246 deg, new cmd heading: 2.962327 deg. 2025-10-24T20:19:21.252Z,1761337161.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051702 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:21.305Z,1761337161.305 [DAT](INFO): DAT read: Rx Time:20:19:20.0507 2025-10-24T20:19:21.306Z,1761337161.306 [DAT](INFO): Rx dataTimestamp_ set to:1761337161.305331 2025-10-24T20:19:21.306Z,1761337161.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016934 2025-10-24T20:19:21.557Z,1761337161.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267545 2025-10-24T20:19:21.583Z,1761337161.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995888,-0.086265,-0.027678],[0.083298,0.992016,-0.094685],[0.035625,0.091990,0.995122]] 2025-10-24T20:19:21.621Z,1761337161.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:21.623Z,1761337161.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.42 m. 2025-10-24T20:19:21.645Z,1761337161.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.421570 m, nav range: 70.258278 m, bearing: 351.678490 deg, approach rate: -0.585865 m/s, LOS rate: -0.034486 deg/s, cmd heading: 2.962327 deg, new cmd heading: 2.923533 deg. 2025-10-24T20:19:21.653Z,1761337161.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051025 target range: 72.421570 and range: 72.80 m. 2025-10-24T20:19:21.818Z,1761337161.818 [DAT](INFO): DAT read: 20:19:20.0507 LVL= 26416, 27985, 17682, 32227, AGC= 65, IDX= 418, 0.15, 2.353, 1.159, 2.850, 2.210, PHS= 0.231,-1.004, 0.637, RAW= 163.7, 1.9, CAL= 165.0, -6.9, ROT= 345.0, 6.9 2025-10-24T20:19:21.819Z,1761337161.819 [DAT](INFO): got valid direction response: 20:19:20.0507 LVL= 26416, 27985, 17682, 32227, AGC= 65, IDX= 418, 0.15, 2.353, 1.159, 2.850, 2.210, PHS= 0.231,-1.004, 0.637, RAW= 163.7, 1.9, CAL= 165.0, -6.9, ROT= 345.0, 6.9 2025-10-24T20:19:21.820Z,1761337161.820 [DAT](INFO): DAT read: Bearing 345.0, 6.9 (Local) 2025-10-24T20:19:21.821Z,1761337161.821 [DAT](INFO): Local bearing/azimuth received: Bearing 345.0, 6.9 (Local) 2025-10-24T20:19:21.822Z,1761337161.822 [DAT](INFO): DAT read: Range 10 to 50 : 70.7 m (Round-trip 94.3 ms) speed 0.5 m/s 2025-10-24T20:19:21.823Z,1761337161.823 [DAT](INFO): DAT read: user:321> 2025-10-24T20:19:21.824Z,1761337161.824 [DAT](INFO): DAT read: Tx time:20:19:21.1523 2025-10-24T20:19:21.824Z,1761337161.824 [DAT](INFO): Ping request sent. 2025-10-24T20:19:21.824Z,1761337161.824 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:21.825Z,1761337161.825 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:21.826Z,1761337161.826 [DAT](INFO): direction in FSK: [0.958930,-0.256944,-0.120137] 2025-10-24T20:19:21.826Z,1761337161.826 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:21.826Z,1761337161.826 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:21.829Z,1761337161.829 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:21.830Z,1761337161.830 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:21.993Z,1761337161.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996172,-0.082615,-0.028587],[0.079686,0.992592,-0.091713],[0.035952,0.089084,0.995375]] 2025-10-24T20:19:22.065Z,1761337162.065 [DAT](INFO): DAT read: TxSync time:20:19:21.1516 2025-10-24T20:19:22.094Z,1761337162.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.699997 m, deltaT: 3.532825 s, deltaX: -2.100006 m, approachRate: -0.594427 m/s, rangeRepo size: 4 2025-10-24T20:19:22.108Z,1761337162.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.332542 m, bearing: 350.293820 deg, lat: 36.779650 deg, lon: -121.859576 deg, deltaT: 3.532825 s, deltaX: -2.089027 m, approachRate: -0.591319 m/s, posRepo size: 4 2025-10-24T20:19:22.109Z,1761337162.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:22.111Z,1761337162.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 70.087051 m, bearing: 351.258894 deg, approach rate: 0.000000 m/s, LOS rate: -0.034486 deg/s, cmd heading: 2.923533 deg, new cmd heading: 2.875091 deg. 2025-10-24T20:19:22.124Z,1761337162.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050180 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:22.404Z,1761337162.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996382,-0.078969,-0.031423],[0.076275,0.993932,-0.079257],[0.037491,0.076573,0.996359]] 2025-10-24T20:19:22.466Z,1761337162.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:22.473Z,1761337162.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 69.822830 m, bearing: 351.267517 deg, approach rate: -0.704411 m/s, LOS rate: 0.023076 deg/s, cmd heading: 2.875091 deg, new cmd heading: 2.901057 deg. 2025-10-24T20:19:22.474Z,1761337162.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050633 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:22.833Z,1761337162.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:22.835Z,1761337162.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 69.582092 m, bearing: 351.275431 deg, approach rate: -0.656051 m/s, LOS rate: 0.021641 deg/s, cmd heading: 2.901058 deg, new cmd heading: 2.924881 deg. 2025-10-24T20:19:22.837Z,1761337162.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051049 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:23.200Z,1761337163.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996407,-0.078140,-0.032666],[0.075155,0.993599,-0.084339],[0.039047,0.081581,0.995902]] 2025-10-24T20:19:23.251Z,1761337163.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:23.254Z,1761337163.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 69.318398 m, bearing: 351.303894 deg, approach rate: -0.631461 m/s, LOS rate: 0.068418 deg/s, cmd heading: 2.924881 deg, new cmd heading: 3.010594 deg. 2025-10-24T20:19:23.255Z,1761337163.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052545 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:23.603Z,1761337163.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996600,-0.075892,-0.032087],[0.072907,0.993647,-0.085729],[0.038389,0.083098,0.995802]] 2025-10-24T20:19:23.641Z,1761337163.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:23.654Z,1761337163.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:23.687Z,1761337163.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 69.079849 m, bearing: 351.330259 deg, approach rate: -0.591421 m/s, LOS rate: 0.065592 deg/s, cmd heading: 3.010594 deg, new cmd heading: 3.089963 deg. 2025-10-24T20:19:23.688Z,1761337163.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053930 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:23.824Z,1761337163.824 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:23.825Z,1761337163.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:23.825Z,1761337163.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:24.017Z,1761337164.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996915,-0.071553,-0.032246],[0.068585,0.993994,-0.085277],[0.038154,0.082802,0.995835]] 2025-10-24T20:19:24.065Z,1761337164.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:24.082Z,1761337164.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256474 2025-10-24T20:19:24.102Z,1761337164.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 68.811829 m, bearing: 351.361096 deg, approach rate: -0.655775 m/s, LOS rate: 0.075744 deg/s, cmd heading: 3.089963 deg, new cmd heading: 3.182834 deg. 2025-10-24T20:19:24.111Z,1761337164.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055551 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:24.330Z,1761337164.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505368 2025-10-24T20:19:24.419Z,1761337164.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997232,-0.066835,-0.032568],[0.063842,0.994285,-0.085568],[0.038101,0.083252,0.995800]] 2025-10-24T20:19:24.483Z,1761337164.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:24.486Z,1761337164.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 68.536842 m, bearing: 351.410574 deg, approach rate: -0.653704 m/s, LOS rate: 0.118092 deg/s, cmd heading: 3.182834 deg, new cmd heading: 3.331863 deg. 2025-10-24T20:19:24.487Z,1761337164.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058152 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:24.582Z,1761337164.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758056 2025-10-24T20:19:24.816Z,1761337164.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997484,-0.062793,-0.032901],[0.059759,0.994480,-0.086248],[0.038136,0.084065,0.995730]] 2025-10-24T20:19:24.833Z,1761337164.833 [DAT](INFO): DAT read: Rx Time:20:19:23.6480 2025-10-24T20:19:24.833Z,1761337164.833 [DAT](INFO): Rx dataTimestamp_ set to:1761337164.833038 2025-10-24T20:19:24.834Z,1761337164.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009444 2025-10-24T20:19:24.875Z,1761337164.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:24.879Z,1761337164.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 68.290222 m, bearing: 351.456170 deg, approach rate: -0.630041 m/s, LOS rate: 0.116906 deg/s, cmd heading: 3.331863 deg, new cmd heading: 3.469146 deg. 2025-10-24T20:19:24.893Z,1761337164.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060548 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:25.089Z,1761337165.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264512 2025-10-24T20:19:25.311Z,1761337165.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.33 m. 2025-10-24T20:19:25.315Z,1761337165.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.332542 m, nav range: 68.005798 m, bearing: 351.508385 deg, approach rate: -0.651186 m/s, LOS rate: 0.120045 deg/s, cmd heading: 3.469146 deg, new cmd heading: 3.626444 deg. 2025-10-24T20:19:25.317Z,1761337165.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063293 target range: 70.332542 and range: 70.70 m. 2025-10-24T20:19:25.342Z,1761337165.342 [DAT](INFO): DAT read: 20:19:23.6480 LVL= 26288, 29425, 17730, 32755, AGC= 67, IDX= 405,-0.43,-3.017, 2.090,-2.585, 3.107, PHS= 0.248,-0.970, 0.589, RAW= 162.0, 1.9, CAL= 163.3, -6.9, ROT= 346.7, 6.9 2025-10-24T20:19:25.343Z,1761337165.343 [DAT](INFO): got valid direction response: 20:19:23.6480 LVL= 26288, 29425, 17730, 32755, AGC= 67, IDX= 405,-0.43,-3.017, 2.090,-2.585, 3.107, PHS= 0.248,-0.970, 0.589, RAW= 162.0, 1.9, CAL= 163.3, -6.9, ROT= 346.7, 6.9 2025-10-24T20:19:25.344Z,1761337165.344 [DAT](INFO): DAT read: Bearing 346.7, 6.9 (Local) 2025-10-24T20:19:25.345Z,1761337165.345 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, 6.9 (Local) 2025-10-24T20:19:25.346Z,1761337165.346 [DAT](INFO): DAT read: Range 10 to 50 : 68.6 m (Round-trip 91.5 ms) speed 0.7 m/s 2025-10-24T20:19:25.347Z,1761337165.347 [DAT](INFO): DAT read: user:322> 2025-10-24T20:19:25.348Z,1761337165.348 [DAT](INFO): DAT read: Tx time:20:19:24.7524 2025-10-24T20:19:25.349Z,1761337165.349 [DAT](INFO): Ping request sent. 2025-10-24T20:19:25.349Z,1761337165.349 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:25.350Z,1761337165.350 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:25.351Z,1761337165.351 [DAT](INFO): direction in FSK: [0.966131,-0.228383,-0.120137] 2025-10-24T20:19:25.351Z,1761337165.351 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:25.351Z,1761337165.351 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:25.354Z,1761337165.354 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:25.355Z,1761337165.355 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:25.589Z,1761337165.589 [DAT](INFO): DAT read: TxSync time:20:19:24.7516 2025-10-24T20:19:25.679Z,1761337165.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.599998 m, deltaT: 3.526907 s, deltaX: -2.099998 m, approachRate: -0.595422 m/s, rangeRepo size: 4 2025-10-24T20:19:25.685Z,1761337165.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.243362 m, bearing: 350.801272 deg, lat: 36.779650 deg, lon: -121.859586 deg, deltaT: 3.526907 s, deltaX: -2.089180 m, approachRate: -0.592355 m/s, posRepo size: 4 2025-10-24T20:19:25.686Z,1761337165.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.24 m. 2025-10-24T20:19:25.696Z,1761337165.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.243362 m, nav range: 67.887581 m, bearing: 350.801345 deg, approach rate: 0.000000 m/s, LOS rate: 0.120045 deg/s, cmd heading: 3.626444 deg, new cmd heading: 3.758422 deg. 2025-10-24T20:19:25.698Z,1761337165.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065597 target range: 68.243362 and range: 68.60 m. 2025-10-24T20:19:26.033Z,1761337166.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998077,-0.050686,-0.035675],[0.047390,0.995007,-0.087836],[0.039949,0.085976,0.995496]] 2025-10-24T20:19:26.050Z,1761337166.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:26.052Z,1761337166.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.24 m. 2025-10-24T20:19:26.055Z,1761337166.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.243362 m, nav range: 67.636452 m, bearing: 350.847881 deg, approach rate: -0.671583 m/s, LOS rate: 0.124913 deg/s, cmd heading: 3.758422 deg, new cmd heading: 3.898551 deg. 2025-10-24T20:19:26.056Z,1761337166.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068043 target range: 68.243362 and range: 68.60 m. 2025-10-24T20:19:26.096Z,1761337166.096 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:26.096Z,1761337166.096 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:26.097Z,1761337166.097 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:26.346Z,1761337166.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996487 2025-10-24T20:19:26.434Z,1761337166.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998095,-0.049609,-0.036676],[0.046142,0.994873,-0.089996],[0.040952,0.088133,0.995267]] 2025-10-24T20:19:26.499Z,1761337166.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.24 m. 2025-10-24T20:19:26.505Z,1761337166.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.243362 m, nav range: 67.345726 m, bearing: 350.896390 deg, approach rate: -0.649829 m/s, LOS rate: 0.108894 deg/s, cmd heading: 3.898551 deg, new cmd heading: 4.044704 deg. 2025-10-24T20:19:26.507Z,1761337166.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070593 target range: 68.243362 and range: 68.60 m. 2025-10-24T20:19:26.598Z,1761337166.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248727 2025-10-24T20:19:26.843Z,1761337166.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998129,-0.048338,-0.037445],[0.044726,0.994761,-0.091918],[0.041692,0.090072,0.995062]] 2025-10-24T20:19:26.850Z,1761337166.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500788 2025-10-24T20:19:26.892Z,1761337166.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.24 m. 2025-10-24T20:19:26.908Z,1761337166.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.243362 m, nav range: 67.094955 m, bearing: 350.938867 deg, approach rate: -0.639280 m/s, LOS rate: 0.108691 deg/s, cmd heading: 4.044704 deg, new cmd heading: 4.172613 deg. 2025-10-24T20:19:26.909Z,1761337166.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072826 target range: 68.243362 and range: 68.60 m. 2025-10-24T20:19:27.104Z,1761337167.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754272 2025-10-24T20:19:27.243Z,1761337167.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998181,-0.047363,-0.037298],[0.043668,0.994585,-0.094306],[0.041562,0.092506,0.994844]] 2025-10-24T20:19:27.283Z,1761337167.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.24 m. 2025-10-24T20:19:27.286Z,1761337167.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.243362 m, nav range: 66.835960 m, bearing: 350.968344 deg, approach rate: -0.662342 m/s, LOS rate: 0.075673 deg/s, cmd heading: 4.172613 deg, new cmd heading: 4.261384 deg. 2025-10-24T20:19:27.286Z,1761337167.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074375 target range: 68.243362 and range: 68.60 m. 2025-10-24T20:19:27.353Z,1761337167.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003666 2025-10-24T20:19:27.605Z,1761337167.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255700 2025-10-24T20:19:27.643Z,1761337167.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998136,-0.048258,-0.037365],[0.044421,0.994246,-0.097476],[0.041854,0.095634,0.994536]] 2025-10-24T20:19:27.685Z,1761337167.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.24 m. 2025-10-24T20:19:27.687Z,1761337167.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.243362 m, nav range: 66.586685 m, bearing: 350.996739 deg, approach rate: -0.620012 m/s, LOS rate: 0.070892 deg/s, cmd heading: 4.261384 deg, new cmd heading: 4.346890 deg. 2025-10-24T20:19:27.688Z,1761337167.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075868 target range: 68.243362 and range: 68.60 m. 2025-10-24T20:19:27.860Z,1761337167.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510812 2025-10-24T20:19:28.047Z,1761337168.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998086,-0.048933,-0.037821],[0.044919,0.993918,-0.100544],[0.042511,0.098652,0.994214]] 2025-10-24T20:19:28.063Z,1761337168.063 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:28.066Z,1761337168.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.24 m. 2025-10-24T20:19:28.069Z,1761337168.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.243362 m, nav range: 66.322189 m, bearing: 351.026958 deg, approach rate: -0.692882 m/s, LOS rate: 0.079477 deg/s, cmd heading: 4.346889 deg, new cmd heading: 4.437907 deg. 2025-10-24T20:19:28.070Z,1761337168.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077456 target range: 68.243362 and range: 68.60 m. 2025-10-24T20:19:28.109Z,1761337168.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759861 2025-10-24T20:19:28.361Z,1761337168.361 [DAT](INFO): DAT read: Rx Time:20:19:27.2448 2025-10-24T20:19:28.361Z,1761337168.361 [DAT](INFO): Rx dataTimestamp_ set to:1761337168.361083 2025-10-24T20:19:28.362Z,1761337168.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012715 2025-10-24T20:19:28.455Z,1761337168.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997987,-0.050531,-0.038321],[0.046328,0.993540,-0.103598],[0.043308,0.101614,0.993881]] 2025-10-24T20:19:28.539Z,1761337168.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.24 m. 2025-10-24T20:19:28.546Z,1761337168.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.243362 m, nav range: 66.027405 m, bearing: 351.046686 deg, approach rate: -0.623959 m/s, LOS rate: 0.041944 deg/s, cmd heading: 4.437907 deg, new cmd heading: 4.497355 deg. 2025-10-24T20:19:28.547Z,1761337168.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078494 target range: 68.243362 and range: 68.60 m. 2025-10-24T20:19:28.615Z,1761337168.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264895 2025-10-24T20:19:28.898Z,1761337168.898 [DAT](INFO): DAT read: 20:19:27.2448 LVL= 19792, 26737, 19282, 32755, AGC= 66, IDX= 404, 0.32, 0.362,-0.873, 0.760, 0.133, PHS= 0.316,-0.959, 0.624, RAW= 160.5, 0.3, CAL= 162.6, -8.3, ROT= 347.4, 8.3 2025-10-24T20:19:28.904Z,1761337168.904 [DAT](INFO): got valid direction response: 20:19:27.2448 LVL= 19792, 26737, 19282, 32755, AGC= 66, IDX= 404, 0.32, 0.362,-0.873, 0.760, 0.133, PHS= 0.316,-0.959, 0.624, RAW= 160.5, 0.3, CAL= 162.6, -8.3, ROT= 347.4, 8.3 2025-10-24T20:19:28.905Z,1761337168.905 [DAT](INFO): DAT read: Bearing 347.4, 8.3 (Local) 2025-10-24T20:19:28.906Z,1761337168.906 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, 8.3 (Local) 2025-10-24T20:19:28.907Z,1761337168.907 [DAT](INFO): DAT read: Range 10 to 50 : 66.1 m (Round-trip 88.2 ms) speed 0.5 m/s 2025-10-24T20:19:28.912Z,1761337168.912 [DAT](INFO): DAT read: user:323> 2025-10-24T20:19:28.913Z,1761337168.913 [DAT](INFO): DAT read: Tx time:20:19:28.3524 2025-10-24T20:19:28.913Z,1761337168.913 [DAT](INFO): Ping request sent. 2025-10-24T20:19:28.913Z,1761337168.913 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:28.913Z,1761337168.913 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:28.915Z,1761337168.915 [DAT](INFO): direction in FSK: [0.965695,-0.215858,-0.144356] 2025-10-24T20:19:28.915Z,1761337168.915 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:28.916Z,1761337168.916 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:28.919Z,1761337168.919 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:28.919Z,1761337168.919 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:29.031Z,1761337169.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.099998 m, deltaT: 3.530559 s, deltaX: -2.500000 m, approachRate: -0.708103 m/s, rangeRepo size: 4 2025-10-24T20:19:29.042Z,1761337169.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.756081 m, bearing: 351.027168 deg, lat: 36.779647 deg, lon: -121.859586 deg, deltaT: 3.530559 s, deltaX: -2.487282 m, approachRate: -0.704501 m/s, posRepo size: 4 2025-10-24T20:19:29.043Z,1761337169.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:29.050Z,1761337169.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 65.412544 m, bearing: 351.022687 deg, approach rate: 0.000000 m/s, LOS rate: 0.041944 deg/s, cmd heading: 4.497356 deg, new cmd heading: 4.558343 deg. 2025-10-24T20:19:29.051Z,1761337169.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079558 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:29.120Z,1761337169.120 [DAT](INFO): DAT read: TxSync time:20:19:28.3516 2025-10-24T20:19:29.377Z,1761337169.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997679,-0.055672,-0.039197],[0.051090,0.992673,-0.109496],[0.045006,0.107240,0.993214]] 2025-10-24T20:19:29.438Z,1761337169.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:29.447Z,1761337169.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 65.129074 m, bearing: 351.025108 deg, approach rate: -0.683520 m/s, LOS rate: 0.005864 deg/s, cmd heading: 4.558343 deg, new cmd heading: 4.565639 deg. 2025-10-24T20:19:29.453Z,1761337169.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079685 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:29.764Z,1761337169.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997403,-0.059203,-0.041021],[0.054300,0.992249,-0.111778],[0.047321,0.109260,0.992886]] 2025-10-24T20:19:29.800Z,1761337169.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:29.803Z,1761337169.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 64.900780 m, bearing: 351.026412 deg, approach rate: -0.630465 m/s, LOS rate: 0.003615 deg/s, cmd heading: 4.565639 deg, new cmd heading: 4.569566 deg. 2025-10-24T20:19:29.804Z,1761337169.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079754 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:30.251Z,1761337170.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997155,-0.062108,-0.042708],[0.056508,0.990954,-0.121724],[0.049882,0.118964,0.991645]] 2025-10-24T20:19:30.288Z,1761337170.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:30.290Z,1761337170.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:30.318Z,1761337170.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 64.582779 m, bearing: 351.011948 deg, approach rate: -0.649151 m/s, LOS rate: -0.029672 deg/s, cmd heading: 4.569566 deg, new cmd heading: 4.525961 deg. 2025-10-24T20:19:30.318Z,1761337170.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078993 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:30.377Z,1761337170.377 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:30.377Z,1761337170.377 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:30.377Z,1761337170.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:30.630Z,1761337170.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716908 2025-10-24T20:19:30.645Z,1761337170.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997034,-0.064082,-0.042620],[0.058484,0.990849,-0.121649],[0.050025,0.118796,0.991658]] 2025-10-24T20:19:30.682Z,1761337170.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:30.685Z,1761337170.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 64.346283 m, bearing: 351.000681 deg, approach rate: -0.603389 m/s, LOS rate: -0.028853 deg/s, cmd heading: 4.525961 deg, new cmd heading: 4.492034 deg. 2025-10-24T20:19:30.686Z,1761337170.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078401 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:30.882Z,1761337170.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968765 2025-10-24T20:19:31.058Z,1761337171.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996825,-0.067438,-0.042337],[0.061877,0.990701,-0.121171],[0.050115,0.118167,0.991728]] 2025-10-24T20:19:31.093Z,1761337171.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:31.095Z,1761337171.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 64.086510 m, bearing: 350.987420 deg, approach rate: -0.632708 m/s, LOS rate: -0.032429 deg/s, cmd heading: 4.492034 deg, new cmd heading: 4.452090 deg. 2025-10-24T20:19:31.101Z,1761337171.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077704 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:31.134Z,1761337171.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220810 2025-10-24T20:19:31.385Z,1761337171.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472350 2025-10-24T20:19:31.517Z,1761337171.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:31.519Z,1761337171.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 63.815285 m, bearing: 350.966611 deg, approach rate: -0.639265 m/s, LOS rate: -0.049254 deg/s, cmd heading: 4.452090 deg, new cmd heading: 4.389399 deg. 2025-10-24T20:19:31.521Z,1761337171.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076609 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:31.638Z,1761337171.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724967 2025-10-24T20:19:31.863Z,1761337171.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996332,-0.075063,-0.041085],[0.069591,0.990159,-0.121421],[0.049795,0.118116,0.991750]] 2025-10-24T20:19:31.890Z,1761337171.890 [DAT](INFO): DAT read: Rx Time:20:19:30.8418 2025-10-24T20:19:31.890Z,1761337171.890 [DAT](INFO): Rx dataTimestamp_ set to:1761337171.889915 2025-10-24T20:19:31.891Z,1761337171.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978088 2025-10-24T20:19:31.914Z,1761337171.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:31.918Z,1761337171.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 63.570179 m, bearing: 350.945930 deg, approach rate: -0.620367 m/s, LOS rate: -0.052547 deg/s, cmd heading: 4.389399 deg, new cmd heading: 4.327115 deg. 2025-10-24T20:19:31.919Z,1761337171.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075522 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:32.141Z,1761337172.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227904 2025-10-24T20:19:32.268Z,1761337172.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996110,-0.078335,-0.040343],[0.072924,0.989903,-0.121551],[0.049457,0.118136,0.991765]] 2025-10-24T20:19:32.313Z,1761337172.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:32.315Z,1761337172.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.76 m. 2025-10-24T20:19:32.320Z,1761337172.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.756081 m, nav range: 63.328331 m, bearing: 350.915988 deg, approach rate: -0.599622 m/s, LOS rate: -0.074520 deg/s, cmd heading: 4.327115 deg, new cmd heading: 4.236946 deg. 2025-10-24T20:19:32.321Z,1761337172.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073949 target range: 65.756081 and range: 66.10 m. 2025-10-24T20:19:32.395Z,1761337172.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481977 2025-10-24T20:19:32.655Z,1761337172.655 [DAT](INFO): DAT read: 20:19:30.8418 LVL= 26256, 29073, 16754, 28307, AGC= 64, IDX= 406, 0.01, 1.961, 0.742, 2.423, 1.792, PHS= 0.257,-1.004, 0.627, RAW= 162.5, 1.6, CAL= 163.9, -7.1, ROT= 346.1, 7.1 2025-10-24T20:19:32.665Z,1761337172.665 [DAT](INFO): got valid direction response: 20:19:30.8418 LVL= 26256, 29073, 16754, 28307, AGC= 64, IDX= 406, 0.01, 1.961, 0.742, 2.423, 1.792, PHS= 0.257,-1.004, 0.627, RAW= 162.5, 1.6, CAL= 163.9, -7.1, ROT= 346.1, 7.1 2025-10-24T20:19:32.668Z,1761337172.668 [DAT](INFO): DAT read: Bearing 346.1, 7.1 (Local) 2025-10-24T20:19:32.669Z,1761337172.669 [DAT](INFO): Local bearing/azimuth received: Bearing 346.1, 7.1 (Local) 2025-10-24T20:19:32.701Z,1761337172.701 [DAT](INFO): DAT read: Range 10 to 50 : 63.9 m (Round-trip 85.3 ms) speed 0.5 m/s 2025-10-24T20:19:32.701Z,1761337172.701 [DAT](INFO): DAT read: user:324> 2025-10-24T20:19:32.702Z,1761337172.702 [DAT](INFO): DAT read: Tx time:20:19:31.9524 2025-10-24T20:19:32.702Z,1761337172.702 [DAT](INFO): Ping request sent. 2025-10-24T20:19:32.703Z,1761337172.703 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:32.703Z,1761337172.703 [DAT](INFO): DAT read: TxSync time:20:19:31.9516 2025-10-24T20:19:32.709Z,1761337172.709 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:32.710Z,1761337172.710 [DAT](INFO): direction in FSK: [0.963273,-0.238386,-0.123601] 2025-10-24T20:19:32.710Z,1761337172.710 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:32.710Z,1761337172.710 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:32.715Z,1761337172.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995803,-0.082562,-0.039505],[0.077200,0.989519,-0.122032],[0.049167,0.118470,0.991740]] 2025-10-24T20:19:32.718Z,1761337172.718 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:32.718Z,1761337172.718 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:32.791Z,1761337172.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.781604 s, deltaX: -2.199997 m, approachRate: -0.581763 m/s, rangeRepo size: 4 2025-10-24T20:19:32.797Z,1761337172.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.564098 m, bearing: 351.533587 deg, lat: 36.779650 deg, lon: -121.859586 deg, deltaT: 3.781604 s, deltaX: -2.191982 m, approachRate: -0.579644 m/s, posRepo size: 4 2025-10-24T20:19:32.798Z,1761337172.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:32.817Z,1761337172.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 63.322746 m, bearing: 350.947336 deg, approach rate: 0.000000 m/s, LOS rate: -0.074520 deg/s, cmd heading: 4.236946 deg, new cmd heading: 4.130837 deg. 2025-10-24T20:19:32.818Z,1761337172.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072097 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:33.085Z,1761337173.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995564,-0.085218,-0.039869],[0.079872,0.989492,-0.120528],[0.049721,0.116809,0.991909]] 2025-10-24T20:19:33.105Z,1761337173.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:33.107Z,1761337173.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 63.124081 m, bearing: 350.921392 deg, approach rate: -0.630965 m/s, LOS rate: -0.082658 deg/s, cmd heading: 4.130837 deg, new cmd heading: 4.052760 deg. 2025-10-24T20:19:33.109Z,1761337173.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070734 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:33.485Z,1761337173.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995597,-0.085260,-0.038943],[0.079718,0.988737,-0.126668],[0.049304,0.123006,0.991180]] 2025-10-24T20:19:33.543Z,1761337173.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:33.547Z,1761337173.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 62.861961 m, bearing: 350.887129 deg, approach rate: -0.598332 m/s, LOS rate: -0.078538 deg/s, cmd heading: 4.052760 deg, new cmd heading: 3.949542 deg. 2025-10-24T20:19:33.547Z,1761337173.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068933 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:33.894Z,1761337173.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995631,-0.084528,-0.039679],[0.079186,0.989495,-0.120954],[0.049486,0.117283,0.991865]] 2025-10-24T20:19:33.929Z,1761337173.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:33.935Z,1761337173.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 62.631760 m, bearing: 350.856976 deg, approach rate: -0.596209 m/s, LOS rate: -0.078382 deg/s, cmd heading: 3.949542 deg, new cmd heading: 3.858750 deg. 2025-10-24T20:19:33.936Z,1761337173.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067348 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:34.293Z,1761337174.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995705,-0.084045,-0.038830],[0.079088,0.990190,-0.115194],[0.048131,0.111628,0.992584]] 2025-10-24T20:19:34.330Z,1761337174.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:34.334Z,1761337174.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:34.357Z,1761337174.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 62.394211 m, bearing: 350.831154 deg, approach rate: -0.586684 m/s, LOS rate: -0.064016 deg/s, cmd heading: 3.858750 deg, new cmd heading: 3.780990 deg. 2025-10-24T20:19:34.361Z,1761337174.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065991 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:34.413Z,1761337174.413 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:34.414Z,1761337174.414 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:34.414Z,1761337174.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:34.665Z,1761337174.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962333 2025-10-24T20:19:34.703Z,1761337174.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995654,-0.084951,-0.038168],[0.080275,0.990601,-0.110746],[0.047217,0.107201,0.993116]] 2025-10-24T20:19:34.755Z,1761337174.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:34.758Z,1761337174.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 62.151134 m, bearing: 350.804314 deg, approach rate: -0.577731 m/s, LOS rate: -0.064041 deg/s, cmd heading: 3.780990 deg, new cmd heading: 3.700155 deg. 2025-10-24T20:19:34.759Z,1761337174.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064580 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:34.921Z,1761337174.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218043 2025-10-24T20:19:35.101Z,1761337175.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995642,-0.085393,-0.037479],[0.080962,0.990954,-0.107026],[0.046279,0.103525,0.993550]] 2025-10-24T20:19:35.121Z,1761337175.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:35.123Z,1761337175.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 61.930710 m, bearing: 350.779694 deg, approach rate: -0.602350 m/s, LOS rate: -0.067518 deg/s, cmd heading: 3.700156 deg, new cmd heading: 3.626033 deg. 2025-10-24T20:19:35.140Z,1761337175.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063286 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:35.174Z,1761337175.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470906 2025-10-24T20:19:35.425Z,1761337175.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722117 2025-10-24T20:19:35.505Z,1761337175.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995495,-0.087396,-0.036754],[0.083135,0.991016,-0.104769],[0.045581,0.101242,0.993817]] 2025-10-24T20:19:35.559Z,1761337175.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:35.562Z,1761337175.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 61.667656 m, bearing: 350.760080 deg, approach rate: -0.600400 m/s, LOS rate: -0.044959 deg/s, cmd heading: 3.626033 deg, new cmd heading: 3.566939 deg. 2025-10-24T20:19:35.562Z,1761337175.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062255 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:35.679Z,1761337175.679 [DAT](INFO): DAT read: Rx Time:20:19:34.4391 2025-10-24T20:19:35.680Z,1761337175.680 [DAT](INFO): Rx dataTimestamp_ set to:1761337175.678737 2025-10-24T20:19:35.681Z,1761337175.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977588 2025-10-24T20:19:35.914Z,1761337175.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995477,-0.087870,-0.036116],[0.083790,0.991236,-0.102132],[0.044774,0.098644,0.994115]] 2025-10-24T20:19:35.929Z,1761337175.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226212 2025-10-24T20:19:35.934Z,1761337175.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.56 m. 2025-10-24T20:19:35.937Z,1761337175.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.564098 m, nav range: 61.442646 m, bearing: 350.743068 deg, approach rate: -0.599191 m/s, LOS rate: -0.045468 deg/s, cmd heading: 3.566939 deg, new cmd heading: 3.515717 deg. 2025-10-24T20:19:35.938Z,1761337175.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061361 target range: 63.564098 and range: 63.90 m. 2025-10-24T20:19:36.187Z,1761337176.187 [DAT](INFO): DAT read: 20:19:34.4391 LVL= 28448, 28401, 18418, 32179, AGC= 65, IDX= 409, 0.14, 1.227, 0.065, 1.724, 1.083, PHS= 0.232,-0.971, 0.638, RAW= 164.0, 1.4, CAL= 165.4, -7.2, ROT= 344.6, 7.2 2025-10-24T20:19:36.189Z,1761337176.189 [DAT](INFO): got valid direction response: 20:19:34.4391 LVL= 28448, 28401, 18418, 32179, AGC= 65, IDX= 409, 0.14, 1.227, 0.065, 1.724, 1.083, PHS= 0.232,-0.971, 0.638, RAW= 164.0, 1.4, CAL= 165.4, -7.2, ROT= 344.6, 7.2 2025-10-24T20:19:36.190Z,1761337176.190 [DAT](INFO): DAT read: Bearing 344.6, 7.2 (Local) 2025-10-24T20:19:36.190Z,1761337176.190 [DAT](INFO): Local bearing/azimuth received: Bearing 344.6, 7.2 (Local) 2025-10-24T20:19:36.191Z,1761337176.191 [DAT](INFO): DAT read: Range 10 to 50 : 61.8 m (Round-trip 82.5 ms) speed 0.5 m/s 2025-10-24T20:19:36.220Z,1761337176.220 [DAT](INFO): DAT read: user:325> 2025-10-24T20:19:36.221Z,1761337176.221 [DAT](INFO): DAT read: Tx time:20:19:35.5525 2025-10-24T20:19:36.221Z,1761337176.221 [DAT](INFO): Ping request sent. 2025-10-24T20:19:36.221Z,1761337176.221 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:36.222Z,1761337176.222 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:36.223Z,1761337176.223 [DAT](INFO): direction in FSK: [0.956493,-0.263462,-0.125333] 2025-10-24T20:19:36.223Z,1761337176.223 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:36.223Z,1761337176.223 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:36.294Z,1761337176.294 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:36.295Z,1761337176.295 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:36.342Z,1761337176.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995452,-0.088359,-0.035605],[0.084405,0.991360,-0.100403],[0.044169,0.096941,0.994310]] 2025-10-24T20:19:36.434Z,1761337176.434 [DAT](INFO): DAT read: TxSync time:20:19:35.5517 2025-10-24T20:19:36.501Z,1761337176.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.532004 s, deltaX: -2.100002 m, approachRate: -0.594564 m/s, rangeRepo size: 4 2025-10-24T20:19:36.503Z,1761337176.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.473675 m, bearing: 350.278730 deg, lat: 36.779649 deg, lon: -121.859586 deg, deltaT: 3.532004 s, deltaX: -2.090424 m, approachRate: -0.591852 m/s, posRepo size: 4 2025-10-24T20:19:36.503Z,1761337176.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m. 2025-10-24T20:19:36.514Z,1761337176.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.473675 m, nav range: 61.040298 m, bearing: 350.695206 deg, approach rate: 0.000000 m/s, LOS rate: -0.045468 deg/s, cmd heading: 3.515717 deg, new cmd heading: 3.439664 deg. 2025-10-24T20:19:36.524Z,1761337176.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060033 target range: 61.473675 and range: 61.80 m. 2025-10-24T20:19:36.823Z,1761337176.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995578,-0.086834,-0.035851],[0.082986,0.991761,-0.097591],[0.044030,0.094184,0.994581]] 2025-10-24T20:19:36.898Z,1761337176.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:36.905Z,1761337176.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m. 2025-10-24T20:19:36.907Z,1761337176.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.473675 m, nav range: 60.795586 m, bearing: 350.689522 deg, approach rate: -0.592486 m/s, LOS rate: -0.013818 deg/s, cmd heading: 3.439664 deg, new cmd heading: 3.422542 deg. 2025-10-24T20:19:36.913Z,1761337176.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059735 target range: 61.473675 and range: 61.80 m. 2025-10-24T20:19:36.937Z,1761337176.937 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:36.937Z,1761337176.937 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:36.937Z,1761337176.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:37.193Z,1761337177.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971824 2025-10-24T20:19:37.206Z,1761337177.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995775,-0.084479,-0.036001],[0.080597,0.991891,-0.098270],[0.044011,0.094953,0.994508]] 2025-10-24T20:19:37.309Z,1761337177.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m. 2025-10-24T20:19:37.318Z,1761337177.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.473675 m, nav range: 60.551125 m, bearing: 350.684339 deg, approach rate: -0.604588 m/s, LOS rate: -0.012869 deg/s, cmd heading: 3.422542 deg, new cmd heading: 3.406932 deg. 2025-10-24T20:19:37.322Z,1761337177.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059462 target range: 61.473675 and range: 61.80 m. 2025-10-24T20:19:37.445Z,1761337177.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223304 2025-10-24T20:19:37.607Z,1761337177.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995948,-0.082173,-0.036550],[0.078329,0.992251,-0.096450],[0.044192,0.093196,0.994667]] 2025-10-24T20:19:37.675Z,1761337177.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m. 2025-10-24T20:19:37.678Z,1761337177.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.473675 m, nav range: 60.306267 m, bearing: 350.687191 deg, approach rate: -0.669193 m/s, LOS rate: 0.007824 deg/s, cmd heading: 3.406933 deg, new cmd heading: 3.415521 deg. 2025-10-24T20:19:37.679Z,1761337177.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059612 target range: 61.473675 and range: 61.80 m. 2025-10-24T20:19:37.697Z,1761337177.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475554 2025-10-24T20:19:37.949Z,1761337177.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727790 2025-10-24T20:19:38.057Z,1761337178.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m. 2025-10-24T20:19:38.060Z,1761337178.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.473675 m, nav range: 60.071663 m, bearing: 350.689944 deg, approach rate: -0.614067 m/s, LOS rate: 0.007235 deg/s, cmd heading: 3.415521 deg, new cmd heading: 3.423814 deg. 2025-10-24T20:19:38.061Z,1761337178.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059757 target range: 61.473675 and range: 61.80 m. 2025-10-24T20:19:38.160Z,1761337178.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:19:38.201Z,1761337178.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979638 2025-10-24T20:19:38.417Z,1761337178.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996359,-0.077837,-0.034801],[0.074303,0.992859,-0.093329],[0.041817,0.090403,0.995027]] 2025-10-24T20:19:38.453Z,1761337178.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231446 2025-10-24T20:19:38.497Z,1761337178.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m. 2025-10-24T20:19:38.509Z,1761337178.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.473675 m, nav range: 59.809906 m, bearing: 350.712105 deg, approach rate: -0.595315 m/s, LOS rate: 0.050621 deg/s, cmd heading: 3.423814 deg, new cmd heading: 3.490588 deg. 2025-10-24T20:19:38.510Z,1761337178.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060922 target range: 61.473675 and range: 61.80 m. 2025-10-24T20:19:38.707Z,1761337178.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485400 2025-10-24T20:19:38.867Z,1761337178.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996534,-0.075960,-0.033907],[0.072547,0.993064,-0.092529],[0.040700,0.089748,0.995132]] 2025-10-24T20:19:38.895Z,1761337178.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m. 2025-10-24T20:19:38.915Z,1761337178.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.473675 m, nav range: 59.551960 m, bearing: 350.734595 deg, approach rate: -0.649381 m/s, LOS rate: 0.056863 deg/s, cmd heading: 3.490588 deg, new cmd heading: 3.558349 deg. 2025-10-24T20:19:38.920Z,1761337178.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062105 target range: 61.473675 and range: 61.80 m. 2025-10-24T20:19:38.957Z,1761337178.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735360 2025-10-24T20:19:39.165Z,1761337179.165 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:19:39.209Z,1761337179.209 [DAT](INFO): DAT read: Rx Time:20:19:38.0361 2025-10-24T20:19:39.209Z,1761337179.209 [DAT](INFO): Rx dataTimestamp_ set to:1761337179.209020 2025-10-24T20:19:39.210Z,1761337179.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988434 2025-10-24T20:19:39.398Z,1761337179.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:39.401Z,1761337179.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.47 m. 2025-10-24T20:19:39.403Z,1761337179.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.473675 m, nav range: 59.224529 m, bearing: 350.762854 deg, approach rate: -0.646563 m/s, LOS rate: 0.056112 deg/s, cmd heading: 3.558349 deg, new cmd heading: 3.643596 deg. 2025-10-24T20:19:39.404Z,1761337179.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063593 target range: 61.473675 and range: 61.80 m. 2025-10-24T20:19:39.462Z,1761337179.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240283 2025-10-24T20:19:39.705Z,1761337179.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997023,-0.069656,-0.033064],[0.066360,0.993541,-0.092043],[0.039262,0.089575,0.995206]] 2025-10-24T20:19:39.727Z,1761337179.727 [DAT](INFO): DAT read: 20:19:38.0361 LVL= 21920, 27617, 13762, 30707, AGC= 63, IDX= 410, 0.19,-1.923, 3.103,-1.463,-2.110, PHS= 0.275,-1.023, 0.644, RAW= 162.2, 1.4, CAL= 163.6, -7.3, ROT= 346.4, 7.3 2025-10-24T20:19:39.728Z,1761337179.728 [DAT](INFO): got valid direction response: 20:19:38.0361 LVL= 21920, 27617, 13762, 30707, AGC= 63, IDX= 410, 0.19,-1.923, 3.103,-1.463,-2.110, PHS= 0.275,-1.023, 0.644, RAW= 162.2, 1.4, CAL= 163.6, -7.3, ROT= 346.4, 7.3 2025-10-24T20:19:39.729Z,1761337179.729 [DAT](INFO): DAT read: Bearing 346.4, 7.3 (Local) 2025-10-24T20:19:39.729Z,1761337179.729 [DAT](INFO): Local bearing/azimuth received: Bearing 346.4, 7.3 (Local) 2025-10-24T20:19:39.731Z,1761337179.731 [DAT](INFO): DAT read: Range 10 to 50 : 59.5 m (Round-trip 79.4 ms) speed 0.6 m/s 2025-10-24T20:19:39.731Z,1761337179.731 [DAT](INFO): DAT read: user:326> 2025-10-24T20:19:39.733Z,1761337179.733 [DAT](INFO): DAT read: Tx time:20:19:39.1525 2025-10-24T20:19:39.733Z,1761337179.733 [DAT](INFO): Ping request sent. 2025-10-24T20:19:39.733Z,1761337179.733 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:39.733Z,1761337179.733 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:39.734Z,1761337179.734 [DAT](INFO): direction in FSK: [0.964083,-0.233236,-0.127065] 2025-10-24T20:19:39.735Z,1761337179.735 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:39.735Z,1761337179.735 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:39.751Z,1761337179.751 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:39.751Z,1761337179.751 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:39.778Z,1761337179.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.500000 m, deltaT: 3.532052 s, deltaX: -2.299999 m, approachRate: -0.651179 m/s, rangeRepo size: 4 2025-10-24T20:19:39.794Z,1761337179.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.183956 m, bearing: 350.967074 deg, lat: 36.779649 deg, lon: -121.859586 deg, deltaT: 3.532052 s, deltaX: -2.289719 m, approachRate: -0.648269 m/s, posRepo size: 4 2025-10-24T20:19:39.795Z,1761337179.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:39.795Z,1761337179.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:39.803Z,1761337179.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 58.995731 m, bearing: 350.812661 deg, approach rate: 0.000000 m/s, LOS rate: 0.056112 deg/s, cmd heading: 3.643596 deg, new cmd heading: 3.705992 deg. 2025-10-24T20:19:39.803Z,1761337179.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064682 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:39.841Z,1761337179.841 [DockingStepper](INFO): Changing to mode: 2 2025-10-24T20:19:39.966Z,1761337179.966 [DAT](INFO): DAT read: TxSync time:20:19:39.1517 2025-10-24T20:19:40.134Z,1761337180.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997104,-0.068474,-0.033098],[0.065144,0.993540,-0.092925],[0.039248,0.090500,0.995123]] 2025-10-24T20:19:40.183Z,1761337180.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:40.183Z,1761337180.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:40.194Z,1761337180.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 58.724266 m, bearing: 350.838628 deg, approach rate: -0.659978 m/s, LOS rate: 0.063424 deg/s, cmd heading: 3.705992 deg, new cmd heading: 3.784255 deg. 2025-10-24T20:19:40.195Z,1761337180.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066048 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:40.515Z,1761337180.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997223,-0.066513,-0.033506],[0.063151,0.993661,-0.093004],[0.039479,0.090630,0.995102]] 2025-10-24T20:19:40.605Z,1761337180.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:40.605Z,1761337180.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:40.608Z,1761337180.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 58.453300 m, bearing: 350.862543 deg, approach rate: -0.642038 m/s, LOS rate: 0.056927 deg/s, cmd heading: 3.784256 deg, new cmd heading: 3.856332 deg. 2025-10-24T20:19:40.609Z,1761337180.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067306 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:40.955Z,1761337180.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:40.955Z,1761337180.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:40.983Z,1761337180.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 58.220940 m, bearing: 350.883229 deg, approach rate: -0.663526 m/s, LOS rate: 0.059306 deg/s, cmd heading: 3.856332 deg, new cmd heading: 3.918638 deg. 2025-10-24T20:19:40.988Z,1761337180.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068393 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:41.361Z,1761337181.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997307,-0.065051,-0.033872],[0.061555,0.993511,-0.095644],[0.039873,0.093301,0.994839]] 2025-10-24T20:19:41.413Z,1761337181.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:41.415Z,1761337181.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:41.416Z,1761337181.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:41.419Z,1761337181.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 57.923512 m, bearing: 350.907693 deg, approach rate: -0.645657 m/s, LOS rate: 0.053379 deg/s, cmd heading: 3.918638 deg, new cmd heading: 3.992407 deg. 2025-10-24T20:19:41.420Z,1761337181.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069681 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:41.478Z,1761337181.478 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:41.478Z,1761337181.478 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:41.478Z,1761337181.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:41.729Z,1761337181.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995734 2025-10-24T20:19:41.731Z,1761337181.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997325,-0.065191,-0.033060],[0.061673,0.993261,-0.098123],[0.039233,0.095821,0.994625]] 2025-10-24T20:19:41.769Z,1761337181.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:41.770Z,1761337181.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:41.773Z,1761337181.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 57.706818 m, bearing: 350.925624 deg, approach rate: -0.611998 m/s, LOS rate: 0.050831 deg/s, cmd heading: 3.992407 deg, new cmd heading: 4.046401 deg. 2025-10-24T20:19:41.780Z,1761337181.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070623 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:41.981Z,1761337181.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247819 2025-10-24T20:19:42.132Z,1761337182.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997393,-0.064463,-0.032415],[0.060985,0.993239,-0.098773],[0.038564,0.096539,0.994582]] 2025-10-24T20:19:42.161Z,1761337182.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:42.161Z,1761337182.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:42.189Z,1761337182.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 57.446438 m, bearing: 350.947520 deg, approach rate: -0.665166 m/s, LOS rate: 0.056191 deg/s, cmd heading: 4.046401 deg, new cmd heading: 4.112389 deg. 2025-10-24T20:19:42.190Z,1761337182.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071775 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:42.234Z,1761337182.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500613 2025-10-24T20:19:42.485Z,1761337182.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752195 2025-10-24T20:19:42.542Z,1761337182.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997324,-0.065643,-0.032197],[0.062098,0.992957,-0.100901],[0.038594,0.098632,0.994375]] 2025-10-24T20:19:42.583Z,1761337182.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:42.600Z,1761337182.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:42.603Z,1761337182.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 57.180996 m, bearing: 350.956183 deg, approach rate: -0.628290 m/s, LOS rate: 0.020599 deg/s, cmd heading: 4.112389 deg, new cmd heading: 4.138497 deg. 2025-10-24T20:19:42.605Z,1761337182.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072230 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:42.738Z,1761337182.738 [DAT](INFO): DAT read: Rx Time:20:19:41.6331 2025-10-24T20:19:42.738Z,1761337182.738 [DAT](INFO): Rx dataTimestamp_ set to:1761337182.737778 2025-10-24T20:19:42.739Z,1761337182.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005589 2025-10-24T20:19:42.983Z,1761337182.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.18 m. 2025-10-24T20:19:42.983Z,1761337182.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.50 m. 2025-10-24T20:19:42.986Z,1761337182.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.183956 m, nav range: 56.940170 m, bearing: 350.964111 deg, approach rate: -0.603522 m/s, LOS rate: 0.019954 deg/s, cmd heading: 4.138497 deg, new cmd heading: 4.162383 deg. 2025-10-24T20:19:42.987Z,1761337182.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072647 target range: 59.183956 and range: 59.50 m. 2025-10-24T20:19:42.989Z,1761337182.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255849 2025-10-24T20:19:43.263Z,1761337183.263 [DAT](INFO): DAT read: 20:19:41.6331 LVL= 16880, 21489, 15250, 24547, AGC= 64, IDX= 411,-0.00, 0.463,-0.777, 0.907, 0.310, PHS= 0.241,-1.040, 0.594, RAW= 161.8, 2.8, CAL= 162.9, -6.1, ROT= 347.1, 6.1 2025-10-24T20:19:43.264Z,1761337183.264 [DAT](INFO): got valid direction response: 20:19:41.6331 LVL= 16880, 21489, 15250, 24547, AGC= 64, IDX= 411,-0.00, 0.463,-0.777, 0.907, 0.310, PHS= 0.241,-1.040, 0.594, RAW= 161.8, 2.8, CAL= 162.9, -6.1, ROT= 347.1, 6.1 2025-10-24T20:19:43.265Z,1761337183.265 [DAT](INFO): DAT read: Bearing 347.1, 6.1 (Local) 2025-10-24T20:19:43.266Z,1761337183.266 [DAT](INFO): Local bearing/azimuth received: Bearing 347.1, 6.1 (Local) 2025-10-24T20:19:43.273Z,1761337183.273 [DAT](INFO): DAT read: Range 10 to 50 : 57.3 m (Round-trip 76.4 ms) speed 0.5 m/s 2025-10-24T20:19:43.273Z,1761337183.273 [DAT](INFO): DAT read: user:327> 2025-10-24T20:19:43.274Z,1761337183.274 [DAT](INFO): DAT read: Tx time:20:19:42.7525 2025-10-24T20:19:43.274Z,1761337183.274 [DAT](INFO): Ping request sent. 2025-10-24T20:19:43.274Z,1761337183.274 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:43.275Z,1761337183.275 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:43.276Z,1761337183.276 [DAT](INFO): direction in FSK: [0.969242,-0.221986,-0.106264] 2025-10-24T20:19:43.276Z,1761337183.276 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:43.276Z,1761337183.276 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:43.279Z,1761337183.279 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:43.280Z,1761337183.280 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:43.493Z,1761337183.493 [DAT](INFO): DAT read: TxSync time:20:19:42.7517 2025-10-24T20:19:43.513Z,1761337183.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.299999 m, deltaT: 3.530215 s, deltaX: -2.200001 m, approachRate: -0.623192 m/s, rangeRepo size: 4 2025-10-24T20:19:43.521Z,1761337183.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.995468 m, bearing: 351.365899 deg, lat: 36.779649 deg, lon: -121.859584 deg, deltaT: 3.530215 s, deltaX: -2.188488 m, approachRate: -0.619931 m/s, posRepo size: 4 2025-10-24T20:19:43.521Z,1761337183.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:43.522Z,1761337183.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:43.533Z,1761337183.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 56.597000 m, bearing: 351.137649 deg, approach rate: 0.000000 m/s, LOS rate: 0.019954 deg/s, cmd heading: 4.162383 deg, new cmd heading: 4.194129 deg. 2025-10-24T20:19:43.534Z,1761337183.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073201 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:43.813Z,1761337183.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997063,-0.069556,-0.032045],[0.065870,0.992347,-0.104447],[0.039065,0.102029,0.994014]] 2025-10-24T20:19:43.837Z,1761337183.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:43.839Z,1761337183.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:43.840Z,1761337183.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:43.857Z,1761337183.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 56.386562 m, bearing: 351.130893 deg, approach rate: -0.644724 m/s, LOS rate: -0.020777 deg/s, cmd heading: 4.194129 deg, new cmd heading: 4.173785 deg. 2025-10-24T20:19:43.859Z,1761337183.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072846 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:43.997Z,1761337183.997 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:43.997Z,1761337183.997 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:43.997Z,1761337183.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:44.200Z,1761337184.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996928,-0.070881,-0.033322],[0.067262,0.992770,-0.099412],[0.040127,0.096866,0.994488]] 2025-10-24T20:19:44.235Z,1761337184.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:44.240Z,1761337184.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:44.242Z,1761337184.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 56.156807 m, bearing: 351.123165 deg, approach rate: -0.580324 m/s, LOS rate: -0.019600 deg/s, cmd heading: 4.173784 deg, new cmd heading: 4.150505 deg. 2025-10-24T20:19:44.243Z,1761337184.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072440 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:44.249Z,1761337184.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974988 2025-10-24T20:19:44.501Z,1761337184.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226289 2025-10-24T20:19:44.604Z,1761337184.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996628,-0.075012,-0.033261],[0.071294,0.992270,-0.101579],[0.040623,0.098865,0.994271]] 2025-10-24T20:19:44.667Z,1761337184.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:44.667Z,1761337184.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:44.674Z,1761337184.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 55.910088 m, bearing: 351.096173 deg, approach rate: -0.571316 m/s, LOS rate: -0.062779 deg/s, cmd heading: 4.150505 deg, new cmd heading: 4.069172 deg. 2025-10-24T20:19:44.675Z,1761337184.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071020 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:44.755Z,1761337184.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479965 2025-10-24T20:19:45.005Z,1761337185.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730204 2025-10-24T20:19:45.016Z,1761337185.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996407,-0.078126,-0.032716],[0.074364,0.991832,-0.103634],[0.040545,0.100829,0.994077]] 2025-10-24T20:19:45.035Z,1761337185.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:45.035Z,1761337185.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:45.038Z,1761337185.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 55.682117 m, bearing: 351.070276 deg, approach rate: -0.619806 m/s, LOS rate: -0.070696 deg/s, cmd heading: 4.069172 deg, new cmd heading: 3.991164 deg. 2025-10-24T20:19:45.039Z,1761337185.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069659 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:45.257Z,1761337185.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982329 2025-10-24T20:19:45.430Z,1761337185.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996227,-0.080935,-0.031339],[0.077232,0.991433,-0.105332],[0.039595,0.102515,0.993943]] 2025-10-24T20:19:45.469Z,1761337185.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:45.470Z,1761337185.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:45.472Z,1761337185.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 55.438450 m, bearing: 351.035657 deg, approach rate: -0.560994 m/s, LOS rate: -0.080053 deg/s, cmd heading: 3.991164 deg, new cmd heading: 3.886851 deg. 2025-10-24T20:19:45.473Z,1761337185.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067838 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:45.509Z,1761337185.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234490 2025-10-24T20:19:45.761Z,1761337185.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486315 2025-10-24T20:19:45.907Z,1761337185.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996177,-0.081829,-0.030586],[0.078172,0.991286,-0.106026],[0.038995,0.103229,0.993893]] 2025-10-24T20:19:45.924Z,1761337185.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:45.926Z,1761337185.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:45.927Z,1761337185.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:45.930Z,1761337185.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 55.181301 m, bearing: 350.998526 deg, approach rate: -0.562300 m/s, LOS rate: -0.081572 deg/s, cmd heading: 3.886851 deg, new cmd heading: 3.774938 deg. 2025-10-24T20:19:45.931Z,1761337185.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065885 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:46.015Z,1761337186.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740138 2025-10-24T20:19:46.266Z,1761337186.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991093 2025-10-24T20:19:46.287Z,1761337186.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996063,-0.083317,-0.030270],[0.079655,0.991085,-0.106799],[0.038898,0.103967,0.993820]] 2025-10-24T20:19:46.321Z,1761337186.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:46.322Z,1761337186.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:46.324Z,1761337186.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 54.960232 m, bearing: 350.965969 deg, approach rate: -0.560140 m/s, LOS rate: -0.082823 deg/s, cmd heading: 3.774938 deg, new cmd heading: 3.676875 deg. 2025-10-24T20:19:46.325Z,1761337186.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064174 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:46.517Z,1761337186.517 [DAT](INFO): DAT read: Rx Time:20:19:45.2302 2025-10-24T20:19:46.517Z,1761337186.517 [DAT](INFO): Rx dataTimestamp_ set to:1761337186.517055 2025-10-24T20:19:46.518Z,1761337186.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243457 2025-10-24T20:19:46.695Z,1761337186.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996028,-0.083783,-0.030129],[0.080135,0.991049,-0.106769],[0.038805,0.103931,0.993827]] 2025-10-24T20:19:46.754Z,1761337186.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.00 m. 2025-10-24T20:19:46.755Z,1761337186.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.30 m. 2025-10-24T20:19:46.762Z,1761337186.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.995468 m, nav range: 54.730652 m, bearing: 350.934610 deg, approach rate: -0.530018 m/s, LOS rate: -0.072699 deg/s, cmd heading: 3.676875 deg, new cmd heading: 3.582405 deg. 2025-10-24T20:19:46.762Z,1761337186.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062525 target range: 56.995468 and range: 57.30 m. 2025-10-24T20:19:46.769Z,1761337186.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494428 2025-10-24T20:19:47.027Z,1761337187.027 [DAT](INFO): DAT read: 20:19:45.2302 LVL= 19888, 27281, 16290, 28851, AGC= 62, IDX= 413, 0.40, 1.842, 0.615, 2.168, 1.661, PHS= 0.269,-0.999, 0.504, RAW= 158.3, 3.3, CAL= 159.6, -5.7, ROT= 350.4, 5.7 2025-10-24T20:19:47.028Z,1761337187.028 [DAT](INFO): got valid direction response: 20:19:45.2302 LVL= 19888, 27281, 16290, 28851, AGC= 62, IDX= 413, 0.40, 1.842, 0.615, 2.168, 1.661, PHS= 0.269,-0.999, 0.504, RAW= 158.3, 3.3, CAL= 159.6, -5.7, ROT= 350.4, 5.7 2025-10-24T20:19:47.029Z,1761337187.029 [DAT](INFO): DAT read: Bearing 350.4, 5.7 (Local) 2025-10-24T20:19:47.029Z,1761337187.029 [DAT](INFO): Local bearing/azimuth received: Bearing 350.4, 5.7 (Local) 2025-10-24T20:19:47.031Z,1761337187.031 [DAT](INFO): DAT read: Range 10 to 50 : 55.1 m (Round-trip 73.5 ms) speed 0.5 m/s 2025-10-24T20:19:47.032Z,1761337187.032 [DAT](INFO): DAT read: user:328> 2025-10-24T20:19:47.033Z,1761337187.033 [DAT](INFO): DAT read: Tx time:20:19:46.3526 2025-10-24T20:19:47.033Z,1761337187.033 [DAT](INFO): Ping request sent. 2025-10-24T20:19:47.033Z,1761337187.033 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:47.034Z,1761337187.034 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:47.034Z,1761337187.034 [DAT](INFO): direction in FSK: [0.981121,-0.165944,-0.099320] 2025-10-24T20:19:47.035Z,1761337187.035 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:47.035Z,1761337187.035 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:47.038Z,1761337187.038 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:47.039Z,1761337187.039 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:47.101Z,1761337187.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995928,-0.084980,-0.030087],[0.081374,0.991071,-0.105626],[0.038795,0.102748,0.993951]] 2025-10-24T20:19:47.195Z,1761337187.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.099998 m, deltaT: 3.777736 s, deltaX: -2.200001 m, approachRate: -0.582360 m/s, rangeRepo size: 4 2025-10-24T20:19:47.206Z,1761337187.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.806961 m, bearing: 355.735620 deg, lat: 36.779650 deg, lon: -121.859581 deg, deltaT: 3.777736 s, deltaX: -2.188507 m, approachRate: -0.579317 m/s, posRepo size: 4 2025-10-24T20:19:47.207Z,1761337187.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:47.207Z,1761337187.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:47.210Z,1761337187.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 54.545181 m, bearing: 351.120712 deg, approach rate: 0.000000 m/s, LOS rate: -0.072699 deg/s, cmd heading: 3.582405 deg, new cmd heading: 3.486490 deg. 2025-10-24T20:19:47.211Z,1761337187.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060851 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:47.274Z,1761337187.274 [DAT](INFO): DAT read: TxSync time:20:19:46.3518 2025-10-24T20:19:47.586Z,1761337187.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:47.587Z,1761337187.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:47.590Z,1761337187.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 54.315891 m, bearing: 351.098321 deg, approach rate: -0.584670 m/s, LOS rate: -0.057338 deg/s, cmd heading: 3.486490 deg, new cmd heading: 3.419031 deg. 2025-10-24T20:19:47.591Z,1761337187.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059673 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:47.914Z,1761337187.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996001,-0.084339,-0.029488],[0.080656,0.990730,-0.109312],[0.038434,0.106497,0.993570]] 2025-10-24T20:19:47.940Z,1761337187.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:47.945Z,1761337187.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:47.946Z,1761337187.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:47.953Z,1761337187.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 54.101303 m, bearing: 351.077298 deg, approach rate: -0.598596 m/s, LOS rate: -0.058874 deg/s, cmd heading: 3.419031 deg, new cmd heading: 3.355715 deg. 2025-10-24T20:19:47.955Z,1761337187.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058568 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:48.030Z,1761337188.030 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:48.030Z,1761337188.030 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:48.030Z,1761337188.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:48.282Z,1761337188.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247878 2025-10-24T20:19:48.312Z,1761337188.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996192,-0.082112,-0.029305],[0.078552,0.991159,-0.106926],[0.037826,0.104217,0.993835]] 2025-10-24T20:19:48.344Z,1761337188.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:48.345Z,1761337188.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:48.348Z,1761337188.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 53.874580 m, bearing: 351.055458 deg, approach rate: -0.567906 m/s, LOS rate: -0.054936 deg/s, cmd heading: 3.355715 deg, new cmd heading: 3.289919 deg. 2025-10-24T20:19:48.349Z,1761337188.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057420 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:48.537Z,1761337188.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502403 2025-10-24T20:19:48.715Z,1761337188.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996352,-0.080337,-0.028786],[0.076913,0.991498,-0.104958],[0.036973,0.102361,0.994060]] 2025-10-24T20:19:48.779Z,1761337188.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:48.779Z,1761337188.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:48.785Z,1761337188.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751624 2025-10-24T20:19:48.785Z,1761337188.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 53.621151 m, bearing: 351.041855 deg, approach rate: -0.582543 m/s, LOS rate: -0.031418 deg/s, cmd heading: 3.289919 deg, new cmd heading: 3.248915 deg. 2025-10-24T20:19:48.786Z,1761337188.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056704 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:49.037Z,1761337189.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003612 2025-10-24T20:19:49.150Z,1761337189.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:49.150Z,1761337189.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:49.153Z,1761337189.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 53.402248 m, bearing: 351.030000 deg, approach rate: -0.590118 m/s, LOS rate: -0.032088 deg/s, cmd heading: 3.248915 deg, new cmd heading: 3.213206 deg. 2025-10-24T20:19:49.154Z,1761337189.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056081 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:49.289Z,1761337189.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255800 2025-10-24T20:19:49.526Z,1761337189.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996517,-0.079261,-0.025931],[0.076216,0.991799,-0.102594],[0.033850,0.100260,0.994385]] 2025-10-24T20:19:49.541Z,1761337189.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507535 2025-10-24T20:19:49.596Z,1761337189.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:49.597Z,1761337189.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:49.605Z,1761337189.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 53.153553 m, bearing: 351.033289 deg, approach rate: -0.562723 m/s, LOS rate: 0.007477 deg/s, cmd heading: 3.213206 deg, new cmd heading: 3.223119 deg. 2025-10-24T20:19:49.605Z,1761337189.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056254 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:49.793Z,1761337189.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759787 2025-10-24T20:19:49.930Z,1761337189.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996505,-0.079898,-0.024363],[0.076974,0.991634,-0.103619],[0.032438,0.101382,0.994319]] 2025-10-24T20:19:49.971Z,1761337189.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:49.975Z,1761337189.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:49.976Z,1761337189.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:49.987Z,1761337189.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 52.918701 m, bearing: 351.036210 deg, approach rate: -0.613666 m/s, LOS rate: 0.007666 deg/s, cmd heading: 3.223119 deg, new cmd heading: 3.231921 deg. 2025-10-24T20:19:49.993Z,1761337189.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056408 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:50.046Z,1761337190.046 [DAT](INFO): DAT read: Rx Time:20:19:48.8276 2025-10-24T20:19:50.047Z,1761337190.047 [DAT](INFO): Rx dataTimestamp_ set to:1761337190.046318 2025-10-24T20:19:50.048Z,1761337190.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014269 2025-10-24T20:19:50.297Z,1761337190.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263471 2025-10-24T20:19:50.338Z,1761337190.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996565,-0.079530,-0.023093],[0.076732,0.991635,-0.103794],[0.031155,0.101665,0.994331]] 2025-10-24T20:19:50.361Z,1761337190.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.81 m. 2025-10-24T20:19:50.362Z,1761337190.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.10 m. 2025-10-24T20:19:50.365Z,1761337190.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.806961 m, nav range: 52.687027 m, bearing: 351.039177 deg, approach rate: -0.598798 m/s, LOS rate: 0.007703 deg/s, cmd heading: 3.231921 deg, new cmd heading: 3.240862 deg. 2025-10-24T20:19:50.366Z,1761337190.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056564 target range: 54.806961 and range: 55.10 m. 2025-10-24T20:19:50.561Z,1761337190.561 [DAT](INFO): DAT read: 20:19:48.8276 LVL= 23456, 32753, 16274, 32755, AGC= 64, IDX= 418, 0.16,-0.499,-1.738, 0.008,-0.638, PHS= 0.227,-1.053, 0.643, RAW= 163.6, 2.4, CAL= 164.7, -6.4, ROT= 345.3, 6.4 2025-10-24T20:19:50.562Z,1761337190.562 [DAT](INFO): got valid direction response: 20:19:48.8276 LVL= 23456, 32753, 16274, 32755, AGC= 64, IDX= 418, 0.16,-0.499,-1.738, 0.008,-0.638, PHS= 0.227,-1.053, 0.643, RAW= 163.6, 2.4, CAL= 164.7, -6.4, ROT= 345.3, 6.4 2025-10-24T20:19:50.563Z,1761337190.563 [DAT](INFO): DAT read: Bearing 345.3, 6.4 (Local) 2025-10-24T20:19:50.563Z,1761337190.563 [DAT](INFO): Local bearing/azimuth received: Bearing 345.3, 6.4 (Local) 2025-10-24T20:19:50.567Z,1761337190.567 [DAT](INFO): DAT read: Range 10 to 50 : 53.1 m (Round-trip 70.8 ms) speed 0.5 m/s 2025-10-24T20:19:50.568Z,1761337190.568 [DAT](INFO): DAT read: user:329> 2025-10-24T20:19:50.569Z,1761337190.569 [DAT](INFO): DAT read: Tx time:20:19:49.9526 2025-10-24T20:19:50.569Z,1761337190.569 [DAT](INFO): Ping request sent. 2025-10-24T20:19:50.570Z,1761337190.570 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:50.570Z,1761337190.570 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:50.571Z,1761337190.571 [DAT](INFO): direction in FSK: [0.961240,-0.252177,-0.111469] 2025-10-24T20:19:50.576Z,1761337190.576 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:50.577Z,1761337190.577 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:50.586Z,1761337190.586 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:50.586Z,1761337190.586 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:50.801Z,1761337190.801 [DAT](INFO): DAT read: TxSync time:20:19:49.9518 2025-10-24T20:19:50.853Z,1761337190.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.099998 m, deltaT: 3.528620 s, deltaX: -2.000000 m, approachRate: -0.566794 m/s, rangeRepo size: 4 2025-10-24T20:19:50.855Z,1761337190.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 52.816303 m, bearing: 350.463124 deg, lat: 36.779650 deg, lon: -121.859584 deg, deltaT: 3.528620 s, deltaX: -1.990658 m, approachRate: -0.564146 m/s, posRepo size: 4 2025-10-24T20:19:50.860Z,1761337190.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.82 m. 2025-10-24T20:19:50.861Z,1761337190.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.10 m. 2025-10-24T20:19:50.863Z,1761337190.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.816303 m, nav range: 52.458939 m, bearing: 350.839972 deg, approach rate: 0.000000 m/s, LOS rate: 0.007703 deg/s, cmd heading: 3.240862 deg, new cmd heading: 3.252213 deg. 2025-10-24T20:19:50.869Z,1761337190.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056762 target range: 52.816303 and range: 53.10 m. 2025-10-24T20:19:51.174Z,1761337191.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996498,-0.080768,-0.021615],[0.078277,0.992072,-0.098315],[0.029385,0.096279,0.994921]] 2025-10-24T20:19:51.203Z,1761337191.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.82 m. 2025-10-24T20:19:51.203Z,1761337191.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 53.10 m. 2025-10-24T20:19:51.204Z,1761337191.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 53.10 m. 2025-10-24T20:19:51.204Z,1761337191.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-24T20:19:51.207Z,1761337191.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.816303 m, nav range: 52.241852 m, bearing: 350.846823 deg, approach rate: -0.619965 m/s, LOS rate: 0.019645 deg/s, cmd heading: 3.252213 deg, new cmd heading: 3.272850 deg. 2025-10-24T20:19:51.208Z,1761337191.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057122 target range: 52.816303 and range: 53.10 m. 2025-10-24T20:19:51.666Z,1761337191.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.82 m. 2025-10-24T20:19:51.669Z,1761337191.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.816303 m, nav range: 51.971851 m, bearing: 350.858509 deg, approach rate: -0.584611 m/s, LOS rate: 0.025434 deg/s, cmd heading: 3.272850 deg, new cmd heading: 3.308090 deg. 2025-10-24T20:19:51.670Z,1761337191.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057737 target range: 52.816303 and range: 53.10 m. 2025-10-24T20:19:51.984Z,1761337191.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996009,-0.087502,-0.017603],[0.085181,0.990785,-0.105310],[0.026656,0.103390,0.994284]] 2025-10-24T20:19:52.015Z,1761337192.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:52.020Z,1761337192.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.82 m. 2025-10-24T20:19:52.024Z,1761337192.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.816303 m, nav range: 51.759701 m, bearing: 350.866047 deg, approach rate: -0.598150 m/s, LOS rate: 0.021341 deg/s, cmd heading: 3.308090 deg, new cmd heading: 3.330797 deg. 2025-10-24T20:19:52.025Z,1761337192.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058133 target range: 52.816303 and range: 53.10 m. 2025-10-24T20:19:52.062Z,1761337192.062 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:52.062Z,1761337192.062 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:52.062Z,1761337192.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:52.313Z,1761337192.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743218 2025-10-24T20:19:52.387Z,1761337192.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995889,-0.089416,-0.014472],[0.087345,0.990304,-0.108026],[0.023991,0.106318,0.994043]] 2025-10-24T20:19:52.407Z,1761337192.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.82 m. 2025-10-24T20:19:52.410Z,1761337192.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.816303 m, nav range: 51.525173 m, bearing: 350.873845 deg, approach rate: -0.605325 m/s, LOS rate: 0.020218 deg/s, cmd heading: 3.330797 deg, new cmd heading: 3.354297 deg. 2025-10-24T20:19:52.411Z,1761337192.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058544 target range: 52.816303 and range: 53.10 m. 2025-10-24T20:19:52.565Z,1761337192.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995887 2025-10-24T20:19:52.797Z,1761337192.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995743,-0.091370,-0.012103],[0.089486,0.989842,-0.110480],[0.022075,0.108927,0.993805]] 2025-10-24T20:19:52.817Z,1761337192.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247256 2025-10-24T20:19:52.851Z,1761337192.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.82 m. 2025-10-24T20:19:52.856Z,1761337192.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.816303 m, nav range: 51.264477 m, bearing: 350.876456 deg, approach rate: -0.586914 m/s, LOS rate: 0.005909 deg/s, cmd heading: 3.354297 deg, new cmd heading: 3.362172 deg. 2025-10-24T20:19:52.857Z,1761337192.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058681 target range: 52.816303 and range: 53.10 m. 2025-10-24T20:19:53.069Z,1761337193.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499275 2025-10-24T20:19:53.199Z,1761337193.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995616,-0.092980,-0.010150],[0.091279,0.989569,-0.111453],[0.020407,0.110038,0.993718]] 2025-10-24T20:19:53.218Z,1761337193.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.82 m. 2025-10-24T20:19:53.221Z,1761337193.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.816303 m, nav range: 51.048908 m, bearing: 350.878190 deg, approach rate: -0.587798 m/s, LOS rate: 0.004749 deg/s, cmd heading: 3.362172 deg, new cmd heading: 3.367397 deg. 2025-10-24T20:19:53.222Z,1761337193.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058772 target range: 52.816303 and range: 53.10 m. 2025-10-24T20:19:53.321Z,1761337193.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751402 2025-10-24T20:19:53.573Z,1761337193.573 [DAT](INFO): DAT read: Rx Time:20:19:52.4247 2025-10-24T20:19:53.573Z,1761337193.573 [DAT](INFO): Rx dataTimestamp_ set to:1761337193.573038 2025-10-24T20:19:53.574Z,1761337193.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004276 2025-10-24T20:19:53.599Z,1761337193.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995542,-0.093885,-0.009038],[0.092304,0.989491,-0.111298],[0.019392,0.109967,0.993746]] 2025-10-24T20:19:53.726Z,1761337193.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.82 m. 2025-10-24T20:19:53.749Z,1761337193.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 52.816303 m, nav range: 50.761593 m, bearing: 350.873356 deg, approach rate: -0.565775 m/s, LOS rate: -0.009573 deg/s, cmd heading: 3.367397 deg, new cmd heading: 3.352812 deg. 2025-10-24T20:19:53.750Z,1761337193.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058518 target range: 52.816303 and range: 53.10 m. 2025-10-24T20:19:53.825Z,1761337193.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255343 2025-10-24T20:19:54.072Z,1761337194.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995417,-0.095269,-0.008315],[0.093760,0.989358,-0.111265],[0.018827,0.109975,0.993756]] 2025-10-24T20:19:54.083Z,1761337194.083 [DAT](INFO): DAT read: 20:19:52.4247 LVL= 22448, 30881, 18402, 32755, AGC= 65, IDX= 404, 0.08, 2.954, 1.763,-2.836, 2.844, PHS= 0.198,-1.034, 0.600, RAW= 163.7, 3.2, CAL= 164.5, -5.7, ROT= 345.5, 5.7 2025-10-24T20:19:54.085Z,1761337194.085 [DAT](INFO): got valid direction response: 20:19:52.4247 LVL= 22448, 30881, 18402, 32755, AGC= 65, IDX= 404, 0.08, 2.954, 1.763,-2.836, 2.844, PHS= 0.198,-1.034, 0.600, RAW= 163.7, 3.2, CAL= 164.5, -5.7, ROT= 345.5, 5.7 2025-10-24T20:19:54.086Z,1761337194.086 [DAT](INFO): DAT read: Bearing 345.5, 5.7 (Local) 2025-10-24T20:19:54.086Z,1761337194.086 [DAT](INFO): Local bearing/azimuth received: Bearing 345.5, 5.7 (Local) 2025-10-24T20:19:54.087Z,1761337194.087 [DAT](INFO): DAT read: Range 10 to 50 : 50.9 m (Round-trip 67.9 ms) speed 0.6 m/s 2025-10-24T20:19:54.088Z,1761337194.088 [DAT](INFO): DAT read: user:330> 2025-10-24T20:19:54.089Z,1761337194.089 [DAT](INFO): DAT read: Tx time:20:19:53.5026 2025-10-24T20:19:54.089Z,1761337194.089 [DAT](INFO): Ping request sent. 2025-10-24T20:19:54.089Z,1761337194.089 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:54.090Z,1761337194.090 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:54.091Z,1761337194.091 [DAT](INFO): direction in FSK: [0.963361,-0.249142,-0.099320] 2025-10-24T20:19:54.091Z,1761337194.091 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:54.091Z,1761337194.091 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:54.110Z,1761337194.110 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:54.111Z,1761337194.111 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:54.151Z,1761337194.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 50.900002 m, deltaT: 3.527432 s, deltaX: -2.199997 m, approachRate: -0.623682 m/s, rangeRepo size: 4 2025-10-24T20:19:54.162Z,1761337194.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 50.627399 m, bearing: 351.606649 deg, lat: 36.779650 deg, lon: -121.859581 deg, deltaT: 3.527432 s, deltaX: -2.188904 m, approachRate: -0.620538 m/s, posRepo size: 4 2025-10-24T20:19:54.162Z,1761337194.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:54.177Z,1761337194.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 50.498333 m, bearing: 351.090744 deg, approach rate: 0.000000 m/s, LOS rate: -0.009573 deg/s, cmd heading: 3.352812 deg, new cmd heading: 3.340602 deg. 2025-10-24T20:19:54.178Z,1761337194.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058305 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:54.329Z,1761337194.329 [DAT](INFO): DAT read: TxSync time:20:19:53.5018 2025-10-24T20:19:54.459Z,1761337194.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995342,-0.096137,-0.007196],[0.094756,0.989324,-0.110720],[0.017764,0.109522,0.993826]] 2025-10-24T20:19:54.549Z,1761337194.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:54.566Z,1761337194.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:54.575Z,1761337194.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 50.281345 m, bearing: 351.087375 deg, approach rate: -0.530860 m/s, LOS rate: -0.008277 deg/s, cmd heading: 3.340602 deg, new cmd heading: 3.330453 deg. 2025-10-24T20:19:54.581Z,1761337194.581 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:54.581Z,1761337194.581 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:54.581Z,1761337194.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:54.583Z,1761337194.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058127 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:54.833Z,1761337194.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743474 2025-10-24T20:19:54.863Z,1761337194.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995153,-0.097842,-0.009872],[0.096516,0.991012,-0.092629],[0.018846,0.091227,0.995652]] 2025-10-24T20:19:54.929Z,1761337194.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:54.932Z,1761337194.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 50.033154 m, bearing: 351.071180 deg, approach rate: -0.671142 m/s, LOS rate: -0.044011 deg/s, cmd heading: 3.330453 deg, new cmd heading: 3.281626 deg. 2025-10-24T20:19:54.933Z,1761337194.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057275 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:55.085Z,1761337195.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995401 2025-10-24T20:19:55.269Z,1761337195.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995051,-0.098946,-0.009151],[0.097645,0.990716,-0.094584],[0.018424,0.093223,0.995475]] 2025-10-24T20:19:55.296Z,1761337195.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:55.299Z,1761337195.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 49.823120 m, bearing: 351.057054 deg, approach rate: -0.572912 m/s, LOS rate: -0.038695 deg/s, cmd heading: 3.281626 deg, new cmd heading: 3.239068 deg. 2025-10-24T20:19:55.301Z,1761337195.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056532 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:55.338Z,1761337195.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248330 2025-10-24T20:19:55.589Z,1761337195.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499420 2025-10-24T20:19:55.673Z,1761337195.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994820,-0.101370,-0.007567],[0.100172,0.990275,-0.096548],[0.017281,0.095290,0.995300]] 2025-10-24T20:19:55.734Z,1761337195.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:55.737Z,1761337195.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 49.587345 m, bearing: 351.032280 deg, approach rate: -0.538609 m/s, LOS rate: -0.056862 deg/s, cmd heading: 3.239068 deg, new cmd heading: 3.164394 deg. 2025-10-24T20:19:55.738Z,1761337195.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055229 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:55.841Z,1761337195.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751463 2025-10-24T20:19:56.081Z,1761337196.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994403,-0.105534,-0.005069],[0.104539,0.989717,-0.097632],[0.015320,0.096556,0.995210]] 2025-10-24T20:19:56.093Z,1761337196.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003590 2025-10-24T20:19:56.105Z,1761337196.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:56.108Z,1761337196.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 49.366375 m, bearing: 351.007701 deg, approach rate: -0.594166 m/s, LOS rate: -0.066388 deg/s, cmd heading: 3.164394 deg, new cmd heading: 3.090325 deg. 2025-10-24T20:19:56.109Z,1761337196.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053936 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:56.347Z,1761337196.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257477 2025-10-24T20:19:56.479Z,1761337196.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993973,-0.109606,-0.002167],[0.108866,0.989199,-0.098149],[0.012901,0.097322,0.995169]] 2025-10-24T20:19:56.509Z,1761337196.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:56.517Z,1761337196.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 49.139004 m, bearing: 350.981008 deg, approach rate: -0.562892 m/s, LOS rate: -0.066389 deg/s, cmd heading: 3.090325 deg, new cmd heading: 3.009876 deg. 2025-10-24T20:19:56.518Z,1761337196.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052532 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:56.599Z,1761337196.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510088 2025-10-24T20:19:56.849Z,1761337196.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759786 2025-10-24T20:19:56.898Z,1761337196.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993629,-0.112700,0.000369],[0.112192,0.988831,-0.098114],[0.010692,0.097531,0.995175]] 2025-10-24T20:19:56.959Z,1761337196.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:56.966Z,1761337196.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:56.973Z,1761337196.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 48.895321 m, bearing: 350.944873 deg, approach rate: -0.533848 m/s, LOS rate: -0.079556 deg/s, cmd heading: 3.009876 deg, new cmd heading: 2.900932 deg. 2025-10-24T20:19:56.974Z,1761337196.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050631 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:57.103Z,1761337197.103 [DAT](INFO): DAT read: Rx Time:20:19:55.9721 2025-10-24T20:19:57.104Z,1761337197.104 [DAT](INFO): Rx dataTimestamp_ set to:1761337197.103001 2025-10-24T20:19:57.105Z,1761337197.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015251 2025-10-24T20:19:57.305Z,1761337197.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993459,-0.114157,0.002532],[0.113851,0.988608,-0.098451],[0.008735,0.098095,0.995139]] 2025-10-24T20:19:57.323Z,1761337197.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.63 m. 2025-10-24T20:19:57.329Z,1761337197.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 50.627399 m, nav range: 48.696152 m, bearing: 350.914667 deg, approach rate: -0.557078 m/s, LOS rate: -0.084831 deg/s, cmd heading: 2.900932 deg, new cmd heading: 2.809944 deg. 2025-10-24T20:19:57.330Z,1761337197.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049043 target range: 50.627399 and range: 50.90 m. 2025-10-24T20:19:57.353Z,1761337197.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263522 2025-10-24T20:19:57.612Z,1761337197.612 [DAT](INFO): DAT read: 20:19:55.9721 LVL= 21984, 27329, 14626, 32755, AGC= 66, IDX= 410,-0.49, 3.104, 1.850,-2.666, 2.999, PHS= 0.193,-1.102, 0.616, RAW= 163.7, 3.8, CAL= 164.3, -5.2, ROT= 345.7, 5.2 2025-10-24T20:19:57.613Z,1761337197.613 [DAT](INFO): got valid direction response: 20:19:55.9721 LVL= 21984, 27329, 14626, 32755, AGC= 66, IDX= 410,-0.49, 3.104, 1.850,-2.666, 2.999, PHS= 0.193,-1.102, 0.616, RAW= 163.7, 3.8, CAL= 164.3, -5.2, ROT= 345.7, 5.2 2025-10-24T20:19:57.615Z,1761337197.615 [DAT](INFO): DAT read: Bearing 345.7, 5.2 (Local) 2025-10-24T20:19:57.616Z,1761337197.616 [DAT](INFO): Local bearing/azimuth received: Bearing 345.7, 5.2 (Local) 2025-10-24T20:19:57.617Z,1761337197.617 [DAT](INFO): DAT read: Range 10 to 50 : 48.9 m (Round-trip 65.3 ms) speed 0.5 m/s 2025-10-24T20:19:57.618Z,1761337197.618 [DAT](INFO): DAT read: user:331> 2025-10-24T20:19:57.619Z,1761337197.619 [DAT](INFO): DAT read: Tx time:20:19:57.0527 2025-10-24T20:19:57.619Z,1761337197.619 [DAT](INFO): Ping request sent. 2025-10-24T20:19:57.619Z,1761337197.619 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:19:57.656Z,1761337197.656 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:19:57.657Z,1761337197.657 [DAT](INFO): direction in FSK: [0.965028,-0.245982,-0.090633] 2025-10-24T20:19:57.657Z,1761337197.657 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:57.657Z,1761337197.657 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:57.666Z,1761337197.666 [DAT](INFO): publishing transmit ping time 2025-10-24T20:19:57.666Z,1761337197.666 [DAT](INFO): publishing direction and range info 2025-10-24T20:19:57.695Z,1761337197.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993346,-0.115098,0.004068],[0.114944,0.988575,-0.097504],[0.007201,0.097323,0.995227]] 2025-10-24T20:19:57.815Z,1761337197.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 48.900002 m, deltaT: 3.529615 s, deltaX: -2.000000 m, approachRate: -0.566634 m/s, rangeRepo size: 4 2025-10-24T20:19:57.821Z,1761337197.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 48.638180 m, bearing: 352.869752 deg, lat: 36.779651 deg, lon: -121.859576 deg, deltaT: 3.529615 s, deltaX: -1.989220 m, approachRate: -0.563580 m/s, posRepo size: 4 2025-10-24T20:19:57.822Z,1761337197.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:19:57.829Z,1761337197.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 48.472099 m, bearing: 351.446453 deg, approach rate: 0.000000 m/s, LOS rate: -0.084831 deg/s, cmd heading: 2.809944 deg, new cmd heading: 2.685227 deg. 2025-10-24T20:19:57.830Z,1761337197.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.046866 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:19:57.857Z,1761337197.857 [DAT](INFO): DAT read: TxSync time:20:19:57.0519 2025-10-24T20:19:58.101Z,1761337198.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993486,-0.113819,0.005484],[0.113814,0.988786,-0.096689],[0.005583,0.096683,0.995300]] 2025-10-24T20:19:58.162Z,1761337198.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:19:58.169Z,1761337198.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 48.263954 m, bearing: 351.415716 deg, approach rate: -0.597824 m/s, LOS rate: -0.088662 deg/s, cmd heading: 2.685227 deg, new cmd heading: 2.592618 deg. 2025-10-24T20:19:58.169Z,1761337198.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045250 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:19:58.504Z,1761337198.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993397,-0.114646,0.004239],[0.114540,0.989035,-0.093226],[0.006496,0.093096,0.995636]] 2025-10-24T20:19:58.523Z,1761337198.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:19:58.526Z,1761337198.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 48.062611 m, bearing: 351.385593 deg, approach rate: -0.556970 m/s, LOS rate: -0.083676 deg/s, cmd heading: 2.592618 deg, new cmd heading: 2.501872 deg. 2025-10-24T20:19:58.527Z,1761337198.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043666 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:19:58.910Z,1761337198.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993452,-0.114042,0.006898],[0.114184,0.989013,-0.093893],[0.003886,0.094066,0.995558]] 2025-10-24T20:19:58.959Z,1761337198.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:19:58.984Z,1761337198.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 47.824608 m, bearing: 351.359106 deg, approach rate: -0.546471 m/s, LOS rate: -0.061119 deg/s, cmd heading: 2.501872 deg, new cmd heading: 2.422015 deg. 2025-10-24T20:19:58.985Z,1761337198.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042272 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:19:59.346Z,1761337199.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:19:59.350Z,1761337199.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:19:59.353Z,1761337199.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 47.612610 m, bearing: 351.335289 deg, approach rate: -0.542217 m/s, LOS rate: -0.061187 deg/s, cmd heading: 2.422015 deg, new cmd heading: 2.350246 deg. 2025-10-24T20:19:59.353Z,1761337199.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041020 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:19:59.373Z,1761337199.373 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:19:59.373Z,1761337199.373 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:19:59.373Z,1761337199.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:19:59.629Z,1761337199.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008710 2025-10-24T20:19:59.721Z,1761337199.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993739,-0.111245,0.010312],[0.111722,0.989484,-0.091863],[0.000016,0.092440,0.995718]] 2025-10-24T20:19:59.779Z,1761337199.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:19:59.783Z,1761337199.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 47.384846 m, bearing: 351.321907 deg, approach rate: -0.529933 m/s, LOS rate: -0.031286 deg/s, cmd heading: 2.350246 deg, new cmd heading: 2.309906 deg. 2025-10-24T20:19:59.785Z,1761337199.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040315 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:19:59.878Z,1761337199.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258078 2025-10-24T20:20:00.122Z,1761337200.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994068,-0.108071,0.012214],[0.108733,0.989990,-0.089980],[-0.002367,0.090774,0.995869]] 2025-10-24T20:20:00.129Z,1761337200.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509545 2025-10-24T20:20:00.189Z,1761337200.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:20:00.191Z,1761337200.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 47.154434 m, bearing: 351.309132 deg, approach rate: -0.563008 m/s, LOS rate: -0.031368 deg/s, cmd heading: 2.309906 deg, new cmd heading: 2.271394 deg. 2025-10-24T20:20:00.196Z,1761337200.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039643 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:20:00.382Z,1761337200.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762723 2025-10-24T20:20:00.524Z,1761337200.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994388,-0.104910,0.013659],[0.105709,0.990471,-0.088279],[-0.004268,0.089228,0.996002]] 2025-10-24T20:20:00.565Z,1761337200.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:20:00.573Z,1761337200.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 46.950024 m, bearing: 351.298495 deg, approach rate: -0.545213 m/s, LOS rate: -0.028496 deg/s, cmd heading: 2.271394 deg, new cmd heading: 2.239343 deg. 2025-10-24T20:20:00.577Z,1761337200.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039084 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:20:00.636Z,1761337200.636 [DAT](INFO): DAT read: Rx Time:20:19:59.5196 2025-10-24T20:20:00.638Z,1761337200.638 [DAT](INFO): Rx dataTimestamp_ set to:1761337200.636861 2025-10-24T20:20:00.640Z,1761337200.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020110 2025-10-24T20:20:00.885Z,1761337200.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265886 2025-10-24T20:20:00.979Z,1761337200.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.64 m. 2025-10-24T20:20:00.986Z,1761337200.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 48.638180 m, nav range: 46.713745 m, bearing: 351.298197 deg, approach rate: -0.568257 m/s, LOS rate: -0.000720 deg/s, cmd heading: 2.239343 deg, new cmd heading: 2.238445 deg. 2025-10-24T20:20:00.987Z,1761337200.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039068 target range: 48.638180 and range: 48.90 m. 2025-10-24T20:20:01.158Z,1761337201.158 [DAT](INFO): DAT read: 20:19:59.5196 LVL= 20096, 28017, 15330, 30099, AGC= 64, IDX= 415, 0.15,-2.037, 3.011,-1.575,-2.181, PHS= 0.232,-1.044, 0.603, RAW= 162.4, 2.8, CAL= 163.4, -6.1, ROT= 346.6, 6.1 2025-10-24T20:20:01.162Z,1761337201.162 [DAT](INFO): got valid direction response: 20:19:59.5196 LVL= 20096, 28017, 15330, 30099, AGC= 64, IDX= 415, 0.15,-2.037, 3.011,-1.575,-2.181, PHS= 0.232,-1.044, 0.603, RAW= 162.4, 2.8, CAL= 163.4, -6.1, ROT= 346.6, 6.1 2025-10-24T20:20:01.168Z,1761337201.168 [DAT](INFO): DAT read: Bearing 346.6, 6.1 (Local) 2025-10-24T20:20:01.169Z,1761337201.169 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, 6.1 (Local) 2025-10-24T20:20:01.175Z,1761337201.175 [DAT](INFO): DAT read: Range 10 to 50 : 47.0 m (Round-trip 62.7 ms) speed 0.5 m/s 2025-10-24T20:20:01.177Z,1761337201.177 [DAT](INFO): DAT read: user:332> 2025-10-24T20:20:01.179Z,1761337201.179 [DAT](INFO): DAT read: Tx time:20:20:00.6027 2025-10-24T20:20:01.179Z,1761337201.179 [DAT](INFO): Ping request sent. 2025-10-24T20:20:01.179Z,1761337201.179 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:20:01.181Z,1761337201.181 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:20:01.183Z,1761337201.183 [DAT](INFO): direction in FSK: [0.967268,-0.230436,-0.106264] 2025-10-24T20:20:01.183Z,1761337201.183 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:01.183Z,1761337201.183 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:01.186Z,1761337201.187 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:01.187Z,1761337201.187 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:01.336Z,1761337201.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995084,-0.097806,0.015553],[0.098778,0.991495,-0.084734],[-0.007133,0.085854,0.996282]] 2025-10-24T20:20:01.385Z,1761337201.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.000000 m, deltaT: 3.533056 s, deltaX: -1.900002 m, approachRate: -0.537778 m/s, rangeRepo size: 4 2025-10-24T20:20:01.387Z,1761337201.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.748203 m, bearing: 352.817495 deg, lat: 36.779651 deg, lon: -121.859563 deg, deltaT: 3.533056 s, deltaX: -1.889977 m, approachRate: -0.534941 m/s, posRepo size: 4 2025-10-24T20:20:01.387Z,1761337201.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:01.389Z,1761337201.389 [DAT](INFO): DAT read: TxSync time:20:20:00.6019 2025-10-24T20:20:01.402Z,1761337201.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 46.339996 m, bearing: 352.775482 deg, approach rate: 0.000000 m/s, LOS rate: -0.000720 deg/s, cmd heading: 2.238445 deg, new cmd heading: 2.237581 deg. 2025-10-24T20:20:01.403Z,1761337201.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039053 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:01.735Z,1761337201.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995482,-0.093485,0.016636],[0.094544,0.992112,-0.082316],[-0.008809,0.083517,0.996467]] 2025-10-24T20:20:01.775Z,1761337201.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:01.778Z,1761337201.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:01.782Z,1761337201.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 46.109497 m, bearing: 352.796189 deg, approach rate: -0.578435 m/s, LOS rate: 0.052223 deg/s, cmd heading: 2.237581 deg, new cmd heading: 2.300011 deg. 2025-10-24T20:20:01.785Z,1761337201.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040143 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:01.897Z,1761337201.897 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:20:01.898Z,1761337201.898 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:20:01.898Z,1761337201.898 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:20:02.146Z,1761337202.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995744,-0.090941,0.014952],[0.091840,0.992667,-0.078599],[-0.007694,0.079638,0.996794]] 2025-10-24T20:20:02.150Z,1761337202.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.970384 2025-10-24T20:20:02.166Z,1761337202.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:02.169Z,1761337202.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 45.893276 m, bearing: 352.816630 deg, approach rate: -0.557068 m/s, LOS rate: 0.052913 deg/s, cmd heading: 2.300011 deg, new cmd heading: 2.361624 deg. 2025-10-24T20:20:02.170Z,1761337202.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041218 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:02.401Z,1761337202.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221718 2025-10-24T20:20:02.546Z,1761337202.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995992,-0.088049,0.015704],[0.089030,0.992809,-0.080018],[-0.008546,0.081096,0.996670]] 2025-10-24T20:20:02.568Z,1761337202.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:02.571Z,1761337202.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 45.670288 m, bearing: 352.838677 deg, approach rate: -0.554513 m/s, LOS rate: 0.055093 deg/s, cmd heading: 2.361623 deg, new cmd heading: 2.428088 deg. 2025-10-24T20:20:02.572Z,1761337202.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042378 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:02.656Z,1761337202.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476269 2025-10-24T20:20:02.905Z,1761337202.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725581 2025-10-24T20:20:02.953Z,1761337202.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996199,-0.085485,0.016758],[0.086569,0.992945,-0.081026],[-0.009713,0.082169,0.996571]] 2025-10-24T20:20:03.006Z,1761337203.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:03.009Z,1761337203.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 45.423477 m, bearing: 352.868500 deg, approach rate: -0.563967 m/s, LOS rate: 0.068516 deg/s, cmd heading: 2.428088 deg, new cmd heading: 2.518043 deg. 2025-10-24T20:20:03.010Z,1761337203.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043948 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:03.157Z,1761337203.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977419 2025-10-24T20:20:03.351Z,1761337203.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996428,-0.082363,0.018630],[0.083625,0.993096,-0.082264],[-0.011726,0.083528,0.996436]] 2025-10-24T20:20:03.388Z,1761337203.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:03.391Z,1761337203.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 45.218185 m, bearing: 352.894317 deg, approach rate: -0.538972 m/s, LOS rate: 0.068088 deg/s, cmd heading: 2.518043 deg, new cmd heading: 2.595846 deg. 2025-10-24T20:20:03.396Z,1761337203.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045306 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:03.409Z,1761337203.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229501 2025-10-24T20:20:03.663Z,1761337203.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483782 2025-10-24T20:20:03.755Z,1761337203.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996785,-0.077654,0.019757],[0.079035,0.993421,-0.082876],[-0.013191,0.084171,0.996364]] 2025-10-24T20:20:03.808Z,1761337203.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:03.810Z,1761337203.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:03.813Z,1761337203.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 44.964264 m, bearing: 352.933027 deg, approach rate: -0.599775 m/s, LOS rate: 0.091951 deg/s, cmd heading: 2.595846 deg, new cmd heading: 2.712631 deg. 2025-10-24T20:20:03.815Z,1761337203.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047344 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:03.913Z,1761337203.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733546 2025-10-24T20:20:04.165Z,1761337204.165 [DAT](INFO): DAT read: Rx Time:20:20:03.0669 2025-10-24T20:20:04.165Z,1761337204.165 [DAT](INFO): Rx dataTimestamp_ set to:1761337204.165111 2025-10-24T20:20:04.166Z,1761337204.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986662 2025-10-24T20:20:04.174Z,1761337204.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997268,-0.070613,0.021667],[0.072244,0.993573,-0.087143],[-0.015374,0.088470,0.995960]] 2025-10-24T20:20:04.240Z,1761337204.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:04.243Z,1761337204.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 44.729031 m, bearing: 352.971287 deg, approach rate: -0.563293 m/s, LOS rate: 0.092099 deg/s, cmd heading: 2.712631 deg, new cmd heading: 2.828014 deg. 2025-10-24T20:20:04.243Z,1761337204.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049358 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:04.417Z,1761337204.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237753 2025-10-24T20:20:04.569Z,1761337204.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997423,-0.068095,0.022589],[0.069866,0.993485,-0.090038],[-0.016311,0.091384,0.995682]] 2025-10-24T20:20:04.588Z,1761337204.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.75 m. 2025-10-24T20:20:04.591Z,1761337204.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.748203 m, nav range: 44.517155 m, bearing: 353.006703 deg, approach rate: -0.587783 m/s, LOS rate: 0.098718 deg/s, cmd heading: 2.828014 deg, new cmd heading: 2.934767 deg. 2025-10-24T20:20:04.592Z,1761337204.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051221 target range: 46.748203 and range: 47.00 m. 2025-10-24T20:20:04.726Z,1761337204.726 [DAT](INFO): DAT read: 20:20:03.0669 LVL= 21328, 23857, 17026, 24675, AGC= 63, IDX= 420,-0.24,-1.301,-2.610,-0.866,-1.428, PHS= 0.216,-1.135, 0.559, RAW= 161.0, 4.7, CAL= 161.6, -4.5, ROT= 348.4, 4.5 2025-10-24T20:20:04.727Z,1761337204.727 [DAT](INFO): got valid direction response: 20:20:03.0669 LVL= 21328, 23857, 17026, 24675, AGC= 63, IDX= 420,-0.24,-1.301,-2.610,-0.866,-1.428, PHS= 0.216,-1.135, 0.559, RAW= 161.0, 4.7, CAL= 161.6, -4.5, ROT= 348.4, 4.5 2025-10-24T20:20:04.729Z,1761337204.729 [DAT](INFO): DAT read: Bearing 348.4, 4.5 (Local) 2025-10-24T20:20:04.730Z,1761337204.730 [DAT](INFO): Local bearing/azimuth received: Bearing 348.4, 4.5 (Local) 2025-10-24T20:20:04.732Z,1761337204.732 [DAT](INFO): DAT read: Range 10 to 50 : 45.0 m (Round-trip 60.1 ms) speed 0.8 m/s 2025-10-24T20:20:04.733Z,1761337204.733 [DAT](INFO): DAT read: user:333> 2025-10-24T20:20:04.734Z,1761337204.734 [DAT](INFO): DAT read: Tx time:20:20:04.1527 2025-10-24T20:20:04.734Z,1761337204.734 [DAT](INFO): Ping request sent. 2025-10-24T20:20:04.734Z,1761337204.734 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:20:04.735Z,1761337204.735 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:20:04.739Z,1761337204.739 [DAT](INFO): direction in FSK: [0.976556,-0.200458,-0.078459] 2025-10-24T20:20:04.744Z,1761337204.744 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:04.744Z,1761337204.744 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:04.752Z,1761337204.752 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:04.753Z,1761337204.753 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:04.813Z,1761337204.813 [RudderServo](ERROR): getPosition uart error serial timeout 2025-10-24T20:20:04.813Z,1761337204.813 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout 2025-10-24T20:20:04.813Z,1761337204.813 [RudderServo] Communications Fault, FailCount= 1 2025-10-24T20:20:04.813Z,1761337204.813 [RudderServo](ERROR): Communications Fault 2025-10-24T20:20:04.844Z,1761337204.844 [CBIT](ERROR): Communications Fault in component: RudderServo 2025-10-24T20:20:04.970Z,1761337204.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997601,-0.065198,0.023264],[0.067066,0.993546,-0.091482],[-0.017149,0.092823,0.995535]] 2025-10-24T20:20:04.973Z,1761337204.973 [DAT](INFO): DAT read: TxSync time:20:20:04.1519 2025-10-24T20:20:05.047Z,1761337205.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.000000 m, deltaT: 3.581069 s, deltaX: -2.000000 m, approachRate: -0.558492 m/s, rangeRepo size: 4 2025-10-24T20:20:05.052Z,1761337205.052 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:20:05.054Z,1761337205.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 44.758701 m, bearing: 352.685556 deg, lat: 36.779651 deg, lon: -121.859566 deg, deltaT: 3.581069 s, deltaX: -1.989502 m, approachRate: -0.555561 m/s, posRepo size: 4 2025-10-24T20:20:05.055Z,1761337205.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:20:05.062Z,1761337205.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758701 m, nav range: 44.305695 m, bearing: 352.658377 deg, approach rate: 0.000000 m/s, LOS rate: 0.098718 deg/s, cmd heading: 2.934767 deg, new cmd heading: 3.070308 deg. 2025-10-24T20:20:05.063Z,1761337205.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053587 target range: 44.758701 and range: 45.00 m. 2025-10-24T20:20:05.154Z,1761337205.154 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2025-10-24T20:20:05.154Z,1761337205.154 [RudderServo](INFO): Powering down 2025-10-24T20:20:05.371Z,1761337205.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997770,-0.063054,0.021889],[0.064801,0.993713,-0.091293],[-0.015995,0.092508,0.995583]] 2025-10-24T20:20:05.405Z,1761337205.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:20:05.408Z,1761337205.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758701 m, nav range: 44.082539 m, bearing: 352.681305 deg, approach rate: -0.621224 m/s, LOS rate: 0.064150 deg/s, cmd heading: 3.070307 deg, new cmd heading: 3.139440 deg. 2025-10-24T20:20:05.409Z,1761337205.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054794 target range: 44.758701 and range: 45.00 m. 2025-10-24T20:20:05.827Z,1761337205.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:05.845Z,1761337205.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:20:05.849Z,1761337205.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758701 m, nav range: 43.838291 m, bearing: 352.699557 deg, approach rate: -0.554962 m/s, LOS rate: 0.041702 deg/s, cmd heading: 3.139439 deg, new cmd heading: 3.194500 deg. 2025-10-24T20:20:05.850Z,1761337205.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055755 target range: 44.758701 and range: 45.00 m. 2025-10-24T20:20:05.934Z,1761337205.934 [RudderServo](DEBUG): Initializing EZServoServo. 2025-10-24T20:20:05.985Z,1761337205.985 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:20:05.985Z,1761337205.985 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:20:05.985Z,1761337205.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:20:06.053Z,1761337206.053 [RudderServo](DEBUG): Initializing RudderServo. 2025-10-24T20:20:06.084Z,1761337206.084 [CBIT](INFO): Clearing failed state for component RudderServo 2025-10-24T20:20:06.085Z,1761337206.085 [RudderServo] No Fault, FailCount= 1 2025-10-24T20:20:06.178Z,1761337206.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997882,-0.060933,0.022755],[0.062813,0.993600,-0.093885],[-0.016889,0.095115,0.995323]] 2025-10-24T20:20:06.230Z,1761337206.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:20:06.237Z,1761337206.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502512 2025-10-24T20:20:06.238Z,1761337206.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758701 m, nav range: 43.612728 m, bearing: 352.717157 deg, approach rate: -0.586768 m/s, LOS rate: 0.046021 deg/s, cmd heading: 3.194500 deg, new cmd heading: 3.247574 deg. 2025-10-24T20:20:06.239Z,1761337206.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056681 target range: 44.758701 and range: 45.00 m. 2025-10-24T20:20:06.489Z,1761337206.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754424 2025-10-24T20:20:06.584Z,1761337206.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997922,-0.059758,0.024087],[0.061786,0.993579,-0.094776],[-0.018269,0.096068,0.995207]] 2025-10-24T20:20:06.610Z,1761337206.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:20:06.613Z,1761337206.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758701 m, nav range: 43.390415 m, bearing: 352.734979 deg, approach rate: -0.585073 m/s, LOS rate: 0.047144 deg/s, cmd heading: 3.247574 deg, new cmd heading: 3.301315 deg. 2025-10-24T20:20:06.614Z,1761337206.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057619 target range: 44.758701 and range: 45.00 m. 2025-10-24T20:20:06.744Z,1761337206.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009654 2025-10-24T20:20:06.989Z,1761337206.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997915,-0.059239,0.025613],[0.061442,0.993474,-0.096091],[-0.019754,0.097465,0.995043]] 2025-10-24T20:20:06.993Z,1761337206.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258338 2025-10-24T20:20:07.030Z,1761337207.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:20:07.034Z,1761337207.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758701 m, nav range: 43.153992 m, bearing: 352.734173 deg, approach rate: -0.562275 m/s, LOS rate: -0.001928 deg/s, cmd heading: 3.301315 deg, new cmd heading: 3.298882 deg. 2025-10-24T20:20:07.035Z,1761337207.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057576 target range: 44.758701 and range: 45.00 m. 2025-10-24T20:20:07.246Z,1761337207.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511333 2025-10-24T20:20:07.391Z,1761337207.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997900,-0.059012,0.026696],[0.061346,0.993365,-0.097273],[-0.020779,0.098707,0.994900]] 2025-10-24T20:20:07.432Z,1761337207.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:20:07.442Z,1761337207.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758701 m, nav range: 42.937622 m, bearing: 352.733445 deg, approach rate: -0.539962 m/s, LOS rate: -0.001825 deg/s, cmd heading: 3.298882 deg, new cmd heading: 3.296688 deg. 2025-10-24T20:20:07.443Z,1761337207.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057538 target range: 44.758701 and range: 45.00 m. 2025-10-24T20:20:07.498Z,1761337207.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763628 2025-10-24T20:20:07.750Z,1761337207.750 [DAT](INFO): DAT read: Rx Time:20:20:06.6144 2025-10-24T20:20:07.751Z,1761337207.751 [DAT](INFO): Rx dataTimestamp_ set to:1761337207.750289 2025-10-24T20:20:07.751Z,1761337207.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016757 2025-10-24T20:20:07.804Z,1761337207.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997833,-0.059624,0.027814],[0.062062,0.993339,-0.097082],[-0.021840,0.098598,0.994888]] 2025-10-24T20:20:07.861Z,1761337207.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:07.863Z,1761337207.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.76 m. 2025-10-24T20:20:07.867Z,1761337207.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 44.758701 m, nav range: 42.689838 m, bearing: 352.717385 deg, approach rate: -0.572814 m/s, LOS rate: -0.037342 deg/s, cmd heading: 3.296689 deg, new cmd heading: 3.248229 deg. 2025-10-24T20:20:07.869Z,1761337207.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056692 target range: 44.758701 and range: 45.00 m. 2025-10-24T20:20:08.001Z,1761337208.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266528 2025-10-24T20:20:08.259Z,1761337208.259 [DAT](INFO): DAT read: 20:20:06.6144 LVL= 17824, 26993, 17250, 26835, AGC= 66, IDX= 409,-0.44,-1.865, 3.087,-1.475,-1.964, PHS= 0.187,-1.185, 0.486, RAW= 159.6, 6.7, CAL= 159.7, -2.8, ROT= 350.3, 2.8 2025-10-24T20:20:08.260Z,1761337208.260 [DAT](INFO): got valid direction response: 20:20:06.6144 LVL= 17824, 26993, 17250, 26835, AGC= 66, IDX= 409,-0.44,-1.865, 3.087,-1.475,-1.964, PHS= 0.187,-1.185, 0.486, RAW= 159.6, 6.7, CAL= 159.7, -2.8, ROT= 350.3, 2.8 2025-10-24T20:20:08.261Z,1761337208.261 [DAT](INFO): DAT read: Bearing 350.3, 2.8 (Local) 2025-10-24T20:20:08.261Z,1761337208.261 [DAT](INFO): Local bearing/azimuth received: Bearing 350.3, 2.8 (Local) 2025-10-24T20:20:08.263Z,1761337208.263 [DAT](INFO): DAT read: Range 10 to 50 : 43.1 m (Round-trip 57.5 ms) speed 0.4 m/s 2025-10-24T20:20:08.264Z,1761337208.264 [DAT](INFO): DAT read: user:334> 2025-10-24T20:20:08.265Z,1761337208.265 [DAT](INFO): DAT read: Tx time:20:20:07.7028 2025-10-24T20:20:08.265Z,1761337208.265 [DAT](INFO): Ping request sent. 2025-10-24T20:20:08.266Z,1761337208.266 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:20:08.266Z,1761337208.266 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:20:08.267Z,1761337208.267 [DAT](INFO): direction in FSK: [0.984527,-0.168288,-0.048850] 2025-10-24T20:20:08.267Z,1761337208.267 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:08.267Z,1761337208.267 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:08.271Z,1761337208.271 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:08.271Z,1761337208.271 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:08.283Z,1761337208.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997765,-0.060457,0.028453],[0.062963,0.993243,-0.097486],[-0.022367,0.099060,0.994830]] 2025-10-24T20:20:08.357Z,1761337208.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 3.532353 s, deltaX: -1.900002 m, approachRate: -0.537886 m/s, rangeRepo size: 4 2025-10-24T20:20:08.359Z,1761337208.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.869217 m, bearing: 354.215636 deg, lat: 36.779651 deg, lon: -121.859563 deg, deltaT: 3.532353 s, deltaX: -1.889484 m, approachRate: -0.534908 m/s, posRepo size: 4 2025-10-24T20:20:08.359Z,1761337208.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:08.367Z,1761337208.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 42.441753 m, bearing: 353.099519 deg, approach rate: 0.000000 m/s, LOS rate: -0.037342 deg/s, cmd heading: 3.248229 deg, new cmd heading: 3.193089 deg. 2025-10-24T20:20:08.377Z,1761337208.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055730 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:08.505Z,1761337208.505 [DAT](INFO): DAT read: TxSync time:20:20:07.7020 2025-10-24T20:20:08.605Z,1761337208.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997737,-0.060506,0.029315],[0.063127,0.993106,-0.098771],[-0.023136,0.100398,0.994678]] 2025-10-24T20:20:08.689Z,1761337208.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:08.698Z,1761337208.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 42.265572 m, bearing: 353.089249 deg, approach rate: -0.528310 m/s, LOS rate: -0.030926 deg/s, cmd heading: 3.193089 deg, new cmd heading: 3.162150 deg. 2025-10-24T20:20:08.699Z,1761337208.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055190 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:09.010Z,1761337209.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997756,-0.061038,0.027513],[0.063459,0.993162,-0.097994],[-0.021344,0.099520,0.994807]] 2025-10-24T20:20:09.058Z,1761337209.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:09.061Z,1761337209.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 42.041523 m, bearing: 353.055553 deg, approach rate: -0.606852 m/s, LOS rate: -0.091755 deg/s, cmd heading: 3.162150 deg, new cmd heading: 3.060523 deg. 2025-10-24T20:20:09.062Z,1761337209.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053416 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:09.301Z,1761337209.301 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:20:09.412Z,1761337209.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997616,-0.063015,0.028125],[0.065503,0.992964,-0.098648],[-0.021711,0.100255,0.994725]] 2025-10-24T20:20:09.453Z,1761337209.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:09.460Z,1761337209.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 41.826603 m, bearing: 353.022273 deg, approach rate: -0.544536 m/s, LOS rate: -0.084752 deg/s, cmd heading: 3.060523 deg, new cmd heading: 2.960172 deg. 2025-10-24T20:20:09.468Z,1761337209.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051665 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:09.816Z,1761337209.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997486,-0.064754,0.028780],[0.067304,0.992817,-0.098915],[-0.022168,0.100604,0.994680]] 2025-10-24T20:20:09.863Z,1761337209.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:09.867Z,1761337209.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 41.600197 m, bearing: 352.985660 deg, approach rate: -0.552906 m/s, LOS rate: -0.089901 deg/s, cmd heading: 2.960172 deg, new cmd heading: 2.849733 deg. 2025-10-24T20:20:09.869Z,1761337209.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049737 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:10.225Z,1761337210.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997365,-0.065811,0.030525],[0.068531,0.992740,-0.098844],[-0.023798,0.100675,0.994635]] 2025-10-24T20:20:10.261Z,1761337210.261 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:10.263Z,1761337210.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:10.269Z,1761337210.269 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:20:10.269Z,1761337210.269 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:20:10.269Z,1761337210.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:20:10.283Z,1761337210.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 41.392349 m, bearing: 352.951334 deg, approach rate: -0.519080 m/s, LOS rate: -0.086156 deg/s, cmd heading: 2.849733 deg, new cmd heading: 2.746239 deg. 2025-10-24T20:20:10.289Z,1761337210.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047931 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:10.304Z,1761337210.304 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:20:10.521Z,1761337210.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255268 2025-10-24T20:20:10.623Z,1761337210.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997285,-0.066435,0.031780],[0.069299,0.992606,-0.099658],[-0.024924,0.101590,0.994514]] 2025-10-24T20:20:10.656Z,1761337210.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:10.659Z,1761337210.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 41.173275 m, bearing: 352.914526 deg, approach rate: -0.557300 m/s, LOS rate: -0.094133 deg/s, cmd heading: 2.746238 deg, new cmd heading: 2.635228 deg. 2025-10-24T20:20:10.660Z,1761337210.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045993 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:10.778Z,1761337210.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512221 2025-10-24T20:20:11.029Z,1761337211.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763473 2025-10-24T20:20:11.032Z,1761337211.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997230,-0.066889,0.032522],[0.069841,0.992509,-0.100235],[-0.025573,0.102229,0.994432]] 2025-10-24T20:20:11.093Z,1761337211.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:11.100Z,1761337211.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 40.936943 m, bearing: 352.878578 deg, approach rate: -0.542247 m/s, LOS rate: -0.082958 deg/s, cmd heading: 2.635228 deg, new cmd heading: 2.526760 deg. 2025-10-24T20:20:11.101Z,1761337211.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.044100 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:11.281Z,1761337211.281 [DAT](INFO): DAT read: Rx Time:20:20:10.1619 2025-10-24T20:20:11.281Z,1761337211.281 [DAT](INFO): Rx dataTimestamp_ set to:1761337211.281014 2025-10-24T20:20:11.282Z,1761337211.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016260 2025-10-24T20:20:11.470Z,1761337211.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-24T20:20:11.493Z,1761337211.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.869217 m, nav range: 40.721867 m, bearing: 352.845497 deg, approach rate: -0.568689 m/s, LOS rate: -0.087932 deg/s, cmd heading: 2.526760 deg, new cmd heading: 2.426993 deg. 2025-10-24T20:20:11.494Z,1761337211.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042359 target range: 42.869217 and range: 43.10 m. 2025-10-24T20:20:11.534Z,1761337211.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267931 2025-10-24T20:20:11.811Z,1761337211.811 [DAT](INFO): DAT read: 20:20:10.1619 LVL= 22368, 28289, 20146, 31203, AGC= 64, IDX= 414, 0.35,-2.068, 2.878,-1.746,-2.269, PHS= 0.288,-1.090, 0.520, RAW= 157.6, 3.8, CAL= 158.9, -5.3, ROT= 351.1, 5.3 2025-10-24T20:20:11.813Z,1761337211.813 [DAT](INFO): got valid direction response: 20:20:10.1619 LVL= 22368, 28289, 20146, 31203, AGC= 64, IDX= 414, 0.35,-2.068, 2.878,-1.746,-2.269, PHS= 0.288,-1.090, 0.520, RAW= 157.6, 3.8, CAL= 158.9, -5.3, ROT= 351.1, 5.3 2025-10-24T20:20:11.814Z,1761337211.814 [DAT](INFO): DAT read: Bearing 351.1, 5.3 (Local) 2025-10-24T20:20:11.815Z,1761337211.815 [DAT](INFO): Local bearing/azimuth received: Bearing 351.1, 5.3 (Local) 2025-10-24T20:20:11.816Z,1761337211.816 [DAT](INFO): DAT read: Range 10 to 50 : 41.1 m (Round-trip 54.9 ms) speed 0.4 m/s 2025-10-24T20:20:11.817Z,1761337211.817 [DAT](INFO): DAT read: user:335> 2025-10-24T20:20:11.818Z,1761337211.818 [DAT](INFO): DAT read: Tx time:20:20:11.2528 2025-10-24T20:20:11.818Z,1761337211.818 [DAT](INFO): Ping request sent. 2025-10-24T20:20:11.818Z,1761337211.818 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:20:11.819Z,1761337211.819 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:20:11.836Z,1761337211.836 [DAT](INFO): direction in FSK: [0.983736,-0.154049,-0.092371] 2025-10-24T20:20:11.836Z,1761337211.836 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:11.836Z,1761337211.836 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:11.839Z,1761337211.839 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:11.840Z,1761337211.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997039,-0.069179,0.033571],[0.072239,0.992294,-0.100664],[-0.026349,0.102791,0.994354]] 2025-10-24T20:20:11.848Z,1761337211.848 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:11.991Z,1761337211.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.099998 m, deltaT: 3.534202 s, deltaX: -2.000000 m, approachRate: -0.565899 m/s, rangeRepo size: 4 2025-10-24T20:20:11.998Z,1761337211.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.879559 m, bearing: 355.804789 deg, lat: 36.779652 deg, lon: -121.859562 deg, deltaT: 3.534202 s, deltaX: -1.989658 m, approachRate: -0.562972 m/s, posRepo size: 4 2025-10-24T20:20:11.999Z,1761337211.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:12.007Z,1761337212.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 40.563938 m, bearing: 352.893203 deg, approach rate: 0.000000 m/s, LOS rate: -0.087932 deg/s, cmd heading: 2.426993 deg, new cmd heading: 2.289647 deg. 2025-10-24T20:20:12.007Z,1761337212.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039962 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:12.037Z,1761337212.037 [DAT](INFO): DAT read: TxSync time:20:20:11.2520 2025-10-24T20:20:12.332Z,1761337212.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:12.334Z,1761337212.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:12.343Z,1761337212.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 40.364906 m, bearing: 352.878016 deg, approach rate: -0.579661 m/s, LOS rate: -0.044450 deg/s, cmd heading: 2.289647 deg, new cmd heading: 2.243860 deg. 2025-10-24T20:20:12.349Z,1761337212.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039163 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:12.541Z,1761337212.541 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:20:12.541Z,1761337212.541 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:20:12.541Z,1761337212.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:20:12.676Z,1761337212.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996900,-0.072236,0.031199],[0.074638,0.993642,-0.084295],[-0.024911,0.086363,0.995952]] 2025-10-24T20:20:12.717Z,1761337212.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:12.724Z,1761337212.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 40.163517 m, bearing: 352.862214 deg, approach rate: -0.525607 m/s, LOS rate: -0.041449 deg/s, cmd heading: 2.243860 deg, new cmd heading: 2.196215 deg. 2025-10-24T20:20:12.725Z,1761337212.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038331 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:12.797Z,1761337212.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977190 2025-10-24T20:20:13.045Z,1761337213.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226367 2025-10-24T20:20:13.092Z,1761337213.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996829,-0.073041,0.031588],[0.075555,0.993296,-0.087487],[-0.024986,0.089596,0.995665]] 2025-10-24T20:20:13.140Z,1761337213.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:13.143Z,1761337213.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 39.924744 m, bearing: 352.863750 deg, approach rate: -0.564229 m/s, LOS rate: 0.003653 deg/s, cmd heading: 2.196215 deg, new cmd heading: 2.200853 deg. 2025-10-24T20:20:13.144Z,1761337213.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038412 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:13.297Z,1761337213.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478705 2025-10-24T20:20:13.483Z,1761337213.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996666,-0.075195,0.031665],[0.077801,0.992788,-0.091207],[-0.024579,0.093367,0.995328]] 2025-10-24T20:20:13.507Z,1761337213.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:13.510Z,1761337213.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 39.724133 m, bearing: 352.864299 deg, approach rate: -0.546630 m/s, LOS rate: 0.001504 deg/s, cmd heading: 2.200853 deg, new cmd heading: 2.202509 deg. 2025-10-24T20:20:13.511Z,1761337213.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038441 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:13.549Z,1761337213.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730772 2025-10-24T20:20:13.805Z,1761337213.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986575 2025-10-24T20:20:13.894Z,1761337213.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996322,-0.078962,0.033281],[0.081789,0.992158,-0.094520],[-0.025556,0.096895,0.994967]] 2025-10-24T20:20:13.943Z,1761337213.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:13.946Z,1761337213.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 39.485718 m, bearing: 352.887582 deg, approach rate: -0.546973 m/s, LOS rate: 0.053737 deg/s, cmd heading: 2.202509 deg, new cmd heading: 2.272777 deg. 2025-10-24T20:20:13.948Z,1761337213.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039667 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:14.053Z,1761337214.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234791 2025-10-24T20:20:14.294Z,1761337214.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996064,-0.081527,0.034777],[0.084555,0.991685,-0.097010],[-0.026579,0.099568,0.994676]] 2025-10-24T20:20:14.305Z,1761337214.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486543 2025-10-24T20:20:14.334Z,1761337214.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:14.337Z,1761337214.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 39.284416 m, bearing: 352.906571 deg, approach rate: -0.515632 m/s, LOS rate: 0.048890 deg/s, cmd heading: 2.272777 deg, new cmd heading: 2.330037 deg. 2025-10-24T20:20:14.337Z,1761337214.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040667 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:14.557Z,1761337214.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738687 2025-10-24T20:20:14.695Z,1761337214.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995934,-0.082839,0.035410],[0.085969,0.991406,-0.098611],[-0.026937,0.101255,0.994496]] 2025-10-24T20:20:14.713Z,1761337214.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:14.736Z,1761337214.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:14.739Z,1761337214.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 39.064503 m, bearing: 352.927028 deg, approach rate: -0.575753 m/s, LOS rate: 0.053860 deg/s, cmd heading: 2.330037 deg, new cmd heading: 2.391754 deg. 2025-10-24T20:20:14.744Z,1761337214.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041744 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:14.814Z,1761337214.814 [DAT](INFO): DAT read: Rx Time:20:20:13.7091 2025-10-24T20:20:14.821Z,1761337214.821 [DAT](INFO): Rx dataTimestamp_ set to:1761337214.814548 2025-10-24T20:20:14.823Z,1761337214.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004092 2025-10-24T20:20:15.061Z,1761337215.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242388 2025-10-24T20:20:15.156Z,1761337215.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:15.159Z,1761337215.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 38.818069 m, bearing: 352.962869 deg, approach rate: -0.559813 m/s, LOS rate: 0.081936 deg/s, cmd heading: 2.391754 deg, new cmd heading: 2.499959 deg. 2025-10-24T20:20:15.160Z,1761337215.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043633 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:15.317Z,1761337215.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497665 2025-10-24T20:20:15.505Z,1761337215.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996126,-0.080137,0.036204],[0.083351,0.991656,-0.098342],[-0.028021,0.100979,0.994494]] 2025-10-24T20:20:15.529Z,1761337215.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.88 m. 2025-10-24T20:20:15.532Z,1761337215.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.879559 m, nav range: 38.612061 m, bearing: 352.994015 deg, approach rate: -0.553729 m/s, LOS rate: 0.084163 deg/s, cmd heading: 2.499959 deg, new cmd heading: 2.593895 deg. 2025-10-24T20:20:15.533Z,1761337215.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045272 target range: 40.879559 and range: 41.10 m. 2025-10-24T20:20:15.574Z,1761337215.574 [DAT](INFO): DAT read: 20:20:13.7091 LVL= 21440, 29937, 20242, 31539, AGC= 64, IDX= 419, 0.05, 3.004, 1.557,-2.950, 2.809, PHS= 0.283,-1.205, 0.521, RAW= 157.3, 5.0, CAL= 158.2, -4.2, ROT= 351.8, 4.2 2025-10-24T20:20:15.576Z,1761337215.576 [DAT](INFO): got valid direction response: 20:20:13.7091 LVL= 21440, 29937, 20242, 31539, AGC= 64, IDX= 419, 0.05, 3.004, 1.557,-2.950, 2.809, PHS= 0.283,-1.205, 0.521, RAW= 157.3, 5.0, CAL= 158.2, -4.2, ROT= 351.8, 4.2 2025-10-24T20:20:15.578Z,1761337215.578 [DAT](INFO): DAT read: Bearing 351.8, 4.2 (Local) 2025-10-24T20:20:15.578Z,1761337215.578 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 4.2 (Local) 2025-10-24T20:20:15.581Z,1761337215.581 [DAT](INFO): DAT read: Range 10 to 50 : 39.1 m (Round-trip 52.2 ms) speed 0.5 m/s 2025-10-24T20:20:15.582Z,1761337215.582 [DAT](INFO): DAT read: user:336> 2025-10-24T20:20:15.583Z,1761337215.583 [DAT](INFO): DAT read: Tx time:20:20:14.8028 2025-10-24T20:20:15.583Z,1761337215.583 [DAT](INFO): Ping request sent. 2025-10-24T20:20:15.584Z,1761337215.584 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:20:15.585Z,1761337215.585 [DAT](INFO): DAT read: TxSync time:20:20:14.8020 2025-10-24T20:20:15.586Z,1761337215.586 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:20:15.588Z,1761337215.588 [DAT](INFO): direction in FSK: [0.987118,-0.142246,-0.073238] 2025-10-24T20:20:15.588Z,1761337215.588 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:15.589Z,1761337215.589 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:15.598Z,1761337215.598 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:15.598Z,1761337215.598 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:15.911Z,1761337215.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996327,-0.077610,0.036174],[0.080804,0.991968,-0.097317],[-0.028331,0.099882,0.994596]] 2025-10-24T20:20:15.973Z,1761337215.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.099998 m, deltaT: 3.778560 s, deltaX: -2.000000 m, approachRate: -0.529302 m/s, rangeRepo size: 4 2025-10-24T20:20:15.975Z,1761337215.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.889591 m, bearing: 356.871492 deg, lat: 36.779654 deg, lon: -121.859554 deg, deltaT: 3.778560 s, deltaX: -1.989967 m, approachRate: -0.526647 m/s, posRepo size: 4 2025-10-24T20:20:15.976Z,1761337215.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m. 2025-10-24T20:20:15.979Z,1761337215.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.889591 m, nav range: 38.433479 m, bearing: 354.199918 deg, approach rate: 0.000000 m/s, LOS rate: 0.084163 deg/s, cmd heading: 2.593895 deg, new cmd heading: 2.706227 deg. 2025-10-24T20:20:15.980Z,1761337215.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047233 target range: 38.889591 and range: 39.10 m. 2025-10-24T20:20:16.379Z,1761337216.379 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-24T20:20:16.379Z,1761337216.379 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T20:20:16.380Z,1761337216.380 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-24T20:20:16.383Z,1761337216.383 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.099998 m (mode 2.000000 count ). 2025-10-24T20:20:16.384Z,1761337216.384 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-24T20:20:16.398Z,1761337216.398 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-24T20:20:16.402Z,1761337216.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m. 2025-10-24T20:20:16.449Z,1761337216.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.889591 m, nav range: 38.215267 m, bearing: 354.253800 deg, approach rate: -0.510923 m/s, LOS rate: 0.126881 deg/s, cmd heading: 2.706227 deg, new cmd heading: 2.868796 deg. 2025-10-24T20:20:16.451Z,1761337216.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050070 target range: 38.889591 and range: 39.10 m. 2025-10-24T20:20:16.746Z,1761337216.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996752,-0.072773,0.034480],[0.075865,0.992192,-0.098993],[-0.027006,0.101287,0.994491]] 2025-10-24T20:20:16.763Z,1761337216.763 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-24T20:20:16.763Z,1761337216.763 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-24T20:20:16.764Z,1761337216.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:16.767Z,1761337216.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m. 2025-10-24T20:20:16.770Z,1761337216.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.889591 m, nav range: 37.994106 m, bearing: 354.310697 deg, approach rate: -0.602774 m/s, LOS rate: 0.155975 deg/s, cmd heading: 2.868796 deg, new cmd heading: 3.040480 deg. 2025-10-24T20:20:16.771Z,1761337216.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053066 target range: 38.889591 and range: 39.10 m. 2025-10-24T20:20:16.825Z,1761337216.825 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:20:16.825Z,1761337216.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:20:16.826Z,1761337216.826 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:20:17.077Z,1761337217.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493447 2025-10-24T20:20:17.145Z,1761337217.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996827,-0.071622,0.034746],[0.074739,0.992301,-0.098755],[-0.027405,0.101039,0.994505]] 2025-10-24T20:20:17.209Z,1761337217.209 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-24T20:20:17.209Z,1761337217.209 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-24T20:20:17.211Z,1761337217.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m. 2025-10-24T20:20:17.218Z,1761337217.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.889591 m, nav range: 37.762615 m, bearing: 354.361279 deg, approach rate: -0.521126 m/s, LOS rate: 0.114567 deg/s, cmd heading: 3.040480 deg, new cmd heading: 3.193155 deg. 2025-10-24T20:20:17.219Z,1761337217.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055731 target range: 38.889591 and range: 39.10 m. 2025-10-24T20:20:17.330Z,1761337217.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746168 2025-10-24T20:20:17.546Z,1761337217.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996879,-0.070287,0.035949],[0.073523,0.992422,-0.098453],[-0.028757,0.100789,0.994492]] 2025-10-24T20:20:17.583Z,1761337217.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999223 2025-10-24T20:20:17.602Z,1761337217.602 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-24T20:20:17.602Z,1761337217.602 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T20:20:17.602Z,1761337217.602 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-24T20:20:17.602Z,1761337217.602 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-24T20:20:17.609Z,1761337217.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m. 2025-10-24T20:20:17.611Z,1761337217.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.889591 m, nav range: 37.549091 m, bearing: 354.408917 deg, approach rate: -0.536709 m/s, LOS rate: 0.120424 deg/s, cmd heading: 3.193155 deg, new cmd heading: 3.336884 deg. 2025-10-24T20:20:17.621Z,1761337217.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058240 target range: 38.889591 and range: 39.10 m. 2025-10-24T20:20:17.835Z,1761337217.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251636 2025-10-24T20:20:17.951Z,1761337217.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996922,-0.069148,0.036961],[0.072485,0.992517,-0.098262],[-0.029890,0.100639,0.994474]] 2025-10-24T20:20:18.010Z,1761337218.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m. 2025-10-24T20:20:18.013Z,1761337218.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.889591 m, nav range: 37.305935 m, bearing: 354.454911 deg, approach rate: -0.605694 m/s, LOS rate: 0.115316 deg/s, cmd heading: 3.336884 deg, new cmd heading: 3.475764 deg. 2025-10-24T20:20:18.015Z,1761337218.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060664 target range: 38.889591 and range: 39.10 m. 2025-10-24T20:20:18.085Z,1761337218.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501869 2025-10-24T20:20:18.338Z,1761337218.338 [DAT](INFO): DAT read: Rx Time:20:20:17.2566 2025-10-24T20:20:18.339Z,1761337218.339 [DAT](INFO): Rx dataTimestamp_ set to:1761337218.338608 2025-10-24T20:20:18.345Z,1761337218.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761295 2025-10-24T20:20:18.362Z,1761337218.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996954,-0.068387,0.037504],[0.071775,0.992591,-0.098035],[-0.030522,0.100428,0.994476]] 2025-10-24T20:20:18.401Z,1761337218.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m. 2025-10-24T20:20:18.407Z,1761337218.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.889591 m, nav range: 37.098305 m, bearing: 354.494906 deg, approach rate: -0.530972 m/s, LOS rate: 0.102852 deg/s, cmd heading: 3.475764 deg, new cmd heading: 3.596421 deg. 2025-10-24T20:20:18.417Z,1761337218.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062769 target range: 38.889591 and range: 39.10 m. 2025-10-24T20:20:18.589Z,1761337218.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005744 2025-10-24T20:20:18.796Z,1761337218.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:18.800Z,1761337218.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.89 m. 2025-10-24T20:20:18.803Z,1761337218.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.889591 m, nav range: 36.868568 m, bearing: 354.539688 deg, approach rate: -0.576828 m/s, LOS rate: 0.113141 deg/s, cmd heading: 3.596421 deg, new cmd heading: 3.731604 deg. 2025-10-24T20:20:18.804Z,1761337218.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065129 target range: 38.889591 and range: 39.10 m. 2025-10-24T20:20:18.874Z,1761337218.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289654 2025-10-24T20:20:19.100Z,1761337219.100 [DAT](INFO): DAT read: 20:20:17.2566 LVL= 20864, 31441, 19826, 32035, AGC= 63, IDX= 408, 0.46, 0.901,-0.417, 1.155, 0.708, PHS= 0.282,-1.078, 0.444, RAW= 155.6, 4.9, CAL= 156.7, -4.2, ROT= 353.3, 4.2 2025-10-24T20:20:19.101Z,1761337219.101 [DAT](INFO): got valid direction response: 20:20:17.2566 LVL= 20864, 31441, 19826, 32035, AGC= 63, IDX= 408, 0.46, 0.901,-0.417, 1.155, 0.708, PHS= 0.282,-1.078, 0.444, RAW= 155.6, 4.9, CAL= 156.7, -4.2, ROT= 353.3, 4.2 2025-10-24T20:20:19.102Z,1761337219.102 [DAT](INFO): DAT read: Bearing 353.3, 4.2 (Local) 2025-10-24T20:20:19.102Z,1761337219.102 [DAT](INFO): Local bearing/azimuth received: Bearing 353.3, 4.2 (Local) 2025-10-24T20:20:19.104Z,1761337219.104 [DAT](INFO): DAT read: Range 10 to 50 : 37.2 m (Round-trip 49.7 ms) speed 0.4 m/s 2025-10-24T20:20:19.104Z,1761337219.104 [DAT](INFO): DAT read: user:337> 2025-10-24T20:20:19.105Z,1761337219.105 [DAT](INFO): DAT read: Tx time:20:20:18.3528 2025-10-24T20:20:19.106Z,1761337219.106 [DAT](INFO): Ping request sent. 2025-10-24T20:20:19.106Z,1761337219.106 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:20:19.106Z,1761337219.106 [DAT](INFO): DAT read: TxSync time:20:20:18.3520 2025-10-24T20:20:19.107Z,1761337219.107 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:20:19.108Z,1761337219.108 [DAT](INFO): direction in FSK: [0.990503,-0.116358,-0.073238] 2025-10-24T20:20:19.108Z,1761337219.108 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:19.109Z,1761337219.109 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:19.112Z,1761337219.112 [DAT](INFO): publishing transmit ping time 2025-10-24T20:20:19.112Z,1761337219.112 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:19.116Z,1761337219.116 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.010781 2025-10-24T20:20:19.235Z,1761337219.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996990,-0.067366,0.038369],[0.070882,0.992545,-0.099145],[-0.031404,0.101567,0.994333]] 2025-10-24T20:20:19.284Z,1761337219.284 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:20:19.334Z,1761337219.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 3.526999 s, deltaX: -1.899998 m, approachRate: -0.538701 m/s, rangeRepo size: 4 2025-10-24T20:20:19.340Z,1761337219.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.999950 m, bearing: 357.806304 deg, lat: 36.779654 deg, lon: -121.859539 deg, deltaT: 3.526999 s, deltaX: -1.889641 m, approachRate: -0.535765 m/s, posRepo size: 4 2025-10-24T20:20:19.341Z,1761337219.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m. 2025-10-24T20:20:19.343Z,1761337219.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.999950 m, nav range: 36.570671 m, bearing: 356.606897 deg, approach rate: 0.000000 m/s, LOS rate: 0.113141 deg/s, cmd heading: 3.731603 deg, new cmd heading: 3.912780 deg. 2025-10-24T20:20:19.345Z,1761337219.345 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.239418 2025-10-24T20:20:19.350Z,1761337219.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068291 target range: 36.999950 and range: 37.20 m. 2025-10-24T20:20:19.598Z,1761337219.598 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.491766 2025-10-24T20:20:19.634Z,1761337219.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997075,-0.066744,0.037244],[0.070294,0.992092,-0.103985],[-0.030009,0.106299,0.993881]] 2025-10-24T20:20:19.673Z,1761337219.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m. 2025-10-24T20:20:19.676Z,1761337219.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.999950 m, nav range: 36.373898 m, bearing: 356.643292 deg, approach rate: -0.578902 m/s, LOS rate: 0.107650 deg/s, cmd heading: 3.912780 deg, new cmd heading: 4.022553 deg. 2025-10-24T20:20:19.677Z,1761337219.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070207 target range: 36.999950 and range: 37.20 m. 2025-10-24T20:20:19.850Z,1761337219.850 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744219 2025-10-24T20:20:20.035Z,1761337220.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997191,-0.065535,0.036280],[0.068976,0.992230,-0.103543],[-0.029212,0.105755,0.993963]] 2025-10-24T20:20:20.093Z,1761337220.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m. 2025-10-24T20:20:20.095Z,1761337220.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.999950 m, nav range: 36.135799 m, bearing: 356.672524 deg, approach rate: -0.567835 m/s, LOS rate: 0.070175 deg/s, cmd heading: 4.022553 deg, new cmd heading: 4.110828 deg. 2025-10-24T20:20:20.096Z,1761337220.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071747 target range: 36.999950 and range: 37.20 m. 2025-10-24T20:20:20.101Z,1761337220.101 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.995425 2025-10-24T20:20:20.353Z,1761337220.353 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.247126 2025-10-24T20:20:20.441Z,1761337220.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997117,-0.066788,0.036001],[0.070231,0.992007,-0.104828],[-0.028712,0.107055,0.993838]] 2025-10-24T20:20:20.466Z,1761337220.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m. 2025-10-24T20:20:20.469Z,1761337220.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.999950 m, nav range: 35.926403 m, bearing: 356.698107 deg, approach rate: -0.561199 m/s, LOS rate: 0.068963 deg/s, cmd heading: 4.110828 deg, new cmd heading: 4.188023 deg. 2025-10-24T20:20:20.470Z,1761337220.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073095 target range: 36.999950 and range: 37.20 m. 2025-10-24T20:20:20.605Z,1761337220.605 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.499086 2025-10-24T20:20:20.844Z,1761337220.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996996,-0.068275,0.036572],[0.071747,0.991989,-0.103972],[-0.029181,0.106284,0.993908]] 2025-10-24T20:20:20.857Z,1761337220.857 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.751226 2025-10-24T20:20:20.890Z,1761337220.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:20.919Z,1761337220.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m. 2025-10-24T20:20:20.951Z,1761337220.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.999950 m, nav range: 35.699715 m, bearing: 356.725601 deg, approach rate: -0.501976 m/s, LOS rate: 0.061270 deg/s, cmd heading: 4.188023 deg, new cmd heading: 4.271030 deg. 2025-10-24T20:20:20.961Z,1761337220.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074544 target range: 36.999950 and range: 37.20 m. 2025-10-24T20:20:21.109Z,1761337221.109 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.003291 2025-10-24T20:20:21.323Z,1761337221.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.00 m. 2025-10-24T20:20:21.326Z,1761337221.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.999950 m, nav range: 35.447147 m, bearing: 356.739283 deg, approach rate: -0.622733 m/s, LOS rate: 0.033975 deg/s, cmd heading: 4.271030 deg, new cmd heading: 4.312369 deg. 2025-10-24T20:20:21.327Z,1761337221.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075265 target range: 36.999950 and range: 37.20 m. 2025-10-24T20:20:21.361Z,1761337221.361 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.255711 2025-10-24T20:20:21.614Z,1761337221.614 [DAT](INFO): DAT read: Rx Time:20:20:20.5291 2025-10-24T20:20:21.615Z,1761337221.615 [DAT](INFO): Rx dataTimestamp_ set to:1761337221.614559 2025-10-24T20:20:21.616Z,1761337221.616 [DAT](INFO): DAT read: Bearing 354.6, 4.1 (Local) 2025-10-24T20:20:21.617Z,1761337221.617 [DAT](INFO): Local bearing/azimuth received: Bearing 354.6, 4.1 (Local) 2025-10-24T20:20:21.619Z,1761337221.619 [DAT](INFO): DAT read: Range 10 to 50 : 35.4 m (trip time 23.6 ms) speed 0.6 2025-10-24T20:20:21.623Z,1761337221.623 [DAT](INFO): DAT read: 20:20:20.5291 LVL= 19536, 19105, 16114, 23651, AGC= 65, IDX= 159, 0.31,-2.592, 2.315,-2.376,-2.813, PHS= 0.309,-1.108, 0.434, RAW= 154.2, 5.0, CAL= 155.4, -4.1, ROT= 354.6, 4.1 2025-10-24T20:20:21.625Z,1761337221.625 [DAT](INFO): got valid direction response: 20:20:20.5291 LVL= 19536, 19105, 16114, 23651, AGC= 65, IDX= 159, 0.31,-2.592, 2.315,-2.376,-2.813, PHS= 0.309,-1.108, 0.434, RAW= 154.2, 5.0, CAL= 155.4, -4.1, ROT= 354.6, 4.1 2025-10-24T20:20:21.625Z,1761337221.625 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-24T20:20:21.626Z,1761337221.626 [DAT](INFO): direction in FSK: [0.993014,-0.093867,-0.071497] 2025-10-24T20:20:21.626Z,1761337221.626 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:21.635Z,1761337221.635 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.529394 2025-10-24T20:20:21.663Z,1761337221.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996654,-0.072725,0.037314],[0.076325,0.991387,-0.106423],[-0.029253,0.108915,0.993621]] 2025-10-24T20:20:21.741Z,1761337221.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.400002 m, deltaT: 2.522392 s, deltaX: -1.799999 m, approachRate: -0.713608 m/s, rangeRepo size: 4 2025-10-24T20:20:21.743Z,1761337221.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.210258 m, bearing: 359.443206 deg, lat: 36.779654 deg, lon: -121.859534 deg, deltaT: 2.522392 s, deltaX: -1.789692 m, approachRate: -0.709522 m/s, posRepo size: 4 2025-10-24T20:20:21.743Z,1761337221.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.21 m. 2025-10-24T20:20:21.751Z,1761337221.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.210258 m, nav range: 35.205910 m, bearing: 357.532220 deg, approach rate: 0.000000 m/s, LOS rate: 0.033975 deg/s, cmd heading: 4.312369 deg, new cmd heading: 4.353624 deg. 2025-10-24T20:20:21.756Z,1761337221.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075985 target range: 35.210258 and range: 35.40 m. 2025-10-24T20:20:21.866Z,1761337221.866 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760044 2025-10-24T20:20:22.118Z,1761337222.118 [DAT](INFO): DAT read: Rx Time:20:20:21.0290 2025-10-24T20:20:22.118Z,1761337222.118 [DAT](INFO): Rx dataTimestamp_ set to:1761337222.117837 2025-10-24T20:20:22.119Z,1761337222.119 [DAT](INFO): DAT read: Bearing 354.4, 2.9 (Local) 2025-10-24T20:20:22.120Z,1761337222.120 [DAT](INFO): Local bearing/azimuth received: Bearing 354.4, 2.9 (Local) 2025-10-24T20:20:22.122Z,1761337222.122 [DAT](INFO): DAT read: Range 10 to 50 : 35.1 m (trip time 23.4 ms) speed 0.4 2025-10-24T20:20:22.127Z,1761337222.127 [DAT](INFO): DAT read: 20:20:21.0290 LVL= 18672, 29873, 19122, 32755, AGC= 63, IDX= 509,-0.50, 1.402, 0.032, 1.638, 1.221, PHS= 0.269,-1.143, 0.413, RAW= 154.8, 6.2, CAL= 155.6, -2.9, ROT= 354.4, 2.9 2025-10-24T20:20:22.128Z,1761337222.128 [DAT](INFO): got valid direction response: 20:20:21.0290 LVL= 18672, 29873, 19122, 32755, AGC= 63, IDX= 509,-0.50, 1.402, 0.032, 1.638, 1.221, PHS= 0.269,-1.143, 0.413, RAW= 154.8, 6.2, CAL= 155.6, -2.9, ROT= 354.4, 2.9 2025-10-24T20:20:22.128Z,1761337222.128 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-24T20:20:22.129Z,1761337222.129 [DAT](INFO): direction in FSK: [0.993953,-0.097458,-0.050593] 2025-10-24T20:20:22.130Z,1761337222.130 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:22.159Z,1761337222.159 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.053001 2025-10-24T20:20:22.211Z,1761337222.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.099998 m, deltaT: 0.503278 s, deltaX: -0.300003 m, approachRate: -0.596098 m/s, rangeRepo size: 4 2025-10-24T20:20:22.221Z,1761337222.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.911861 m, bearing: 359.115669 deg, lat: 36.779654 deg, lon: -121.859531 deg, deltaT: 0.503278 s, deltaX: -0.298397 m, approachRate: -0.592907 m/s, posRepo size: 4 2025-10-24T20:20:22.222Z,1761337222.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m. 2025-10-24T20:20:22.237Z,1761337222.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.911861 m, nav range: 34.835957 m, bearing: 357.996303 deg, approach rate: 0.000000 m/s, LOS rate: 0.033975 deg/s, cmd heading: 4.353624 deg, new cmd heading: 4.402840 deg. 2025-10-24T20:20:22.238Z,1761337222.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076844 target range: 34.911861 and range: 35.10 m. 2025-10-24T20:20:22.369Z,1761337222.369 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.263225 2025-10-24T20:20:22.507Z,1761337222.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996185,-0.078613,0.037880],[0.082325,0.990607,-0.109183],[-0.028941,0.111885,0.993300]] 2025-10-24T20:20:22.569Z,1761337222.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.91 m. 2025-10-24T20:20:22.571Z,1761337222.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.911861 m, nav range: 34.632763 m, bearing: 358.009320 deg, approach rate: -0.567518 m/s, LOS rate: 0.036569 deg/s, cmd heading: 4.402840 deg, new cmd heading: 4.442119 deg. 2025-10-24T20:20:22.576Z,1761337222.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077530 target range: 34.911861 and range: 35.10 m. 2025-10-24T20:20:22.623Z,1761337222.623 [DAT](INFO): DAT read: Rx Time:20:20:21.5289 2025-10-24T20:20:22.623Z,1761337222.623 [DAT](INFO): Rx dataTimestamp_ set to:1761337222.622736 2025-10-24T20:20:22.625Z,1761337222.625 [DAT](INFO): DAT read: Bearing 354.2, 3.1 (Local) 2025-10-24T20:20:22.626Z,1761337222.626 [DAT](INFO): Local bearing/azimuth received: Bearing 354.2, 3.1 (Local) 2025-10-24T20:20:22.630Z,1761337222.630 [DAT](INFO): DAT read: Range 10 to 50 : 35.0 m (trip time 23.3 ms) speed 0.4 2025-10-24T20:20:22.637Z,1761337222.637 [DAT](INFO): DAT read: 20:20:21.5289 LVL= 19888, 30961, 17394, 30851, AGC= 62, IDX= 508,-0.29, 2.774, 1.411, 3.015, 2.594, PHS= 0.268,-1.135, 0.418, RAW= 155.0, 6.1, CAL= 155.8, -3.1, ROT= 354.2, 3.1 2025-10-24T20:20:22.638Z,1761337222.638 [DAT](INFO): got valid direction response: 20:20:21.5289 LVL= 19888, 30961, 17394, 30851, AGC= 62, IDX= 508,-0.29, 2.774, 1.411, 3.015, 2.594, PHS= 0.268,-1.135, 0.418, RAW= 155.0, 6.1, CAL= 155.8, -3.1, ROT= 354.2, 3.1 2025-10-24T20:20:22.639Z,1761337222.639 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-24T20:20:22.645Z,1761337222.645 [DAT](INFO): direction in FSK: [0.993425,-0.100908,-0.054079] 2025-10-24T20:20:22.645Z,1761337222.645 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:22.667Z,1761337222.667 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.560737 2025-10-24T20:20:22.873Z,1761337222.873 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.767747 2025-10-24T20:20:22.974Z,1761337222.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995993,-0.081090,0.037703],[0.084800,0.990273,-0.110314],[-0.028390,0.113069,0.993181]] 2025-10-24T20:20:23.038Z,1761337223.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 35.000000 m, deltaT: 0.504899 s, deltaX: -0.099998 m, approachRate: -0.198056 m/s, rangeRepo size: 4 2025-10-24T20:20:23.041Z,1761337223.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.812561 m, bearing: 359.440729 deg, lat: 36.779656 deg, lon: -121.859523 deg, deltaT: 0.504899 s, deltaX: -0.099300 m, approachRate: -0.196674 m/s, posRepo size: 4 2025-10-24T20:20:23.042Z,1761337223.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.81 m. 2025-10-24T20:20:23.044Z,1761337223.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.812561 m, nav range: 34.660866 m, bearing: 359.171881 deg, approach rate: 0.000000 m/s, LOS rate: 0.036569 deg/s, cmd heading: 4.442119 deg, new cmd heading: 4.493596 deg. 2025-10-24T20:20:23.045Z,1761337223.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078428 target range: 34.812561 and range: 35.00 m. 2025-10-24T20:20:23.126Z,1761337223.126 [DAT](INFO): DAT read: Rx Time:20:20:22.0286 2025-10-24T20:20:23.126Z,1761337223.126 [DAT](INFO): Rx dataTimestamp_ set to:1761337223.125980 2025-10-24T20:20:23.128Z,1761337223.128 [DAT](INFO): DAT read: Bearing 353.8, 2.8 (Local) 2025-10-24T20:20:23.128Z,1761337223.128 [DAT](INFO): Local bearing/azimuth received: Bearing 353.8, 2.8 (Local) 2025-10-24T20:20:23.130Z,1761337223.130 [DAT](INFO): DAT read: Range 10 to 50 : 34.5 m (trip time 23.0 ms) speed 0.5 2025-10-24T20:20:23.136Z,1761337223.136 [DAT](INFO): DAT read: 20:20:22.0286 LVL= 21888, 26353, 18306, 28323, AGC= 63, IDX= 505,-0.15, 2.558, 1.136, 2.825, 2.384, PHS= 0.263,-1.201, 0.438, RAW= 155.6, 6.5, CAL= 156.2, -2.8, ROT= 353.8, 2.8 2025-10-24T20:20:23.137Z,1761337223.137 [DAT](INFO): got valid direction response: 20:20:22.0286 LVL= 21888, 26353, 18306, 28323, AGC= 63, IDX= 505,-0.15, 2.558, 1.136, 2.825, 2.384, PHS= 0.263,-1.201, 0.438, RAW= 155.6, 6.5, CAL= 156.2, -2.8, ROT= 353.8, 2.8 2025-10-24T20:20:23.137Z,1761337223.137 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-24T20:20:23.138Z,1761337223.138 [DAT](INFO): direction in FSK: [0.992964,-0.107870,-0.048850] 2025-10-24T20:20:23.138Z,1761337223.138 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:23.142Z,1761337223.142 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.036661 2025-10-24T20:20:23.330Z,1761337223.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995754,-0.083875,0.037923],[0.087634,0.989867,-0.111734],[-0.028167,0.114583,0.993014]] 2025-10-24T20:20:23.377Z,1761337223.377 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.271255 2025-10-24T20:20:23.396Z,1761337223.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.500000 m, deltaT: 0.503244 s, deltaX: -0.500000 m, approachRate: -0.993554 m/s, rangeRepo size: 4 2025-10-24T20:20:23.398Z,1761337223.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.315166 m, bearing: 359.177317 deg, lat: 36.779654 deg, lon: -121.859523 deg, deltaT: 0.503244 s, deltaX: -0.497395 m, approachRate: -0.988377 m/s, posRepo size: 4 2025-10-24T20:20:23.399Z,1761337223.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.32 m. 2025-10-24T20:20:23.406Z,1761337223.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.315166 m, nav range: 34.179428 m, bearing: 359.184541 deg, approach rate: 0.000000 m/s, LOS rate: 0.036569 deg/s, cmd heading: 4.493596 deg, new cmd heading: 4.532004 deg. 2025-10-24T20:20:23.407Z,1761337223.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079098 target range: 34.315166 and range: 34.50 m. 2025-10-24T20:20:23.629Z,1761337223.629 [DAT](INFO): DAT read: Rx Time:20:20:22.5285 2025-10-24T20:20:23.630Z,1761337223.630 [DAT](INFO): Rx dataTimestamp_ set to:1761337223.629507 2025-10-24T20:20:23.632Z,1761337223.632 [DAT](INFO): DAT read: Bearing 354.1, 3.1 (Local) 2025-10-24T20:20:23.632Z,1761337223.632 [DAT](INFO): Local bearing/azimuth received: Bearing 354.1, 3.1 (Local) 2025-10-24T20:20:23.634Z,1761337223.634 [DAT](INFO): DAT read: Range 10 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 2025-10-24T20:20:23.639Z,1761337223.639 [DAT](INFO): DAT read: 20:20:22.5285 LVL= 19776, 30577, 21042, 31059, AGC= 62, IDX= 504,-0.00,-1.789, 3.106,-1.543,-1.973, PHS= 0.272,-1.157, 0.427, RAW= 155.1, 6.1, CAL= 155.9, -3.1, ROT= 354.1, 3.1 2025-10-24T20:20:23.640Z,1761337223.640 [DAT](INFO): got valid direction response: 20:20:22.5285 LVL= 19776, 30577, 21042, 31059, AGC= 62, IDX= 504,-0.00,-1.789, 3.106,-1.543,-1.973, PHS= 0.272,-1.157, 0.427, RAW= 155.1, 6.1, CAL= 155.9, -3.1, ROT= 354.1, 3.1 2025-10-24T20:20:23.640Z,1761337223.640 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-24T20:20:23.641Z,1761337223.641 [DAT](INFO): direction in FSK: [0.993247,-0.102642,-0.054079] 2025-10-24T20:20:23.642Z,1761337223.642 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:23.658Z,1761337223.658 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.552264 2025-10-24T20:20:23.763Z,1761337223.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995557,-0.086270,0.037721],[0.090007,0.989592,-0.112281],[-0.027642,0.115177,0.992960]] 2025-10-24T20:20:23.813Z,1761337223.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 0.503527 s, deltaX: -0.099998 m, approachRate: -0.198596 m/s, rangeRepo size: 4 2025-10-24T20:20:23.820Z,1761337223.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.215702 m, bearing: 359.648845 deg, lat: 36.779654 deg, lon: -121.859521 deg, deltaT: 0.503527 s, deltaX: -0.099464 m, approachRate: -0.197535 m/s, posRepo size: 4 2025-10-24T20:20:23.824Z,1761337223.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.22 m. 2025-10-24T20:20:23.827Z,1761337223.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.215702 m, nav range: 33.946430 m, bearing: 359.482638 deg, approach rate: 0.000000 m/s, LOS rate: 0.036569 deg/s, cmd heading: 4.532004 deg, new cmd heading: 4.578558 deg. 2025-10-24T20:20:23.828Z,1761337223.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079911 target range: 34.215702 and range: 34.40 m. 2025-10-24T20:20:23.882Z,1761337223.882 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.776473 2025-10-24T20:20:24.134Z,1761337224.134 [DAT](INFO): DAT read: Rx Time:20:20:23.0282 2025-10-24T20:20:24.134Z,1761337224.134 [DAT](INFO): Rx dataTimestamp_ set to:1761337224.133839 2025-10-24T20:20:24.135Z,1761337224.135 [DAT](INFO): DAT read: Bearing 354.3, 3.9 (Local) 2025-10-24T20:20:24.136Z,1761337224.136 [DAT](INFO): Local bearing/azimuth received: Bearing 354.3, 3.9 (Local) 2025-10-24T20:20:24.138Z,1761337224.138 [DAT](INFO): DAT read: Range 10 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 2025-10-24T20:20:24.147Z,1761337224.147 [DAT](INFO): DAT read: 20:20:23.0282 LVL= 18208, 31729, 18674, 32755, AGC= 61, IDX= 501, 0.11,-1.550,-2.941,-1.322,-1.765, PHS= 0.304,-1.129, 0.441, RAW= 154.5, 5.2, CAL= 155.7, -3.9, ROT= 354.3, 3.9 2025-10-24T20:20:24.152Z,1761337224.152 [DAT](INFO): got valid direction response: 20:20:23.0282 LVL= 18208, 31729, 18674, 32755, AGC= 61, IDX= 501, 0.11,-1.550,-2.941,-1.322,-1.765, PHS= 0.304,-1.129, 0.441, RAW= 154.5, 5.2, CAL= 155.7, -3.9, ROT= 354.3, 3.9 2025-10-24T20:20:24.153Z,1761337224.153 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-24T20:20:24.154Z,1761337224.154 [DAT](INFO): direction in FSK: [0.992751,-0.099090,-0.068015] 2025-10-24T20:20:24.154Z,1761337224.154 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:24.196Z,1761337224.196 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.078018 2025-10-24T20:20:24.204Z,1761337224.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995325,-0.088880,0.037808],[0.092611,0.989355,-0.112251],[-0.027429,0.115228,0.992960]] 2025-10-24T20:20:24.303Z,1761337224.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.504332 s, deltaX: -0.500000 m, approachRate: -0.991410 m/s, rangeRepo size: 4 2025-10-24T20:20:24.310Z,1761337224.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.718044 m, bearing: 0.088699 deg, lat: 36.779654 deg, lon: -121.859521 deg, deltaT: 0.504332 s, deltaX: -0.497658 m, approachRate: -0.986766 m/s, posRepo size: 4 2025-10-24T20:20:24.310Z,1761337224.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.72 m. 2025-10-24T20:20:24.317Z,1761337224.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.718044 m, nav range: 33.680573 m, bearing: 359.518636 deg, approach rate: 0.000000 m/s, LOS rate: 0.036569 deg/s, cmd heading: 4.578558 deg, new cmd heading: 4.632312 deg. 2025-10-24T20:20:24.318Z,1761337224.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.080849 target range: 33.718044 and range: 33.90 m. 2025-10-24T20:20:24.385Z,1761337224.385 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.279796 2025-10-24T20:20:24.603Z,1761337224.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995168,-0.090804,0.037353],[0.094483,0.989124,-0.112723],[-0.026711,0.115707,0.992924]] 2025-10-24T20:20:24.620Z,1761337224.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:24.622Z,1761337224.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.72 m. 2025-10-24T20:20:24.625Z,1761337224.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.718044 m, nav range: 33.494221 m, bearing: 359.543594 deg, approach rate: -0.582828 m/s, LOS rate: 0.078492 deg/s, cmd heading: 4.632312 deg, new cmd heading: 4.707603 deg. 2025-10-24T20:20:24.626Z,1761337224.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082163 target range: 33.718044 and range: 33.90 m. 2025-10-24T20:20:24.638Z,1761337224.638 [DAT](INFO): DAT read: Rx Time:20:20:23.5281 2025-10-24T20:20:24.638Z,1761337224.638 [DAT](INFO): Rx dataTimestamp_ set to:1761337224.637707 2025-10-24T20:20:24.639Z,1761337224.639 [DAT](INFO): DAT read: Bearing 353.5, 4.2 (Local) 2025-10-24T20:20:24.640Z,1761337224.640 [DAT](INFO): Local bearing/azimuth received: Bearing 353.5, 4.2 (Local) 2025-10-24T20:20:24.642Z,1761337224.642 [DAT](INFO): DAT read: Range 10 to 50 : 33.8 m (trip time 22.5 ms) speed 0.5 2025-10-24T20:20:24.647Z,1761337224.647 [DAT](INFO): DAT read: 20:20:23.5281 LVL= 17456, 29825, 19266, 30931, AGC= 60, IDX= 499, 0.25,-1.643,-3.021,-1.389,-1.851, PHS= 0.297,-1.122, 0.459, RAW= 155.3, 4.9, CAL= 156.5, -4.2, ROT= 353.5, 4.2 2025-10-24T20:20:24.648Z,1761337224.648 [DAT](INFO): got valid direction response: 20:20:23.5281 LVL= 17456, 29825, 19266, 30931, AGC= 60, IDX= 499, 0.25,-1.643,-3.021,-1.389,-1.851, PHS= 0.297,-1.122, 0.459, RAW= 155.3, 4.9, CAL= 156.5, -4.2, ROT= 353.5, 4.2 2025-10-24T20:20:24.649Z,1761337224.649 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-24T20:20:24.650Z,1761337224.650 [DAT](INFO): direction in FSK: [0.990904,-0.112899,-0.073238] 2025-10-24T20:20:24.650Z,1761337224.650 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:24.662Z,1761337224.662 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.555959 2025-10-24T20:20:24.889Z,1761337224.889 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.783451 2025-10-24T20:20:25.029Z,1761337225.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994974,-0.092952,0.037246],[0.096595,0.988966,-0.112315],[-0.026395,0.115349,0.992974]] 2025-10-24T20:20:25.089Z,1761337225.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.503868 s, deltaX: -0.100002 m, approachRate: -0.198469 m/s, rangeRepo size: 4 2025-10-24T20:20:25.091Z,1761337225.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.618580 m, bearing: 359.555372 deg, lat: 36.779655 deg, lon: -121.859521 deg, deltaT: 0.503868 s, deltaX: -0.099464 m, approachRate: -0.197402 m/s, posRepo size: 4 2025-10-24T20:20:25.091Z,1761337225.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.62 m. 2025-10-24T20:20:25.099Z,1761337225.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.618580 m, nav range: 33.378910 m, bearing: 359.571987 deg, approach rate: 0.000000 m/s, LOS rate: 0.078492 deg/s, cmd heading: 4.707603 deg, new cmd heading: 4.817215 deg. 2025-10-24T20:20:25.104Z,1761337225.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084076 target range: 33.618580 and range: 33.80 m. 2025-10-24T20:20:25.141Z,1761337225.141 [DAT](INFO): DAT read: Rx Time:20:20:24.0278 2025-10-24T20:20:25.142Z,1761337225.142 [DAT](INFO): Rx dataTimestamp_ set to:1761337225.141680 2025-10-24T20:20:25.144Z,1761337225.144 [DAT](INFO): DAT read: Bearing 352.8, 3.3 (Local) 2025-10-24T20:20:25.145Z,1761337225.145 [DAT](INFO): Local bearing/azimuth received: Bearing 352.8, 3.3 (Local) 2025-10-24T20:20:25.149Z,1761337225.149 [DAT](INFO): DAT read: Range 10 to 50 : 33.3 m (trip time 22.2 ms) speed 0.4 2025-10-24T20:20:25.160Z,1761337225.160 [DAT](INFO): DAT read: 20:20:24.0278 LVL= 20208, 27409, 19378, 30195, AGC= 62, IDX= 497,-0.48, 1.998, 0.618, 2.290, 1.828, PHS= 0.258,-1.163, 0.458, RAW= 156.5, 5.9, CAL= 157.2, -3.3, ROT= 352.8, 3.3 2025-10-24T20:20:25.162Z,1761337225.162 [DAT](INFO): got valid direction response: 20:20:24.0278 LVL= 20208, 27409, 19378, 30195, AGC= 62, IDX= 497,-0.48, 1.998, 0.618, 2.290, 1.828, PHS= 0.258,-1.163, 0.458, RAW= 156.5, 5.9, CAL= 157.2, -3.3, ROT= 352.8, 3.3 2025-10-24T20:20:25.163Z,1761337225.163 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-24T20:20:25.169Z,1761337225.169 [DAT](INFO): direction in FSK: [0.990470,-0.125126,-0.057564] 2025-10-24T20:20:25.170Z,1761337225.170 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:25.174Z,1761337225.174 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.068363 2025-10-24T20:20:25.393Z,1761337225.393 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.287521 2025-10-24T20:20:25.421Z,1761337225.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994772,-0.095199,0.036963],[0.098796,0.988748,-0.112323],[-0.025854,0.115387,0.992984]] 2025-10-24T20:20:25.511Z,1761337225.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.503973 s, deltaX: -0.500000 m, approachRate: -0.992117 m/s, rangeRepo size: 4 2025-10-24T20:20:25.517Z,1761337225.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.121006 m, bearing: 358.883226 deg, lat: 36.779654 deg, lon: -121.859521 deg, deltaT: 0.503973 s, deltaX: -0.497574 m, approachRate: -0.987303 m/s, posRepo size: 4 2025-10-24T20:20:25.518Z,1761337225.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.12 m. 2025-10-24T20:20:25.526Z,1761337225.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.121006 m, nav range: 33.037910 m, bearing: 359.577554 deg, approach rate: 0.000000 m/s, LOS rate: 0.078492 deg/s, cmd heading: 4.817215 deg, new cmd heading: 4.916789 deg. 2025-10-24T20:20:25.533Z,1761337225.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085814 target range: 33.121006 and range: 33.30 m. 2025-10-24T20:20:25.646Z,1761337225.646 [DAT](INFO): DAT read: Rx Time:20:20:24.5277 2025-10-24T20:20:25.647Z,1761337225.647 [DAT](INFO): Rx dataTimestamp_ set to:1761337225.646079 2025-10-24T20:20:25.649Z,1761337225.649 [DAT](INFO): DAT read: Range 10 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4 2025-10-24T20:20:25.649Z,1761337225.649 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-24T20:20:25.650Z,1761337225.650 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.544546 2025-10-24T20:20:25.817Z,1761337225.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994601,-0.097030,0.036807],[0.100578,0.988658,-0.111533],[-0.025568,0.114633,0.993079]] 2025-10-24T20:20:25.845Z,1761337225.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.504399 s, deltaX: -0.099998 m, approachRate: -0.198253 m/s, rangeRepo size: 4 2025-10-24T20:20:25.845Z,1761337225.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.12 m. 2025-10-24T20:20:25.850Z,1761337225.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.121006 m, nav range: 32.844074 m, bearing: 359.598610 deg, approach rate: -0.581044 m/s, LOS rate: 0.063492 deg/s, cmd heading: 4.916789 deg, new cmd heading: 4.980331 deg. 2025-10-24T20:20:25.851Z,1761337225.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.086923 target range: 33.121006 and range: 33.20 m. 2025-10-24T20:20:25.899Z,1761337225.899 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.792880 2025-10-24T20:20:26.150Z,1761337226.150 [DAT](INFO): DAT read: Rx Time:20:20:25.0274 2025-10-24T20:20:26.150Z,1761337226.150 [DAT](INFO): Rx dataTimestamp_ set to:1761337226.150185 2025-10-24T20:20:26.152Z,1761337226.152 [DAT](INFO): DAT read: Bearing 352.3, 2.8 (Local) 2025-10-24T20:20:26.152Z,1761337226.152 [DAT](INFO): Local bearing/azimuth received: Bearing 352.3, 2.8 (Local) 2025-10-24T20:20:26.154Z,1761337226.154 [DAT](INFO): DAT read: Range 10 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 2025-10-24T20:20:26.159Z,1761337226.159 [DAT](INFO): DAT read: 20:20:25.0274 LVL= 20240, 25841, 17650, 29043, AGC= 61, IDX= 509,-0.04, 1.322,-0.070, 1.643, 1.178, PHS= 0.232,-1.201, 0.462, RAW= 157.3, 6.6, CAL= 157.7, -2.8, ROT= 352.3, 2.8 2025-10-24T20:20:26.160Z,1761337226.160 [DAT](INFO): got valid direction response: 20:20:25.0274 LVL= 20240, 25841, 17650, 29043, AGC= 61, IDX= 509,-0.04, 1.322,-0.070, 1.643, 1.178, PHS= 0.232,-1.201, 0.462, RAW= 157.3, 6.6, CAL= 157.7, -2.8, ROT= 352.3, 2.8 2025-10-24T20:20:26.161Z,1761337226.161 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-24T20:20:26.162Z,1761337226.162 [DAT](INFO): direction in FSK: [0.989800,-0.133827,-0.048850] 2025-10-24T20:20:26.162Z,1761337226.162 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:26.186Z,1761337226.186 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.080012 2025-10-24T20:20:26.220Z,1761337226.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994360,-0.099556,0.036555],[0.103006,0.988643,-0.109430],[-0.025246,0.112578,0.993322]] 2025-10-24T20:20:26.341Z,1761337226.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.504106 s, deltaX: -0.500000 m, approachRate: -0.991855 m/s, rangeRepo size: 4 2025-10-24T20:20:26.343Z,1761337226.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.524044 m, bearing: 358.561493 deg, lat: 36.779653 deg, lon: -121.859521 deg, deltaT: 1.008505 s, deltaX: -0.596962 m, approachRate: -0.591928 m/s, posRepo size: 4 2025-10-24T20:20:26.343Z,1761337226.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.52 m. 2025-10-24T20:20:26.346Z,1761337226.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.524044 m, nav range: 32.515339 m, bearing: 359.634105 deg, approach rate: 0.000000 m/s, LOS rate: 0.063492 deg/s, cmd heading: 4.980331 deg, new cmd heading: 5.074687 deg. 2025-10-24T20:20:26.356Z,1761337226.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088570 target range: 32.524044 and range: 32.70 m. 2025-10-24T20:20:26.402Z,1761337226.402 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.296123 2025-10-24T20:20:26.630Z,1761337226.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994228,-0.100929,0.036387],[0.104343,0.988545,-0.109051],[-0.024964,0.112218,0.993370]] 2025-10-24T20:20:26.653Z,1761337226.653 [DAT](INFO): DAT read: Rx Time:20:20:25.5273 2025-10-24T20:20:26.654Z,1761337226.654 [DAT](INFO): Rx dataTimestamp_ set to:1761337226.653625 2025-10-24T20:20:26.660Z,1761337226.660 [DAT](INFO): DAT read: Bearing 353.0, 4.1 (Local) 2025-10-24T20:20:26.660Z,1761337226.660 [DAT](INFO): Local bearing/azimuth received: Bearing 353.0, 4.1 (Local) 2025-10-24T20:20:26.662Z,1761337226.662 [DAT](INFO): DAT read: Range 10 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 2025-10-24T20:20:26.671Z,1761337226.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:26.672Z,1761337226.672 [DAT](INFO): DAT read: 20:20:25.5273 LVL= 20416, 28753, 20466, 32051, AGC= 61, IDX= 508, 0.12,-1.964, 2.909,-1.685,-2.167, PHS= 0.291,-1.161, 0.479, RAW= 156.0, 5.1, CAL= 157.0, -4.1, ROT= 353.0, 4.1 2025-10-24T20:20:26.673Z,1761337226.673 [DAT](INFO): got valid direction response: 20:20:25.5273 LVL= 20416, 28753, 20466, 32051, AGC= 61, IDX= 508, 0.12,-1.964, 2.909,-1.685,-2.167, PHS= 0.291,-1.161, 0.479, RAW= 156.0, 5.1, CAL= 157.0, -4.1, ROT= 353.0, 4.1 2025-10-24T20:20:26.673Z,1761337226.673 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-24T20:20:26.674Z,1761337226.674 [DAT](INFO): direction in FSK: [0.990006,-0.121558,-0.071497] 2025-10-24T20:20:26.675Z,1761337226.675 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:26.678Z,1761337226.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.503440 s, deltaX: -0.100002 m, approachRate: -0.198638 m/s, rangeRepo size: 4 2025-10-24T20:20:26.678Z,1761337226.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.52 m. 2025-10-24T20:20:26.683Z,1761337226.683 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.577486 2025-10-24T20:20:26.705Z,1761337226.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.524044 m, nav range: 32.340038 m, bearing: 359.659634 deg, approach rate: -0.519174 m/s, LOS rate: 0.076018 deg/s, cmd heading: 5.074688 deg, new cmd heading: 5.151690 deg. 2025-10-24T20:20:26.706Z,1761337226.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089914 target range: 32.524044 and range: 32.60 m. 2025-10-24T20:20:26.905Z,1761337226.905 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.799473 2025-10-24T20:20:27.064Z,1761337227.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993875,-0.104418,0.036178],[0.107766,0.988279,-0.108121],[-0.024464,0.111358,0.993479]] 2025-10-24T20:20:27.121Z,1761337227.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.52 m. 2025-10-24T20:20:27.124Z,1761337227.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.524044 m, nav range: 32.108810 m, bearing: 359.686661 deg, approach rate: -0.520590 m/s, LOS rate: 0.061288 deg/s, cmd heading: 5.151690 deg, new cmd heading: 5.233356 deg. 2025-10-24T20:20:27.125Z,1761337227.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091339 target range: 32.524044 and range: 32.60 m. 2025-10-24T20:20:27.157Z,1761337227.157 [DAT](INFO): DAT read: Rx Time:20:20:26.0271 2025-10-24T20:20:27.158Z,1761337227.158 [DAT](INFO): Rx dataTimestamp_ set to:1761337227.157687 2025-10-24T20:20:27.159Z,1761337227.159 [DAT](INFO): DAT read: Bearing 352.3, 3.9 (Local) 2025-10-24T20:20:27.160Z,1761337227.160 [DAT](INFO): Local bearing/azimuth received: Bearing 352.3, 3.9 (Local) 2025-10-24T20:20:27.162Z,1761337227.162 [DAT](INFO): DAT read: Range 10 to 50 : 32.3 m (trip time 21.5 ms) speed 0.4 2025-10-24T20:20:27.168Z,1761337227.168 [DAT](INFO): DAT read: 20:20:26.0271 LVL= 20512, 25681, 17554, 29635, AGC= 61, IDX= 505, 0.41, 2.632, 1.229, 2.939, 2.448, PHS= 0.272,-1.172, 0.488, RAW= 156.9, 5.3, CAL= 157.7, -3.9, ROT= 352.3, 3.9 2025-10-24T20:20:27.169Z,1761337227.169 [DAT](INFO): got valid direction response: 20:20:26.0271 LVL= 20512, 25681, 17554, 29635, AGC= 61, IDX= 505, 0.41, 2.632, 1.229, 2.939, 2.448, PHS= 0.272,-1.172, 0.488, RAW= 156.9, 5.3, CAL= 157.7, -3.9, ROT= 352.3, 3.9 2025-10-24T20:20:27.170Z,1761337227.170 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-24T20:20:27.170Z,1761337227.170 [DAT](INFO): direction in FSK: [0.988688,-0.133676,-0.068015] 2025-10-24T20:20:27.171Z,1761337227.171 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:27.174Z,1761337227.174 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.068740 2025-10-24T20:20:27.410Z,1761337227.410 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.303735 2025-10-24T20:20:27.583Z,1761337227.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.299999 m, deltaT: 0.504062 s, deltaX: -0.299999 m, approachRate: -0.595163 m/s, rangeRepo size: 4 2025-10-24T20:20:27.595Z,1761337227.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.126057 m, bearing: 358.950698 deg, lat: 36.779653 deg, lon: -121.859526 deg, deltaT: 1.007502 s, deltaX: -0.397987 m, approachRate: -0.395024 m/s, posRepo size: 4 2025-10-24T20:20:27.604Z,1761337227.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.13 m. 2025-10-24T20:20:27.607Z,1761337227.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.126057 m, nav range: 31.942377 m, bearing: 358.997631 deg, approach rate: 0.000000 m/s, LOS rate: 0.061288 deg/s, cmd heading: 5.233356 deg, new cmd heading: 5.318134 deg. 2025-10-24T20:20:27.620Z,1761337227.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092819 target range: 32.126057 and range: 32.30 m. 2025-10-24T20:20:27.663Z,1761337227.663 [DAT](INFO): DAT read: Rx Time:20:20:26.5270 2025-10-24T20:20:27.665Z,1761337227.665 [DAT](INFO): Rx dataTimestamp_ set to:1761337227.663884 2025-10-24T20:20:27.666Z,1761337227.666 [DAT](INFO): DAT read: Bearing 352.2, 3.0 (Local) 2025-10-24T20:20:27.666Z,1761337227.666 [DAT](INFO): Local bearing/azimuth received: Bearing 352.2, 3.0 (Local) 2025-10-24T20:20:27.669Z,1761337227.669 [DAT](INFO): DAT read: Range 10 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4 2025-10-24T20:20:27.674Z,1761337227.674 [DAT](INFO): DAT read: 20:20:26.5270 LVL= 18400, 27121, 19954, 29427, AGC= 60, IDX= 505,-0.20, 2.060, 0.700, 2.377, 1.915, PHS= 0.233,-1.168, 0.459, RAW= 157.4, 6.3, CAL= 157.8, -3.0, ROT= 352.2, 3.0 2025-10-24T20:20:27.675Z,1761337227.675 [DAT](INFO): got valid direction response: 20:20:26.5270 LVL= 18400, 27121, 19954, 29427, AGC= 60, IDX= 505,-0.20, 2.060, 0.700, 2.377, 1.915, PHS= 0.233,-1.168, 0.459, RAW= 157.4, 6.3, CAL= 157.8, -3.0, ROT= 352.2, 3.0 2025-10-24T20:20:27.676Z,1761337227.676 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-24T20:20:27.678Z,1761337227.678 [DAT](INFO): direction in FSK: [0.989390,-0.135529,-0.052336] 2025-10-24T20:20:27.678Z,1761337227.678 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:27.700Z,1761337227.700 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.594380 2025-10-24T20:20:27.916Z,1761337227.916 [DAT](INFO): DAT read: Rx Time:20:20:27.0268 2025-10-24T20:20:27.918Z,1761337227.918 [DAT](INFO): Rx dataTimestamp_ set to:1761337227.916723 2025-10-24T20:20:27.921Z,1761337227.921 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.814908 2025-10-24T20:20:28.006Z,1761337228.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993479,-0.107918,0.036780],[0.111326,0.987828,-0.108635],[-0.024609,0.112021,0.993401]] 2025-10-24T20:20:28.149Z,1761337228.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.506197 s, deltaX: -0.200001 m, approachRate: -0.395105 m/s, rangeRepo size: 4 2025-10-24T20:20:28.151Z,1761337228.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.927132 m, bearing: 358.961444 deg, lat: 36.779653 deg, lon: -121.859526 deg, deltaT: 0.506197 s, deltaX: -0.198925 m, approachRate: -0.392979 m/s, posRepo size: 4 2025-10-24T20:20:28.160Z,1761337228.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-24T20:20:28.163Z,1761337228.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.927132 m, nav range: 31.663967 m, bearing: 358.980331 deg, approach rate: 0.000000 m/s, LOS rate: 0.061288 deg/s, cmd heading: 5.318134 deg, new cmd heading: 5.421393 deg. 2025-10-24T20:20:28.166Z,1761337228.166 [DAT](INFO): DAT read: Bearing 352.3, 3.7 (Local) 2025-10-24T20:20:28.166Z,1761337228.166 [DAT](INFO): Local bearing/azimuth received: Bearing 352.3, 3.7 (Local) 2025-10-24T20:20:28.169Z,1761337228.169 [DAT](INFO): DAT read: Range 10 to 50 : 31.8 m (trip time 21.2 ms) speed 0.4 2025-10-24T20:20:28.174Z,1761337228.174 [DAT](INFO): DAT read: 20:20:27.0268 LVL= 19440, 25473, 17890, 27971, AGC= 61, IDX= 502, 0.07, 1.735, 0.325, 2.047, 1.556, PHS= 0.267,-1.184, 0.488, RAW= 157.0, 5.5, CAL= 157.7, -3.7, ROT= 352.3, 3.7 2025-10-24T20:20:28.175Z,1761337228.175 [DAT](INFO): got valid direction response: 20:20:27.0268 LVL= 19440, 25473, 17890, 27971, AGC= 61, IDX= 502, 0.07, 1.735, 0.325, 2.047, 1.556, PHS= 0.267,-1.184, 0.488, RAW= 157.0, 5.5, CAL= 157.7, -3.7, ROT= 352.3, 3.7 2025-10-24T20:20:28.176Z,1761337228.176 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-24T20:20:28.177Z,1761337228.177 [DAT](INFO): direction in FSK: [0.988918,-0.133707,-0.064532] 2025-10-24T20:20:28.177Z,1761337228.177 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:28.182Z,1761337228.182 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.075954 2025-10-24T20:20:28.192Z,1761337228.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094621 target range: 31.927132 and range: 32.10 m. 2025-10-24T20:20:28.421Z,1761337228.421 [DAT](INFO): DAT read: Rx Time:20:20:27.5267 2025-10-24T20:20:28.423Z,1761337228.423 [DAT](INFO): Rx dataTimestamp_ set to:1761337228.421769 2025-10-24T20:20:28.426Z,1761337228.426 [DAT](INFO): DAT read: Bearing 352.1, 3.7 (Local) 2025-10-24T20:20:28.429Z,1761337228.429 [DAT](INFO): Local bearing/azimuth received: Bearing 352.1, 3.7 (Local) 2025-10-24T20:20:28.431Z,1761337228.431 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.325116 2025-10-24T20:20:28.521Z,1761337228.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993466,-0.107973,0.036969],[0.111378,0.987928,-0.107676],[-0.024897,0.111090,0.993498]] 2025-10-24T20:20:28.605Z,1761337228.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.799999 m, deltaT: 0.500797 s, deltaX: -0.299999 m, approachRate: -0.599044 m/s, rangeRepo size: 4 2025-10-24T20:20:28.612Z,1761337228.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.628756 m, bearing: 359.135832 deg, lat: 36.779654 deg, lon: -121.859526 deg, deltaT: 0.500797 s, deltaX: -0.298376 m, approachRate: -0.595802 m/s, posRepo size: 4 2025-10-24T20:20:28.613Z,1761337228.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.63 m. 2025-10-24T20:20:28.629Z,1761337228.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.628756 m, nav range: 31.459763 m, bearing: 359.005644 deg, approach rate: 0.000000 m/s, LOS rate: 0.061288 deg/s, cmd heading: 5.421393 deg, new cmd heading: 5.505243 deg. 2025-10-24T20:20:28.636Z,1761337228.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096085 target range: 31.628756 and range: 31.80 m. 2025-10-24T20:20:28.671Z,1761337228.671 [DAT](INFO): DAT read: Range 10 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4 2025-10-24T20:20:28.685Z,1761337228.685 [DAT](INFO): DAT read: 20:20:27.5267 LVL= 20448, 27361, 16962, 29107, AGC= 61, IDX= 500, 0.41, 2.148, 0.735, 2.468, 1.971, PHS= 0.265,-1.189, 0.494, RAW= 157.2, 5.5, CAL= 157.9, -3.7, ROT= 352.1, 3.7 2025-10-24T20:20:28.716Z,1761337228.716 [DAT](INFO): got valid direction response: 20:20:27.5267 LVL= 20448, 27361, 16962, 29107, AGC= 61, IDX= 500, 0.41, 2.148, 0.735, 2.468, 1.971, PHS= 0.265,-1.189, 0.494, RAW= 157.2, 5.5, CAL= 157.9, -3.7, ROT= 352.1, 3.7 2025-10-24T20:20:28.716Z,1761337228.716 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-24T20:20:28.717Z,1761337228.717 [DAT](INFO): direction in FSK: [0.988445,-0.137158,-0.064532] 2025-10-24T20:20:28.718Z,1761337228.718 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:28.727Z,1761337228.727 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.620595 2025-10-24T20:20:28.926Z,1761337228.926 [DAT](INFO): DAT read: Rx Time:20:20:28.0264 2025-10-24T20:20:28.929Z,1761337228.929 [DAT](INFO): Rx dataTimestamp_ set to:1761337228.926308 2025-10-24T20:20:28.943Z,1761337228.943 [DAT](INFO): DAT read: Bearing 351.9, 3.0 (Local) 2025-10-24T20:20:28.945Z,1761337228.945 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 3.0 (Local) 2025-10-24T20:20:28.971Z,1761337228.971 [DAT](INFO): DAT read: Range 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-24T20:20:28.978Z,1761337228.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993304,-0.109366,0.037237],[0.112806,0.987708,-0.108204],[-0.024946,0.111680,0.993431]] 2025-10-24T20:20:28.994Z,1761337228.994 [DAT](INFO): DAT read: 20:20:28.0264 LVL= 19120, 29265, 18610, 29235, AGC= 60, IDX= 498,-0.12,-1.129,-2.467,-0.806,-1.265, PHS= 0.224,-1.155, 0.456, RAW= 157.7, 6.4, CAL= 158.1, -3.0, ROT= 351.9, 3.0 2025-10-24T20:20:29.008Z,1761337229.008 [DAT](INFO): got valid direction response: 20:20:28.0264 LVL= 19120, 29265, 18610, 29235, AGC= 60, IDX= 498,-0.12,-1.129,-2.467,-0.806,-1.265, PHS= 0.224,-1.155, 0.456, RAW= 157.7, 6.4, CAL= 158.1, -3.0, ROT= 351.9, 3.0 2025-10-24T20:20:29.009Z,1761337229.009 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-24T20:20:29.021Z,1761337229.021 [DAT](INFO): direction in FSK: [0.988667,-0.140708,-0.052336] 2025-10-24T20:20:29.022Z,1761337229.022 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:29.085Z,1761337229.085 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.979156 2025-10-24T20:20:29.097Z,1761337229.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.200001 m, deltaT: 0.761627 s, deltaX: -0.599998 m, approachRate: -0.787785 m/s, rangeRepo size: 4 2025-10-24T20:20:29.099Z,1761337229.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.031988 m, bearing: 358.746183 deg, lat: 36.779654 deg, lon: -121.859526 deg, deltaT: 0.761627 s, deltaX: -0.596767 m, approachRate: -0.783543 m/s, posRepo size: 4 2025-10-24T20:20:29.105Z,1761337229.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-24T20:20:29.107Z,1761337229.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.031988 m, nav range: 31.246307 m, bearing: 359.028425 deg, approach rate: 0.000000 m/s, LOS rate: 0.061288 deg/s, cmd heading: 5.505243 deg, new cmd heading: 5.595657 deg. 2025-10-24T20:20:29.121Z,1761337229.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097663 target range: 31.031988 and range: 31.20 m. 2025-10-24T20:20:29.174Z,1761337229.174 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.068217 2025-10-24T20:20:29.430Z,1761337229.430 [DAT](INFO): DAT read: Rx Time:20:20:28.5263 2025-10-24T20:20:29.432Z,1761337229.432 [DAT](INFO): Rx dataTimestamp_ set to:1761337229.431046 2025-10-24T20:20:29.442Z,1761337229.442 [DAT](INFO): DAT read: Bearing 352.0, 4.0 (Locae 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-24T20:20:29.445Z,1761337229.445 [DAT](INFO): unknown deviceResponse_: Bearing 352.0, 4.0 (Locae 10 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4 2025-10-24T20:20:29.447Z,1761337229.447 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.340944 2025-10-24T20:20:29.542Z,1761337229.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:29.549Z,1761337229.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-24T20:20:29.551Z,1761337229.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.031988 m, nav range: 30.996309 m, bearing: 359.074673 deg, approach rate: -0.546817 m/s, LOS rate: 0.101973 deg/s, cmd heading: 5.595657 deg, new cmd heading: 5.735520 deg. 2025-10-24T20:20:29.557Z,1761337229.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100104 target range: 31.031988 and range: 31.20 m. 2025-10-24T20:20:29.683Z,1761337229.683 [DAT](INFO): DAT read: 20:20:28.5263 LVL= 21424, 32753, 19650, 32755, AGC= 61, IDX= 497, 0.18, 2.474, 1.081, 2.791, 2.292, PHS= 0.271,-1.163, 0.496, RAW= 157.2, 5.1, CAL= 158.0, -4.0, ROT= 352.0, 4.0 2025-10-24T20:20:29.684Z,1761337229.684 [DAT](INFO): got valid direction response: 20:20:28.5263 LVL= 21424, 32753, 19650, 32755, AGC= 61, IDX= 497, 0.18, 2.474, 1.081, 2.791, 2.292, PHS= 0.271,-1.163, 0.496, RAW= 157.2, 5.1, CAL= 158.0, -4.0, ROT= 352.0, 4.0 2025-10-24T20:20:29.685Z,1761337229.685 [DAT](INFO): #Rx 18: Read direction message, but no range. 2025-10-24T20:20:29.685Z,1761337229.685 [DAT](INFO): direction in FSK: [0.987856,-0.138834,-0.069756] 2025-10-24T20:20:29.689Z,1761337229.689 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.583179 2025-10-24T20:20:29.843Z,1761337229.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993163,-0.110650,0.037201],[0.114034,0.987762,-0.106407],[-0.024971,0.109922,0.993626]] 2025-10-24T20:20:29.892Z,1761337229.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.03 m. 2025-10-24T20:20:29.901Z,1761337229.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.031988 m, nav range: 30.837984 m, bearing: 359.104025 deg, approach rate: -0.467491 m/s, LOS rate: 0.087113 deg/s, cmd heading: 5.735520 deg, new cmd heading: 5.824027 deg. 2025-10-24T20:20:29.902Z,1761337229.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101648 target range: 31.031988 and range: 31.20 m. 2025-10-24T20:20:29.933Z,1761337229.933 [DAT](INFO): DAT read: Rx Time:20:20:29.0261 2025-10-24T20:20:29.935Z,1761337229.935 [DAT](INFO): Rx dataTimestamp_ set to:1761337229.934081 2025-10-24T20:20:29.944Z,1761337229.944 [DAT](INFO): DAT read: Bearing 351.5, 3.1 (Local) 2025-10-24T20:20:29.946Z,1761337229.946 [DAT](INFO): Local bearing/azimuth received: Bearing 351.5, 3.1 (Local) 2025-10-24T20:20:29.975Z,1761337229.975 [DAT](INFO): DAT read: Range 10 to 50 : 30.9 m (trip time 20.6 ms) speed 0.4 2025-10-24T20:20:30.023Z,1761337230.023 [DAT](INFO): DAT read: 20:20:29.0261 LVL= 19440, 26705, 17778, 29667, AGC= 60, IDX= 511,-0.29,-1.113,-2.494,-0.767,-1.253, PHS= 0.229,-1.194, 0.483, RAW= 158.1, 6.2, CAL= 158.5, -3.1, ROT= 351.5, 3.1 2025-10-24T20:20:30.035Z,1761337230.035 [DAT](INFO): got valid direction response: 20:20:29.0261 LVL= 19440, 26705, 17778, 29667, AGC= 60, IDX= 511,-0.29,-1.113,-2.494,-0.767,-1.253, PHS= 0.229,-1.194, 0.483, RAW= 158.1, 6.2, CAL= 158.5, -3.1, ROT= 351.5, 3.1 2025-10-24T20:20:30.069Z,1761337230.069 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-24T20:20:30.080Z,1761337230.080 [DAT](INFO): direction in FSK: [0.987569,-0.147593,-0.054079] 2025-10-24T20:20:30.080Z,1761337230.080 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:30.098Z,1761337230.098 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.992461 2025-10-24T20:20:30.182Z,1761337230.182 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.075921 2025-10-24T20:20:30.402Z,1761337230.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.900000 m, deltaT: 1.007773 s, deltaX: -0.300001 m, approachRate: -0.297687 m/s, rangeRepo size: 4 2025-10-24T20:20:30.403Z,1761337230.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.733631 m, bearing: 358.421897 deg, lat: 36.779654 deg, lon: -121.859526 deg, deltaT: 1.007773 s, deltaX: -0.298357 m, approachRate: -0.296056 m/s, posRepo size: 4 2025-10-24T20:20:30.408Z,1761337230.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.73 m. 2025-10-24T20:20:30.437Z,1761337230.437 [DAT](INFO): DAT read: Rx Time:20:20:29.5260 2025-10-24T20:20:30.439Z,1761337230.439 [DAT](INFO): Rx dataTimestamp_ set to:1761337230.438120 2025-10-24T20:20:30.462Z,1761337230.462 [DAT](INFO): DAT read: Bearing 351.8, 3.8 (Local) 2025-10-24T20:20:30.463Z,1761337230.463 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 3.8 (Local) 2025-10-24T20:20:30.475Z,1761337230.475 [DAT](INFO): DAT read: Range 10 to 50 : 30.8 m (trip time 20.5 ms) speed 0.6 2025-10-24T20:20:30.476Z,1761337230.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.733631 m, nav range: 30.585270 m, bearing: 359.140701 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 5.824027 deg, new cmd heading: 5.956900 deg. 2025-10-24T20:20:30.477Z,1761337230.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103968 target range: 30.733631 and range: 30.90 m. 2025-10-24T20:20:30.509Z,1761337230.509 [DAT](INFO): DAT read: 20:20:29.5260 LVL= 20336, 30113, 17618, 28403, AGC= 61, IDX= 510, 0.04, 1.968, 0.580, 2.293, 1.799, PHS= 0.257,-1.172, 0.492, RAW= 157.5, 5.5, CAL= 158.2, -3.8, ROT= 351.8, 3.8 2025-10-24T20:20:30.510Z,1761337230.510 [DAT](INFO): got valid direction response: 20:20:29.5260 LVL= 20336, 30113, 17618, 28403, AGC= 61, IDX= 510, 0.04, 1.968, 0.580, 2.293, 1.799, PHS= 0.257,-1.172, 0.492, RAW= 157.5, 5.5, CAL= 158.2, -3.8, ROT= 351.8, 3.8 2025-10-24T20:20:30.510Z,1761337230.510 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-24T20:20:30.511Z,1761337230.511 [DAT](INFO): direction in FSK: [0.987600,-0.142316,-0.066274] 2025-10-24T20:20:30.511Z,1761337230.511 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:30.558Z,1761337230.558 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.452024 2025-10-24T20:20:30.685Z,1761337230.685 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.579577 2025-10-24T20:20:30.774Z,1761337230.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993135,-0.111073,0.036681],[0.114370,0.987845,-0.105274],[-0.024542,0.108747,0.993766]] 2025-10-24T20:20:30.844Z,1761337230.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.504039 s, deltaX: -0.100000 m, approachRate: -0.198398 m/s, rangeRepo size: 4 2025-10-24T20:20:30.846Z,1761337230.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.634169 m, bearing: 358.809680 deg, lat: 36.779654 deg, lon: -121.859528 deg, deltaT: 0.504039 s, deltaX: -0.099463 m, approachRate: -0.197331 m/s, posRepo size: 4 2025-10-24T20:20:30.852Z,1761337230.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.63 m. 2025-10-24T20:20:30.854Z,1761337230.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.634169 m, nav range: 30.370235 m, bearing: 358.942037 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 5.956900 deg, new cmd heading: 6.072812 deg. 2025-10-24T20:20:30.855Z,1761337230.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105991 target range: 30.634169 and range: 30.80 m. 2025-10-24T20:20:30.942Z,1761337230.942 [DAT](INFO): DAT read: Rx Time:20:20:30.0258 2025-10-24T20:20:30.943Z,1761337230.943 [DAT](INFO): Rx dataTimestamp_ set to:1761337230.942297 2025-10-24T20:20:30.950Z,1761337230.950 [DAT](INFO): DAT read: Bearing 351.8, 4.1 (Local) 2025-10-24T20:20:30.952Z,1761337230.952 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 4.1 (Local) 2025-10-24T20:20:30.982Z,1761337230.982 [DAT](INFO): DAT read: Range 10 to 50 : 30.5 m (trip time 20.3 ms) speed 0.4 2025-10-24T20:20:31.009Z,1761337231.009 [DAT](INFO): DAT read: 20:20:30.0258 LVL= 20592, 32753, 18130, 32755, AGC= 61, IDX= 507, 0.41, 1.076,-0.328, 1.401, 0.894, PHS= 0.270,-1.174, 0.504, RAW= 157.4, 5.1, CAL= 158.2, -4.1, ROT= 351.8, 4.1 2025-10-24T20:20:31.010Z,1761337231.010 [DAT](INFO): got valid direction response: 20:20:30.0258 LVL= 20592, 32753, 18130, 32755, AGC= 61, IDX= 507, 0.41, 1.076,-0.328, 1.401, 0.894, PHS= 0.270,-1.174, 0.504, RAW= 157.4, 5.1, CAL= 158.2, -4.1, ROT= 351.8, 4.1 2025-10-24T20:20:31.010Z,1761337231.010 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-24T20:20:31.011Z,1761337231.011 [DAT](INFO): direction in FSK: [0.987243,-0.142264,-0.071497] 2025-10-24T20:20:31.011Z,1761337231.011 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:31.036Z,1761337231.036 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.930389 2025-10-24T20:20:31.189Z,1761337231.189 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.082954 2025-10-24T20:20:31.328Z,1761337231.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.500000 m, deltaT: 0.504177 s, deltaX: -0.299999 m, approachRate: -0.595028 m/s, rangeRepo size: 4 2025-10-24T20:20:31.330Z,1761337231.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.335768 m, bearing: 358.841290 deg, lat: 36.779654 deg, lon: -121.859529 deg, deltaT: 0.504177 s, deltaX: -0.298401 m, approachRate: -0.591857 m/s, posRepo size: 4 2025-10-24T20:20:31.336Z,1761337231.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.34 m. 2025-10-24T20:20:31.338Z,1761337231.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.335768 m, nav range: 30.130676 m, bearing: 358.877645 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 6.072813 deg, new cmd heading: 6.196966 deg. 2025-10-24T20:20:31.339Z,1761337231.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108157 target range: 30.335768 and range: 30.50 m. 2025-10-24T20:20:31.445Z,1761337231.445 [DAT](INFO): DAT read: Rx Time:20:20:30.5257 2025-10-24T20:20:31.447Z,1761337231.447 [DAT](INFO): Rx dataTimestamp_ set to:1761337231.446109 2025-10-24T20:20:31.483Z,1761337231.483 [DAT](INFO): DAT read: Bearing 351.9, 3.7 (Local) 2025-10-24T20:20:31.483Z,1761337231.483 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 3.7 (Local) 2025-10-24T20:20:31.486Z,1761337231.486 [DAT](INFO): DAT read: Range 10 to 50 : 30.3 m (trip time 20.2 ms) speed 0.4 2025-10-24T20:20:31.505Z,1761337231.505 [DAT](INFO): DAT read: 20:20:30.5257 LVL= 22368, 32753, 22562, 32755, AGC= 61, IDX= 507,-0.13, 0.975,-0.382, 1.294, 0.812, PHS= 0.252,-1.147, 0.479, RAW= 157.4, 5.5, CAL= 158.1, -3.7, ROT= 351.9, 3.7 2025-10-24T20:20:31.506Z,1761337231.506 [DAT](INFO): got valid direction response: 20:20:30.5257 LVL= 22368, 32753, 22562, 32755, AGC= 61, IDX= 507,-0.13, 0.975,-0.382, 1.294, 0.812, PHS= 0.252,-1.147, 0.479, RAW= 157.4, 5.5, CAL= 158.1, -3.7, ROT= 351.9, 3.7 2025-10-24T20:20:31.507Z,1761337231.507 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-24T20:20:31.508Z,1761337231.508 [DAT](INFO): direction in FSK: [0.987960,-0.140607,-0.064532] 2025-10-24T20:20:31.508Z,1761337231.508 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:31.520Z,1761337231.520 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.414482 2025-10-24T20:20:31.678Z,1761337231.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993039,-0.112050,0.036321],[0.115321,0.987651,-0.106049],[-0.023990,0.109499,0.993697]] 2025-10-24T20:20:31.693Z,1761337231.693 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.587275 2025-10-24T20:20:31.773Z,1761337231.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.503812 s, deltaX: -0.200001 m, approachRate: -0.396975 m/s, rangeRepo size: 4 2025-10-24T20:20:31.775Z,1761337231.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.136843 m, bearing: 358.957610 deg, lat: 36.779654 deg, lon: -121.859529 deg, deltaT: 0.503812 s, deltaX: -0.198925 m, approachRate: -0.394840 m/s, posRepo size: 4 2025-10-24T20:20:31.775Z,1761337231.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.14 m. 2025-10-24T20:20:31.783Z,1761337231.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.136843 m, nav range: 29.921549 m, bearing: 358.946335 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 6.196966 deg, new cmd heading: 6.315393 deg. 2025-10-24T20:20:31.796Z,1761337231.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110224 target range: 30.136843 and range: 30.30 m. 2025-10-24T20:20:31.951Z,1761337231.951 [DAT](INFO): DAT read: Rx Time:20:20:31.0254 2025-10-24T20:20:31.953Z,1761337231.953 [DAT](INFO): Rx dataTimestamp_ set to:1761337231.951950 2025-10-24T20:20:31.961Z,1761337231.961 [DAT](INFO): DAT read: Bearing 351.6, 4.1 (Local) 2025-10-24T20:20:31.962Z,1761337231.962 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 4.1 (Local) 2025-10-24T20:20:31.986Z,1761337231.986 [DAT](INFO): DAT read: Range 10 to 50 : 29.9 m (trip time 19.9 ms) speed 0.4 2025-10-24T20:20:31.995Z,1761337231.995 [DAT](INFO): DAT read: 20:20:31.0254 LVL= 19824, 29329, 17250, 30323, AGC= 60, IDX= 504, 0.13, 0.923,-0.475, 1.255, 0.745, PHS= 0.266,-1.173, 0.507, RAW= 157.6, 5.1, CAL= 158.4, -4.1, ROT= 351.6, 4.1 2025-10-24T20:20:32.009Z,1761337232.009 [DAT](INFO): got valid direction response: 20:20:31.0254 LVL= 19824, 29329, 17250, 30323, AGC= 60, IDX= 504, 0.13, 0.923,-0.475, 1.255, 0.745, PHS= 0.266,-1.173, 0.507, RAW= 157.6, 5.1, CAL= 158.4, -4.1, ROT= 351.6, 4.1 2025-10-24T20:20:32.009Z,1761337232.009 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-24T20:20:32.010Z,1761337232.010 [DAT](INFO): direction in FSK: [0.986741,-0.145709,-0.071497] 2025-10-24T20:20:32.010Z,1761337232.010 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:32.019Z,1761337232.019 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.913407 2025-10-24T20:20:32.136Z,1761337232.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993137,-0.111342,0.035791],[0.114540,0.987827,-0.105254],[-0.023636,0.108631,0.993801]] 2025-10-24T20:20:32.197Z,1761337232.197 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.091186 2025-10-24T20:20:32.263Z,1761337232.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.900000 m, deltaT: 0.505841 s, deltaX: -0.400000 m, approachRate: -0.790762 m/s, rangeRepo size: 4 2025-10-24T20:20:32.269Z,1761337232.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.738998 m, bearing: 358.651563 deg, lat: 36.779654 deg, lon: -121.859529 deg, deltaT: 0.505841 s, deltaX: -0.397844 m, approachRate: -0.786501 m/s, posRepo size: 4 2025-10-24T20:20:32.270Z,1761337232.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.74 m. 2025-10-24T20:20:32.276Z,1761337232.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.738998 m, nav range: 29.676653 m, bearing: 358.998001 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 6.315393 deg, new cmd heading: 6.444564 deg. 2025-10-24T20:20:32.277Z,1761337232.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112479 target range: 29.738998 and range: 29.90 m. 2025-10-24T20:20:32.454Z,1761337232.454 [DAT](INFO): DAT read: Rx Time:20:20:31.5253 2025-10-24T20:20:32.457Z,1761337232.457 [DAT](INFO): Rx dataTimestamp_ set to:1761337232.455052 2025-10-24T20:20:32.472Z,1761337232.472 [DAT](INFO): DAT read: Bearing 351.8, 3.8 (Local) 2025-10-24T20:20:32.473Z,1761337232.473 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 3.8 (Local) 2025-10-24T20:20:32.475Z,1761337232.475 [DAT](INFO): DAT read: Range 10 to 50 : 29.7 m (trip time 19.8 ms) speed 0.5 2025-10-24T20:20:32.490Z,1761337232.490 [DAT](INFO): DAT read: 20:20:31.5253 LVL= 23408, 32753, 20722, 32755, AGC= 61, IDX= 502, 0.43, 1.373,-0.012, 1.698, 1.202, PHS= 0.259,-1.167, 0.493, RAW= 157.5, 5.4, CAL= 158.2, -3.8, ROT= 351.8, 3.8 2025-10-24T20:20:32.497Z,1761337232.497 [DAT](INFO): got valid direction response: 20:20:31.5253 LVL= 23408, 32753, 20722, 32755, AGC= 61, IDX= 502, 0.43, 1.373,-0.012, 1.698, 1.202, PHS= 0.259,-1.167, 0.493, RAW= 157.5, 5.4, CAL= 158.2, -3.8, ROT= 351.8, 3.8 2025-10-24T20:20:32.497Z,1761337232.497 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-24T20:20:32.499Z,1761337232.499 [DAT](INFO): direction in FSK: [0.987600,-0.142316,-0.066274] 2025-10-24T20:20:32.500Z,1761337232.500 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:32.520Z,1761337232.520 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.409584 2025-10-24T20:20:32.575Z,1761337232.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993148,-0.111517,0.034942],[0.114618,0.987835,-0.105099],[-0.022797,0.108384,0.993848]] 2025-10-24T20:20:32.656Z,1761337232.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.503102 s, deltaX: -0.199999 m, approachRate: -0.397531 m/s, rangeRepo size: 4 2025-10-24T20:20:32.658Z,1761337232.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.540005 m, bearing: 358.823437 deg, lat: 36.779654 deg, lon: -121.859529 deg, deltaT: 0.503102 s, deltaX: -0.198994 m, approachRate: -0.395533 m/s, posRepo size: 4 2025-10-24T20:20:32.659Z,1761337232.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.54 m. 2025-10-24T20:20:32.680Z,1761337232.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.540005 m, nav range: 29.467960 m, bearing: 359.074859 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 6.444564 deg, new cmd heading: 6.546293 deg. 2025-10-24T20:20:32.683Z,1761337232.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114254 target range: 29.540005 and range: 29.70 m. 2025-10-24T20:20:32.701Z,1761337232.701 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.595247 2025-10-24T20:20:32.962Z,1761337232.962 [DAT](INFO): DAT read: Rx Time:20:20:32.0250 2025-10-24T20:20:32.966Z,1761337232.966 [DAT](INFO): Rx dataTimestamp_ set to:1761337232.962745 2025-10-24T20:20:32.975Z,1761337232.975 [DAT](INFO): DAT read: Bearing 351.2, 3.3 (Local) 2025-10-24T20:20:32.975Z,1761337232.975 [DAT](INFO): Local bearing/azimuth received: Bearing 351.2, 3.3 (Local) 2025-10-24T20:20:32.990Z,1761337232.990 [DAT](INFO): DAT read: Range 10 to 50 : 29.3 m (trip time 19.5 ms) speed 0.6 2025-10-24T20:20:33.003Z,1761337233.003 [DAT](INFO): DAT read: 20:20:32.0250 LVL= 19264, 28273, 17394, 29859, AGC= 60, IDX= 500,-0.28,-1.426,-2.774,-1.078,-1.562, PHS= 0.224,-1.165, 0.481, RAW= 158.3, 6.0, CAL= 158.8, -3.3, ROT= 351.2, 3.3 2025-10-24T20:20:33.013Z,1761337233.013 [DAT](INFO): got valid direction response: 20:20:32.0250 LVL= 19264, 28273, 17394, 29859, AGC= 60, IDX= 500,-0.28,-1.426,-2.774,-1.078,-1.562, PHS= 0.224,-1.165, 0.481, RAW= 158.3, 6.0, CAL= 158.8, -3.3, ROT= 351.2, 3.3 2025-10-24T20:20:33.013Z,1761337233.013 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-24T20:20:33.014Z,1761337233.014 [DAT](INFO): direction in FSK: [0.986590,-0.152732,-0.057564] 2025-10-24T20:20:33.015Z,1761337233.015 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:33.027Z,1761337233.027 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.921092 2025-10-24T20:20:33.033Z,1761337233.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993063,-0.112496,0.034214],[0.115503,0.987778,-0.104658],[-0.022022,0.107884,0.993920]] 2025-10-24T20:20:33.157Z,1761337233.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.507693 s, deltaX: -0.400002 m, approachRate: -0.787881 m/s, rangeRepo size: 4 2025-10-24T20:20:33.159Z,1761337233.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.142159 m, bearing: 358.221954 deg, lat: 36.779653 deg, lon: -121.859530 deg, deltaT: 0.507693 s, deltaX: -0.397846 m, approachRate: -0.783635 m/s, posRepo size: 4 2025-10-24T20:20:33.193Z,1761337233.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.14 m. 2025-10-24T20:20:33.195Z,1761337233.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.142159 m, nav range: 29.122896 m, bearing: 358.917354 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 6.546293 deg, new cmd heading: 6.678152 deg. 2025-10-24T20:20:33.200Z,1761337233.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116556 target range: 29.142159 and range: 29.30 m. 2025-10-24T20:20:33.205Z,1761337233.205 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.099199 2025-10-24T20:20:33.462Z,1761337233.462 [DAT](INFO): DAT read: Rx Time:20:20:32.5250 2025-10-24T20:20:33.465Z,1761337233.465 [DAT](INFO): Rx dataTimestamp_ set to:1761337233.462793 2025-10-24T20:20:33.474Z,1761337233.474 [DAT](INFO): DAT read: Bearing 351.2, 3.4 (Local) 2025-10-24T20:20:33.474Z,1761337233.474 [DAT](INFO): Local bearing/azimuth received: Bearing 351.2, 3.4 (Local) 2025-10-24T20:20:33.482Z,1761337233.482 [DAT](INFO): DAT read: Range 10 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 2025-10-24T20:20:33.501Z,1761337233.501 [DAT](INFO): DAT read: 20:20:32.5250 LVL= 18608, 29169, 17618, 28227, AGC= 60, IDX= 499,-0.09,-0.182,-1.553, 0.173,-0.323, PHS= 0.230,-1.183, 0.493, RAW= 158.4, 5.9, CAL= 158.8, -3.4, ROT= 351.2, 3.4 2025-10-24T20:20:33.502Z,1761337233.502 [DAT](INFO): got valid direction response: 20:20:32.5250 LVL= 18608, 29169, 17618, 28227, AGC= 60, IDX= 499,-0.09,-0.182,-1.553, 0.173,-0.323, PHS= 0.230,-1.183, 0.493, RAW= 158.4, 5.9, CAL= 158.8, -3.4, ROT= 351.2, 3.4 2025-10-24T20:20:33.502Z,1761337233.502 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-24T20:20:33.503Z,1761337233.503 [DAT](INFO): direction in FSK: [0.986489,-0.152716,-0.059306] 2025-10-24T20:20:33.512Z,1761337233.512 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:33.519Z,1761337233.519 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.412929 2025-10-24T20:20:33.522Z,1761337233.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993126,-0.112097,0.033692],[0.115047,0.987845,-0.104527],[-0.021565,0.107684,0.993951]] 2025-10-24T20:20:33.710Z,1761337233.710 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.604351 2025-10-24T20:20:33.746Z,1761337233.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.500048 s, deltaX: -0.199999 m, approachRate: -0.399959 m/s, rangeRepo size: 4 2025-10-24T20:20:33.757Z,1761337233.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.943220 m, bearing: 358.205495 deg, lat: 36.779653 deg, lon: -121.859531 deg, deltaT: 0.500048 s, deltaX: -0.198938 m, approachRate: -0.397839 m/s, posRepo size: 4 2025-10-24T20:20:33.758Z,1761337233.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.94 m. 2025-10-24T20:20:33.769Z,1761337233.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.943220 m, nav range: 28.798492 m, bearing: 358.937923 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 6.678152 deg, new cmd heading: 6.832334 deg. 2025-10-24T20:20:33.770Z,1761337233.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119247 target range: 28.943220 and range: 29.10 m. 2025-10-24T20:20:33.967Z,1761337233.967 [DAT](INFO): DAT read: Rx Time:20:20:33.0248 2025-10-24T20:20:33.971Z,1761337233.971 [DAT](INFO): Rx dataTimestamp_ set to:1761337233.970196 2025-10-24T20:20:33.973Z,1761337233.973 [DAT](INFO): DAT read: Bearing 351.6, 3.6 (Local) 2025-10-24T20:20:33.973Z,1761337233.973 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 3.6 (Local) 2025-10-24T20:20:33.976Z,1761337233.976 [DAT](INFO): DAT read: Range 10 to 50 : 28.8 m (trip time 19.2 ms) speed 0.5 2025-10-24T20:20:33.981Z,1761337233.981 [DAT](INFO): DAT read: 20:20:33.0248 LVL= 21808, 26065, 18866, 29347, AGC= 61, IDX= 496, 0.02,-0.336,-1.728, 0.002,-0.496, PHS= 0.248,-1.185, 0.496, RAW= 157.8, 5.7, CAL= 158.4, -3.6, ROT= 351.6, 3.6 2025-10-24T20:20:33.983Z,1761337233.983 [DAT](INFO): got valid direction response: 20:20:33.0248 LVL= 21808, 26065, 18866, 29347, AGC= 61, IDX= 496, 0.02,-0.336,-1.728, 0.002,-0.496, PHS= 0.248,-1.185, 0.496, RAW= 157.8, 5.7, CAL= 158.4, -3.6, ROT= 351.6, 3.6 2025-10-24T20:20:33.983Z,1761337233.983 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-24T20:20:33.996Z,1761337233.996 [DAT](INFO): direction in FSK: [0.987320,-0.145795,-0.062791] 2025-10-24T20:20:33.997Z,1761337233.997 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:34.003Z,1761337234.003 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.897067 2025-10-24T20:20:34.123Z,1761337234.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993041,-0.112933,0.033396],[0.115887,0.987547,-0.106401],[-0.020964,0.109531,0.993762]] 2025-10-24T20:20:34.213Z,1761337234.213 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.107114 2025-10-24T20:20:34.253Z,1761337234.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.507403 s, deltaX: -0.300001 m, approachRate: -0.591248 m/s, rangeRepo size: 4 2025-10-24T20:20:34.255Z,1761337234.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.644836 m, bearing: 358.682418 deg, lat: 36.779653 deg, lon: -121.859533 deg, deltaT: 0.507403 s, deltaX: -0.298384 m, approachRate: -0.588061 m/s, posRepo size: 4 2025-10-24T20:20:34.282Z,1761337234.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.64 m. 2025-10-24T20:20:34.289Z,1761337234.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.644836 m, nav range: 28.493402 m, bearing: 358.681935 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 6.832333 deg, new cmd heading: 6.964824 deg. 2025-10-24T20:20:34.290Z,1761337234.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121559 target range: 28.644836 and range: 28.80 m. 2025-10-24T20:20:34.471Z,1761337234.471 [DAT](INFO): DAT read: Rx Time:20:20:33.5247 2025-10-24T20:20:34.471Z,1761337234.471 [DAT](INFO): Rx dataTimestamp_ set to:1761337234.470781 2025-10-24T20:20:34.473Z,1761337234.473 [DAT](INFO): DAT read: Bearing 351.4, 3.5 (Local) 2025-10-24T20:20:34.473Z,1761337234.473 [DAT](INFO): Local bearing/azimuth received: Bearing 351.4, 3.5 (Local) 2025-10-24T20:20:34.475Z,1761337234.475 [DAT](INFO): DAT read: Range 10 to 50 : 28.7 m (trip time 19.1 ms) speed 0.5 2025-10-24T20:20:34.483Z,1761337234.483 [DAT](INFO): DAT read: 20:20:33.5247 LVL= 25248, 31345, 20178, 31139, AGC= 63, IDX= 511, 0.09, 1.443, 0.014, 1.793, 1.281, PHS= 0.249,-1.220, 0.509, RAW= 158.0, 5.8, CAL= 158.6, -3.5, ROT= 351.4, 3.5 2025-10-24T20:20:34.486Z,1761337234.486 [DAT](INFO): got valid direction response: 20:20:33.5247 LVL= 25248, 31345, 20178, 31139, AGC= 63, IDX= 511, 0.09, 1.443, 0.014, 1.793, 1.281, PHS= 0.249,-1.220, 0.509, RAW= 158.0, 5.8, CAL= 158.6, -3.5, ROT= 351.4, 3.5 2025-10-24T20:20:34.486Z,1761337234.486 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-24T20:20:34.505Z,1761337234.505 [DAT](INFO): direction in FSK: [0.986912,-0.149257,-0.061049] 2025-10-24T20:20:34.505Z,1761337234.505 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:34.518Z,1761337234.518 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.412526 2025-10-24T20:20:34.587Z,1761337234.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992842,-0.114895,0.032600],[0.117817,0.986950,-0.109764],[-0.019563,0.112819,0.993423]] 2025-10-24T20:20:34.683Z,1761337234.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.500585 s, deltaX: -0.099998 m, approachRate: -0.199763 m/s, rangeRepo size: 4 2025-10-24T20:20:34.689Z,1761337234.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.545391 m, bearing: 358.599132 deg, lat: 36.779653 deg, lon: -121.859534 deg, deltaT: 0.500585 s, deltaX: -0.099445 m, approachRate: -0.198658 m/s, posRepo size: 4 2025-10-24T20:20:34.690Z,1761337234.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.55 m. 2025-10-24T20:20:34.697Z,1761337234.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.545391 m, nav range: 28.283262 m, bearing: 358.592791 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 6.964824 deg, new cmd heading: 7.076764 deg. 2025-10-24T20:20:34.698Z,1761337234.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123513 target range: 28.545391 and range: 28.70 m. 2025-10-24T20:20:34.719Z,1761337234.719 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.612816 2025-10-24T20:20:34.972Z,1761337234.972 [DAT](INFO): DAT read: Rx Time:20:20:34.0244 2025-10-24T20:20:34.973Z,1761337234.973 [DAT](INFO): Rx dataTimestamp_ set to:1761337234.972523 2025-10-24T20:20:34.974Z,1761337234.974 [DAT](INFO): DAT read: Bearing 352.0, 4.1 (Local) 2025-10-24T20:20:34.974Z,1761337234.974 [DAT](INFO): Local bearing/azimuth received: Bearing 352.0, 4.1 (Local) 2025-10-24T20:20:34.977Z,1761337234.977 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.5 2025-10-24T20:20:34.985Z,1761337234.985 [DAT](INFO): DAT read: 20:20:34.0244 LVL= 16816, 26545, 17442, 28099, AGC= 59, IDX= 508, 0.16, 0.381,-0.995, 0.692, 0.199, PHS= 0.270,-1.148, 0.490, RAW= 157.1, 5.1, CAL= 158.0, -4.1, ROT= 352.0, 4.1 2025-10-24T20:20:34.986Z,1761337234.986 [DAT](INFO): got valid direction response: 20:20:34.0244 LVL= 16816, 26545, 17442, 28099, AGC= 59, IDX= 508, 0.16, 0.381,-0.995, 0.692, 0.199, PHS= 0.270,-1.148, 0.490, RAW= 157.1, 5.1, CAL= 158.0, -4.1, ROT= 352.0, 4.1 2025-10-24T20:20:34.987Z,1761337234.987 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-24T20:20:34.988Z,1761337234.988 [DAT](INFO): direction in FSK: [0.987734,-0.138817,-0.071497] 2025-10-24T20:20:34.988Z,1761337234.988 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:34.996Z,1761337234.996 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.885884 2025-10-24T20:20:35.034Z,1761337235.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992665,-0.116512,0.032277],[0.119402,0.986675,-0.110527],[-0.018969,0.113570,0.993349]] 2025-10-24T20:20:35.089Z,1761337235.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.501742 s, deltaX: -0.500000 m, approachRate: -0.996528 m/s, rangeRepo size: 4 2025-10-24T20:20:35.091Z,1761337235.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.048084 m, bearing: 359.358872 deg, lat: 36.779653 deg, lon: -121.859534 deg, deltaT: 0.501742 s, deltaX: -0.497307 m, approachRate: -0.991160 m/s, posRepo size: 4 2025-10-24T20:20:35.091Z,1761337235.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.05 m. 2025-10-24T20:20:35.114Z,1761337235.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.048084 m, nav range: 28.028532 m, bearing: 358.678522 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 7.076764 deg, new cmd heading: 7.181949 deg. 2025-10-24T20:20:35.135Z,1761337235.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125349 target range: 28.048084 and range: 28.20 m. 2025-10-24T20:20:35.226Z,1761337235.226 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.119976 2025-10-24T20:20:35.478Z,1761337235.478 [DAT](INFO): DAT read: Rx Time:20:20:34.5244 2025-10-24T20:20:35.478Z,1761337235.478 [DAT](INFO): Rx dataTimestamp_ set to:1761337235.477710 2025-10-24T20:20:35.479Z,1761337235.479 [DAT](INFO): DAT read: Bearing 352.1, 3.9 (Local) 2025-10-24T20:20:35.480Z,1761337235.480 [DAT](INFO): Local bearing/azimuth received: Bearing 352.1, 3.9 (Local) 2025-10-24T20:20:35.483Z,1761337235.483 [DAT](INFO): DAT read: Range 10 to 50 : 28.2 m (trip time 18.8 ms) speed 0.5 2025-10-24T20:20:35.488Z,1761337235.488 [DAT](INFO): DAT read: 20:20:34.5244 LVL= 20048, 27089, 17618, 28771, AGC= 60, IDX= 507, 0.24, 1.744, 0.337, 2.058, 1.560, PHS= 0.272,-1.176, 0.495, RAW= 157.1, 5.2, CAL= 157.9, -3.9, ROT= 352.1, 3.9 2025-10-24T20:20:35.489Z,1761337235.489 [DAT](INFO): got valid direction response: 20:20:34.5244 LVL= 20048, 27089, 17618, 28771, AGC= 60, IDX= 507, 0.24, 1.744, 0.337, 2.058, 1.560, PHS= 0.272,-1.176, 0.495, RAW= 157.1, 5.2, CAL= 157.9, -3.9, ROT= 352.1, 3.9 2025-10-24T20:20:35.490Z,1761337235.490 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-24T20:20:35.491Z,1761337235.491 [DAT](INFO): direction in FSK: [0.988216,-0.137126,-0.068015] 2025-10-24T20:20:35.491Z,1761337235.491 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:35.507Z,1761337235.507 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.400972 2025-10-24T20:20:35.516Z,1761337235.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992542,-0.117674,0.031832],[0.120514,0.986500,-0.110882],[-0.018354,0.113892,0.993324]] 2025-10-24T20:20:35.665Z,1761337235.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.505187 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:20:35.673Z,1761337235.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.048050 m, bearing: 359.502399 deg, lat: 36.779653 deg, lon: -121.859533 deg, deltaT: 0.505187 s, deltaX: -0.000034 m, approachRate: -0.000068 m/s, posRepo size: 4 2025-10-24T20:20:35.674Z,1761337235.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.05 m. 2025-10-24T20:20:35.679Z,1761337235.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.048050 m, nav range: 27.735600 m, bearing: 358.926971 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 7.181949 deg, new cmd heading: 7.333784 deg. 2025-10-24T20:20:35.688Z,1761337235.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127999 target range: 28.048050 and range: 28.20 m. 2025-10-24T20:20:35.730Z,1761337235.730 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.624306 2025-10-24T20:20:35.982Z,1761337235.982 [DAT](INFO): DAT read: Rx Time:20:20:35.0241 2025-10-24T20:20:35.983Z,1761337235.983 [DAT](INFO): Rx dataTimestamp_ set to:1761337235.982550 2025-10-24T20:20:35.984Z,1761337235.984 [DAT](INFO): DAT read: Bearing 351.8, 3.7 (Local) 2025-10-24T20:20:35.985Z,1761337235.985 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 3.7 (Local) 2025-10-24T20:20:35.987Z,1761337235.987 [DAT](INFO): DAT read: Range 10 to 50 : 27.8 m (trip time 18.5 ms) speed 0.5 2025-10-24T20:20:35.996Z,1761337235.996 [DAT](INFO): DAT read: 20:20:35.0241 LVL= 19856, 25841, 16786, 30579, AGC= 61, IDX= 504, 0.32,-0.032,-1.437, 0.297,-0.202, PHS= 0.258,-1.188, 0.497, RAW= 157.5, 5.5, CAL= 158.2, -3.7, ROT= 351.8, 3.7 2025-10-24T20:20:35.997Z,1761337235.997 [DAT](INFO): got valid direction response: 20:20:35.0241 LVL= 19856, 25841, 16786, 30579, AGC= 61, IDX= 504, 0.32,-0.032,-1.437, 0.297,-0.202, PHS= 0.258,-1.188, 0.497, RAW= 157.5, 5.5, CAL= 158.2, -3.7, ROT= 351.8, 3.7 2025-10-24T20:20:35.998Z,1761337235.998 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-24T20:20:35.999Z,1761337235.999 [DAT](INFO): direction in FSK: [0.987713,-0.142332,-0.064532] 2025-10-24T20:20:35.999Z,1761337235.999 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:36.007Z,1761337236.007 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.901670 2025-10-24T20:20:36.008Z,1761337236.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992297,-0.119819,0.031479],[0.122626,0.986113,-0.112004],[-0.017621,0.115001,0.993209]] 2025-10-24T20:20:36.074Z,1761337236.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.799999 m, deltaT: 0.504840 s, deltaX: -0.400002 m, approachRate: -0.792333 m/s, rangeRepo size: 4 2025-10-24T20:20:36.082Z,1761337236.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.650204 m, bearing: 359.308637 deg, lat: 36.779653 deg, lon: -121.859531 deg, deltaT: 0.504840 s, deltaX: -0.397846 m, approachRate: -0.788064 m/s, posRepo size: 4 2025-10-24T20:20:36.088Z,1761337236.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m. 2025-10-24T20:20:36.091Z,1761337236.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.650204 m, nav range: 27.517469 m, bearing: 359.308639 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 7.333783 deg, new cmd heading: 7.440692 deg. 2025-10-24T20:20:36.105Z,1761337236.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129865 target range: 27.650204 and range: 27.80 m. 2025-10-24T20:20:36.233Z,1761337236.233 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.127691 2025-10-24T20:20:36.360Z,1761337236.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992025,-0.122069,0.031386],[0.124870,0.985700,-0.113150],[-0.017125,0.116167,0.993082]] 2025-10-24T20:20:36.486Z,1761337236.486 [DAT](INFO): DAT read: Rx Time:20:20:35.5239 2025-10-24T20:20:36.486Z,1761337236.486 [DAT](INFO): Rx dataTimestamp_ set to:1761337236.485903 2025-10-24T20:20:36.487Z,1761337236.487 [DAT](INFO): DAT read: Bearing 351.9, 3.6 (Local) 2025-10-24T20:20:36.488Z,1761337236.488 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 3.6 (Local) 2025-10-24T20:20:36.490Z,1761337236.490 [DAT](INFO): DAT read: Range 10 to 50 : 27.5 m (trip time 18.3 ms) speed 0.5 2025-10-24T20:20:36.495Z,1761337236.495 [DAT](INFO): DAT read: 20:20:35.5239 LVL= 20432, 25681, 18146, 29043, AGC= 61, IDX= 502, 0.42, 0.075,-1.324, 0.403,-0.091, PHS= 0.254,-1.186, 0.491, RAW= 157.5, 5.7, CAL= 158.1, -3.6, ROT= 351.9, 3.6 2025-10-24T20:20:36.497Z,1761337236.497 [DAT](INFO): got valid direction response: 20:20:35.5239 LVL= 20432, 25681, 18146, 29043, AGC= 61, IDX= 502, 0.42, 0.075,-1.324, 0.403,-0.091, PHS= 0.254,-1.186, 0.491, RAW= 157.5, 5.7, CAL= 158.1, -3.6, ROT= 351.9, 3.6 2025-10-24T20:20:36.498Z,1761337236.498 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-24T20:20:36.499Z,1761337236.499 [DAT](INFO): direction in FSK: [0.988070,-0.140623,-0.062791] 2025-10-24T20:20:36.499Z,1761337236.499 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:36.511Z,1761337236.511 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.405098 2025-10-24T20:20:36.526Z,1761337236.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.503353 s, deltaX: -0.299999 m, approachRate: -0.596002 m/s, rangeRepo size: 4 2025-10-24T20:20:36.533Z,1761337236.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.650229 m, bearing: 359.532218 deg, lat: 36.779654 deg, lon: -121.859530 deg, deltaT: 0.503353 s, deltaX: 0.000025 m, approachRate: 0.000049 m/s, posRepo size: 4 2025-10-24T20:20:36.534Z,1761337236.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m. 2025-10-24T20:20:36.549Z,1761337236.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.650229 m, nav range: 27.374533 m, bearing: 359.529673 deg, approach rate: 0.000000 m/s, LOS rate: 0.087113 deg/s, cmd heading: 7.440692 deg, new cmd heading: 7.557174 deg. 2025-10-24T20:20:36.550Z,1761337236.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131898 target range: 27.650229 and range: 27.50 m. 2025-10-24T20:20:36.739Z,1761337236.739 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.632633 2025-10-24T20:20:36.786Z,1761337236.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991689,-0.124847,0.031082],[0.127605,0.985283,-0.113732],[-0.016426,0.116753,0.993025]] 2025-10-24T20:20:36.830Z,1761337236.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:36.837Z,1761337236.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.65 m. 2025-10-24T20:20:36.844Z,1761337236.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.650229 m, nav range: 27.181845 m, bearing: 359.554985 deg, approach rate: -0.606233 m/s, LOS rate: 0.080199 deg/s, cmd heading: 7.557174 deg, new cmd heading: 7.633647 deg. 2025-10-24T20:20:36.845Z,1761337236.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133232 target range: 27.650229 and range: 27.50 m. 2025-10-24T20:20:36.990Z,1761337236.990 [DAT](INFO): DAT read: Rx Time:20:20:36.0236 2025-10-24T20:20:36.990Z,1761337236.990 [DAT](INFO): Rx dataTimestamp_ set to:1761337236.989745 2025-10-24T20:20:36.991Z,1761337236.991 [DAT](INFO): DAT read: Bearing 351.9, 3.1 (Local) 2025-10-24T20:20:36.992Z,1761337236.992 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 3.1 (Local) 2025-10-24T20:20:36.994Z,1761337236.994 [DAT](INFO): DAT read: Range 10 to 50 : 27.0 m (trip time 18.0 ms) speed 0.5 2025-10-24T20:20:37.003Z,1761337237.003 [DAT](INFO): DAT read: 20:20:36.0236 LVL= 19056, 28337, 18578, 31091, AGC= 60, IDX= 500,-0.41,-2.861, 2.079,-2.534,-2.999, PHS= 0.226,-1.159, 0.462, RAW= 157.7, 6.3, CAL= 158.1, -3.1, ROT= 351.9, 3.1 2025-10-24T20:20:37.004Z,1761337237.004 [DAT](INFO): got valid direction response: 20:20:36.0236 LVL= 19056, 28337, 18578, 31091, AGC= 60, IDX= 500,-0.41,-2.861, 2.079,-2.534,-2.999, PHS= 0.226,-1.159, 0.462, RAW= 157.7, 6.3, CAL= 158.1, -3.1, ROT= 351.9, 3.1 2025-10-24T20:20:37.004Z,1761337237.004 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-24T20:20:37.005Z,1761337237.005 [DAT](INFO): direction in FSK: [0.988575,-0.140695,-0.054079] 2025-10-24T20:20:37.006Z,1761337237.006 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:37.017Z,1761337237.017 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.911697 2025-10-24T20:20:37.241Z,1761337237.241 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.135071 2025-10-24T20:20:37.291Z,1761337237.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503842 s, deltaX: -0.500000 m, approachRate: -0.992375 m/s, rangeRepo size: 4 2025-10-24T20:20:37.293Z,1761337237.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.854542 m, bearing: 359.636170 deg, lat: 36.779653 deg, lon: -121.859530 deg, deltaT: 0.503842 s, deltaX: -0.795687 m, approachRate: -1.579239 m/s, posRepo size: 4 2025-10-24T20:20:37.294Z,1761337237.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m. 2025-10-24T20:20:37.298Z,1761337237.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.854542 m, nav range: 26.821714 m, bearing: 359.564647 deg, approach rate: 0.000000 m/s, LOS rate: 0.080199 deg/s, cmd heading: 7.633647 deg, new cmd heading: 7.742727 deg. 2025-10-24T20:20:37.299Z,1761337237.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135136 target range: 26.854542 and range: 27.00 m. 2025-10-24T20:20:37.497Z,1761337237.497 [DAT](INFO): DAT read: Rx Time:20:20:36.5235 2025-10-24T20:20:37.498Z,1761337237.498 [DAT](INFO): Rx dataTimestamp_ set to:1761337237.497203 2025-10-24T20:20:37.499Z,1761337237.499 [DAT](INFO): DAT read: Bearing 351.6, 2.8 (Local) 2025-10-24T20:20:37.501Z,1761337237.501 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, 2.8 (Local) 2025-10-24T20:20:37.503Z,1761337237.503 [DAT](INFO): DAT read: Range 10 to 50 : 26.9 m (trip time 17.9 ms) speed 0.5 2025-10-24T20:20:37.510Z,1761337237.510 [DAT](INFO): DAT read: 20:20:36.5235 LVL= 18832, 26161, 17042, 30355, AGC= 60, IDX= 499,-0.23,-2.351, 2.575,-2.009,-2.479, PHS= 0.216,-1.182, 0.467, RAW= 158.1, 6.5, CAL= 158.4, -2.8, ROT= 351.6, 2.8 2025-10-24T20:20:37.511Z,1761337237.511 [DAT](INFO): got valid direction response: 20:20:36.5235 LVL= 18832, 26161, 17042, 30355, AGC= 60, IDX= 499,-0.23,-2.351, 2.575,-2.009,-2.479, PHS= 0.216,-1.182, 0.467, RAW= 158.1, 6.5, CAL= 158.4, -2.8, ROT= 351.6, 2.8 2025-10-24T20:20:37.511Z,1761337237.511 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-24T20:20:37.518Z,1761337237.518 [DAT](INFO): direction in FSK: [0.988091,-0.145909,-0.048850] 2025-10-24T20:20:37.519Z,1761337237.519 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:37.529Z,1761337237.529 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.423119 2025-10-24T20:20:37.572Z,1761337237.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991053,-0.129904,0.030647],[0.132586,0.984573,-0.114179],[-0.015342,0.117220,0.992987]] 2025-10-24T20:20:37.681Z,1761337237.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.507458 s, deltaX: -0.100000 m, approachRate: -0.197061 m/s, rangeRepo size: 4 2025-10-24T20:20:37.683Z,1761337237.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.755079 m, bearing: 359.593404 deg, lat: 36.779653 deg, lon: -121.859530 deg, deltaT: 0.507458 s, deltaX: -0.099463 m, approachRate: -0.196001 m/s, posRepo size: 4 2025-10-24T20:20:37.683Z,1761337237.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.76 m. 2025-10-24T20:20:37.690Z,1761337237.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.755079 m, nav range: 26.667664 m, bearing: 359.593406 deg, approach rate: 0.000000 m/s, LOS rate: 0.080199 deg/s, cmd heading: 7.742727 deg, new cmd heading: 7.835463 deg. 2025-10-24T20:20:37.691Z,1761337237.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.136755 target range: 26.755079 and range: 26.90 m. 2025-10-24T20:20:37.745Z,1761337237.745 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.639198 2025-10-24T20:20:37.978Z,1761337237.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990850,-0.131512,0.030353],[0.134149,0.984359,-0.114201],[-0.014859,0.117228,0.992994]] 2025-10-24T20:20:37.998Z,1761337237.998 [DAT](INFO): DAT read: Rx Time:20:20:37.0232 2025-10-24T20:20:37.999Z,1761337237.999 [DAT](INFO): Rx dataTimestamp_ set to:1761337237.998585 2025-10-24T20:20:38.000Z,1761337238.000 [DAT](INFO): DAT read: Bearing 351.8, 3.0 (Local) 2025-10-24T20:20:38.001Z,1761337238.001 [DAT](INFO): Local bearing/azimuth received: Bearing 351.8, 3.0 (Local) 2025-10-24T20:20:38.003Z,1761337238.003 [DAT](INFO): DAT read: Range 10 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 2025-10-24T20:20:38.010Z,1761337238.010 [DAT](INFO): DAT read: 20:20:37.0232 LVL= 19488, 28225, 17554, 29747, AGC= 61, IDX= 496,-0.07, 3.107, 1.737,-2.843, 2.966, PHS= 0.229,-1.182, 0.471, RAW= 157.8, 6.3, CAL= 158.2, -3.0, ROT= 351.8, 3.0 2025-10-24T20:20:38.011Z,1761337238.011 [DAT](INFO): got valid direction response: 20:20:37.0232 LVL= 19488, 28225, 17554, 29747, AGC= 61, IDX= 496,-0.07, 3.107, 1.737,-2.843, 2.966, PHS= 0.229,-1.182, 0.471, RAW= 157.8, 6.3, CAL= 158.2, -3.0, ROT= 351.8, 3.0 2025-10-24T20:20:38.016Z,1761337238.016 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-24T20:20:38.017Z,1761337238.017 [DAT](INFO): direction in FSK: [0.988420,-0.142434,-0.052336] 2025-10-24T20:20:38.017Z,1761337238.017 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:38.025Z,1761337238.025 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.919710 2025-10-24T20:20:38.051Z,1761337238.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.501382 s, deltaX: -0.500000 m, approachRate: -0.997244 m/s, rangeRepo size: 4 2025-10-24T20:20:38.061Z,1761337238.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.257772 m, bearing: 359.906082 deg, lat: 36.779653 deg, lon: -121.859530 deg, deltaT: 0.501382 s, deltaX: -0.497307 m, approachRate: -0.991872 m/s, posRepo size: 4 2025-10-24T20:20:38.062Z,1761337238.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.26 m. 2025-10-24T20:20:38.074Z,1761337238.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.257772 m, nav range: 26.409492 m, bearing: 359.585156 deg, approach rate: 0.000000 m/s, LOS rate: 0.080199 deg/s, cmd heading: 7.835463 deg, new cmd heading: 7.925442 deg. 2025-10-24T20:20:38.075Z,1761337238.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138325 target range: 26.257772 and range: 26.40 m. 2025-10-24T20:20:38.249Z,1761337238.249 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.143673 2025-10-24T20:20:38.462Z,1761337238.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990347,-0.135126,0.030895],[0.137822,0.983705,-0.115450],[-0.014791,0.118594,0.992833]] 2025-10-24T20:20:38.503Z,1761337238.503 [DAT](INFO): DAT read: Rx Time:20:20:37.5231 2025-10-24T20:20:38.503Z,1761337238.503 [DAT](INFO): Rx dataTimestamp_ set to:1761337238.502979 2025-10-24T20:20:38.505Z,1761337238.505 [DAT](INFO): DAT read: Bearing 351.5, 3.3 (Local) 2025-10-24T20:20:38.505Z,1761337238.505 [DAT](INFO): Local bearing/azimuth received: Bearing 351.5, 3.3 (Local) 2025-10-24T20:20:38.507Z,1761337238.507 [DAT](INFO): DAT read: Range 10 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4 2025-10-24T20:20:38.512Z,1761337238.512 [DAT](INFO): DAT read: 20:20:37.5231 LVL= 19808, 26401, 17682, 30179, AGC= 61, IDX= 511, 0.10,-1.392,-2.761,-1.051,-1.538, PHS= 0.234,-1.176, 0.484, RAW= 158.0, 6.0, CAL= 158.5, -3.3, ROT= 351.5, 3.3 2025-10-24T20:20:38.513Z,1761337238.513 [DAT](INFO): got valid direction response: 20:20:37.5231 LVL= 19808, 26401, 17682, 30179, AGC= 61, IDX= 511, 0.10,-1.392,-2.761,-1.051,-1.538, PHS= 0.234,-1.176, 0.484, RAW= 158.0, 6.0, CAL= 158.5, -3.3, ROT= 351.5, 3.3 2025-10-24T20:20:38.514Z,1761337238.514 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-24T20:20:38.515Z,1761337238.515 [DAT](INFO): direction in FSK: [0.987376,-0.147564,-0.057564] 2025-10-24T20:20:38.516Z,1761337238.516 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:38.520Z,1761337238.520 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.413980 2025-10-24T20:20:38.586Z,1761337238.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.504394 s, deltaX: -0.100000 m, approachRate: -0.198258 m/s, rangeRepo size: 4 2025-10-24T20:20:38.593Z,1761337238.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.158339 m, bearing: 359.860092 deg, lat: 36.779652 deg, lon: -121.859530 deg, deltaT: 0.504394 s, deltaX: -0.099434 m, approachRate: -0.197135 m/s, posRepo size: 4 2025-10-24T20:20:38.594Z,1761337238.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.16 m. 2025-10-24T20:20:38.605Z,1761337238.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.158339 m, nav range: 26.066948 m, bearing: 359.571335 deg, approach rate: 0.000000 m/s, LOS rate: 0.080199 deg/s, cmd heading: 7.925442 deg, new cmd heading: 8.054301 deg. 2025-10-24T20:20:38.606Z,1761337238.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.140574 target range: 26.158339 and range: 26.30 m. 2025-10-24T20:20:38.753Z,1761337238.753 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.647238 2025-10-24T20:20:38.899Z,1761337238.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990107,-0.136948,0.030542],[0.139590,0.983446,-0.115537],[-0.014214,0.118657,0.992834]] 2025-10-24T20:20:38.978Z,1761337238.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:38.985Z,1761337238.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.16 m. 2025-10-24T20:20:38.987Z,1761337238.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.158339 m, nav range: 25.829407 m, bearing: 359.525003 deg, approach rate: -0.595325 m/s, LOS rate: -0.117184 deg/s, cmd heading: 8.054302 deg, new cmd heading: 7.914029 deg. 2025-10-24T20:20:38.993Z,1761337238.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138126 target range: 26.158339 and range: 26.30 m. 2025-10-24T20:20:39.007Z,1761337239.007 [DAT](INFO): DAT read: Rx Time:20:20:38.0229 2025-10-24T20:20:39.008Z,1761337239.008 [DAT](INFO): Rx dataTimestamp_ set to:1761337239.007155 2025-10-24T20:20:39.010Z,1761337239.010 [DAT](INFO): DAT read: Bearing 351.2, 3.7 (Local) 2025-10-24T20:20:39.011Z,1761337239.011 [DAT](INFO): Local bearing/azimuth received: Bearing 351.2, 3.7 (Local) 2025-10-24T20:20:39.017Z,1761337239.017 [DAT](INFO): DAT read: Range 10 to 50 : 26.0 m (trip time 17.3 ms) speed 0.5 2025-10-24T20:20:39.027Z,1761337239.027 [DAT](INFO): DAT read: 20:20:38.0229 LVL= 19232, 25761, 16370, 28659, AGC= 61, IDX= 508, 0.36,-2.926, 1.993,-2.578,-3.077, PHS= 0.240,-1.165, 0.497, RAW= 158.3, 5.6, CAL= 158.8, -3.7, ROT= 351.2, 3.7 2025-10-24T20:20:39.028Z,1761337239.028 [DAT](INFO): got valid direction response: 20:20:38.0229 LVL= 19232, 25761, 16370, 28659, AGC= 61, IDX= 508, 0.36,-2.926, 1.993,-2.578,-3.077, PHS= 0.240,-1.165, 0.497, RAW= 158.3, 5.6, CAL= 158.8, -3.7, ROT= 351.2, 3.7 2025-10-24T20:20:39.029Z,1761337239.029 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-24T20:20:39.030Z,1761337239.030 [DAT](INFO): direction in FSK: [0.986169,-0.152667,-0.064532] 2025-10-24T20:20:39.030Z,1761337239.030 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:39.034Z,1761337239.034 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.928699 2025-10-24T20:20:39.258Z,1761337239.258 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.152084 2025-10-24T20:20:39.313Z,1761337239.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989112,-0.143875,0.030934],[0.146540,0.982244,-0.117143],[-0.013531,0.120401,0.992633]] 2025-10-24T20:20:39.406Z,1761337239.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504176 s, deltaX: -0.299999 m, approachRate: -0.595029 m/s, rangeRepo size: 4 2025-10-24T20:20:39.429Z,1761337239.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.859964 m, bearing: 0.121824 deg, lat: 36.779652 deg, lon: -121.859528 deg, deltaT: 0.504176 s, deltaX: -0.298374 m, approachRate: -0.591806 m/s, posRepo size: 4 2025-10-24T20:20:39.431Z,1761337239.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.86 m. 2025-10-24T20:20:39.463Z,1761337239.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.859964 m, nav range: 25.610470 m, bearing: 359.746533 deg, approach rate: 0.000000 m/s, LOS rate: -0.117184 deg/s, cmd heading: 7.914029 deg, new cmd heading: 7.768231 deg. 2025-10-24T20:20:39.468Z,1761337239.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135581 target range: 25.859964 and range: 26.00 m. 2025-10-24T20:20:39.510Z,1761337239.510 [DAT](INFO): DAT read: Rx Time:20:20:38.5228 2025-10-24T20:20:39.511Z,1761337239.511 [DAT](INFO): Rx dataTimestamp_ set to:1761337239.510872 2025-10-24T20:20:39.513Z,1761337239.513 [DAT](INFO): DAT read: Bearing 350.1, 2.7 (Local) 2025-10-24T20:20:39.514Z,1761337239.514 [DAT](INFO): Local bearing/azimuth received: Bearing 350.1, 2.7 (Local) 2025-10-24T20:20:39.518Z,1761337239.518 [DAT](INFO): DAT read: Range 10 to 50 : 25.8 m (trip time 17.2 ms) speed 0.4 2025-10-24T20:20:39.526Z,1761337239.526 [DAT](INFO): DAT read: 20:20:38.5228 LVL= 23136, 24305, 18226, 28051, AGC= 63, IDX= 508,-0.25, 2.438, 1.099, 2.840, 2.344, PHS= 0.182,-1.199, 0.492, RAW= 159.9, 6.8, CAL= 159.9, -2.7, ROT= 350.1, 2.7 2025-10-24T20:20:39.527Z,1761337239.527 [DAT](INFO): got valid direction response: 20:20:38.5228 LVL= 23136, 24305, 18226, 28051, AGC= 63, IDX= 508,-0.25, 2.438, 1.099, 2.840, 2.344, PHS= 0.182,-1.199, 0.492, RAW= 159.9, 6.8, CAL= 159.9, -2.7, ROT= 350.1, 2.7 2025-10-24T20:20:39.528Z,1761337239.528 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-24T20:20:39.530Z,1761337239.530 [DAT](INFO): direction in FSK: [0.984016,-0.171738,-0.047106] 2025-10-24T20:20:39.530Z,1761337239.530 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:39.550Z,1761337239.550 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.443869 2025-10-24T20:20:39.726Z,1761337239.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988582,-0.147430,0.031148],[0.150099,0.981676,-0.117395],[-0.013270,0.120730,0.992597]] 2025-10-24T20:20:39.762Z,1761337239.762 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.656578 2025-10-24T20:20:39.796Z,1761337239.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.503717 s, deltaX: -0.200001 m, approachRate: -0.397050 m/s, rangeRepo size: 4 2025-10-24T20:20:39.805Z,1761337239.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.661041 m, bearing: 359.116961 deg, lat: 36.779653 deg, lon: -121.859528 deg, deltaT: 0.503717 s, deltaX: -0.198923 m, approachRate: -0.394910 m/s, posRepo size: 4 2025-10-24T20:20:39.805Z,1761337239.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-24T20:20:39.812Z,1761337239.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.661041 m, nav range: 25.524511 m, bearing: 359.683533 deg, approach rate: 0.000000 m/s, LOS rate: -0.117184 deg/s, cmd heading: 7.768231 deg, new cmd heading: 7.630887 deg. 2025-10-24T20:20:39.813Z,1761337239.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133184 target range: 25.661041 and range: 25.80 m. 2025-10-24T20:20:40.014Z,1761337240.014 [DAT](INFO): DAT read: Rx Time:20:20:39.0225 2025-10-24T20:20:40.015Z,1761337240.015 [DAT](INFO): Rx dataTimestamp_ set to:1761337240.014332 2025-10-24T20:20:40.016Z,1761337240.016 [DAT](INFO): DAT read: Bearing 350.2, 3.3 (Local) 2025-10-24T20:20:40.016Z,1761337240.016 [DAT](INFO): Local bearing/azimuth received: Bearing 350.2, 3.3 (Local) 2025-10-24T20:20:40.018Z,1761337240.018 [DAT](INFO): DAT read: Range 10 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 2025-10-24T20:20:40.027Z,1761337240.027 [DAT](INFO): DAT read: 20:20:39.0225 LVL= 22256, 27873, 17618, 28723, AGC= 63, IDX= 505,-0.00, 1.694, 0.324, 2.089, 1.571, PHS= 0.210,-1.201, 0.514, RAW= 159.6, 6.1, CAL= 159.8, -3.3, ROT= 350.2, 3.3 2025-10-24T20:20:40.028Z,1761337240.028 [DAT](INFO): got valid direction response: 20:20:39.0225 LVL= 22256, 27873, 17618, 28723, AGC= 63, IDX= 505,-0.00, 1.694, 0.324, 2.089, 1.571, PHS= 0.210,-1.201, 0.514, RAW= 159.6, 6.1, CAL= 159.8, -3.3, ROT= 350.2, 3.3 2025-10-24T20:20:40.028Z,1761337240.028 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-24T20:20:40.029Z,1761337240.029 [DAT](INFO): direction in FSK: [0.983774,-0.169927,-0.057564] 2025-10-24T20:20:40.029Z,1761337240.029 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:40.038Z,1761337240.038 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.932278 2025-10-24T20:20:40.130Z,1761337240.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988119,-0.150505,0.031128],[0.153150,0.981213,-0.117328],[-0.012884,0.120701,0.992605]] 2025-10-24T20:20:40.259Z,1761337240.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503460 s, deltaX: -0.400000 m, approachRate: -0.794501 m/s, rangeRepo size: 4 2025-10-24T20:20:40.266Z,1761337240.266 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.160196 2025-10-24T20:20:40.267Z,1761337240.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.263195 m, bearing: 359.464010 deg, lat: 36.779652 deg, lon: -121.859528 deg, deltaT: 0.503460 s, deltaX: -0.397846 m, approachRate: -0.790224 m/s, posRepo size: 4 2025-10-24T20:20:40.273Z,1761337240.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-24T20:20:40.281Z,1761337240.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.263195 m, nav range: 25.159445 m, bearing: 359.598932 deg, approach rate: 0.000000 m/s, LOS rate: -0.117184 deg/s, cmd heading: 7.630887 deg, new cmd heading: 7.466318 deg. 2025-10-24T20:20:40.282Z,1761337240.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.130312 target range: 25.263195 and range: 25.40 m. 2025-10-24T20:20:40.465Z,1761337240.465 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:20:40.518Z,1761337240.518 [DAT](INFO): DAT read: Rx Time:20:20:39.5223 2025-10-24T20:20:40.518Z,1761337240.518 [DAT](INFO): Rx dataTimestamp_ set to:1761337240.517723 2025-10-24T20:20:40.520Z,1761337240.520 [DAT](INFO): DAT read: Bearing 350.3, 3.7 (Local) 2025-10-24T20:20:40.520Z,1761337240.520 [DAT](INFO): Local bearing/azimuth received: Bearing 350.3, 3.7 (Local) 2025-10-24T20:20:40.523Z,1761337240.523 [DAT](INFO): DAT read: Range 10 to 50 : 25.1 m (trip time 16.7 ms) speed 0.4 2025-10-24T20:20:40.538Z,1761337240.538 [DAT](INFO): DAT read: 20:20:39.5223 LVL= 20848, 29777, 18130, 31667, AGC= 63, IDX= 503, 0.23, 3.025, 1.655,-2.874, 2.888, PHS= 0.225,-1.185, 0.518, RAW= 159.3, 5.7, CAL= 159.7, -3.7, ROT= 350.3, 3.7 2025-10-24T20:20:40.540Z,1761337240.540 [DAT](INFO): got valid direction response: 20:20:39.5223 LVL= 20848, 29777, 18130, 31667, AGC= 63, IDX= 503, 0.23, 3.025, 1.655,-2.874, 2.888, PHS= 0.225,-1.185, 0.518, RAW= 159.3, 5.7, CAL= 159.7, -3.7, ROT= 350.3, 3.7 2025-10-24T20:20:40.540Z,1761337240.540 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-24T20:20:40.541Z,1761337240.541 [DAT](INFO): direction in FSK: [0.983649,-0.168138,-0.064532] 2025-10-24T20:20:40.541Z,1761337240.541 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:40.577Z,1761337240.577 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.471582 2025-10-24T20:20:40.606Z,1761337240.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987738,-0.152937,0.031352],[0.155592,0.980822,-0.117386],[-0.012798,0.120825,0.992591]] 2025-10-24T20:20:40.719Z,1761337240.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.100000 m, deltaT: 0.503391 s, deltaX: -0.299999 m, approachRate: -0.595957 m/s, rangeRepo size: 4 2025-10-24T20:20:40.726Z,1761337240.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.964819 m, bearing: 359.753021 deg, lat: 36.779652 deg, lon: -121.859528 deg, deltaT: 0.503391 s, deltaX: -0.298376 m, approachRate: -0.592732 m/s, posRepo size: 4 2025-10-24T20:20:40.726Z,1761337240.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.96 m. 2025-10-24T20:20:40.733Z,1761337240.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.964819 m, nav range: 24.911329 m, bearing: 359.511046 deg, approach rate: 0.000000 m/s, LOS rate: -0.117184 deg/s, cmd heading: 7.466318 deg, new cmd heading: 7.304974 deg. 2025-10-24T20:20:40.734Z,1761337240.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127496 target range: 24.964819 and range: 25.10 m. 2025-10-24T20:20:40.771Z,1761337240.771 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.665094 2025-10-24T20:20:40.996Z,1761337240.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987044,-0.157284,0.031702],[0.159938,0.980245,-0.116356],[-0.012775,0.119919,0.992701]] 2025-10-24T20:20:41.021Z,1761337241.021 [DAT](INFO): DAT read: Rx Time:20:20:40.0222 2025-10-24T20:20:41.022Z,1761337241.022 [DAT](INFO): Rx dataTimestamp_ set to:1761337241.021668 2025-10-24T20:20:41.023Z,1761337241.023 [DAT](INFO): DAT read: Bearing 349.5, 3.0 (Local) 2025-10-24T20:20:41.024Z,1761337241.024 [DAT](INFO): Local bearing/azimuth received: Bearing 349.5, 3.0 (Local) 2025-10-24T20:20:41.026Z,1761337241.026 [DAT](INFO): DAT read: Range 10 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-24T20:20:41.032Z,1761337241.032 [DAT](INFO): DAT read: 20:20:40.0222 LVL= 21456, 24625, 17874, 27827, AGC= 63, IDX= 501,-0.45, 0.994,-0.376, 1.423, 0.898, PHS= 0.184,-1.226, 0.523, RAW= 160.5, 6.5, CAL= 160.5, -3.0, ROT= 349.5, 3.0 2025-10-24T20:20:41.033Z,1761337241.033 [DAT](INFO): got valid direction response: 20:20:40.0222 LVL= 21456, 24625, 17874, 27827, AGC= 63, IDX= 501,-0.45, 0.994,-0.376, 1.423, 0.898, PHS= 0.184,-1.226, 0.523, RAW= 160.5, 6.5, CAL= 160.5, -3.0, ROT= 349.5, 3.0 2025-10-24T20:20:41.033Z,1761337241.033 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-24T20:20:41.034Z,1761337241.034 [DAT](INFO): direction in FSK: [0.981907,-0.181986,-0.052336] 2025-10-24T20:20:41.034Z,1761337241.034 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:41.049Z,1761337241.049 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.943520 2025-10-24T20:20:41.066Z,1761337241.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503945 s, deltaX: -0.200001 m, approachRate: -0.396870 m/s, rangeRepo size: 4 2025-10-24T20:20:41.072Z,1761337241.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.765894 m, bearing: 359.122535 deg, lat: 36.779652 deg, lon: -121.859529 deg, deltaT: 0.503945 s, deltaX: -0.198925 m, approachRate: -0.394736 m/s, posRepo size: 4 2025-10-24T20:20:41.073Z,1761337241.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-24T20:20:41.076Z,1761337241.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.765894 m, nav range: 24.741756 m, bearing: 359.307196 deg, approach rate: 0.000000 m/s, LOS rate: -0.117184 deg/s, cmd heading: 7.304974 deg, new cmd heading: 7.182590 deg. 2025-10-24T20:20:41.077Z,1761337241.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125360 target range: 24.765894 and range: 24.90 m. 2025-10-24T20:20:41.277Z,1761337241.277 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.169973 2025-10-24T20:20:41.468Z,1761337241.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:20:41.530Z,1761337241.530 [DAT](INFO): DAT read: Rx Time:20:20:40.5221 2025-10-24T20:20:41.530Z,1761337241.530 [DAT](INFO): Rx dataTimestamp_ set to:1761337241.529812 2025-10-24T20:20:41.536Z,1761337241.536 [DAT](INFO): DAT read: Bearing 349.1, 3.1 (Local) 2025-10-24T20:20:41.536Z,1761337241.536 [DAT](INFO): Local bearing/azimuth received: Bearing 349.1, 3.1 (Local) 2025-10-24T20:20:41.538Z,1761337241.538 [DAT](INFO): DAT read: Range 10 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-24T20:20:41.543Z,1761337241.543 [DAT](INFO): DAT read: 20:20:40.5221 LVL= 23584, 32753, 18626, 32755, AGC= 63, IDX= 500,-0.12, 1.035,-0.287, 1.468, 0.947, PHS= 0.177,-1.186, 0.518, RAW= 160.9, 6.3, CAL= 160.9, -3.1, ROT= 349.1, 3.1 2025-10-24T20:20:41.544Z,1761337241.544 [DAT](INFO): got valid direction response: 20:20:40.5221 LVL= 23584, 32753, 18626, 32755, AGC= 63, IDX= 500,-0.12, 1.035,-0.287, 1.468, 0.947, PHS= 0.177,-1.186, 0.518, RAW= 160.9, 6.3, CAL= 160.9, -3.1, ROT= 349.1, 3.1 2025-10-24T20:20:41.545Z,1761337241.545 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-24T20:20:41.546Z,1761337241.546 [DAT](INFO): direction in FSK: [0.980522,-0.188819,-0.054079] 2025-10-24T20:20:41.546Z,1761337241.546 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:41.567Z,1761337241.567 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.461040 2025-10-24T20:20:41.581Z,1761337241.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.508144 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:20:41.583Z,1761337241.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.765940 m, bearing: 358.735923 deg, lat: 36.779652 deg, lon: -121.859530 deg, deltaT: 0.508144 s, deltaX: 0.000046 m, approachRate: 0.000090 m/s, posRepo size: 4 2025-10-24T20:20:41.588Z,1761337241.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-24T20:20:41.591Z,1761337241.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.765940 m, nav range: 24.480591 m, bearing: 359.045468 deg, approach rate: 0.000000 m/s, LOS rate: -0.117184 deg/s, cmd heading: 7.182590 deg, new cmd heading: 7.003218 deg. 2025-10-24T20:20:41.596Z,1761337241.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122229 target range: 24.765940 and range: 24.90 m. 2025-10-24T20:20:41.781Z,1761337241.781 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.675072 2025-10-24T20:20:41.798Z,1761337241.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986162,-0.162629,0.032206],[0.165258,0.979798,-0.112630],[-0.013238,0.116394,0.993115]] 2025-10-24T20:20:41.858Z,1761337241.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:41.864Z,1761337241.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-24T20:20:41.871Z,1761337241.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.765940 m, nav range: 24.325830 m, bearing: 358.995783 deg, approach rate: -0.544383 m/s, LOS rate: -0.175884 deg/s, cmd heading: 7.003218 deg, new cmd heading: 6.853214 deg. 2025-10-24T20:20:41.898Z,1761337241.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119611 target range: 24.765940 and range: 24.90 m. 2025-10-24T20:20:42.039Z,1761337242.039 [DAT](INFO): DAT read: Rx Time:20:20:41.0218 2025-10-24T20:20:42.039Z,1761337242.039 [DAT](INFO): Rx dataTimestamp_ set to:1761337242.039076 2025-10-24T20:20:42.042Z,1761337242.042 [DAT](INFO): DAT read: Bearing 348.0, 3.4 (Local) 2025-10-24T20:20:42.042Z,1761337242.042 [DAT](INFO): Local bearing/azimuth received: Bearing 348.0, 3.4 (Local) 2025-10-24T20:20:42.044Z,1761337242.044 [DAT](INFO): DAT read: Range 10 to 50 : 24.5 m (trip time 16.3 ms) speed 0.5 2025-10-24T20:20:42.062Z,1761337242.062 [DAT](INFO): DAT read: 20:20:41.0218 LVL= 23856, 25201, 19442, 31539, AGC= 63, IDX= 497, 0.09, 1.154,-0.192, 1.631, 1.068, PHS= 0.174,-1.213, 0.560, RAW= 161.9, 6.0, CAL= 162.0, -3.4, ROT= 348.0, 3.4 2025-10-24T20:20:42.063Z,1761337242.063 [DAT](INFO): got valid direction response: 20:20:41.0218 LVL= 23856, 25201, 19442, 31539, AGC= 63, IDX= 497, 0.09, 1.154,-0.192, 1.631, 1.068, PHS= 0.174,-1.213, 0.560, RAW= 161.9, 6.0, CAL= 162.0, -3.4, ROT= 348.0, 3.4 2025-10-24T20:20:42.063Z,1761337242.063 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-24T20:20:42.069Z,1761337242.069 [DAT](INFO): direction in FSK: [0.976426,-0.207546,-0.059306] 2025-10-24T20:20:42.069Z,1761337242.069 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:42.082Z,1761337242.082 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.975809 2025-10-24T20:20:42.289Z,1761337242.289 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.183395 2025-10-24T20:20:42.293Z,1761337242.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985843,-0.164454,0.032698],[0.167103,0.979694,-0.110797],[-0.013813,0.114693,0.993305]] 2025-10-24T20:20:42.431Z,1761337242.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.509264 s, deltaX: -0.400000 m, approachRate: -0.785446 m/s, rangeRepo size: 4 2025-10-24T20:20:42.454Z,1761337242.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.368126 m, bearing: 358.065740 deg, lat: 36.779652 deg, lon: -121.859530 deg, deltaT: 0.509264 s, deltaX: -0.397814 m, approachRate: -0.781154 m/s, posRepo size: 4 2025-10-24T20:20:42.462Z,1761337242.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-24T20:20:42.469Z,1761337242.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.368126 m, nav range: 24.052183 m, bearing: 358.936054 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 6.853214 deg, new cmd heading: 6.556654 deg. 2025-10-24T20:20:42.470Z,1761337242.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114435 target range: 24.368126 and range: 24.50 m. 2025-10-24T20:20:42.487Z,1761337242.487 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-10-24T20:10:42.1Z 2025-10-24T20:20:42.487Z,1761337242.487 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T20:20:42.487Z,1761337242.487 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:20:42.494Z,1761337242.494 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T20:20:42.494Z,1761337242.494 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:20:42.494Z,1761337242.494 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms 2025-10-24T20:20:42.542Z,1761337242.542 [DAT](INFO): DAT read: Rx Time:20:20:41.5217 2025-10-24T20:20:42.543Z,1761337242.543 [DAT](INFO): Rx dataTimestamp_ set to:1761337242.542960 2025-10-24T20:20:42.545Z,1761337242.545 [DAT](INFO): DAT read: Bearing 346.2, -9.5 (Local) 2025-10-24T20:20:42.546Z,1761337242.546 [DAT](INFO): Local bearing/azimuth received: Bearing 346.2, -9.5 (Local) 2025-10-24T20:20:42.549Z,1761337242.549 [DAT](INFO): DAT read: Range 10 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4 2025-10-24T20:20:42.556Z,1761337242.556 [DAT](INFO): DAT read: 20:20:41.5217 LVL= 20336, 25393, 16946, 30195, AGC= 61, IDX= 512, 0.23,-2.395, 2.642,-1.893,-2.179, PHS=-0.128,-1.415, 0.284, RAW= 163.4, 16.2, CAL= 163.8, 9.5, ROT= 346.2, -9.5 2025-10-24T20:20:42.558Z,1761337242.558 [DAT](INFO): got valid direction response: 20:20:41.5217 LVL= 20336, 25393, 16946, 30195, AGC= 61, IDX= 512, 0.23,-2.395, 2.642,-1.893,-2.179, PHS=-0.128,-1.415, 0.284, RAW= 163.4, 16.2, CAL= 163.8, 9.5, ROT= 346.2, -9.5 2025-10-24T20:20:42.559Z,1761337242.559 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-24T20:20:42.565Z,1761337242.565 [DAT](INFO): direction in FSK: [0.957816,-0.235262,0.165048] 2025-10-24T20:20:42.566Z,1761337242.566 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:42.569Z,1761337242.569 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.463427 2025-10-24T20:20:42.793Z,1761337242.793 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.687265 2025-10-24T20:20:42.842Z,1761337242.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503884 s, deltaX: -0.200001 m, approachRate: -0.396918 m/s, rangeRepo size: 4 2025-10-24T20:20:42.856Z,1761337242.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.169201 m, bearing: 354.870678 deg, lat: 36.779653 deg, lon: -121.859531 deg, deltaT: 0.503884 s, deltaX: -0.198925 m, approachRate: -0.394783 m/s, posRepo size: 4 2025-10-24T20:20:42.857Z,1761337242.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-24T20:20:42.859Z,1761337242.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.169201 m, nav range: 23.894966 m, bearing: 358.561840 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 6.556654 deg, new cmd heading: 6.338416 deg. 2025-10-24T20:20:42.865Z,1761337242.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110626 target range: 24.169201 and range: 24.30 m. 2025-10-24T20:20:42.880Z,1761337242.880 [lineCaptureHoming:MicromodemComms] Running Loop=1 2025-10-24T20:20:42.881Z,1761337242.881 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms 2025-10-24T20:20:42.881Z,1761337242.881 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1 2025-10-24T20:20:42.881Z,1761337242.881 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:20:42.881Z,1761337242.881 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1 2025-10-24T20:20:43.046Z,1761337243.046 [DAT](INFO): DAT read: Rx Time:20:20:42.0214 2025-10-24T20:20:43.046Z,1761337243.046 [DAT](INFO): Rx dataTimestamp_ set to:1761337243.045866 2025-10-24T20:20:43.048Z,1761337243.048 [DAT](INFO): DAT read: Bearing 348.1, 4.2 (Local) 2025-10-24T20:20:43.049Z,1761337243.049 [DAT](INFO): Local bearing/azimuth received: Bearing 348.1, 4.2 (Local) 2025-10-24T20:20:43.051Z,1761337243.051 [DAT](INFO): DAT read: Range 10 to 50 : 23.9 m (trip time 15.9 ms) speed 0.5 2025-10-24T20:20:43.055Z,1761337243.055 [DAT](INFO): DAT read: 20:20:42.0214 LVL= 22288, 28129, 17170, 32755, AGC= 60, IDX= 509, 0.36,-3.130, 1.797,-2.667, 3.036, PHS= 0.205,-1.192, 0.577, RAW= 161.5, 5.1, CAL= 161.9, -4.2, ROT= 348.1, 4.2 2025-10-24T20:20:43.057Z,1761337243.057 [DAT](INFO): got valid direction response: 20:20:42.0214 LVL= 22288, 28129, 17170, 32755, AGC= 60, IDX= 509, 0.36,-3.130, 1.797,-2.667, 3.036, PHS= 0.205,-1.192, 0.577, RAW= 161.5, 5.1, CAL= 161.9, -4.2, ROT= 348.1, 4.2 2025-10-24T20:20:43.057Z,1761337243.057 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-24T20:20:43.058Z,1761337243.058 [DAT](INFO): direction in FSK: [0.975881,-0.205650,-0.073238] 2025-10-24T20:20:43.058Z,1761337243.058 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:43.062Z,1761337243.062 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.956388 2025-10-24T20:20:43.298Z,1761337243.298 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.191525 2025-10-24T20:20:43.550Z,1761337243.550 [DAT](INFO): DAT read: Rx Time:20:20:42.5214 2025-10-24T20:20:43.551Z,1761337243.551 [DAT](INFO): Rx dataTimestamp_ set to:1761337243.550423 2025-10-24T20:20:43.552Z,1761337243.552 [DAT](INFO): DAT read: Bearing 347.3, 3.5 (Local) 2025-10-24T20:20:43.552Z,1761337243.552 [DAT](INFO): Local bearing/azimuth received: Bearing 347.3, 3.5 (Local) 2025-10-24T20:20:43.554Z,1761337243.554 [DAT](INFO): DAT read: Range 10 to 50 : 23.9 m (trip time 15.9 ms) speed 0.5 2025-10-24T20:20:43.559Z,1761337243.559 [DAT](INFO): DAT read: 20:20:42.5214 LVL= 27440, 32753, 18578, 32755, AGC= 60, IDX= 509,-0.45,-2.443, 2.520,-1.946,-2.517, PHS= 0.162,-1.199, 0.568, RAW= 162.7, 5.9, CAL= 162.7, -3.5, ROT= 347.3, 3.5 2025-10-24T20:20:43.561Z,1761337243.561 [DAT](INFO): got valid direction response: 20:20:42.5214 LVL= 27440, 32753, 18578, 32755, AGC= 60, IDX= 509,-0.45,-2.443, 2.520,-1.946,-2.517, PHS= 0.162,-1.199, 0.568, RAW= 162.7, 5.9, CAL= 162.7, -3.5, ROT= 347.3, 3.5 2025-10-24T20:20:43.561Z,1761337243.561 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-24T20:20:43.562Z,1761337243.562 [DAT](INFO): direction in FSK: [0.973715,-0.219436,-0.061049] 2025-10-24T20:20:43.562Z,1761337243.562 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:43.567Z,1761337243.567 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.461157 2025-10-24T20:20:43.714Z,1761337243.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985919,-0.163868,0.033341],[0.166461,0.980752,-0.102063],[-0.015974,0.106175,0.994219]] 2025-10-24T20:20:43.802Z,1761337243.802 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.696480 2025-10-24T20:20:43.810Z,1761337243.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 1.007463 s, deltaX: -0.400000 m, approachRate: -0.397037 m/s, rangeRepo size: 4 2025-10-24T20:20:43.816Z,1761337243.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.771313 m, bearing: 357.298601 deg, lat: 36.779654 deg, lon: -121.859534 deg, deltaT: 1.007463 s, deltaX: -0.397888 m, approachRate: -0.394941 m/s, posRepo size: 4 2025-10-24T20:20:43.817Z,1761337243.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-24T20:20:43.819Z,1761337243.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.771313 m, nav range: 23.520699 m, bearing: 357.997408 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 6.338416 deg, new cmd heading: 5.824589 deg. 2025-10-24T20:20:43.826Z,1761337243.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101658 target range: 23.771313 and range: 23.90 m. 2025-10-24T20:20:44.053Z,1761337244.053 [DAT](INFO): DAT read: Rx Time:20:20:43.0211 2025-10-24T20:20:44.054Z,1761337244.054 [DAT](INFO): Rx dataTimestamp_ set to:1761337244.053485 2025-10-24T20:20:44.055Z,1761337244.055 [DAT](INFO): DAT read: Bearing 347.5, 3.2 (Local) 2025-10-24T20:20:44.055Z,1761337244.055 [DAT](INFO): Local bearing/azimuth received: Bearing 347.5, 3.2 (Local) 2025-10-24T20:20:44.058Z,1761337244.058 [DAT](INFO): DAT read: Range 10 to 50 : 23.4 m (trip time 15.6 ms) speed 0.4 2025-10-24T20:20:44.062Z,1761337244.062 [DAT](INFO): DAT read: 20:20:43.0211 LVL= 22208, 28865, 17330, 32755, AGC= 60, IDX= 506,-0.28, 2.835, 1.532,-2.962, 2.770, PHS= 0.153,-1.191, 0.548, RAW= 162.5, 6.3, CAL= 162.5, -3.2, ROT= 347.5, 3.2 2025-10-24T20:20:44.063Z,1761337244.063 [DAT](INFO): got valid direction response: 20:20:43.0211 LVL= 22208, 28865, 17330, 32755, AGC= 60, IDX= 506,-0.28, 2.835, 1.532,-2.962, 2.770, PHS= 0.153,-1.191, 0.548, RAW= 162.5, 6.3, CAL= 162.5, -3.2, ROT= 347.5, 3.2 2025-10-24T20:20:44.064Z,1761337244.064 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-24T20:20:44.065Z,1761337244.065 [DAT](INFO): direction in FSK: [0.974774,-0.216102,-0.055822] 2025-10-24T20:20:44.065Z,1761337244.065 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:44.083Z,1761337244.083 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.966009 2025-10-24T20:20:44.169Z,1761337244.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986341,-0.161247,0.033615],[0.163828,0.981527,-0.098819],[-0.017060,0.102977,0.994537]] 2025-10-24T20:20:44.220Z,1761337244.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503062 s, deltaX: -0.500000 m, approachRate: -0.993913 m/s, rangeRepo size: 4 2025-10-24T20:20:44.236Z,1761337244.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.274006 m, bearing: 357.299836 deg, lat: 36.779654 deg, lon: -121.859537 deg, deltaT: 0.503062 s, deltaX: -0.497307 m, approachRate: -0.988560 m/s, posRepo size: 4 2025-10-24T20:20:44.238Z,1761337244.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m. 2025-10-24T20:20:44.262Z,1761337244.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.274006 m, nav range: 23.319635 m, bearing: 357.317174 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 5.824589 deg, new cmd heading: 5.608699 deg. 2025-10-24T20:20:44.270Z,1761337244.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097890 target range: 23.274006 and range: 23.40 m. 2025-10-24T20:20:44.305Z,1761337244.305 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.199373 2025-10-24T20:20:44.551Z,1761337244.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986658,-0.159274,0.033721],[0.161839,0.982060,-0.096777],[-0.017702,0.100943,0.994735]] 2025-10-24T20:20:44.558Z,1761337244.558 [DAT](INFO): DAT read: Rx Time:20:20:43.5209 2025-10-24T20:20:44.558Z,1761337244.558 [DAT](INFO): Rx dataTimestamp_ set to:1761337244.557696 2025-10-24T20:20:44.559Z,1761337244.559 [DAT](INFO): DAT read: Bearing 347.6, 3.5 (Local) 2025-10-24T20:20:44.560Z,1761337244.560 [DAT](INFO): Local bearing/azimuth received: Bearing 347.6, 3.5 (Local) 2025-10-24T20:20:44.562Z,1761337244.562 [DAT](INFO): DAT read: Range 10 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 2025-10-24T20:20:44.567Z,1761337244.567 [DAT](INFO): DAT read: 20:20:43.5209 LVL= 21072, 30769, 18610, 32755, AGC= 60, IDX= 504,-0.18,-2.774, 2.218,-2.298,-2.849, PHS= 0.163,-1.170, 0.548, RAW= 162.3, 5.9, CAL= 162.4, -3.5, ROT= 347.6, 3.5 2025-10-24T20:20:44.569Z,1761337244.569 [DAT](INFO): got valid direction response: 20:20:43.5209 LVL= 21072, 30769, 18610, 32755, AGC= 60, IDX= 504,-0.18,-2.774, 2.218,-2.298,-2.849, PHS= 0.163,-1.170, 0.548, RAW= 162.3, 5.9, CAL= 162.4, -3.5, ROT= 347.6, 3.5 2025-10-24T20:20:44.569Z,1761337244.569 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-24T20:20:44.570Z,1761337244.570 [DAT](INFO): direction in FSK: [0.974851,-0.214335,-0.061049] 2025-10-24T20:20:44.570Z,1761337244.570 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:44.579Z,1761337244.579 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.472961 2025-10-24T20:20:44.701Z,1761337244.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504211 s, deltaX: -0.299999 m, approachRate: -0.594988 m/s, rangeRepo size: 4 2025-10-24T20:20:44.703Z,1761337244.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.975588 m, bearing: 357.303411 deg, lat: 36.779653 deg, lon: -121.859537 deg, deltaT: 0.504211 s, deltaX: -0.298418 m, approachRate: -0.591852 m/s, posRepo size: 4 2025-10-24T20:20:44.710Z,1761337244.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-24T20:20:44.718Z,1761337244.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.975588 m, nav range: 22.950739 m, bearing: 357.313935 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 5.608699 deg, new cmd heading: 5.356737 deg. 2025-10-24T20:20:44.718Z,1761337244.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093493 target range: 22.975588 and range: 23.10 m. 2025-10-24T20:20:44.810Z,1761337244.810 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.703531 2025-10-24T20:20:45.022Z,1761337245.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987246,-0.155598,0.033693],[0.158138,0.982872,-0.094627],[-0.018392,0.098748,0.994942]] 2025-10-24T20:20:45.061Z,1761337245.061 [DAT](INFO): DAT read: Rx Time:20:20:44.0207 2025-10-24T20:20:45.062Z,1761337245.062 [DAT](INFO): Rx dataTimestamp_ set to:1761337245.061456 2025-10-24T20:20:45.063Z,1761337245.063 [DAT](INFO): DAT read: Bearing 348.1, 3.5 (Local) 2025-10-24T20:20:45.063Z,1761337245.063 [DAT](INFO): Local bearing/azimuth received: Bearing 348.1, 3.5 (Local) 2025-10-24T20:20:45.066Z,1761337245.066 [DAT](INFO): DAT read: Range 10 to 50 : 22.7 m (trip time 15.1 ms) speed 0.5 2025-10-24T20:20:45.071Z,1761337245.071 [DAT](INFO): DAT read: 20:20:44.0207 LVL= 23200, 29121, 18386, 31907, AGC= 60, IDX= 501, 0.01,-2.979, 1.949,-2.502,-3.068, PHS= 0.178,-1.219, 0.563, RAW= 161.9, 6.0, CAL= 161.9, -3.5, ROT= 348.1, 3.5 2025-10-24T20:20:45.072Z,1761337245.072 [DAT](INFO): got valid direction response: 20:20:44.0207 LVL= 23200, 29121, 18386, 31907, AGC= 60, IDX= 501, 0.01,-2.979, 1.949,-2.502,-3.068, PHS= 0.178,-1.219, 0.563, RAW= 161.9, 6.0, CAL= 161.9, -3.5, ROT= 348.1, 3.5 2025-10-24T20:20:45.073Z,1761337245.073 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-24T20:20:45.074Z,1761337245.074 [DAT](INFO): direction in FSK: [0.976684,-0.205819,-0.061049] 2025-10-24T20:20:45.074Z,1761337245.074 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:45.077Z,1761337245.077 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.971733 2025-10-24T20:20:45.259Z,1761337245.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.503760 s, deltaX: -0.400000 m, approachRate: -0.794028 m/s, rangeRepo size: 4 2025-10-24T20:20:45.292Z,1761337245.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.577742 m, bearing: 357.577138 deg, lat: 36.779653 deg, lon: -121.859537 deg, deltaT: 0.503760 s, deltaX: -0.397846 m, approachRate: -0.789753 m/s, posRepo size: 4 2025-10-24T20:20:45.294Z,1761337245.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.58 m. 2025-10-24T20:20:45.320Z,1761337245.320 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.213797 2025-10-24T20:20:45.329Z,1761337245.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.577742 m, nav range: 22.641047 m, bearing: 357.367495 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 5.356738 deg, new cmd heading: 5.065627 deg. 2025-10-24T20:20:45.330Z,1761337245.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088412 target range: 22.577742 and range: 22.70 m. 2025-10-24T20:20:45.569Z,1761337245.569 [DAT](INFO): DAT read: Rx Time:20:20:44.5206 2025-10-24T20:20:45.570Z,1761337245.570 [DAT](INFO): Rx dataTimestamp_ set to:1761337245.569654 2025-10-24T20:20:45.571Z,1761337245.571 [DAT](INFO): DAT read: Bearing 348.8, 3.3 (Local) 2025-10-24T20:20:45.572Z,1761337245.572 [DAT](INFO): Local bearing/azimuth received: Bearing 348.8, 3.3 (Local) 2025-10-24T20:20:45.574Z,1761337245.574 [DAT](INFO): DAT read: Range 10 to 50 : 22.5 m (trip time 15.0 ms) speed 0.5 2025-10-24T20:20:45.583Z,1761337245.583 [DAT](INFO): DAT read: 20:20:44.5206 LVL= 30416, 32753, 21570, 32755, AGC= 60, IDX= 500, 0.19,-1.373,-2.780,-0.909,-1.475, PHS= 0.191,-1.258, 0.563, RAW= 161.2, 6.1, CAL= 161.2, -3.3, ROT= 348.8, 3.3 2025-10-24T20:20:45.608Z,1761337245.608 [DAT](INFO): got valid direction response: 20:20:44.5206 LVL= 30416, 32753, 21570, 32755, AGC= 60, IDX= 500, 0.19,-1.373,-2.780,-0.909,-1.475, PHS= 0.191,-1.258, 0.563, RAW= 161.2, 6.1, CAL= 161.2, -3.3, ROT= 348.8, 3.3 2025-10-24T20:20:45.608Z,1761337245.608 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-24T20:20:45.609Z,1761337245.609 [DAT](INFO): direction in FSK: [0.979328,-0.193913,-0.057564] 2025-10-24T20:20:45.610Z,1761337245.610 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:45.632Z,1761337245.632 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.517872 2025-10-24T20:20:45.635Z,1761337245.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988588,-0.146811,0.033770],[0.149283,0.984792,-0.088880],[-0.020208,0.092907,0.995470]] 2025-10-24T20:20:45.794Z,1761337245.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.508198 s, deltaX: -0.200001 m, approachRate: -0.393549 m/s, rangeRepo size: 4 2025-10-24T20:20:45.801Z,1761337245.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.378820 m, bearing: 357.717271 deg, lat: 36.779652 deg, lon: -121.859537 deg, deltaT: 0.508198 s, deltaX: -0.198921 m, approachRate: -0.391425 m/s, posRepo size: 4 2025-10-24T20:20:45.802Z,1761337245.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-24T20:20:45.810Z,1761337245.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.378820 m, nav range: 22.287642 m, bearing: 357.521498 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 5.065627 deg, new cmd heading: 4.777738 deg. 2025-10-24T20:20:45.811Z,1761337245.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.083387 target range: 22.378820 and range: 22.50 m. 2025-10-24T20:20:45.821Z,1761337245.821 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.715490 2025-10-24T20:20:46.074Z,1761337246.074 [DAT](INFO): DAT read: Rx Time:20:20:45.0204 2025-10-24T20:20:46.074Z,1761337246.074 [DAT](INFO): Rx dataTimestamp_ set to:1761337246.073759 2025-10-24T20:20:46.075Z,1761337246.075 [DAT](INFO): DAT read: Bearing 349.8, 3.7 (Local) 2025-10-24T20:20:46.076Z,1761337246.076 [DAT](INFO): Local bearing/azimuth received: Bearing 349.8, 3.7 (Local) 2025-10-24T20:20:46.078Z,1761337246.078 [DAT](INFO): DAT read: Range 10 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4 2025-10-24T20:20:46.084Z,1761337246.084 [DAT](INFO): DAT read: 20:20:45.0204 LVL= 18800, 30481, 18642, 32755, AGC= 57, IDX= 497, 0.48,-2.668, 2.254,-2.264,-2.797, PHS= 0.217,-1.185, 0.530, RAW= 159.9, 5.6, CAL= 160.2, -3.7, ROT= 349.8, 3.7 2025-10-24T20:20:46.085Z,1761337246.085 [DAT](INFO): got valid direction response: 20:20:45.0204 LVL= 18800, 30481, 18642, 32755, AGC= 57, IDX= 497, 0.48,-2.668, 2.254,-2.264,-2.797, PHS= 0.217,-1.185, 0.530, RAW= 159.9, 5.6, CAL= 160.2, -3.7, ROT= 349.8, 3.7 2025-10-24T20:20:46.085Z,1761337246.085 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-24T20:20:46.086Z,1761337246.086 [DAT](INFO): direction in FSK: [0.982144,-0.176716,-0.064532] 2025-10-24T20:20:46.086Z,1761337246.086 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:46.093Z,1761337246.093 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.987356 2025-10-24T20:20:46.119Z,1761337246.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989249,-0.142296,0.033732],[0.144724,0.985717,-0.086126],[-0.020995,0.090082,0.995713]] 2025-10-24T20:20:46.187Z,1761337246.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504105 s, deltaX: -0.299999 m, approachRate: -0.595113 m/s, rangeRepo size: 4 2025-10-24T20:20:46.193Z,1761337246.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.080437 m, bearing: 358.474079 deg, lat: 36.779652 deg, lon: -121.859536 deg, deltaT: 0.504105 s, deltaX: -0.298384 m, approachRate: -0.591908 m/s, posRepo size: 4 2025-10-24T20:20:46.194Z,1761337246.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-24T20:20:46.205Z,1761337246.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.080437 m, nav range: 22.035452 m, bearing: 357.822598 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 4.777737 deg, new cmd heading: 4.570118 deg. 2025-10-24T20:20:46.206Z,1761337246.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079764 target range: 22.080437 and range: 22.20 m. 2025-10-24T20:20:46.325Z,1761337246.325 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.219639 2025-10-24T20:20:46.536Z,1761337246.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990022,-0.136881,0.033453],[0.139269,0.986643,-0.084494],[-0.021441,0.088310,0.995862]] 2025-10-24T20:20:46.578Z,1761337246.578 [DAT](INFO): DAT read: Rx Time:20:20:45.5203 2025-10-24T20:20:46.578Z,1761337246.578 [DAT](INFO): Rx dataTimestamp_ set to:1761337246.577705 2025-10-24T20:20:46.579Z,1761337246.579 [DAT](INFO): DAT read: Bearing 350.6, 2.6 (Local) 2025-10-24T20:20:46.580Z,1761337246.580 [DAT](INFO): Local bearing/azimuth received: Bearing 350.6, 2.6 (Local) 2025-10-24T20:20:46.583Z,1761337246.583 [DAT](INFO): DAT read: Range 10 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4 2025-10-24T20:20:46.588Z,1761337246.588 [DAT](INFO): DAT read: 20:20:45.5203 LVL= 22496, 32753, 19186, 32755, AGC= 59, IDX= 497,-0.29,-2.699, 2.242,-2.315,-2.799, PHS= 0.188,-1.195, 0.481, RAW= 159.4, 6.8, CAL= 159.4, -2.6, ROT= 350.6, 2.6 2025-10-24T20:20:46.589Z,1761337246.589 [DAT](INFO): got valid direction response: 20:20:45.5203 LVL= 22496, 32753, 19186, 32755, AGC= 59, IDX= 497,-0.29,-2.699, 2.242,-2.315,-2.799, PHS= 0.188,-1.195, 0.481, RAW= 159.4, 6.8, CAL= 159.4, -2.6, ROT= 350.6, 2.6 2025-10-24T20:20:46.589Z,1761337246.589 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-24T20:20:46.590Z,1761337246.590 [DAT](INFO): direction in FSK: [0.985557,-0.163158,-0.045363] 2025-10-24T20:20:46.591Z,1761337246.591 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:46.595Z,1761337246.595 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.489540 2025-10-24T20:20:46.699Z,1761337246.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.100000 m, deltaT: 0.503946 s, deltaX: -0.100000 m, approachRate: -0.198435 m/s, rangeRepo size: 4 2025-10-24T20:20:46.706Z,1761337246.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.980968 m, bearing: 358.856699 deg, lat: 36.779652 deg, lon: -121.859536 deg, deltaT: 0.503946 s, deltaX: -0.099468 m, approachRate: -0.197379 m/s, posRepo size: 4 2025-10-24T20:20:46.706Z,1761337246.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m. 2025-10-24T20:20:46.713Z,1761337246.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.980968 m, nav range: 21.758934 m, bearing: 357.972955 deg, approach rate: 0.000000 m/s, LOS rate: -0.175884 deg/s, cmd heading: 4.570118 deg, new cmd heading: 4.300549 deg. 2025-10-24T20:20:46.715Z,1761337246.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075059 target range: 21.980968 and range: 22.10 m. 2025-10-24T20:20:46.830Z,1761337246.830 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.723986 2025-10-24T20:20:47.006Z,1761337247.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990819,-0.130986,0.033484],[0.133359,0.987604,-0.082783],[-0.022225,0.086488,0.996005]] 2025-10-24T20:20:47.057Z,1761337247.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:47.059Z,1761337247.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m. 2025-10-24T20:20:47.067Z,1761337247.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.980968 m, nav range: 21.554508 m, bearing: 358.087380 deg, approach rate: -0.564929 m/s, LOS rate: 0.319212 deg/s, cmd heading: 4.300549 deg, new cmd heading: 4.647076 deg. 2025-10-24T20:20:47.073Z,1761337247.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081107 target range: 21.980968 and range: 22.10 m. 2025-10-24T20:20:47.083Z,1761337247.083 [DAT](INFO): DAT read: Rx Time:20:20:46.0201 2025-10-24T20:20:47.083Z,1761337247.083 [DAT](INFO): Rx dataTimestamp_ set to:1761337247.082907 2025-10-24T20:20:47.085Z,1761337247.085 [DAT](INFO): DAT read: Bearing 351.4, 2.2 (Local) 2025-10-24T20:20:47.085Z,1761337247.085 [DAT](INFO): Local bearing/azimuth received: Bearing 351.4, 2.2 (Local) 2025-10-24T20:20:47.087Z,1761337247.087 [DAT](INFO): DAT read: Range 10 to 50 : 21.8 m (trip time 14.5 ms) speed 0.4 2025-10-24T20:20:47.092Z,1761337247.092 [DAT](INFO): DAT read: 20:20:46.0201 LVL= 20752, 32753, 19170, 32755, AGC= 60, IDX= 510,-0.12, 2.287, 0.934, 2.645, 2.186, PHS= 0.189,-1.205, 0.455, RAW= 158.6, 7.3, CAL= 158.6, -2.2, ROT= 351.4, 2.2 2025-10-24T20:20:47.093Z,1761337247.093 [DAT](INFO): got valid direction response: 20:20:46.0201 LVL= 20752, 32753, 19170, 32755, AGC= 60, IDX= 510,-0.12, 2.287, 0.934, 2.645, 2.186, PHS= 0.189,-1.205, 0.455, RAW= 158.6, 7.3, CAL= 158.6, -2.2, ROT= 351.4, 2.2 2025-10-24T20:20:47.093Z,1761337247.093 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-24T20:20:47.094Z,1761337247.094 [DAT](INFO): direction in FSK: [0.988028,-0.149425,-0.038388] 2025-10-24T20:20:47.095Z,1761337247.095 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:47.103Z,1761337247.103 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.997297 2025-10-24T20:20:47.336Z,1761337247.336 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.229652 2025-10-24T20:20:47.401Z,1761337247.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991428,-0.126307,0.033422],[0.128651,0.988369,-0.081095],[-0.022791,0.084700,0.996146]] 2025-10-24T20:20:47.586Z,1761337247.586 [DAT](INFO): DAT read: Rx Time:20:20:46.5200 2025-10-24T20:20:47.587Z,1761337247.587 [DAT](INFO): Rx dataTimestamp_ set to:1761337247.586720 2025-10-24T20:20:47.590Z,1761337247.590 [DAT](INFO): DAT read: Bearing 352.8, 2.6 (Local) 2025-10-24T20:20:47.591Z,1761337247.591 [DAT](INFO): Local bearing/azimuth received: Bearing 352.8, 2.6 (Local) 2025-10-24T20:20:47.593Z,1761337247.593 [DAT](INFO): DAT read: Range 10 to 50 : 21.6 m (trip time 14.4 ms) speed 0.5 2025-10-24T20:20:47.615Z,1761337247.615 [DAT](INFO): DAT read: 20:20:46.5200 LVL= 22704, 29681, 19138, 31843, AGC= 59, IDX= 509, 0.04,-1.905, 2.949,-1.595,-2.058, PHS= 0.241,-1.229, 0.460, RAW= 156.8, 6.7, CAL= 157.2, -2.6, ROT= 352.8, 2.6 2025-10-24T20:20:47.625Z,1761337247.625 [DAT](INFO): got valid direction response: 20:20:46.5200 LVL= 22704, 29681, 19138, 31843, AGC= 59, IDX= 509, 0.04,-1.905, 2.949,-1.595,-2.058, PHS= 0.241,-1.229, 0.460, RAW= 156.8, 6.7, CAL= 157.2, -2.6, ROT= 352.8, 2.6 2025-10-24T20:20:47.625Z,1761337247.625 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-24T20:20:47.626Z,1761337247.626 [DAT](INFO): direction in FSK: [0.991093,-0.125205,-0.045363] 2025-10-24T20:20:47.626Z,1761337247.626 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:47.629Z,1761337247.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 1.009015 s, deltaX: -0.500000 m, approachRate: -0.495533 m/s, rangeRepo size: 4 2025-10-24T20:20:47.638Z,1761337247.638 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.532457 2025-10-24T20:20:47.644Z,1761337247.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.682606 m, bearing: 358.996643 deg, lat: 36.779652 deg, lon: -121.859533 deg, deltaT: 0.505202 s, deltaX: -0.298363 m, approachRate: -0.590581 m/s, posRepo size: 4 2025-10-24T20:20:47.645Z,1761337247.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-24T20:20:47.661Z,1761337247.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.682606 m, nav range: 21.232197 m, bearing: 358.927847 deg, approach rate: 0.000000 m/s, LOS rate: 0.319212 deg/s, cmd heading: 4.647075 deg, new cmd heading: 5.191862 deg. 2025-10-24T20:20:47.662Z,1761337247.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090615 target range: 21.682606 and range: 21.60 m. 2025-10-24T20:20:47.837Z,1761337247.837 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.731569 2025-10-24T20:20:48.090Z,1761337248.090 [DAT](INFO): DAT read: Rx Time:20:20:47.0197 2025-10-24T20:20:48.090Z,1761337248.090 [DAT](INFO): Rx dataTimestamp_ set to:1761337248.089696 2025-10-24T20:20:48.091Z,1761337248.091 [DAT](INFO): DAT read: Bearing 353.9, 2.3 (Local) 2025-10-24T20:20:48.092Z,1761337248.092 [DAT](INFO): Local bearing/azimuth received: Bearing 353.9, 2.3 (Local) 2025-10-24T20:20:48.094Z,1761337248.094 [DAT](INFO): DAT read: Range 10 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4 2025-10-24T20:20:48.099Z,1761337248.099 [DAT](INFO): DAT read: 20:20:47.0197 LVL= 20464, 28657, 18674, 32755, AGC= 59, IDX= 506, 0.19, 2.398, 0.982, 2.666, 2.239, PHS= 0.247,-1.210, 0.424, RAW= 155.7, 7.0, CAL= 156.1, -2.3, ROT= 353.9, 2.3 2025-10-24T20:20:48.100Z,1761337248.100 [DAT](INFO): got valid direction response: 20:20:47.0197 LVL= 20464, 28657, 18674, 32755, AGC= 59, IDX= 506, 0.19, 2.398, 0.982, 2.666, 2.239, PHS= 0.247,-1.210, 0.424, RAW= 155.7, 7.0, CAL= 156.1, -2.3, ROT= 353.9, 2.3 2025-10-24T20:20:48.101Z,1761337248.101 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-24T20:20:48.102Z,1761337248.102 [DAT](INFO): direction in FSK: [0.993537,-0.106179,-0.040132] 2025-10-24T20:20:48.102Z,1761337248.102 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:48.107Z,1761337248.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992539,-0.117168,0.033744],[0.119551,0.989564,-0.080442],[-0.023967,0.083876,0.996188]] 2025-10-24T20:20:48.118Z,1761337248.118 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.012089 2025-10-24T20:20:48.163Z,1761337248.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502976 s, deltaX: -0.400000 m, approachRate: -0.795266 m/s, rangeRepo size: 4 2025-10-24T20:20:48.178Z,1761337248.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.085838 m, bearing: 0.973013 deg, lat: 36.779653 deg, lon: -121.859533 deg, deltaT: 1.006789 s, deltaX: -0.596767 m, approachRate: -0.592743 m/s, posRepo size: 4 2025-10-24T20:20:48.179Z,1761337248.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-24T20:20:48.186Z,1761337248.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.085838 m, nav range: 21.029234 m, bearing: 359.167743 deg, approach rate: 0.000000 m/s, LOS rate: 0.319212 deg/s, cmd heading: 5.191862 deg, new cmd heading: 5.703559 deg. 2025-10-24T20:20:48.187Z,1761337248.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099546 target range: 21.085838 and range: 21.20 m. 2025-10-24T20:20:48.344Z,1761337248.344 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.238260 2025-10-24T20:20:48.495Z,1761337248.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993035,-0.112682,0.034413],[0.115174,0.989956,-0.081993],[-0.024828,0.085386,0.996039]] 2025-10-24T20:20:48.593Z,1761337248.593 [DAT](INFO): DAT read: Rx Time:20:20:47.5196 2025-10-24T20:20:48.594Z,1761337248.594 [DAT](INFO): Rx dataTimestamp_ set to:1761337248.593630 2025-10-24T20:20:48.595Z,1761337248.595 [DAT](INFO): DAT read: Bearing 355.5, 1.9 (Local) 2025-10-24T20:20:48.596Z,1761337248.596 [DAT](INFO): Local bearing/azimuth received: Bearing 355.5, 1.9 (Local) 2025-10-24T20:20:48.599Z,1761337248.599 [DAT](INFO): DAT read: Range 10 to 50 : 21.0 m (trip time 14.0 ms) speed 0.5 2025-10-24T20:20:48.603Z,1761337248.603 [DAT](INFO): DAT read: 20:20:47.5196 LVL= 22384, 26689, 19490, 31395, AGC= 60, IDX= 504, 0.41, 1.488, 0.054, 1.703, 1.310, PHS= 0.266,-1.210, 0.389, RAW= 154.0, 7.2, CAL= 154.5, -1.9, ROT= 355.5, 1.9 2025-10-24T20:20:48.605Z,1761337248.605 [DAT](INFO): got valid direction response: 20:20:47.5196 LVL= 22384, 26689, 19490, 31395, AGC= 60, IDX= 504, 0.41, 1.488, 0.054, 1.703, 1.310, PHS= 0.266,-1.210, 0.389, RAW= 154.0, 7.2, CAL= 154.5, -1.9, ROT= 355.5, 1.9 2025-10-24T20:20:48.605Z,1761337248.605 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-24T20:20:48.606Z,1761337248.606 [DAT](INFO): direction in FSK: [0.996369,-0.078416,-0.033155] 2025-10-24T20:20:48.606Z,1761337248.606 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:48.611Z,1761337248.611 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.505701 2025-10-24T20:20:48.644Z,1761337248.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503934 s, deltaX: -0.200001 m, approachRate: -0.396879 m/s, rangeRepo size: 4 2025-10-24T20:20:48.646Z,1761337248.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.886961 m, bearing: 2.288394 deg, lat: 36.779653 deg, lon: -121.859532 deg, deltaT: 0.503934 s, deltaX: -0.198877 m, approachRate: -0.394650 m/s, posRepo size: 4 2025-10-24T20:20:48.652Z,1761337248.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-24T20:20:48.654Z,1761337248.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.886961 m, nav range: 20.827438 m, bearing: 359.454328 deg, approach rate: 0.000000 m/s, LOS rate: 0.319212 deg/s, cmd heading: 5.703559 deg, new cmd heading: 6.159990 deg. 2025-10-24T20:20:48.655Z,1761337248.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107512 target range: 20.886961 and range: 21.00 m. 2025-10-24T20:20:48.846Z,1761337248.846 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.739536 2025-10-24T20:20:49.059Z,1761337249.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993341,-0.109911,0.034533],[0.112473,0.990095,-0.084035],[-0.024955,0.087360,0.995864]] 2025-10-24T20:20:49.099Z,1761337249.099 [DAT](INFO): DAT read: Rx Time:20:20:48.0193 2025-10-24T20:20:49.099Z,1761337249.099 [DAT](INFO): Rx dataTimestamp_ set to:1761337249.098903 2025-10-24T20:20:49.101Z,1761337249.101 [DAT](INFO): DAT read: Bearing 358.2, 0.9 (Local) 2025-10-24T20:20:49.101Z,1761337249.101 [DAT](INFO): Local bearing/azimuth received: Bearing 358.2, 0.9 (Local) 2025-10-24T20:20:49.103Z,1761337249.103 [DAT](INFO): DAT read: Range 10 to 50 : 20.6 m (trip time 13.7 ms) speed 0.5 2025-10-24T20:20:49.108Z,1761337249.108 [DAT](INFO): DAT read: 20:20:48.0193 LVL= 21088, 32753, 22194, 32755, AGC= 60, IDX= 502,-0.32,-1.712,-3.100,-1.587,-1.896, PHS= 0.272,-1.158, 0.306, RAW= 151.2, 8.1, CAL= 151.8, -0.9, ROT= 358.2, 0.9 2025-10-24T20:20:49.109Z,1761337249.109 [DAT](INFO): got valid direction response: 20:20:48.0193 LVL= 21088, 32753, 22194, 32755, AGC= 60, IDX= 502,-0.32,-1.712,-3.100,-1.587,-1.896, PHS= 0.272,-1.158, 0.306, RAW= 151.2, 8.1, CAL= 151.8, -0.9, ROT= 358.2, 0.9 2025-10-24T20:20:49.110Z,1761337249.110 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-24T20:20:49.110Z,1761337249.110 [DAT](INFO): direction in FSK: [0.999383,-0.031407,-0.015707] 2025-10-24T20:20:49.111Z,1761337249.111 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:49.125Z,1761337249.125 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.019033 2025-10-24T20:20:49.135Z,1761337249.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.505273 s, deltaX: -0.400000 m, approachRate: -0.791650 m/s, rangeRepo size: 4 2025-10-24T20:20:49.148Z,1761337249.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.489115 m, bearing: 4.744127 deg, lat: 36.779653 deg, lon: -121.859526 deg, deltaT: 0.505273 s, deltaX: -0.397846 m, approachRate: -0.787389 m/s, posRepo size: 4 2025-10-24T20:20:49.150Z,1761337249.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-24T20:20:49.165Z,1761337249.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.489115 m, nav range: 20.557577 m, bearing: 1.253499 deg, approach rate: 0.000000 m/s, LOS rate: 0.319212 deg/s, cmd heading: 6.159991 deg, new cmd heading: 6.634268 deg. 2025-10-24T20:20:49.167Z,1761337249.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115790 target range: 20.489115 and range: 20.60 m. 2025-10-24T20:20:49.352Z,1761337249.352 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.245487 2025-10-24T20:20:49.489Z,1761337249.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993620,-0.107306,0.034709],[0.109924,0.990275,-0.085277],[-0.025220,0.088548,0.995753]] 2025-10-24T20:20:49.561Z,1761337249.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:49.568Z,1761337249.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-24T20:20:49.571Z,1761337249.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.489115 m, nav range: 20.313519 m, bearing: 1.331163 deg, approach rate: -0.568994 m/s, LOS rate: 0.183239 deg/s, cmd heading: 6.634268 deg, new cmd heading: 6.870056 deg. 2025-10-24T20:20:49.571Z,1761337249.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119905 target range: 20.489115 and range: 20.60 m. 2025-10-24T20:20:49.602Z,1761337249.602 [DAT](INFO): DAT read: Rx Time:20:20:48.5192 2025-10-24T20:20:49.602Z,1761337249.602 [DAT](INFO): Rx dataTimestamp_ set to:1761337249.602025 2025-10-24T20:20:49.604Z,1761337249.604 [DAT](INFO): DAT read: Bearing 359.2, 0.2 (Local) 2025-10-24T20:20:49.604Z,1761337249.604 [DAT](INFO): Local bearing/azimuth received: Bearing 359.2, 0.2 (Local) 2025-10-24T20:20:49.606Z,1761337249.606 [DAT](INFO): DAT read: Range 10 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-24T20:20:49.612Z,1761337249.612 [DAT](INFO): DAT read: 20:20:48.5192 LVL= 20848, 27169, 18354, 30787, AGC= 60, IDX= 501,-0.15,-0.794,-2.198,-0.694,-0.975, PHS= 0.269,-1.176, 0.278, RAW= 150.3, 8.7, CAL= 150.8, -0.2, ROT= 359.2, 0.2 2025-10-24T20:20:49.613Z,1761337249.613 [DAT](INFO): got valid direction response: 20:20:48.5192 LVL= 20848, 27169, 18354, 30787, AGC= 60, IDX= 501,-0.15,-0.794,-2.198,-0.694,-0.975, PHS= 0.269,-1.176, 0.278, RAW= 150.3, 8.7, CAL= 150.8, -0.2, ROT= 359.2, 0.2 2025-10-24T20:20:49.613Z,1761337249.613 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-24T20:20:49.615Z,1761337249.615 [DAT](INFO): direction in FSK: [0.999896,-0.013962,-0.003491] 2025-10-24T20:20:49.615Z,1761337249.615 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:49.623Z,1761337249.623 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.517654 2025-10-24T20:20:49.855Z,1761337249.855 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.748838 2025-10-24T20:20:49.904Z,1761337249.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993693,-0.106593,0.034820],[0.109271,0.990184,-0.087155],[-0.025188,0.090410,0.995586]] 2025-10-24T20:20:50.002Z,1761337250.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503122 s, deltaX: -0.200001 m, approachRate: -0.397519 m/s, rangeRepo size: 4 2025-10-24T20:20:50.008Z,1761337250.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.290234 m, bearing: 5.496305 deg, lat: 36.779653 deg, lon: -121.859521 deg, deltaT: 0.503122 s, deltaX: -0.198881 m, approachRate: -0.395294 m/s, posRepo size: 4 2025-10-24T20:20:50.009Z,1761337250.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.29 m. 2025-10-24T20:20:50.011Z,1761337250.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.290234 m, nav range: 20.093903 m, bearing: 2.637176 deg, approach rate: 0.000000 m/s, LOS rate: 0.183239 deg/s, cmd heading: 6.870056 deg, new cmd heading: 7.110652 deg. 2025-10-24T20:20:50.028Z,1761337250.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124104 target range: 20.290234 and range: 20.40 m. 2025-10-24T20:20:50.106Z,1761337250.106 [DAT](INFO): DAT read: Rx Time:20:20:49.0189 2025-10-24T20:20:50.107Z,1761337250.107 [DAT](INFO): Rx dataTimestamp_ set to:1761337250.106632 2025-10-24T20:20:50.109Z,1761337250.109 [DAT](INFO): DAT read: Bearing 0.4, 0.1 (Local) 2025-10-24T20:20:50.110Z,1761337250.110 [DAT](INFO): Local bearing/azimuth received: Bearing 0.4, 0.1 (Local) 2025-10-24T20:20:50.114Z,1761337250.114 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 2025-10-24T20:20:50.127Z,1761337250.127 [DAT](INFO): DAT read: 20:20:49.0189 LVL= 19872, 27633, 18738, 32755, AGC= 59, IDX= 498, 0.01,-1.231,-2.640,-1.177,-1.434, PHS= 0.292,-1.158, 0.254, RAW= 148.7, 8.6, CAL= 149.6, -0.1, ROT= 0.4, 0.1 2025-10-24T20:20:50.149Z,1761337250.149 [DAT](INFO): got valid direction response: 20:20:49.0189 LVL= 19872, 27633, 18738, 32755, AGC= 59, IDX= 498, 0.01,-1.231,-2.640,-1.177,-1.434, PHS= 0.292,-1.158, 0.254, RAW= 148.7, 8.6, CAL= 149.6, -0.1, ROT= 0.4, 0.1 2025-10-24T20:20:50.150Z,1761337250.150 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-24T20:20:50.150Z,1761337250.150 [DAT](INFO): direction in FSK: [0.999974,0.006981,-0.001745] 2025-10-24T20:20:50.151Z,1761337250.151 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:50.165Z,1761337250.165 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.059616 2025-10-24T20:20:50.360Z,1761337250.360 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.253321 2025-10-24T20:20:50.487Z,1761337250.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504607 s, deltaX: -0.400000 m, approachRate: -0.792695 m/s, rangeRepo size: 4 2025-10-24T20:20:50.489Z,1761337250.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.892433 m, bearing: 6.682822 deg, lat: 36.779653 deg, lon: -121.859512 deg, deltaT: 0.504607 s, deltaX: -0.397800 m, approachRate: -0.788337 m/s, posRepo size: 4 2025-10-24T20:20:50.490Z,1761337250.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m. 2025-10-24T20:20:50.498Z,1761337250.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.892433 m, nav range: 19.875839 m, bearing: 5.071555 deg, approach rate: 0.000000 m/s, LOS rate: 0.183239 deg/s, cmd heading: 7.110652 deg, new cmd heading: 7.366916 deg. 2025-10-24T20:20:50.499Z,1761337250.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128577 target range: 19.892433 and range: 20.00 m. 2025-10-24T20:20:50.610Z,1761337250.610 [DAT](INFO): DAT read: Rx Time:20:20:49.5189 2025-10-24T20:20:50.610Z,1761337250.610 [DAT](INFO): Rx dataTimestamp_ set to:1761337250.609797 2025-10-24T20:20:50.611Z,1761337250.611 [DAT](INFO): DAT read: Bearing 1.1, -0.2 (Local) 2025-10-24T20:20:50.612Z,1761337250.612 [DAT](INFO): Local bearing/azimuth received: Bearing 1.1, -0.2 (Local) 2025-10-24T20:20:50.615Z,1761337250.615 [DAT](INFO): DAT read: Range 10 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4 2025-10-24T20:20:50.642Z,1761337250.642 [DAT](INFO): DAT read: 20:20:49.5189 LVL= 20976, 30177, 20626, 32755, AGC= 58, IDX= 497, 0.20, 0.202,-1.214, 0.230,-0.010, PHS= 0.300,-1.157, 0.237, RAW= 147.8, 8.7, CAL= 148.9, 0.2, ROT= 1.1, -0.2 2025-10-24T20:20:50.643Z,1761337250.643 [DAT](INFO): got valid direction response: 20:20:49.5189 LVL= 20976, 30177, 20626, 32755, AGC= 58, IDX= 497, 0.20, 0.202,-1.214, 0.230,-0.010, PHS= 0.300,-1.157, 0.237, RAW= 147.8, 8.7, CAL= 148.9, 0.2, ROT= 1.1, -0.2 2025-10-24T20:20:50.645Z,1761337250.645 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-24T20:20:50.646Z,1761337250.646 [DAT](INFO): direction in FSK: [0.999810,0.019197,0.003491] 2025-10-24T20:20:50.647Z,1761337250.647 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:50.651Z,1761337250.651 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.545628 2025-10-24T20:20:50.803Z,1761337250.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993624,-0.107226,0.034836],[0.110123,0.989268,-0.096029],[-0.024165,0.099253,0.994769]] 2025-10-24T20:20:50.861Z,1761337250.861 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.755144 2025-10-24T20:20:51.018Z,1761337251.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503165 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:20:51.034Z,1761337251.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.892433 m, bearing: 7.399124 deg, lat: 36.779653 deg, lon: -121.859509 deg, deltaT: 0.503165 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T20:20:51.035Z,1761337251.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m. 2025-10-24T20:20:51.053Z,1761337251.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.892433 m, nav range: 19.631294 m, bearing: 5.740994 deg, approach rate: 0.000000 m/s, LOS rate: 0.183239 deg/s, cmd heading: 7.366917 deg, new cmd heading: 7.669522 deg. 2025-10-24T20:20:51.054Z,1761337251.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133858 target range: 19.892433 and range: 20.00 m. 2025-10-24T20:20:51.115Z,1761337251.115 [DAT](INFO): DAT read: Rx Time:20:20:50.0186 2025-10-24T20:20:51.116Z,1761337251.116 [DAT](INFO): Rx dataTimestamp_ set to:1761337251.115320 2025-10-24T20:20:51.118Z,1761337251.118 [DAT](INFO): DAT read: Bearing 2.1, -0.7 (Local) 2025-10-24T20:20:51.118Z,1761337251.118 [DAT](INFO): Local bearing/azimuth received: Bearing 2.1, -0.7 (Local) 2025-10-24T20:20:51.121Z,1761337251.121 [DAT](INFO): DAT read: Range 10 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4 2025-10-24T20:20:51.133Z,1761337251.133 [DAT](INFO): DAT read: 20:20:50.0186 LVL= 20928, 31921, 21234, 32755, AGC= 59, IDX= 494, 0.45,-1.004,-2.435,-1.018,-1.231, PHS= 0.315,-1.157, 0.210, RAW= 146.3, 8.9, CAL= 147.9, 0.7, ROT= 2.1, -0.7 2025-10-24T20:20:51.134Z,1761337251.134 [DAT](INFO): got valid direction response: 20:20:50.0186 LVL= 20928, 31921, 21234, 32755, AGC= 59, IDX= 494, 0.45,-1.004,-2.435,-1.018,-1.231, PHS= 0.315,-1.157, 0.210, RAW= 146.3, 8.9, CAL= 147.9, 0.7, ROT= 2.1, -0.7 2025-10-24T20:20:51.134Z,1761337251.134 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-24T20:20:51.135Z,1761337251.135 [DAT](INFO): direction in FSK: [0.999254,0.036641,0.012217] 2025-10-24T20:20:51.135Z,1761337251.135 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:51.139Z,1761337251.139 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.033230 2025-10-24T20:20:51.249Z,1761337251.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993427,-0.109114,0.034588],[0.112063,0.988692,-0.099647],[-0.023324,0.102868,0.994422]] 2025-10-24T20:20:51.336Z,1761337251.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.505523 s, deltaX: -0.500000 m, approachRate: -0.989075 m/s, rangeRepo size: 4 2025-10-24T20:20:51.338Z,1761337251.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.395123 m, bearing: 8.452708 deg, lat: 36.779653 deg, lon: -121.859505 deg, deltaT: 0.505523 s, deltaX: -0.497311 m, approachRate: -0.983755 m/s, posRepo size: 4 2025-10-24T20:20:51.339Z,1761337251.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.40 m. 2025-10-24T20:20:51.368Z,1761337251.368 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.261841 2025-10-24T20:20:51.391Z,1761337251.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.395123 m, nav range: 19.417311 m, bearing: 6.847734 deg, approach rate: 0.000000 m/s, LOS rate: 0.183239 deg/s, cmd heading: 7.669522 deg, new cmd heading: 7.839529 deg. 2025-10-24T20:20:51.403Z,1761337251.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.136826 target range: 19.395123 and range: 19.50 m. 2025-10-24T20:20:51.618Z,1761337251.618 [DAT](INFO): DAT read: Rx Time:20:20:50.5184 2025-10-24T20:20:51.618Z,1761337251.618 [DAT](INFO): Rx dataTimestamp_ set to:1761337251.617833 2025-10-24T20:20:51.619Z,1761337251.619 [DAT](INFO): DAT read: Bearing 1.8, -1.8 (Local) 2025-10-24T20:20:51.620Z,1761337251.620 [DAT](INFO): Local bearing/azimuth received: Bearing 1.8, -1.8 (Local) 2025-10-24T20:20:51.622Z,1761337251.622 [DAT](INFO): DAT read: Range 10 to 50 : 19.2 m (trip time 12.8 ms) speed 0.4 2025-10-24T20:20:51.627Z,1761337251.627 [DAT](INFO): DAT read: 20:20:50.5184 LVL= 21440, 29201, 19794, 32755, AGC= 59, IDX= 509,-0.19,-2.287, 2.577,-2.289,-2.485, PHS= 0.286,-1.174, 0.192, RAW= 146.7, 9.9, CAL= 148.2, 1.8, ROT= 1.8, -1.8 2025-10-24T20:20:51.648Z,1761337251.648 [DAT](INFO): got valid direction response: 20:20:50.5184 LVL= 21440, 29201, 19794, 32755, AGC= 59, IDX= 509,-0.19,-2.287, 2.577,-2.289,-2.485, PHS= 0.286,-1.174, 0.192, RAW= 146.7, 9.9, CAL= 148.2, 1.8, ROT= 1.8, -1.8 2025-10-24T20:20:51.649Z,1761337251.649 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-24T20:20:51.650Z,1761337251.650 [DAT](INFO): direction in FSK: [0.999013,0.031395,0.031411] 2025-10-24T20:20:51.650Z,1761337251.650 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:51.671Z,1761337251.671 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.564758 2025-10-24T20:20:51.710Z,1761337251.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993031,-0.112688,0.034500],[0.115742,0.987671,-0.105399],[-0.022197,0.108657,0.993831]] 2025-10-24T20:20:51.825Z,1761337251.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.502513 s, deltaX: -0.299999 m, approachRate: -0.596998 m/s, rangeRepo size: 4 2025-10-24T20:20:51.827Z,1761337251.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.096758 m, bearing: 8.240959 deg, lat: 36.779653 deg, lon: -121.859503 deg, deltaT: 0.502513 s, deltaX: -0.298365 m, approachRate: -0.593745 m/s, posRepo size: 4 2025-10-24T20:20:51.832Z,1761337251.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.10 m. 2025-10-24T20:20:51.834Z,1761337251.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.096758 m, nav range: 19.174978 m, bearing: 7.608603 deg, approach rate: 0.000000 m/s, LOS rate: 0.183239 deg/s, cmd heading: 7.839530 deg, new cmd heading: 8.112919 deg. 2025-10-24T20:20:51.835Z,1761337251.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141597 target range: 19.096758 and range: 19.20 m. 2025-10-24T20:20:51.870Z,1761337251.870 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.763954 2025-10-24T20:20:52.122Z,1761337252.122 [DAT](INFO): DAT read: Rx Time:20:20:51.0181 2025-10-24T20:20:52.122Z,1761337252.122 [DAT](INFO): Rx dataTimestamp_ set to:1761337252.121741 2025-10-24T20:20:52.123Z,1761337252.123 [DAT](INFO): DAT read: Bearing 2.4, -0.7 (Local) 2025-10-24T20:20:52.124Z,1761337252.124 [DAT](INFO): Local bearing/azimuth received: Bearing 2.4, -0.7 (Local) 2025-10-24T20:20:52.126Z,1761337252.126 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-24T20:20:52.131Z,1761337252.131 [DAT](INFO): DAT read: 20:20:51.0181 LVL= 22384, 32561, 20978, 32755, AGC= 58, IDX= 506, 0.05,-2.164, 2.682,-2.188,-2.397, PHS= 0.321,-1.157, 0.206, RAW= 146.0, 8.9, CAL= 147.6, 0.7, ROT= 2.4, -0.7 2025-10-24T20:20:52.132Z,1761337252.132 [DAT](INFO): got valid direction response: 20:20:51.0181 LVL= 22384, 32561, 20978, 32755, AGC= 58, IDX= 506, 0.05,-2.164, 2.682,-2.188,-2.397, PHS= 0.321,-1.157, 0.206, RAW= 146.0, 8.9, CAL= 147.6, 0.7, ROT= 2.4, -0.7 2025-10-24T20:20:52.133Z,1761337252.133 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-24T20:20:52.134Z,1761337252.134 [DAT](INFO): direction in FSK: [0.999048,0.041873,0.012217] 2025-10-24T20:20:52.134Z,1761337252.134 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:52.151Z,1761337252.151 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.045647 2025-10-24T20:20:52.202Z,1761337252.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503908 s, deltaX: -0.400002 m, approachRate: -0.793799 m/s, rangeRepo size: 4 2025-10-24T20:20:52.212Z,1761337252.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.698906 m, bearing: 8.957560 deg, lat: 36.779652 deg, lon: -121.859500 deg, deltaT: 0.503908 s, deltaX: -0.397852 m, approachRate: -0.789533 m/s, posRepo size: 4 2025-10-24T20:20:52.213Z,1761337252.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-24T20:20:52.223Z,1761337252.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.698906 m, nav range: 18.906204 m, bearing: 8.272798 deg, approach rate: 0.000000 m/s, LOS rate: 0.183239 deg/s, cmd heading: 8.112919 deg, new cmd heading: 8.319990 deg. 2025-10-24T20:20:52.228Z,1761337252.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.145211 target range: 18.698906 and range: 18.80 m. 2025-10-24T20:20:52.377Z,1761337252.377 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.269962 2025-10-24T20:20:52.626Z,1761337252.626 [DAT](INFO): DAT read: Rx Time:20:20:51.5181 2025-10-24T20:20:52.626Z,1761337252.626 [DAT](INFO): Rx dataTimestamp_ set to:1761337252.625818 2025-10-24T20:20:52.627Z,1761337252.627 [DAT](INFO): DAT read: Bearing 1.6, -0.3 (Local) 2025-10-24T20:20:52.628Z,1761337252.628 [DAT](INFO): Local bearing/azimuth received: Bearing 1.6, -0.3 (Local) 2025-10-24T20:20:52.630Z,1761337252.630 [DAT](INFO): DAT read: Range 10 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-24T20:20:52.636Z,1761337252.636 [DAT](INFO): DAT read: 20:20:51.5181 LVL= 20880, 32753, 21810, 32755, AGC= 58, IDX= 505, 0.29,-0.160,-1.604,-0.154,-0.385, PHS= 0.313,-1.172, 0.229, RAW= 147.1, 8.8, CAL= 148.4, 0.3, ROT= 1.6, -0.3 2025-10-24T20:20:52.637Z,1761337252.637 [DAT](INFO): got valid direction response: 20:20:51.5181 LVL= 20880, 32753, 21810, 32755, AGC= 58, IDX= 505, 0.29,-0.160,-1.604,-0.154,-0.385, PHS= 0.313,-1.172, 0.229, RAW= 147.1, 8.8, CAL= 148.4, 0.3, ROT= 1.6, -0.3 2025-10-24T20:20:52.637Z,1761337252.637 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-24T20:20:52.638Z,1761337252.638 [DAT](INFO): direction in FSK: [0.999596,0.027921,0.005236] 2025-10-24T20:20:52.638Z,1761337252.638 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:52.646Z,1761337252.646 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.540543 2025-10-24T20:20:52.698Z,1761337252.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504077 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:20:52.705Z,1761337252.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.698933 m, bearing: 8.206101 deg, lat: 36.779652 deg, lon: -121.859500 deg, deltaT: 0.504077 s, deltaX: 0.000027 m, approachRate: 0.000053 m/s, posRepo size: 4 2025-10-24T20:20:52.710Z,1761337252.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-24T20:20:52.714Z,1761337252.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.698933 m, nav range: 18.649933 m, bearing: 8.304522 deg, approach rate: 0.000000 m/s, LOS rate: 0.183239 deg/s, cmd heading: 8.319989 deg, new cmd heading: 8.592829 deg. 2025-10-24T20:20:52.715Z,1761337252.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149973 target range: 18.698933 and range: 18.80 m. 2025-10-24T20:20:52.878Z,1761337252.878 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.772469 2025-10-24T20:20:53.009Z,1761337253.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991470,-0.125879,0.033784],[0.128976,0.984928,-0.115247],[-0.018768,0.118621,0.992762]] 2025-10-24T20:20:53.062Z,1761337253.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:53.069Z,1761337253.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-24T20:20:53.071Z,1761337253.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.698933 m, nav range: 18.454607 m, bearing: 8.321004 deg, approach rate: -0.526340 m/s, LOS rate: 0.044883 deg/s, cmd heading: 8.592829 deg, new cmd heading: 8.642798 deg. 2025-10-24T20:20:53.076Z,1761337253.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150845 target range: 18.698933 and range: 18.80 m. 2025-10-24T20:20:53.131Z,1761337253.131 [DAT](INFO): DAT read: Rx Time:20:20:52.0179 2025-10-24T20:20:53.131Z,1761337253.131 [DAT](INFO): Rx dataTimestamp_ set to:1761337253.131029 2025-10-24T20:20:53.133Z,1761337253.133 [DAT](INFO): DAT read: Bearing 1.6, -1.2 (Local) 2025-10-24T20:20:53.134Z,1761337253.134 [DAT](INFO): Local bearing/azimuth received: Bearing 1.6, -1.2 (Local) 2025-10-24T20:20:53.138Z,1761337253.138 [DAT](INFO): DAT read: Range 10 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4 2025-10-24T20:20:53.156Z,1761337253.156 [DAT](INFO): DAT read: 20:20:52.0179 LVL= 20112, 30897, 19698, 32755, AGC= 56, IDX= 503,-0.23, 2.791, 1.398, 2.798, 2.592, PHS= 0.287,-1.147, 0.203, RAW= 147.0, 9.5, CAL= 148.4, 1.2, ROT= 1.6, -1.2 2025-10-24T20:20:53.157Z,1761337253.157 [DAT](INFO): got valid direction response: 20:20:52.0179 LVL= 20112, 30897, 19698, 32755, AGC= 56, IDX= 503,-0.23, 2.791, 1.398, 2.798, 2.592, PHS= 0.287,-1.147, 0.203, RAW= 147.0, 9.5, CAL= 148.4, 1.2, ROT= 1.6, -1.2 2025-10-24T20:20:53.157Z,1761337253.157 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-24T20:20:53.158Z,1761337253.158 [DAT](INFO): direction in FSK: [0.999391,0.027916,0.020942] 2025-10-24T20:20:53.159Z,1761337253.159 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:53.172Z,1761337253.172 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.066380 2025-10-24T20:20:53.385Z,1761337253.385 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.278591 2025-10-24T20:20:53.469Z,1761337253.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990867,-0.130544,0.033770],[0.133635,0.984128,-0.116761],[-0.017991,0.120208,0.992586]] 2025-10-24T20:20:53.599Z,1761337253.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.505211 s, deltaX: -0.199999 m, approachRate: -0.395872 m/s, rangeRepo size: 4 2025-10-24T20:20:53.617Z,1761337253.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.500015 m, bearing: 9.124715 deg, lat: 36.779652 deg, lon: -121.859499 deg, deltaT: 0.505211 s, deltaX: -0.198917 m, approachRate: -0.393731 m/s, posRepo size: 4 2025-10-24T20:20:53.618Z,1761337253.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m. 2025-10-24T20:20:53.628Z,1761337253.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.500015 m, nav range: 18.197939 m, bearing: 8.651172 deg, approach rate: 0.000000 m/s, LOS rate: 0.044883 deg/s, cmd heading: 8.642798 deg, new cmd heading: 8.714128 deg. 2025-10-24T20:20:53.629Z,1761337253.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152090 target range: 18.500015 and range: 18.60 m. 2025-10-24T20:20:53.634Z,1761337253.634 [DAT](INFO): DAT read: Rx Time:20:20:52.5178 2025-10-24T20:20:53.634Z,1761337253.634 [DAT](INFO): Rx dataTimestamp_ set to:1761337253.633969 2025-10-24T20:20:53.636Z,1761337253.636 [DAT](INFO): DAT read: Bearing 0.3, -0.2 (Local) 2025-10-24T20:20:53.636Z,1761337253.636 [DAT](INFO): Local bearing/azimuth received: Bearing 0.3, -0.2 (Local) 2025-10-24T20:20:53.638Z,1761337253.638 [DAT](INFO): DAT read: Range 10 to 50 : 18.5 m (trip time 12.3 ms) speed 0.4 2025-10-24T20:20:53.643Z,1761337253.643 [DAT](INFO): DAT read: 20:20:52.5178 LVL= 21840, 32753, 21314, 32755, AGC= 58, IDX= 502, 0.03,-0.453,-1.902,-0.394,-0.654, PHS= 0.290,-1.201, 0.258, RAW= 148.9, 8.9, CAL= 149.7, 0.2, ROT= 0.3, -0.2 2025-10-24T20:20:53.644Z,1761337253.644 [DAT](INFO): got valid direction response: 20:20:52.5178 LVL= 21840, 32753, 21314, 32755, AGC= 58, IDX= 502, 0.03,-0.453,-1.902,-0.394,-0.654, PHS= 0.290,-1.201, 0.258, RAW= 148.9, 8.9, CAL= 149.7, 0.2, ROT= 0.3, -0.2 2025-10-24T20:20:53.645Z,1761337253.645 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-24T20:20:53.646Z,1761337253.646 [DAT](INFO): direction in FSK: [0.999980,0.005236,0.003491] 2025-10-24T20:20:53.646Z,1761337253.646 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:53.663Z,1761337253.663 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.557365 2025-10-24T20:20:53.886Z,1761337253.886 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.779915 2025-10-24T20:20:54.038Z,1761337254.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989653,-0.139654,0.032932],[0.142630,0.982508,-0.119729],[-0.015635,0.123187,0.992260]] 2025-10-24T20:20:54.138Z,1761337254.138 [DAT](INFO): DAT read: Rx Time:20:20:53.0176 2025-10-24T20:20:54.138Z,1761337254.138 [DAT](INFO): Rx dataTimestamp_ set to:1761337254.137721 2025-10-24T20:20:54.139Z,1761337254.139 [DAT](INFO): DAT read: Bearing 359.2, 0.8 (Local) 2025-10-24T20:20:54.140Z,1761337254.140 [DAT](INFO): Local bearing/azimuth received: Bearing 359.2, 0.8 (Local) 2025-10-24T20:20:54.142Z,1761337254.142 [DAT](INFO): DAT read: Range 10 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 2025-10-24T20:20:54.147Z,1761337254.147 [DAT](INFO): DAT read: 20:20:53.0176 LVL= 22448, 31377, 21394, 32755, AGC= 56, IDX= 499, 0.31,-0.520,-1.976,-0.428,-0.730, PHS= 0.298,-1.200, 0.299, RAW= 150.0, 8.1, CAL= 150.8, -0.8, ROT= 359.2, 0.8 2025-10-24T20:20:54.149Z,1761337254.149 [DAT](INFO): got valid direction response: 20:20:53.0176 LVL= 22448, 31377, 21394, 32755, AGC= 56, IDX= 499, 0.31,-0.520,-1.976,-0.428,-0.730, PHS= 0.298,-1.200, 0.299, RAW= 150.0, 8.1, CAL= 150.8, -0.8, ROT= 359.2, 0.8 2025-10-24T20:20:54.149Z,1761337254.149 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-24T20:20:54.150Z,1761337254.150 [DAT](INFO): direction in FSK: [0.999805,-0.013961,-0.013962] 2025-10-24T20:20:54.150Z,1761337254.150 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:54.155Z,1761337254.155 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.049149 2025-10-24T20:20:54.159Z,1761337254.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 1.006692 s, deltaX: -0.400000 m, approachRate: -0.397341 m/s, rangeRepo size: 4 2025-10-24T20:20:54.162Z,1761337254.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.400553 m, bearing: 8.474180 deg, lat: 36.779652 deg, lon: -121.859499 deg, deltaT: 0.502940 s, deltaX: -0.099463 m, approachRate: -0.197762 m/s, posRepo size: 4 2025-10-24T20:20:54.162Z,1761337254.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m. 2025-10-24T20:20:54.173Z,1761337254.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.400553 m, nav range: 17.981297 m, bearing: 8.672672 deg, approach rate: 0.000000 m/s, LOS rate: 0.044883 deg/s, cmd heading: 8.714128 deg, new cmd heading: 8.789499 deg. 2025-10-24T20:20:54.174Z,1761337254.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153406 target range: 18.400553 and range: 18.20 m. 2025-10-24T20:20:54.391Z,1761337254.391 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.285122 2025-10-24T20:20:54.478Z,1761337254.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989020,-0.144262,0.032048],[0.147107,0.981753,-0.120502],[-0.014079,0.123894,0.992196]] 2025-10-24T20:20:54.566Z,1761337254.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.40 m. 2025-10-24T20:20:54.574Z,1761337254.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.400553 m, nav range: 17.756475 m, bearing: 8.765009 deg, approach rate: -0.550438 m/s, LOS rate: 0.228933 deg/s, cmd heading: 8.789500 deg, new cmd heading: 9.070014 deg. 2025-10-24T20:20:54.574Z,1761337254.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158302 target range: 18.400553 and range: 18.20 m. 2025-10-24T20:20:54.642Z,1761337254.642 [DAT](INFO): DAT read: Rx Time:20:20:53.5175 2025-10-24T20:20:54.643Z,1761337254.643 [DAT](INFO): Rx dataTimestamp_ set to:1761337254.642571 2025-10-24T20:20:54.646Z,1761337254.646 [DAT](INFO): DAT read: Bearing 358.4, -0.4 (Local) 2025-10-24T20:20:54.646Z,1761337254.646 [DAT](INFO): Local bearing/azimuth received: Bearing 358.4, -0.4 (Local) 2025-10-24T20:20:54.650Z,1761337254.650 [DAT](INFO): DAT read: Range 10 to 50 : 18.0 m (trip time 12.0 ms) speed 0.4 2025-10-24T20:20:54.662Z,1761337254.662 [DAT](INFO): DAT read: 20:20:53.5175 LVL= 21808, 32753, 22898, 32755, AGC= 57, IDX= 499,-0.29,-1.127,-2.535,-1.001,-1.284, PHS= 0.244,-1.204, 0.280, RAW= 151.2, 9.3, CAL= 151.6, 0.4, ROT= 358.4, -0.4 2025-10-24T20:20:54.663Z,1761337254.663 [DAT](INFO): got valid direction response: 20:20:53.5175 LVL= 21808, 32753, 22898, 32755, AGC= 57, IDX= 499,-0.29,-1.127,-2.535,-1.001,-1.284, PHS= 0.244,-1.204, 0.280, RAW= 151.2, 9.3, CAL= 151.6, 0.4, ROT= 358.4, -0.4 2025-10-24T20:20:54.663Z,1761337254.663 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-24T20:20:54.676Z,1761337254.676 [DAT](INFO): direction in FSK: [0.999586,-0.027921,0.006981] 2025-10-24T20:20:54.677Z,1761337254.677 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:54.687Z,1761337254.687 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.580986 2025-10-24T20:20:54.872Z,1761337254.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988478,-0.148173,0.030912],[0.150841,0.981250,-0.119978],[-0.012555,0.123258,0.992295]] 2025-10-24T20:20:54.894Z,1761337254.894 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.787598 2025-10-24T20:20:54.990Z,1761337254.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504850 s, deltaX: -0.200001 m, approachRate: -0.396159 m/s, rangeRepo size: 4 2025-10-24T20:20:54.996Z,1761337254.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.903229 m, bearing: 7.039210 deg, lat: 36.779656 deg, lon: -121.859501 deg, deltaT: 1.008602 s, deltaX: -0.497324 m, approachRate: -0.493082 m/s, posRepo size: 4 2025-10-24T20:20:55.000Z,1761337255.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-24T20:20:55.003Z,1761337255.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.903229 m, nav range: 17.900906 m, bearing: 8.294520 deg, approach rate: 0.000000 m/s, LOS rate: 0.228933 deg/s, cmd heading: 9.070014 deg, new cmd heading: 9.360535 deg. 2025-10-24T20:20:55.003Z,1761337255.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163372 target range: 17.903229 and range: 18.00 m. 2025-10-24T20:20:55.146Z,1761337255.146 [DAT](INFO): DAT read: Rx Time:20:20:54.0172 2025-10-24T20:20:55.146Z,1761337255.146 [DAT](INFO): Rx dataTimestamp_ set to:1761337255.145770 2025-10-24T20:20:55.148Z,1761337255.148 [DAT](INFO): DAT read: Bearing 357.2, 0.5 (Local) 2025-10-24T20:20:55.148Z,1761337255.148 [DAT](INFO): Local bearing/azimuth received: Bearing 357.2, 0.5 (Local) 2025-10-24T20:20:55.151Z,1761337255.151 [DAT](INFO): DAT read: Range 10 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 2025-10-24T20:20:55.155Z,1761337255.155 [DAT](INFO): DAT read: 20:20:54.0172 LVL= 20176, 32625, 19634, 32755, AGC= 56, IDX= 496,-0.06,-1.848, 3.030,-1.684,-2.005, PHS= 0.245,-1.201, 0.319, RAW= 152.5, 8.6, CAL= 152.8, -0.5, ROT= 357.2, 0.5 2025-10-24T20:20:55.157Z,1761337255.157 [DAT](INFO): got valid direction response: 20:20:54.0172 LVL= 20176, 32625, 19634, 32755, AGC= 56, IDX= 496,-0.06,-1.848, 3.030,-1.684,-2.005, PHS= 0.245,-1.201, 0.319, RAW= 152.5, 8.6, CAL= 152.8, -0.5, ROT= 357.2, 0.5 2025-10-24T20:20:55.157Z,1761337255.157 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-24T20:20:55.158Z,1761337255.158 [DAT](INFO): direction in FSK: [0.998768,-0.048848,-0.008727] 2025-10-24T20:20:55.158Z,1761337255.158 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:55.181Z,1761337255.181 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.075359 2025-10-24T20:20:55.256Z,1761337255.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987918,-0.151998,0.030253],[0.154567,0.980563,-0.120851],[-0.011296,0.124067,0.992210]] 2025-10-24T20:20:55.309Z,1761337255.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503199 s, deltaX: -0.400000 m, approachRate: -0.794913 m/s, rangeRepo size: 4 2025-10-24T20:20:55.311Z,1761337255.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.505379 m, bearing: 6.175240 deg, lat: 36.779656 deg, lon: -121.859502 deg, deltaT: 0.503199 s, deltaX: -0.397850 m, approachRate: -0.790642 m/s, posRepo size: 4 2025-10-24T20:20:55.311Z,1761337255.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-24T20:20:55.318Z,1761337255.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.505379 m, nav range: 17.707285 m, bearing: 7.897515 deg, approach rate: 0.000000 m/s, LOS rate: 0.228933 deg/s, cmd heading: 9.360535 deg, new cmd heading: 9.576403 deg. 2025-10-24T20:20:55.319Z,1761337255.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167140 target range: 17.505379 and range: 17.60 m. 2025-10-24T20:20:55.398Z,1761337255.398 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.292091 2025-10-24T20:20:55.650Z,1761337255.650 [DAT](INFO): DAT read: Rx Time:20:20:54.5170 2025-10-24T20:20:55.650Z,1761337255.650 [DAT](INFO): Rx dataTimestamp_ set to:1761337255.649896 2025-10-24T20:20:55.651Z,1761337255.651 [DAT](INFO): DAT read: Bearing 355.8, 1.4 (Local) 2025-10-24T20:20:55.652Z,1761337255.652 [DAT](INFO): Local bearing/azimuth received: Bearing 355.8, 1.4 (Local) 2025-10-24T20:20:55.654Z,1761337255.654 [DAT](INFO): DAT read: Range 10 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4 2025-10-24T20:20:55.659Z,1761337255.659 [DAT](INFO): DAT read: 20:20:54.5170 LVL= 22816, 32753, 20210, 32755, AGC= 57, IDX= 510, 0.14,-0.053,-1.486, 0.154,-0.221, PHS= 0.256,-1.219, 0.372, RAW= 153.7, 7.7, CAL= 154.2, -1.4, ROT= 355.8, 1.4 2025-10-24T20:20:55.660Z,1761337255.660 [DAT](INFO): got valid direction response: 20:20:54.5170 LVL= 22816, 32753, 20210, 32755, AGC= 57, IDX= 510, 0.14,-0.053,-1.486, 0.154,-0.221, PHS= 0.256,-1.219, 0.372, RAW= 153.7, 7.7, CAL= 154.2, -1.4, ROT= 355.8, 1.4 2025-10-24T20:20:55.661Z,1761337255.661 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-24T20:20:55.661Z,1761337255.661 [DAT](INFO): direction in FSK: [0.997017,-0.073217,-0.024432] 2025-10-24T20:20:55.662Z,1761337255.662 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:55.667Z,1761337255.667 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.561783 2025-10-24T20:20:55.698Z,1761337255.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987514,-0.154842,0.028995],[0.157231,0.980177,-0.120548],[-0.009755,0.123601,0.992284]] 2025-10-24T20:20:55.828Z,1761337255.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504126 s, deltaX: -0.300001 m, approachRate: -0.595092 m/s, rangeRepo size: 4 2025-10-24T20:20:55.830Z,1761337255.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.207018 m, bearing: 5.049937 deg, lat: 36.779656 deg, lon: -121.859505 deg, deltaT: 0.504126 s, deltaX: -0.298361 m, approachRate: -0.591838 m/s, posRepo size: 4 2025-10-24T20:20:55.831Z,1761337255.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-24T20:20:55.838Z,1761337255.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.207018 m, nav range: 17.416889 m, bearing: 7.287936 deg, approach rate: 0.000000 m/s, LOS rate: 0.228933 deg/s, cmd heading: 9.576403 deg, new cmd heading: 9.933058 deg. 2025-10-24T20:20:55.839Z,1761337255.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173365 target range: 17.207018 and range: 17.30 m. 2025-10-24T20:20:55.904Z,1761337255.904 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.797291 2025-10-24T20:20:56.153Z,1761337256.153 [DAT](INFO): DAT read: Rx Time:20:20:55.0168 2025-10-24T20:20:56.154Z,1761337256.154 [DAT](INFO): Rx dataTimestamp_ set to:1761337256.153629 2025-10-24T20:20:56.155Z,1761337256.155 [DAT](INFO): DAT read: Bearing 355.5, 1.9 (Local) 2025-10-24T20:20:56.155Z,1761337256.155 [DAT](INFO): Local bearing/azimuth received: Bearing 355.5, 1.9 (Local) 2025-10-24T20:20:56.158Z,1761337256.158 [DAT](INFO): DAT read: Range 10 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 2025-10-24T20:20:56.163Z,1761337256.163 [DAT](INFO): DAT read: 20:20:55.0168 LVL= 21360, 32753, 20450, 32755, AGC= 57, IDX= 507, 0.36,-0.346,-1.779,-0.132,-0.524, PHS= 0.266,-1.208, 0.389, RAW= 154.0, 7.2, CAL= 154.5, -1.9, ROT= 355.5, 1.9 2025-10-24T20:20:56.164Z,1761337256.164 [DAT](INFO): got valid direction response: 20:20:55.0168 LVL= 21360, 32753, 20450, 32755, AGC= 57, IDX= 507, 0.36,-0.346,-1.779,-0.132,-0.524, PHS= 0.266,-1.208, 0.389, RAW= 154.0, 7.2, CAL= 154.5, -1.9, ROT= 355.5, 1.9 2025-10-24T20:20:56.165Z,1761337256.165 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-24T20:20:56.166Z,1761337256.166 [DAT](INFO): direction in FSK: [0.996369,-0.078416,-0.033155] 2025-10-24T20:20:56.166Z,1761337256.166 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:56.192Z,1761337256.192 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.081795 2025-10-24T20:20:56.243Z,1761337256.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503733 s, deltaX: -0.299999 m, approachRate: -0.595552 m/s, rangeRepo size: 4 2025-10-24T20:20:56.249Z,1761337256.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.908632 m, bearing: 4.813397 deg, lat: 36.779654 deg, lon: -121.859508 deg, deltaT: 0.503733 s, deltaX: -0.298386 m, approachRate: -0.592349 m/s, posRepo size: 4 2025-10-24T20:20:56.250Z,1761337256.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-24T20:20:56.257Z,1761337256.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.908632 m, nav range: 17.061104 m, bearing: 6.455431 deg, approach rate: 0.000000 m/s, LOS rate: 0.228933 deg/s, cmd heading: 9.933058 deg, new cmd heading: 10.221215 deg. 2025-10-24T20:20:56.264Z,1761337256.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178394 target range: 16.908632 and range: 17.00 m. 2025-10-24T20:20:56.411Z,1761337256.411 [DAT](INFO): DAT read: Rx Time:20:20:55.5167 2025-10-24T20:20:56.414Z,1761337256.414 [DAT](INFO): Rx dataTimestamp_ set to:1761337256.412910 2025-10-24T20:20:56.423Z,1761337256.423 [DAT](INFO): DAT read: Bearing 355.2, 1.0 (Local) 2025-10-24T20:20:56.425Z,1761337256.425 [DAT](INFO): Local bearing/azimuth received: Bearing 355.2, 1.0 (Local) 2025-10-24T20:20:56.470Z,1761337256.470 [DAT](INFO): DAT read: Range 10 to 50 : 16.8 m (trip time 11.2 ms) speed 0.5 2025-10-24T20:20:56.491Z,1761337256.491 [DAT](INFO): DAT read: 20:20:55.5167 LVL= 19824, 32753, 19698, 32755, AGC= 58, IDX= 507,-0.34,-0.441,-1.831,-0.210,-0.576, PHS= 0.223,-1.208, 0.363, RAW= 154.6, 8.3, CAL= 154.8, -1.0, ROT= 355.2, 1.0 2025-10-24T20:20:56.496Z,1761337256.496 [DAT](INFO): got valid direction response: 20:20:55.5167 LVL= 19824, 32753, 19698, 32755, AGC= 58, IDX= 507,-0.34,-0.441,-1.831,-0.210,-0.576, PHS= 0.223,-1.208, 0.363, RAW= 154.6, 8.3, CAL= 154.8, -1.0, ROT= 355.2, 1.0 2025-10-24T20:20:56.497Z,1761337256.497 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-24T20:20:56.498Z,1761337256.498 [DAT](INFO): direction in FSK: [0.996341,-0.083665,-0.017452] 2025-10-24T20:20:56.499Z,1761337256.499 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:56.534Z,1761337256.534 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.428535 2025-10-24T20:20:56.604Z,1761337256.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986747,-0.159960,0.027253],[0.162096,0.979396,-0.120448],[-0.007425,0.123269,0.992346]] 2025-10-24T20:20:56.659Z,1761337256.659 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.553108 2025-10-24T20:20:56.701Z,1761337256.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.259281 s, deltaX: -0.200001 m, approachRate: -0.771367 m/s, rangeRepo size: 4 2025-10-24T20:20:56.703Z,1761337256.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.709673 m, bearing: 4.687058 deg, lat: 36.779654 deg, lon: -121.859513 deg, deltaT: 0.259281 s, deltaX: -0.198959 m, approachRate: -0.767350 m/s, posRepo size: 4 2025-10-24T20:20:56.703Z,1761337256.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-24T20:20:56.710Z,1761337256.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.709673 m, nav range: 16.746140 m, bearing: 5.361339 deg, approach rate: 0.000000 m/s, LOS rate: 0.228933 deg/s, cmd heading: 10.221215 deg, new cmd heading: 10.532384 deg. 2025-10-24T20:20:56.711Z,1761337256.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183825 target range: 16.709673 and range: 16.80 m. 2025-10-24T20:20:56.912Z,1761337256.912 [DAT](INFO): DAT read: Rx Time:20:20:56.0165 2025-10-24T20:20:56.914Z,1761337256.914 [DAT](INFO): Rx dataTimestamp_ set to:1761337256.912788 2025-10-24T20:20:56.917Z,1761337256.917 [DAT](INFO): DAT read: Bearing 354.1, 1.2 (Local) 2025-10-24T20:20:56.918Z,1761337256.918 [DAT](INFO): Local bearing/azimuth received: Bearing 354.1, 1.2 (Local) 2025-10-24T20:20:56.920Z,1761337256.920 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.813686 2025-10-24T20:20:57.011Z,1761337257.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986397,-0.162246,0.026397],[0.164263,0.978934,-0.121267],[-0.006166,0.123954,0.992269]] 2025-10-24T20:20:57.087Z,1761337257.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:20:57.094Z,1761337257.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-24T20:20:57.101Z,1761337257.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.709673 m, nav range: 16.542255 m, bearing: 5.524583 deg, approach rate: -0.512170 m/s, LOS rate: 0.415132 deg/s, cmd heading: 10.532384 deg, new cmd heading: 11.028138 deg. 2025-10-24T20:20:57.102Z,1761337257.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192477 target range: 16.709673 and range: 16.80 m. 2025-10-24T20:20:57.165Z,1761337257.165 [DAT](INFO): DAT read: Range 10 to 50 : 16.4 m (trip time 10.9 ms) speed 0.6 2025-10-24T20:20:57.172Z,1761337257.172 [DAT](INFO): DAT read: 20:20:56.0165 LVL= 24016, 28465, 21570, 32755, AGC= 57, IDX= 504,-0.14,-0.806,-2.213,-0.533,-0.930, PHS= 0.211,-1.236, 0.394, RAW= 155.9, 8.2, CAL= 155.9, -1.2, ROT= 354.1, 1.2 2025-10-24T20:20:57.173Z,1761337257.173 [DAT](INFO): got valid direction response: 20:20:56.0165 LVL= 24016, 28465, 21570, 32755, AGC= 57, IDX= 504,-0.14,-0.806,-2.213,-0.533,-0.930, PHS= 0.211,-1.236, 0.394, RAW= 155.9, 8.2, CAL= 155.9, -1.2, ROT= 354.1, 1.2 2025-10-24T20:20:57.174Z,1761337257.174 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-24T20:20:57.175Z,1761337257.175 [DAT](INFO): direction in FSK: [0.994485,-0.102770,-0.020942] 2025-10-24T20:20:57.180Z,1761337257.180 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:57.186Z,1761337257.186 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.080490 2025-10-24T20:20:57.392Z,1761337257.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986213,-0.163527,0.025373],[0.165408,0.978731,-0.121349],[-0.004989,0.123873,0.992286]] 2025-10-24T20:20:57.425Z,1761337257.425 [DAT](INFO): DAT read: Rx Time:20:20:56.5164 2025-10-24T20:20:57.427Z,1761337257.427 [DAT](INFO): Rx dataTimestamp_ set to:1761337257.425802 2025-10-24T20:20:57.433Z,1761337257.434 [DAT](INFO): DAT read: Bearing 354.0, 1.6 (Local) 2025-10-24T20:20:57.435Z,1761337257.435 [DAT](INFO): Local bearing/azimuth received: Bearing 354.0, 1.6 (Local) 2025-10-24T20:20:57.477Z,1761337257.477 [DAT](INFO): DAT read: Range 10 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4 2025-10-24T20:20:57.503Z,1761337257.503 [DAT](INFO): DAT read: 20:20:56.5164 LVL= 22224, 30929, 19698, 32755, AGC= 56, IDX= 503, 0.06, 1.159,-0.267, 1.432, 1.019, PHS= 0.228,-1.239, 0.410, RAW= 155.8, 7.7, CAL= 156.0, -1.6, ROT= 354.0, 1.6 2025-10-24T20:20:57.512Z,1761337257.512 [DAT](INFO): got valid direction response: 20:20:56.5164 LVL= 22224, 30929, 19698, 32755, AGC= 56, IDX= 503, 0.06, 1.159,-0.267, 1.432, 1.019, PHS= 0.228,-1.239, 0.410, RAW= 155.8, 7.7, CAL= 156.0, -1.6, ROT= 354.0, 1.6 2025-10-24T20:20:57.513Z,1761337257.513 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-24T20:20:57.514Z,1761337257.514 [DAT](INFO): direction in FSK: [0.994134,-0.104488,-0.027922] 2025-10-24T20:20:57.515Z,1761337257.515 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:57.537Z,1761337257.537 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.431160 2025-10-24T20:20:57.541Z,1761337257.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 1.012892 s, deltaX: -0.599998 m, approachRate: -0.592362 m/s, rangeRepo size: 4 2025-10-24T20:20:57.543Z,1761337257.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.311794 m, bearing: 3.813122 deg, lat: 36.779654 deg, lon: -121.859514 deg, deltaT: 0.747818 s, deltaX: -0.397879 m, approachRate: -0.532053 m/s, posRepo size: 4 2025-10-24T20:20:57.549Z,1761337257.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-24T20:20:57.565Z,1761337257.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.311794 m, nav range: 16.317038 m, bearing: 5.312216 deg, approach rate: 0.000000 m/s, LOS rate: 0.415132 deg/s, cmd heading: 11.028138 deg, new cmd heading: 11.584866 deg. 2025-10-24T20:20:57.566Z,1761337257.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.202194 target range: 16.311794 and range: 16.20 m. 2025-10-24T20:20:57.669Z,1761337257.669 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.563416 2025-10-24T20:20:57.856Z,1761337257.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985429,-0.168365,0.024143],[0.170063,0.977695,-0.123250],[-0.002854,0.125560,0.992082]] 2025-10-24T20:20:57.927Z,1761337257.927 [DAT](INFO): DAT read: Rx Time:20:20:57.0162 2025-10-24T20:20:57.937Z,1761337257.937 [DAT](INFO): Rx dataTimestamp_ set to:1761337257.936131 2025-10-24T20:20:57.942Z,1761337257.942 [DAT](INFO): DAT read: Bearing 353.8, 1.9 (Local) 2025-10-24T20:20:57.943Z,1761337257.943 [DAT](INFO): Local bearing/azimuth received: Bearing 353.8, 1.9 (Local) 2025-10-24T20:20:57.965Z,1761337257.965 [DAT](INFO): DAT read: Range 10 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-24T20:20:57.978Z,1761337257.978 [DAT](INFO): DAT read: 20:20:57.0162 LVL= 21488, 30449, 19010, 32659, AGC= 57, IDX= 500, 0.27, 0.721,-0.729, 1.003, 0.572, PHS= 0.236,-1.255, 0.428, RAW= 156.0, 7.5, CAL= 156.2, -1.9, ROT= 353.8, 1.9 2025-10-24T20:20:57.979Z,1761337257.979 [DAT](INFO): got valid direction response: 20:20:57.0162 LVL= 21488, 30449, 19010, 32659, AGC= 57, IDX= 500, 0.27, 0.721,-0.729, 1.003, 0.572, PHS= 0.236,-1.255, 0.428, RAW= 156.0, 7.5, CAL= 156.2, -1.9, ROT= 353.8, 1.9 2025-10-24T20:20:57.988Z,1761337257.988 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-24T20:20:57.990Z,1761337257.990 [DAT](INFO): direction in FSK: [0.993604,-0.107940,-0.033155] 2025-10-24T20:20:57.991Z,1761337257.991 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:57.993Z,1761337257.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-24T20:20:57.995Z,1761337257.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.311794 m, nav range: 16.104359 m, bearing: 5.520234 deg, approach rate: -0.470484 m/s, LOS rate: 0.466249 deg/s, cmd heading: 11.584866 deg, new cmd heading: 12.217134 deg. 2025-10-24T20:20:58.005Z,1761337258.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.213229 target range: 16.311794 and range: 16.20 m. 2025-10-24T20:20:58.013Z,1761337258.013 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.907490 2025-10-24T20:20:58.174Z,1761337258.174 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.068363 2025-10-24T20:20:58.256Z,1761337258.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985050,-0.170633,0.023668],[0.172255,0.977236,-0.123846],[-0.001997,0.126072,0.992019]] 2025-10-24T20:20:58.301Z,1761337258.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.510329 s, deltaX: -0.300001 m, approachRate: -0.587858 m/s, rangeRepo size: 4 2025-10-24T20:20:58.303Z,1761337258.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.814484 m, bearing: 4.005894 deg, lat: 36.779654 deg, lon: -121.859515 deg, deltaT: 0.775403 s, deltaX: -0.497311 m, approachRate: -0.641358 m/s, posRepo size: 4 2025-10-24T20:20:58.303Z,1761337258.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-24T20:20:58.310Z,1761337258.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.814484 m, nav range: 15.875565 m, bearing: 5.400572 deg, approach rate: 0.000000 m/s, LOS rate: 0.466249 deg/s, cmd heading: 12.217135 deg, new cmd heading: 12.640622 deg. 2025-10-24T20:20:58.311Z,1761337258.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.220620 target range: 15.814484 and range: 15.90 m. 2025-10-24T20:20:58.430Z,1761337258.430 [DAT](INFO): DAT read: Rx Time:20:20:57.5161 2025-10-24T20:20:58.435Z,1761337258.435 [DAT](INFO): Rx dataTimestamp_ set to:1761337258.431277 2025-10-24T20:20:58.443Z,1761337258.443 [DAT](INFO): DAT read: Bearing 354.3, 1.2 (Local) 2025-10-24T20:20:58.451Z,1761337258.451 [DAT](INFO): Local bearing/azimuth received: Bearing 354.3, 1.2 (Local) 2025-10-24T20:20:58.489Z,1761337258.489 [DAT](INFO): DAT read: Range 10 to 50 : 15.8 m (trip time 10.5 ms) speed 0.6 2025-10-24T20:20:58.509Z,1761337258.509 [DAT](INFO): DAT read: 20:20:57.5161 LVL= 22096, 32753, 19346, 32755, AGC= 58, IDX= 500,-0.37,-0.122,-1.520, 0.142,-0.247, PHS= 0.213,-1.226, 0.387, RAW= 155.6, 8.2, CAL= 155.7, -1.2, ROT= 354.3, 1.2 2025-10-24T20:20:58.511Z,1761337258.511 [DAT](INFO): got valid direction response: 20:20:57.5161 LVL= 22096, 32753, 19346, 32755, AGC= 58, IDX= 500,-0.37,-0.122,-1.520, 0.142,-0.247, PHS= 0.213,-1.226, 0.387, RAW= 155.6, 8.2, CAL= 155.7, -1.2, ROT= 354.3, 1.2 2025-10-24T20:20:58.511Z,1761337258.511 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-24T20:20:58.512Z,1761337258.512 [DAT](INFO): direction in FSK: [0.994837,-0.099298,-0.020942] 2025-10-24T20:20:58.512Z,1761337258.512 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:58.529Z,1761337258.529 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.423222 2025-10-24T20:20:58.652Z,1761337258.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984406,-0.174355,0.023356],[0.175910,0.976368,-0.125541],[-0.000916,0.127692,0.991813]] 2025-10-24T20:20:58.677Z,1761337258.677 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.571270 2025-10-24T20:20:58.786Z,1761337258.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.495146 s, deltaX: -0.099999 m, approachRate: -0.201959 m/s, rangeRepo size: 4 2025-10-24T20:20:58.791Z,1761337258.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.715033 m, bearing: 4.630347 deg, lat: 36.779654 deg, lon: -121.859518 deg, deltaT: 0.495146 s, deltaX: -0.099451 m, approachRate: -0.200852 m/s, posRepo size: 4 2025-10-24T20:20:58.800Z,1761337258.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.72 m. 2025-10-24T20:20:58.803Z,1761337258.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.715033 m, nav range: 15.604446 m, bearing: 4.660466 deg, approach rate: 0.000000 m/s, LOS rate: 0.466249 deg/s, cmd heading: 12.640622 deg, new cmd heading: 13.325953 deg. 2025-10-24T20:20:58.808Z,1761337258.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232582 target range: 15.715033 and range: 15.80 m. 2025-10-24T20:20:58.943Z,1761337258.943 [DAT](INFO): DAT read: Rx Time:20:20:58.0159 2025-10-24T20:20:58.946Z,1761337258.946 [DAT](INFO): Rx dataTimestamp_ set to:1761337258.944472 2025-10-24T20:20:58.950Z,1761337258.950 [DAT](INFO): DAT read: Bearing 354.2, 1.0 (Local) 2025-10-24T20:20:58.951Z,1761337258.951 [DAT](INFO): Local bearing/azimuth received: Bearing 354.2, 1.0 (Local) 2025-10-24T20:20:58.962Z,1761337258.962 [DAT](INFO): DAT read: Range 10 to 50 : 15.5 m (trip time 10.3 ms) speed 0.5 2025-10-24T20:20:58.971Z,1761337258.971 [DAT](INFO): DAT read: 20:20:58.0159 LVL= 24976, 32753, 19538, 32755, AGC= 58, IDX= 497,-0.08,-1.318,-2.718,-1.047,-1.436, PHS= 0.206,-1.234, 0.386, RAW= 155.8, 8.4, CAL= 155.8, -1.0, ROT= 354.2, 1.0 2025-10-24T20:20:58.977Z,1761337258.977 [DAT](INFO): got valid direction response: 20:20:58.0159 LVL= 24976, 32753, 19538, 32755, AGC= 58, IDX= 497,-0.08,-1.318,-2.718,-1.047,-1.436, PHS= 0.206,-1.234, 0.386, RAW= 155.8, 8.4, CAL= 155.8, -1.0, ROT= 354.2, 1.0 2025-10-24T20:20:58.977Z,1761337258.977 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-24T20:20:58.978Z,1761337258.978 [DAT](INFO): direction in FSK: [0.994729,-0.101041,-0.017452] 2025-10-24T20:20:58.978Z,1761337258.978 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:58.994Z,1761337258.994 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.888279 2025-10-24T20:20:59.063Z,1761337259.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983870,-0.177391,0.023087],[0.178887,0.975622,-0.127124],[0.000027,0.129204,0.991618]] 2025-10-24T20:20:59.148Z,1761337259.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.513195 s, deltaX: -0.300000 m, approachRate: -0.584574 m/s, rangeRepo size: 4 2025-10-24T20:20:59.150Z,1761337259.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.416646 m, bearing: 4.681828 deg, lat: 36.779654 deg, lon: -121.859519 deg, deltaT: 0.513195 s, deltaX: -0.298387 m, approachRate: -0.581429 m/s, posRepo size: 4 2025-10-24T20:20:59.150Z,1761337259.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-24T20:20:59.161Z,1761337259.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.416646 m, nav range: 15.412748 m, bearing: 4.680846 deg, approach rate: 0.000000 m/s, LOS rate: 0.466249 deg/s, cmd heading: 13.325953 deg, new cmd heading: 13.820110 deg. 2025-10-24T20:20:59.162Z,1761337259.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241206 target range: 15.416646 and range: 15.50 m. 2025-10-24T20:20:59.182Z,1761337259.182 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.076202 2025-10-24T20:20:59.438Z,1761337259.438 [DAT](INFO): DAT read: Rx Time:20:20:58.5157 2025-10-24T20:20:59.441Z,1761337259.441 [DAT](INFO): Rx dataTimestamp_ set to:1761337259.438912 2025-10-24T20:20:59.449Z,1761337259.449 [DAT](INFO): DAT read: Bearing 354.4, 1.8 (Local) 2025-10-24T20:20:59.450Z,1761337259.450 [DAT](INFO): Local bearing/azimuth received: Bearing 354.4, 1.8 (Local) 2025-10-24T20:20:59.456Z,1761337259.456 [DAT](INFO): DAT read: Range 10 to 50 : 15.2 m (trip time 10.1 ms) speed 0.4 2025-10-24T20:20:59.494Z,1761337259.494 [DAT](INFO): DAT read: 20:20:58.5157 LVL= 22192, 32753, 19698, 32755, AGC= 56, IDX= 511, 0.14,-0.973,-2.404,-0.719,-1.129, PHS= 0.244,-1.228, 0.407, RAW= 155.2, 7.5, CAL= 155.6, -1.8, ROT= 354.4, 1.8 2025-10-24T20:20:59.518Z,1761337259.518 [DAT](INFO): got valid direction response: 20:20:58.5157 LVL= 22192, 32753, 19698, 32755, AGC= 56, IDX= 511, 0.14,-0.973,-2.404,-0.719,-1.129, PHS= 0.244,-1.228, 0.407, RAW= 155.2, 7.5, CAL= 155.6, -1.8, ROT= 354.4, 1.8 2025-10-24T20:20:59.519Z,1761337259.519 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-24T20:20:59.530Z,1761337259.530 [DAT](INFO): direction in FSK: [0.994736,-0.097535,-0.031411] 2025-10-24T20:20:59.530Z,1761337259.530 [DAT](INFO): publishing direction and range info 2025-10-24T20:20:59.560Z,1761337259.560 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.454498 2025-10-24T20:20:59.572Z,1761337259.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982923,-0.182520,0.023421],[0.184014,0.974279,-0.130075],[0.000923,0.132164,0.991228]] 2025-10-24T20:20:59.661Z,1761337259.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.494440 s, deltaX: -0.300000 m, approachRate: -0.606747 m/s, rangeRepo size: 4 2025-10-24T20:20:59.663Z,1761337259.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.118302 m, bearing: 5.289642 deg, lat: 36.779654 deg, lon: -121.859519 deg, deltaT: 0.494440 s, deltaX: -0.298344 m, approachRate: -0.603397 m/s, posRepo size: 4 2025-10-24T20:20:59.669Z,1761337259.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-24T20:20:59.671Z,1761337259.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.118302 m, nav range: 15.138947 m, bearing: 4.878279 deg, approach rate: 0.000000 m/s, LOS rate: 0.466249 deg/s, cmd heading: 13.820111 deg, new cmd heading: 14.549881 deg. 2025-10-24T20:20:59.676Z,1761337259.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253943 target range: 15.118302 and range: 15.20 m. 2025-10-24T20:20:59.685Z,1761337259.685 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.579300 2025-10-24T20:20:59.921Z,1761337259.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982032,-0.187285,0.023172],[0.188700,0.973093,-0.132224],[0.002215,0.134221,0.990949]] 2025-10-24T20:20:59.942Z,1761337259.942 [DAT](INFO): DAT read: Rx Time:20:20:59.0155 2025-10-24T20:20:59.945Z,1761337259.945 [DAT](INFO): Rx dataTimestamp_ set to:1761337259.942887 2025-10-24T20:20:59.950Z,1761337259.950 [DAT](INFO): DAT read: Bearing 354.3, 1.7 (Local) 2025-10-24T20:20:59.951Z,1761337259.951 [DAT](INFO): Local bearing/azimuth received: Bearing 354.3, 1.7 (Local) 2025-10-24T20:20:59.976Z,1761337259.976 [DAT](INFO): DAT read: Range 10 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4 2025-10-24T20:20:59.989Z,1761337259.989 [DAT](INFO): DAT read: 20:20:59.0155 LVL= 23824, 32497, 21570, 32755, AGC= 57, IDX= 508, 0.40,-2.874, 1.984,-2.613,-3.021, PHS= 0.235,-1.232, 0.405, RAW= 155.4, 7.6, CAL= 155.7, -1.7, ROT= 354.3, 1.7 2025-10-24T20:20:59.990Z,1761337259.990 [DAT](INFO): got valid direction response: 20:20:59.0155 LVL= 23824, 32497, 21570, 32755, AGC= 57, IDX= 508, 0.40,-2.874, 1.984,-2.613,-3.021, PHS= 0.235,-1.232, 0.405, RAW= 155.4, 7.6, CAL= 155.7, -1.7, ROT= 354.3, 1.7 2025-10-24T20:20:59.990Z,1761337259.990 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-24T20:20:59.991Z,1761337259.991 [DAT](INFO): direction in FSK: [0.994618,-0.099276,-0.029666] 2025-10-24T20:20:59.000Z,1761337260.000 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:00.003Z,1761337260.003 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.897697 2025-10-24T20:21:00.029Z,1761337260.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503975 s, deltaX: -0.300000 m, approachRate: -0.595268 m/s, rangeRepo size: 4 2025-10-24T20:21:00.036Z,1761337260.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.819915 m, bearing: 5.455922 deg, lat: 36.779654 deg, lon: -121.859518 deg, deltaT: 0.503975 s, deltaX: -0.298388 m, approachRate: -0.592068 m/s, posRepo size: 4 2025-10-24T20:21:00.037Z,1761337260.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-24T20:21:00.044Z,1761337260.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.819915 m, nav range: 14.917166 m, bearing: 5.181826 deg, approach rate: 0.000000 m/s, LOS rate: 0.466249 deg/s, cmd heading: 14.549881 deg, new cmd heading: 15.064616 deg. 2025-10-24T20:21:00.045Z,1761337260.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262927 target range: 14.819915 and range: 14.90 m. 2025-10-24T20:21:00.189Z,1761337260.189 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.083515 2025-10-24T20:21:00.311Z,1761337260.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981012,-0.192549,0.023263],[0.193920,0.971708,-0.134828],[0.003357,0.136779,0.990596]] 2025-10-24T20:21:00.365Z,1761337260.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:00.367Z,1761337260.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-24T20:21:00.373Z,1761337260.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.819915 m, nav range: 14.729709 m, bearing: 5.320394 deg, approach rate: -0.554672 m/s, LOS rate: 0.415228 deg/s, cmd heading: 15.064616 deg, new cmd heading: 15.485600 deg. 2025-10-24T20:21:00.374Z,1761337260.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270275 target range: 14.819915 and range: 14.90 m. 2025-10-24T20:21:00.449Z,1761337260.449 [DAT](INFO): DAT read: Rx Time:20:20:59.5154 2025-10-24T20:21:00.451Z,1761337260.451 [DAT](INFO): Rx dataTimestamp_ set to:1761337260.449703 2025-10-24T20:21:00.455Z,1761337260.455 [DAT](INFO): DAT read: Bearing 354.8, 1.1 (Local) 2025-10-24T20:21:00.455Z,1761337260.455 [DAT](INFO): Local bearing/azimuth received: Bearing 354.8, 1.1 (Local) 2025-10-24T20:21:00.497Z,1761337260.497 [DAT](INFO): DAT read: Range 10 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 2025-10-24T20:21:00.544Z,1761337260.544 [DAT](INFO): DAT read: 20:20:59.5154 LVL= 22992, 32753, 19570, 32755, AGC= 57, IDX= 508,-0.21, 2.039, 0.646, 2.283, 1.906, PHS= 0.221,-1.212, 0.375, RAW= 155.0, 8.2, CAL= 155.2, -1.1, ROT= 354.8, 1.1 2025-10-24T20:21:00.546Z,1761337260.546 [DAT](INFO): got valid direction response: 20:20:59.5154 LVL= 22992, 32753, 19570, 32755, AGC= 57, IDX= 508,-0.21, 2.039, 0.646, 2.283, 1.906, PHS= 0.221,-1.212, 0.375, RAW= 155.0, 8.2, CAL= 155.2, -1.1, ROT= 354.8, 1.1 2025-10-24T20:21:00.546Z,1761337260.546 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-24T20:21:00.547Z,1761337260.547 [DAT](INFO): direction in FSK: [0.995701,-0.090616,-0.019197] 2025-10-24T20:21:00.552Z,1761337260.552 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:00.573Z,1761337260.573 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.466801 2025-10-24T20:21:00.693Z,1761337260.693 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.587116 2025-10-24T20:21:00.710Z,1761337260.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979712,-0.199014,0.023621],[0.200358,0.969927,-0.138197],[0.004593,0.140126,0.990123]] 2025-10-24T20:21:00.811Z,1761337260.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.506816 s, deltaX: -0.200000 m, approachRate: -0.394620 m/s, rangeRepo size: 4 2025-10-24T20:21:00.818Z,1761337260.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.620951 m, bearing: 6.563332 deg, lat: 36.779654 deg, lon: -121.859517 deg, deltaT: 0.506816 s, deltaX: -0.198964 m, approachRate: -0.392577 m/s, posRepo size: 4 2025-10-24T20:21:00.819Z,1761337260.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-24T20:21:00.825Z,1761337260.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.620951 m, nav range: 14.552094 m, bearing: 5.649470 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 15.485600 deg, new cmd heading: 16.038610 deg. 2025-10-24T20:21:00.826Z,1761337260.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279927 target range: 14.620951 and range: 14.70 m. 2025-10-24T20:21:00.951Z,1761337260.951 [DAT](INFO): DAT read: Rx Time:20:21:00.0151 2025-10-24T20:21:00.954Z,1761337260.954 [DAT](INFO): Rx dataTimestamp_ set to:1761337260.953480 2025-10-24T20:21:00.956Z,1761337260.956 [DAT](INFO): DAT read: Bearing 354.3, 1.5 (Local) 2025-10-24T20:21:00.956Z,1761337260.956 [DAT](INFO): Local bearing/azimuth received: Bearing 354.3, 1.5 (Local) 2025-10-24T20:21:00.958Z,1761337260.958 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-24T20:21:00.969Z,1761337260.969 [DAT](INFO): DAT read: 20:21:00.0151 LVL= 24240, 32753, 19874, 32755, AGC= 58, IDX= 505, 0.02, 1.499, 0.083, 1.763, 1.360, PHS= 0.228,-1.230, 0.400, RAW= 155.5, 7.8, CAL= 155.7, -1.5, ROT= 354.3, 1.5 2025-10-24T20:21:00.971Z,1761337260.971 [DAT](INFO): got valid direction response: 20:21:00.0151 LVL= 24240, 32753, 19874, 32755, AGC= 58, IDX= 505, 0.02, 1.499, 0.083, 1.763, 1.360, PHS= 0.228,-1.230, 0.400, RAW= 155.5, 7.8, CAL= 155.7, -1.5, ROT= 354.3, 1.5 2025-10-24T20:21:00.971Z,1761337260.971 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-24T20:21:00.979Z,1761337260.979 [DAT](INFO): direction in FSK: [0.994715,-0.099286,-0.026177] 2025-10-24T20:21:00.979Z,1761337260.979 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:00.983Z,1761337260.983 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.877384 2025-10-24T20:21:01.130Z,1761337261.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978376,-0.205406,0.024248],[0.206756,0.968077,-0.141700],[0.005632,0.143649,0.989613]] 2025-10-24T20:21:01.198Z,1761337261.198 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.091656 2025-10-24T20:21:01.235Z,1761337261.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503777 s, deltaX: -0.400000 m, approachRate: -0.794001 m/s, rangeRepo size: 4 2025-10-24T20:21:01.241Z,1761337261.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.223102 m, bearing: 6.506962 deg, lat: 36.779654 deg, lon: -121.859517 deg, deltaT: 0.503777 s, deltaX: -0.397849 m, approachRate: -0.789733 m/s, posRepo size: 4 2025-10-24T20:21:01.241Z,1761337261.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-24T20:21:01.249Z,1761337261.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.223102 m, nav range: 14.290930 m, bearing: 5.784665 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 16.038611 deg, new cmd heading: 16.565925 deg. 2025-10-24T20:21:01.250Z,1761337261.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289130 target range: 14.223102 and range: 14.30 m. 2025-10-24T20:21:01.454Z,1761337261.454 [DAT](INFO): DAT read: Rx Time:20:21:00.5151 2025-10-24T20:21:01.455Z,1761337261.455 [DAT](INFO): Rx dataTimestamp_ set to:1761337261.454547 2025-10-24T20:21:01.457Z,1761337261.457 [DAT](INFO): DAT read: Bearing 353.6, 1.9 (Local) 2025-10-24T20:21:01.457Z,1761337261.457 [DAT](INFO): Local bearing/azimuth received: Bearing 353.6, 1.9 (Local) 2025-10-24T20:21:01.459Z,1761337261.459 [DAT](INFO): DAT read: Range 10 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-24T20:21:01.465Z,1761337261.465 [DAT](INFO): DAT read: 20:21:00.5151 LVL= 24048, 30305, 20530, 32755, AGC= 58, IDX= 504, 0.25, 3.085, 1.664,-2.915, 2.942, PHS= 0.230,-1.231, 0.423, RAW= 156.1, 7.4, CAL= 156.4, -1.9, ROT= 353.6, 1.9 2025-10-24T20:21:01.466Z,1761337261.466 [DAT](INFO): got valid direction response: 20:21:00.5151 LVL= 24048, 30305, 20530, 32755, AGC= 58, IDX= 504, 0.25, 3.085, 1.664,-2.915, 2.942, PHS= 0.230,-1.231, 0.423, RAW= 156.1, 7.4, CAL= 156.4, -1.9, ROT= 353.6, 1.9 2025-10-24T20:21:01.466Z,1761337261.466 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-24T20:21:01.467Z,1761337261.467 [DAT](INFO): direction in FSK: [0.993222,-0.111407,-0.033155] 2025-10-24T20:21:01.468Z,1761337261.468 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:01.484Z,1761337261.484 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.378666 2025-10-24T20:21:01.581Z,1761337261.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976668,-0.213330,0.024698],[0.214645,0.966015,-0.144024],[0.006867,0.145965,0.989266]] 2025-10-24T20:21:01.701Z,1761337261.701 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.595570 2025-10-24T20:21:01.705Z,1761337261.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.501067 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:01.707Z,1761337261.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.223089 m, bearing: 6.340848 deg, lat: 36.779654 deg, lon: -121.859516 deg, deltaT: 0.501067 s, deltaX: -0.000012 m, approachRate: -0.000025 m/s, posRepo size: 4 2025-10-24T20:21:01.717Z,1761337261.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-24T20:21:01.722Z,1761337261.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.223089 m, nav range: 14.069864 m, bearing: 6.404433 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 16.565925 deg, new cmd heading: 17.152513 deg. 2025-10-24T20:21:01.722Z,1761337261.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299368 target range: 14.223089 and range: 14.30 m. 2025-10-24T20:21:01.955Z,1761337261.955 [DAT](INFO): DAT read: Rx Time:20:21:01.0148 2025-10-24T20:21:01.959Z,1761337261.959 [DAT](INFO): Rx dataTimestamp_ set to:1761337261.955438 2025-10-24T20:21:01.962Z,1761337261.962 [DAT](INFO): DAT read: Bearing 352.9, 1.5 (Local) 2025-10-24T20:21:01.962Z,1761337261.962 [DAT](INFO): Local bearing/azimuth received: Bearing 352.9, 1.5 (Local) 2025-10-24T20:21:01.966Z,1761337261.966 [DAT](INFO): DAT read: Range 10 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 2025-10-24T20:21:01.978Z,1761337261.978 [DAT](INFO): DAT read: 20:21:01.0148 LVL= 24256, 31041, 22002, 32755, AGC= 58, IDX= 502,-0.32, 0.751,-0.641, 1.068, 0.642, PHS= 0.197,-1.236, 0.423, RAW= 157.2, 8.0, CAL= 157.1, -1.5, ROT= 352.9, 1.5 2025-10-24T20:21:02.004Z,1761337262.004 [DAT](INFO): got valid direction response: 20:21:01.0148 LVL= 24256, 31041, 22002, 32755, AGC= 58, IDX= 502,-0.32, 0.751,-0.641, 1.068, 0.642, PHS= 0.197,-1.236, 0.423, RAW= 157.2, 8.0, CAL= 157.1, -1.5, ROT= 352.9, 1.5 2025-10-24T20:21:02.004Z,1761337262.004 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-24T20:21:02.005Z,1761337262.005 [DAT](INFO): direction in FSK: [0.991992,-0.123559,-0.026177] 2025-10-24T20:21:02.005Z,1761337262.005 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:02.015Z,1761337262.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974900,-0.221195,0.025366],[0.222506,0.963935,-0.146015],[0.007846,0.147995,0.988957]] 2025-10-24T20:21:02.017Z,1761337262.017 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.911552 2025-10-24T20:21:02.087Z,1761337262.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.500891 s, deltaX: -0.500000 m, approachRate: -0.998221 m/s, rangeRepo size: 4 2025-10-24T20:21:02.110Z,1761337262.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.725778 m, bearing: 6.056758 deg, lat: 36.779653 deg, lon: -121.859516 deg, deltaT: 0.500891 s, deltaX: -0.497312 m, approachRate: -0.992854 m/s, posRepo size: 4 2025-10-24T20:21:02.111Z,1761337262.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.73 m. 2025-10-24T20:21:02.122Z,1761337262.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.725778 m, nav range: 13.767566 m, bearing: 6.488077 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 17.152512 deg, new cmd heading: 17.627802 deg. 2025-10-24T20:21:02.123Z,1761337262.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307663 target range: 13.725778 and range: 13.80 m. 2025-10-24T20:21:02.206Z,1761337262.206 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.099880 2025-10-24T20:21:02.457Z,1761337262.457 [DAT](INFO): DAT read: Rx Time:20:21:01.5147 2025-10-24T20:21:02.458Z,1761337262.458 [DAT](INFO): Rx dataTimestamp_ set to:1761337262.457653 2025-10-24T20:21:02.459Z,1761337262.459 [DAT](INFO): DAT read: Bearing 351.9, 1.9 (Local) 2025-10-24T20:21:02.460Z,1761337262.460 [DAT](INFO): Local bearing/azimuth received: Bearing 351.9, 1.9 (Local) 2025-10-24T20:21:02.462Z,1761337262.462 [DAT](INFO): DAT read: Range 10 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-24T20:21:02.468Z,1761337262.468 [DAT](INFO): DAT read: 20:21:01.5147 LVL= 24304, 29809, 22162, 32755, AGC= 58, IDX= 501, 0.02, 2.780, 1.369, 3.134, 2.672, PHS= 0.196,-1.257, 0.459, RAW= 158.2, 7.6, CAL= 158.1, -1.9, ROT= 351.9, 1.9 2025-10-24T20:21:02.469Z,1761337262.469 [DAT](INFO): got valid direction response: 20:21:01.5147 LVL= 24304, 29809, 22162, 32755, AGC= 58, IDX= 501, 0.02, 2.780, 1.369, 3.134, 2.672, PHS= 0.196,-1.257, 0.459, RAW= 158.2, 7.6, CAL= 158.1, -1.9, ROT= 351.9, 1.9 2025-10-24T20:21:02.470Z,1761337262.470 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-24T20:21:02.476Z,1761337262.476 [DAT](INFO): direction in FSK: [0.989479,-0.140824,-0.033155] 2025-10-24T20:21:02.477Z,1761337262.477 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:02.490Z,1761337262.490 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.383591 2025-10-24T20:21:02.709Z,1761337262.709 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.603386 2025-10-24T20:21:02.767Z,1761337262.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.502215 s, deltaX: -0.100000 m, approachRate: -0.199119 m/s, rangeRepo size: 4 2025-10-24T20:21:02.777Z,1761337262.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.626319 m, bearing: 5.126544 deg, lat: 36.779654 deg, lon: -121.859516 deg, deltaT: 0.502215 s, deltaX: -0.099459 m, approachRate: -0.198040 m/s, posRepo size: 4 2025-10-24T20:21:02.778Z,1761337262.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m. 2025-10-24T20:21:02.789Z,1761337262.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.626319 m, nav range: 13.580766 m, bearing: 6.401552 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 17.627803 deg, new cmd heading: 18.474433 deg. 2025-10-24T20:21:02.798Z,1761337262.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322440 target range: 13.626319 and range: 13.70 m. 2025-10-24T20:21:02.961Z,1761337262.961 [DAT](INFO): DAT read: Rx Time:20:21:02.0145 2025-10-24T20:21:02.962Z,1761337262.962 [DAT](INFO): Rx dataTimestamp_ set to:1761337262.961586 2025-10-24T20:21:02.963Z,1761337262.963 [DAT](INFO): DAT read: Bearing 350.9, 2.4 (Local) 2025-10-24T20:21:02.963Z,1761337262.963 [DAT](INFO): Local bearing/azimuth received: Bearing 350.9, 2.4 (Local) 2025-10-24T20:21:02.967Z,1761337262.967 [DAT](INFO): DAT read: Range 10 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4 2025-10-24T20:21:02.978Z,1761337262.978 [DAT](INFO): DAT read: 20:21:02.0145 LVL= 26656, 30689, 21410, 32755, AGC= 58, IDX= 498, 0.38, 1.937, 0.536, 2.321, 1.829, PHS= 0.196,-1.246, 0.488, RAW= 159.1, 7.0, CAL= 159.1, -2.4, ROT= 350.9, 2.4 2025-10-24T20:21:02.979Z,1761337262.979 [DAT](INFO): got valid direction response: 20:21:02.0145 LVL= 26656, 30689, 21410, 32755, AGC= 58, IDX= 498, 0.38, 1.937, 0.536, 2.321, 1.829, PHS= 0.196,-1.246, 0.488, RAW= 159.1, 7.0, CAL= 159.1, -2.4, ROT= 350.9, 2.4 2025-10-24T20:21:02.988Z,1761337262.988 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-24T20:21:02.989Z,1761337262.989 [DAT](INFO): direction in FSK: [0.986548,-0.158020,-0.041876] 2025-10-24T20:21:02.990Z,1761337262.990 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:03.017Z,1761337263.017 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.911503 2025-10-24T20:21:03.111Z,1761337263.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968598,-0.247149,0.027120],[0.248364,0.956710,-0.151725],[0.011553,0.153696,0.988051]] 2025-10-24T20:21:03.207Z,1761337263.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.503933 s, deltaX: -0.300000 m, approachRate: -0.595318 m/s, rangeRepo size: 4 2025-10-24T20:21:03.213Z,1761337263.213 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.107094 2025-10-24T20:21:03.221Z,1761337263.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.327932 m, bearing: 5.759081 deg, lat: 36.779654 deg, lon: -121.859517 deg, deltaT: 0.503933 s, deltaX: -0.298387 m, approachRate: -0.592116 m/s, posRepo size: 4 2025-10-24T20:21:03.222Z,1761337263.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m. 2025-10-24T20:21:03.230Z,1761337263.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.327932 m, nav range: 13.312252 m, bearing: 5.925590 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 18.474432 deg, new cmd heading: 19.023189 deg. 2025-10-24T20:21:03.244Z,1761337263.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332017 target range: 13.327932 and range: 13.40 m. 2025-10-24T20:21:03.468Z,1761337263.468 [DAT](INFO): DAT read: Rx Time:20:21:02.5143 2025-10-24T20:21:03.468Z,1761337263.468 [DAT](INFO): Rx dataTimestamp_ set to:1761337263.467897 2025-10-24T20:21:03.469Z,1761337263.469 [DAT](INFO): DAT read: Bearing 349.4, 2.0 (Local) 2025-10-24T20:21:03.470Z,1761337263.470 [DAT](INFO): Local bearing/azimuth received: Bearing 349.4, 2.0 (Local) 2025-10-24T20:21:03.472Z,1761337263.472 [DAT](INFO): DAT read: Range 10 to 50 : 13.1 m (trip time 8.7 ms) speed 0.4 2025-10-24T20:21:03.477Z,1761337263.477 [DAT](INFO): DAT read: 20:21:02.5143 LVL= 26912, 32753, 20562, 32755, AGC= 58, IDX= 497,-0.12, 0.221,-1.151, 0.673, 0.165, PHS= 0.144,-1.270, 0.504, RAW= 161.1, 7.7, CAL= 160.6, -2.0, ROT= 349.4, 2.0 2025-10-24T20:21:03.478Z,1761337263.478 [DAT](INFO): got valid direction response: 20:21:02.5143 LVL= 26912, 32753, 20562, 32755, AGC= 58, IDX= 497,-0.12, 0.221,-1.151, 0.673, 0.165, PHS= 0.144,-1.270, 0.504, RAW= 161.1, 7.7, CAL= 160.6, -2.0, ROT= 349.4, 2.0 2025-10-24T20:21:03.478Z,1761337263.478 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-24T20:21:03.479Z,1761337263.479 [DAT](INFO): direction in FSK: [0.982337,-0.183839,-0.034899] 2025-10-24T20:21:03.480Z,1761337263.480 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:03.489Z,1761337263.489 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.383129 2025-10-24T20:21:03.495Z,1761337263.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966272,-0.256022,0.027788],[0.257210,0.954116,-0.153314],[0.012739,0.155290,0.987787]] 2025-10-24T20:21:03.619Z,1761337263.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.506311 s, deltaX: -0.299999 m, approachRate: -0.592520 m/s, rangeRepo size: 4 2025-10-24T20:21:03.621Z,1761337263.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.029562 m, bearing: 4.744863 deg, lat: 36.779654 deg, lon: -121.859517 deg, deltaT: 0.506311 s, deltaX: -0.298370 m, approachRate: -0.589303 m/s, posRepo size: 4 2025-10-24T20:21:03.622Z,1761337263.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-24T20:21:03.645Z,1761337263.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.029562 m, nav range: 13.075716 m, bearing: 5.707948 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 19.023188 deg, new cmd heading: 19.536221 deg. 2025-10-24T20:21:03.646Z,1761337263.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.340971 target range: 13.029562 and range: 13.10 m. 2025-10-24T20:21:03.722Z,1761337263.722 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.616146 2025-10-24T20:21:03.974Z,1761337263.974 [DAT](INFO): DAT read: Rx Time:20:21:03.0140 2025-10-24T20:21:03.974Z,1761337263.974 [DAT](INFO): Rx dataTimestamp_ set to:1761337263.973711 2025-10-24T20:21:03.975Z,1761337263.975 [DAT](INFO): DAT read: Bearing 348.2, 3.0 (Local) 2025-10-24T20:21:03.976Z,1761337263.976 [DAT](INFO): Local bearing/azimuth received: Bearing 348.2, 3.0 (Local) 2025-10-24T20:21:03.978Z,1761337263.978 [DAT](INFO): DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.5 2025-10-24T20:21:03.994Z,1761337263.994 [DAT](INFO): DAT read: 20:21:03.0140 LVL= 25456, 27585, 19298, 31811, AGC= 57, IDX= 510, 0.18, 1.064,-0.320, 1.550, 0.988, PHS= 0.164,-1.260, 0.559, RAW= 161.9, 6.5, CAL= 161.8, -3.0, ROT= 348.2, 3.0 2025-10-24T20:21:03.995Z,1761337263.995 [DAT](INFO): got valid direction response: 20:21:03.0140 LVL= 25456, 27585, 19298, 31811, AGC= 57, IDX= 510, 0.18, 1.064,-0.320, 1.550, 0.988, PHS= 0.164,-1.260, 0.559, RAW= 161.9, 6.5, CAL= 161.8, -3.0, ROT= 348.2, 3.0 2025-10-24T20:21:03.995Z,1761337263.995 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-24T20:21:04.001Z,1761337264.001 [DAT](INFO): direction in FSK: [0.977526,-0.204216,-0.052336] 2025-10-24T20:21:04.001Z,1761337264.001 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:04.011Z,1761337264.011 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.905449 2025-10-24T20:21:04.056Z,1761337264.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963682,-0.265520,0.028549],[0.266687,0.951276,-0.154764],[0.013935,0.156757,0.987539]] 2025-10-24T20:21:04.225Z,1761337264.225 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.119308 2025-10-24T20:21:04.240Z,1761337264.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.505814 s, deltaX: -0.500000 m, approachRate: -0.988506 m/s, rangeRepo size: 4 2025-10-24T20:21:04.242Z,1761337264.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.532250 m, bearing: 4.284635 deg, lat: 36.779654 deg, lon: -121.859519 deg, deltaT: 0.505814 s, deltaX: -0.497312 m, approachRate: -0.983191 m/s, posRepo size: 4 2025-10-24T20:21:04.242Z,1761337264.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:21:04.249Z,1761337264.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.532250 m, nav range: 12.709295 m, bearing: 4.943943 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 19.536221 deg, new cmd heading: 20.295231 deg. 2025-10-24T20:21:04.250Z,1761337264.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354219 target range: 12.532250 and range: 12.60 m. 2025-10-24T20:21:04.478Z,1761337264.478 [DAT](INFO): DAT read: Rx Time:20:21:03.5140 2025-10-24T20:21:04.478Z,1761337264.478 [DAT](INFO): Rx dataTimestamp_ set to:1761337264.478183 2025-10-24T20:21:04.480Z,1761337264.480 [DAT](INFO): DAT read: Bearing 346.8, 2.5 (Local) 2025-10-24T20:21:04.481Z,1761337264.481 [DAT](INFO): Local bearing/azimuth received: Bearing 346.8, 2.5 (Local) 2025-10-24T20:21:04.483Z,1761337264.483 [DAT](INFO): DAT read: Range 10 to 50 : 12.6 m (trip time 8.4 ms) speed 0.4 2025-10-24T20:21:04.493Z,1761337264.493 [DAT](INFO): DAT read: 20:21:03.5140 LVL= 30368, 31185, 18706, 32755, AGC= 58, IDX= 510,-0.40, 0.381,-0.965, 0.917, 0.349, PHS= 0.120,-1.267, 0.565, RAW= 163.5, 7.1, CAL= 163.2, -2.5, ROT= 346.8, 2.5 2025-10-24T20:21:04.494Z,1761337264.494 [DAT](INFO): got valid direction response: 20:21:03.5140 LVL= 30368, 31185, 18706, 32755, AGC= 58, IDX= 510,-0.40, 0.381,-0.965, 0.917, 0.349, PHS= 0.120,-1.267, 0.565, RAW= 163.5, 7.1, CAL= 163.2, -2.5, ROT= 346.8, 2.5 2025-10-24T20:21:04.494Z,1761337264.494 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-24T20:21:04.495Z,1761337264.495 [DAT](INFO): direction in FSK: [0.972652,-0.228134,-0.043619] 2025-10-24T20:21:04.502Z,1761337264.502 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:04.573Z,1761337264.573 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.433712 2025-10-24T20:21:04.638Z,1761337264.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958666,-0.282979,0.029705],[0.284069,0.945902,-0.156763],[0.016263,0.158722,0.987189]] 2025-10-24T20:21:04.729Z,1761337264.729 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.623169 2025-10-24T20:21:04.759Z,1761337264.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504472 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:04.766Z,1761337264.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.532251 m, bearing: 3.869375 deg, lat: 36.779654 deg, lon: -121.859520 deg, deltaT: 0.504472 s, deltaX: 0.000001 m, approachRate: 0.000002 m/s, posRepo size: 4 2025-10-24T20:21:04.767Z,1761337264.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-24T20:21:04.782Z,1761337264.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.532251 m, nav range: 12.444294 m, bearing: 4.439042 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 20.295231 deg, new cmd heading: 20.956142 deg. 2025-10-24T20:21:04.783Z,1761337264.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365754 target range: 12.532251 and range: 12.60 m. 2025-10-24T20:21:04.983Z,1761337264.983 [DAT](INFO): DAT read: Rx Time:20:21:04.0137 2025-10-24T20:21:04.983Z,1761337264.983 [DAT](INFO): Rx dataTimestamp_ set to:1761337264.982918 2025-10-24T20:21:04.985Z,1761337264.985 [DAT](INFO): DAT read: Bearing 344.9, 2.7 (Local) 2025-10-24T20:21:04.985Z,1761337264.985 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, 2.7 (Local) 2025-10-24T20:21:04.987Z,1761337264.987 [DAT](INFO): DAT read: Range 10 to 50 : 12.3 m (trip time 8.2 ms) speed 0.4 2025-10-24T20:21:04.997Z,1761337264.997 [DAT](INFO): DAT read: 20:21:04.0137 LVL= 26016, 27377, 17026, 32755, AGC= 57, IDX= 507,-0.10,-0.844,-2.151,-0.244,-0.846, PHS= 0.091,-1.258, 0.599, RAW= 165.4, 6.9, CAL= 165.1, -2.7, ROT= 344.9, 2.7 2025-10-24T20:21:04.998Z,1761337264.998 [DAT](INFO): got valid direction response: 20:21:04.0137 LVL= 26016, 27377, 17026, 32755, AGC= 57, IDX= 507,-0.10,-0.844,-2.151,-0.244,-0.846, PHS= 0.091,-1.258, 0.599, RAW= 165.4, 6.9, CAL= 165.1, -2.7, ROT= 344.9, 2.7 2025-10-24T20:21:04.999Z,1761337264.999 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-24T20:21:05.005Z,1761337265.005 [DAT](INFO): direction in FSK: [0.964401,-0.260215,-0.047106] 2025-10-24T20:21:05.005Z,1761337265.005 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:05.016Z,1761337265.016 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.909801 2025-10-24T20:21:05.233Z,1761337265.233 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.127209 2025-10-24T20:21:05.263Z,1761337265.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504735 s, deltaX: -0.300000 m, approachRate: -0.594372 m/s, rangeRepo size: 4 2025-10-24T20:21:05.278Z,1761337265.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.233865 m, bearing: 2.022645 deg, lat: 36.779654 deg, lon: -121.859521 deg, deltaT: 0.504735 s, deltaX: -0.298387 m, approachRate: -0.591175 m/s, posRepo size: 4 2025-10-24T20:21:05.278Z,1761337265.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-24T20:21:05.285Z,1761337265.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.233865 m, nav range: 12.160314 m, bearing: 3.872246 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 20.956142 deg, new cmd heading: 21.584077 deg. 2025-10-24T20:21:05.286Z,1761337265.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376713 target range: 12.233865 and range: 12.30 m. 2025-10-24T20:21:05.486Z,1761337265.486 [DAT](INFO): DAT read: Rx Time:20:21:04.5136 2025-10-24T20:21:05.486Z,1761337265.486 [DAT](INFO): Rx dataTimestamp_ set to:1761337265.485745 2025-10-24T20:21:05.487Z,1761337265.487 [DAT](INFO): DAT read: Bearing 344.6, 2.8 (Local) 2025-10-24T20:21:05.488Z,1761337265.488 [DAT](INFO): Local bearing/azimuth received: Bearing 344.6, 2.8 (Local) 2025-10-24T20:21:05.490Z,1761337265.490 [DAT](INFO): DAT read: Range 10 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5 2025-10-24T20:21:05.496Z,1761337265.496 [DAT](INFO): DAT read: 20:21:04.5136 LVL= 29904, 32465, 18674, 32755, AGC= 56, IDX= 506, 0.06, 2.594, 1.264,-3.068, 2.592, PHS= 0.090,-1.281, 0.621, RAW= 165.7, 6.8, CAL= 165.4, -2.8, ROT= 344.6, 2.8 2025-10-24T20:21:05.498Z,1761337265.498 [DAT](INFO): got valid direction response: 20:21:04.5136 LVL= 29904, 32465, 18674, 32755, AGC= 56, IDX= 506, 0.06, 2.594, 1.264,-3.068, 2.592, PHS= 0.090,-1.281, 0.621, RAW= 165.7, 6.8, CAL= 165.4, -2.8, ROT= 344.6, 2.8 2025-10-24T20:21:05.498Z,1761337265.498 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-24T20:21:05.499Z,1761337265.499 [DAT](INFO): direction in FSK: [0.962944,-0.265239,-0.048850] 2025-10-24T20:21:05.499Z,1761337265.499 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:05.504Z,1761337265.504 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.397907 2025-10-24T20:21:05.633Z,1761337265.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952997,-0.301282,0.032031],[0.302428,0.939547,-0.160587],[0.018288,0.162726,0.986502]] 2025-10-24T20:21:05.738Z,1761337265.738 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.631981 2025-10-24T20:21:05.766Z,1761337265.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.502827 s, deltaX: -0.100000 m, approachRate: -0.198876 m/s, rangeRepo size: 4 2025-10-24T20:21:05.769Z,1761337265.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.134414 m, bearing: 2.865844 deg, lat: 36.779655 deg, lon: -121.859521 deg, deltaT: 0.502827 s, deltaX: -0.099451 m, approachRate: -0.197784 m/s, posRepo size: 4 2025-10-24T20:21:05.770Z,1761337265.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-24T20:21:05.782Z,1761337265.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.134414 m, nav range: 11.944775 m, bearing: 3.529281 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 21.584076 deg, new cmd heading: 22.207918 deg. 2025-10-24T20:21:05.783Z,1761337265.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387601 target range: 12.134414 and range: 12.20 m. 2025-10-24T20:21:05.989Z,1761337265.989 [DAT](INFO): DAT read: Rx Time:20:21:05.0134 2025-10-24T20:21:05.990Z,1761337265.990 [DAT](INFO): Rx dataTimestamp_ set to:1761337265.989458 2025-10-24T20:21:05.991Z,1761337265.991 [DAT](INFO): DAT read: Bearing 343.9, 2.9 (Local) 2025-10-24T20:21:05.991Z,1761337265.991 [DAT](INFO): Local bearing/azimuth received: Bearing 343.9, 2.9 (Local) 2025-10-24T20:21:05.994Z,1761337265.994 [DAT](INFO): DAT read: Range 10 to 50 : 11.9 m (trip time 7.9 ms) speed 0.4 2025-10-24T20:21:05.000Z,1761337266.000 [DAT](INFO): DAT read: 20:21:05.0134 LVL= 27376, 30145, 17138, 32755, AGC= 56, IDX= 503, 0.19, 2.592, 1.261,-3.042, 2.597, PHS= 0.083,-1.289, 0.641, RAW= 166.3, 6.6, CAL= 166.1, -2.9, ROT= 343.9, 2.9 2025-10-24T20:21:06.001Z,1761337266.001 [DAT](INFO): got valid direction response: 20:21:05.0134 LVL= 27376, 30145, 17138, 32755, AGC= 56, IDX= 503, 0.19, 2.592, 1.261,-3.042, 2.597, PHS= 0.083,-1.289, 0.641, RAW= 166.3, 6.6, CAL= 166.1, -2.9, ROT= 343.9, 2.9 2025-10-24T20:21:06.001Z,1761337266.001 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-24T20:21:06.002Z,1761337266.002 [DAT](INFO): direction in FSK: [0.959549,-0.276960,-0.050593] 2025-10-24T20:21:06.002Z,1761337266.002 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:06.006Z,1761337266.006 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.900200 2025-10-24T20:21:06.026Z,1761337266.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949972,-0.310567,0.033200],[0.311744,0.936255,-0.161995],[0.019227,0.164240,0.986233]] 2025-10-24T20:21:06.097Z,1761337266.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503713 s, deltaX: -0.300000 m, approachRate: -0.595578 m/s, rangeRepo size: 4 2025-10-24T20:21:06.098Z,1761337266.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.836026 m, bearing: 2.760871 deg, lat: 36.779655 deg, lon: -121.859523 deg, deltaT: 0.503713 s, deltaX: -0.298388 m, approachRate: -0.592376 m/s, posRepo size: 4 2025-10-24T20:21:06.099Z,1761337266.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-24T20:21:06.106Z,1761337266.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.836026 m, nav range: 11.774475 m, bearing: 2.769749 deg, approach rate: 0.000000 m/s, LOS rate: 0.415228 deg/s, cmd heading: 22.207918 deg, new cmd heading: 22.616817 deg. 2025-10-24T20:21:06.107Z,1761337266.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394738 target range: 11.836026 and range: 11.90 m. 2025-10-24T20:21:06.243Z,1761337266.243 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.137321 2025-10-24T20:21:06.461Z,1761337266.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947404,-0.318208,0.034186],[0.319424,0.933552,-0.162631],[0.019836,0.164997,0.986095]] 2025-10-24T20:21:06.491Z,1761337266.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:06.493Z,1761337266.493 [DAT](INFO): DAT read: Rx Time:20:21:05.5133 2025-10-24T20:21:06.494Z,1761337266.494 [DAT](INFO): Rx dataTimestamp_ set to:1761337266.493656 2025-10-24T20:21:06.495Z,1761337266.495 [DAT](INFO): DAT read: Bearing 343.1, 1.8 (Local) 2025-10-24T20:21:06.496Z,1761337266.496 [DAT](INFO): Local bearing/azimuth received: Bearing 343.1, 1.8 (Local) 2025-10-24T20:21:06.499Z,1761337266.499 [DAT](INFO): DAT read: Range 10 to 50 : 11.7 m (trip time 7.8 ms) speed 0.5 2025-10-24T20:21:06.504Z,1761337266.504 [DAT](INFO): DAT read: 20:21:05.5133 LVL= 32448, 32753, 21426, 32755, AGC= 56, IDX= 502, 0.29,-1.952, 3.045,-1.270,-1.885, PHS= 0.021,-1.306, 0.612, RAW= 167.5, 8.0, CAL= 166.9, -1.8, ROT= 343.1, 1.8 2025-10-24T20:21:06.505Z,1761337266.505 [DAT](INFO): got valid direction response: 20:21:05.5133 LVL= 32448, 32753, 21426, 32755, AGC= 56, IDX= 502, 0.29,-1.952, 3.045,-1.270,-1.885, PHS= 0.021,-1.306, 0.612, RAW= 167.5, 8.0, CAL= 166.9, -1.8, ROT= 343.1, 1.8 2025-10-24T20:21:06.505Z,1761337266.505 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-24T20:21:06.506Z,1761337266.506 [DAT](INFO): direction in FSK: [0.956342,-0.290558,-0.031411] 2025-10-24T20:21:06.507Z,1761337266.507 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:06.510Z,1761337266.510 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.404526 2025-10-24T20:21:06.514Z,1761337266.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504198 s, deltaX: -0.200000 m, approachRate: -0.396669 m/s, rangeRepo size: 4 2025-10-24T20:21:06.515Z,1761337266.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.84 m. 2025-10-24T20:21:06.541Z,1761337266.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.836026 m, nav range: 11.535412 m, bearing: 2.568772 deg, approach rate: -0.567559 m/s, LOS rate: -0.487027 deg/s, cmd heading: 22.616817 deg, new cmd heading: 22.001415 deg. 2025-10-24T20:21:06.542Z,1761337266.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383997 target range: 11.836026 and range: 11.70 m. 2025-10-24T20:21:06.745Z,1761337266.745 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.639221 2025-10-24T20:21:06.787Z,1761337266.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944356,-0.327019,0.035353],[0.328292,0.930422,-0.162909],[0.020381,0.165451,0.986007]] 2025-10-24T20:21:06.998Z,1761337266.998 [DAT](INFO): DAT read: Rx Time:20:21:06.0131 2025-10-24T20:21:06.999Z,1761337266.999 [DAT](INFO): Rx dataTimestamp_ set to:1761337266.998557 2025-10-24T20:21:07.000Z,1761337267.000 [DAT](INFO): DAT read: Bearing 342.6, 1.4 (Local) 2025-10-24T20:21:07.001Z,1761337267.001 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, 1.4 (Local) 2025-10-24T20:21:07.003Z,1761337267.003 [DAT](INFO): DAT read: Range 10 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4 2025-10-24T20:21:07.008Z,1761337267.008 [DAT](INFO): DAT read: 20:21:06.0131 LVL= 32752, 32753, 20386, 32755, AGC= 56, IDX= 499, 0.39,-2.872, 2.144,-2.170,-2.780, PHS=-0.004,-1.313, 0.607, RAW= 168.1, 8.4, CAL= 167.4, -1.4, ROT= 342.6, 1.4 2025-10-24T20:21:07.009Z,1761337267.009 [DAT](INFO): got valid direction response: 20:21:06.0131 LVL= 32752, 32753, 20386, 32755, AGC= 56, IDX= 499, 0.39,-2.872, 2.144,-2.170,-2.780, PHS=-0.004,-1.313, 0.607, RAW= 168.1, 8.4, CAL= 167.4, -1.4, ROT= 342.6, 1.4 2025-10-24T20:21:07.009Z,1761337267.009 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-24T20:21:07.010Z,1761337267.010 [DAT](INFO): direction in FSK: [0.953955,-0.298952,-0.024432] 2025-10-24T20:21:07.010Z,1761337267.010 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:07.028Z,1761337267.028 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.913902 2025-10-24T20:21:07.045Z,1761337267.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.504901 s, deltaX: -0.300000 m, approachRate: -0.594176 m/s, rangeRepo size: 4 2025-10-24T20:21:07.047Z,1761337267.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.338719 m, bearing: 2.238686 deg, lat: 36.779655 deg, lon: -121.859523 deg, deltaT: 1.009099 s, deltaX: -0.497307 m, approachRate: -0.492823 m/s, posRepo size: 4 2025-10-24T20:21:07.052Z,1761337267.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-24T20:21:07.055Z,1761337267.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.338719 m, nav range: 11.271507 m, bearing: 2.366243 deg, approach rate: 0.000000 m/s, LOS rate: -0.487027 deg/s, cmd heading: 22.001416 deg, new cmd heading: 21.231731 deg. 2025-10-24T20:21:07.061Z,1761337267.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370564 target range: 11.338719 and range: 11.40 m. 2025-10-24T20:21:07.251Z,1761337267.251 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.144855 2025-10-24T20:21:07.350Z,1761337267.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938754,-0.342561,0.037318],[0.343936,0.924806,-0.162612],[0.021193,0.165488,0.985984]] 2025-10-24T20:21:07.457Z,1761337267.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-24T20:21:07.459Z,1761337267.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.338719 m, nav range: 11.067580 m, bearing: 2.205983 deg, approach rate: -0.488793 m/s, LOS rate: -0.391203 deg/s, cmd heading: 21.231730 deg, new cmd heading: 20.742107 deg. 2025-10-24T20:21:07.465Z,1761337267.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362018 target range: 11.338719 and range: 11.40 m. 2025-10-24T20:21:07.501Z,1761337267.501 [DAT](INFO): DAT read: Rx Time:20:21:06.5129 2025-10-24T20:21:07.502Z,1761337267.502 [DAT](INFO): Rx dataTimestamp_ set to:1761337267.501644 2025-10-24T20:21:07.503Z,1761337267.503 [DAT](INFO): DAT read: Bearing 340.7, 1.6 (Local) 2025-10-24T20:21:07.504Z,1761337267.504 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, 1.6 (Local) 2025-10-24T20:21:07.506Z,1761337267.506 [DAT](INFO): DAT read: Range 10 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4 2025-10-24T20:21:07.511Z,1761337267.511 [DAT](INFO): DAT read: 20:21:06.5129 LVL= 31648, 32753, 20114, 32755, AGC= 55, IDX= 498,-0.47, 2.640, 1.448,-2.896, 2.764, PHS=-0.035,-1.269, 0.621, RAW= 170.0, 8.3, CAL= 169.3, -1.6, ROT= 340.7, 1.6 2025-10-24T20:21:07.513Z,1761337267.513 [DAT](INFO): got valid direction response: 20:21:06.5129 LVL= 31648, 32753, 20114, 32755, AGC= 55, IDX= 498,-0.47, 2.640, 1.448,-2.896, 2.764, PHS=-0.035,-1.269, 0.621, RAW= 170.0, 8.3, CAL= 169.3, -1.6, ROT= 340.7, 1.6 2025-10-24T20:21:07.514Z,1761337267.514 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-24T20:21:07.515Z,1761337267.515 [DAT](INFO): direction in FSK: [0.943433,-0.330386,-0.027922] 2025-10-24T20:21:07.517Z,1761337267.517 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:07.526Z,1761337267.526 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.420368 2025-10-24T20:21:07.753Z,1761337267.753 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.646984 2025-10-24T20:21:07.831Z,1761337267.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503087 s, deltaX: -0.299999 m, approachRate: -0.596317 m/s, rangeRepo size: 4 2025-10-24T20:21:07.838Z,1761337267.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.040325 m, bearing: 1.347933 deg, lat: 36.779655 deg, lon: -121.859523 deg, deltaT: 0.503087 s, deltaX: -0.298394 m, approachRate: -0.593126 m/s, posRepo size: 4 2025-10-24T20:21:07.838Z,1761337267.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-24T20:21:07.845Z,1761337267.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.040325 m, nav range: 10.890729 m, bearing: 1.925125 deg, approach rate: 0.000000 m/s, LOS rate: -0.391203 deg/s, cmd heading: 20.742106 deg, new cmd heading: 20.304856 deg. 2025-10-24T20:21:07.846Z,1761337267.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354387 target range: 11.040325 and range: 11.10 m. 2025-10-24T20:21:08.005Z,1761337268.005 [DAT](INFO): DAT read: Rx Time:20:21:07.0126 2025-10-24T20:21:08.006Z,1761337268.006 [DAT](INFO): Rx dataTimestamp_ set to:1761337268.005622 2025-10-24T20:21:08.007Z,1761337268.007 [DAT](INFO): DAT read: Bearing 339.9, 1.6 (Local) 2025-10-24T20:21:08.007Z,1761337268.007 [DAT](INFO): Local bearing/azimuth received: Bearing 339.9, 1.6 (Local) 2025-10-24T20:21:08.010Z,1761337268.010 [DAT](INFO): DAT read: Range 10 to 50 : 10.7 m (trip time 7.1 ms) speed 0.5 2025-10-24T20:21:08.015Z,1761337268.015 [DAT](INFO): DAT read: 20:21:07.0126 LVL= 30544, 32753, 17522, 32755, AGC= 55, IDX= 495,-0.39, 1.741, 0.575, 2.511, 1.877, PHS=-0.048,-1.255, 0.631, RAW= 170.8, 8.2, CAL= 170.1, -1.6, ROT= 339.9, 1.6 2025-10-24T20:21:08.017Z,1761337268.017 [DAT](INFO): got valid direction response: 20:21:07.0126 LVL= 30544, 32753, 17522, 32755, AGC= 55, IDX= 495,-0.39, 1.741, 0.575, 2.511, 1.877, PHS=-0.048,-1.255, 0.631, RAW= 170.8, 8.2, CAL= 170.1, -1.6, ROT= 339.9, 1.6 2025-10-24T20:21:08.017Z,1761337268.017 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-24T20:21:08.018Z,1761337268.018 [DAT](INFO): direction in FSK: [0.938728,-0.343526,-0.027922] 2025-10-24T20:21:08.018Z,1761337268.018 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:08.022Z,1761337268.022 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.916374 2025-10-24T20:21:08.143Z,1761337268.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933154,-0.357316,0.039360],[0.358831,0.919313,-0.161566],[0.021546,0.164889,0.986077]] 2025-10-24T20:21:08.199Z,1761337268.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503978 s, deltaX: -0.400001 m, approachRate: -0.793687 m/s, rangeRepo size: 4 2025-10-24T20:21:08.207Z,1761337268.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.642475 m, bearing: 1.466985 deg, lat: 36.779655 deg, lon: -121.859523 deg, deltaT: 0.503978 s, deltaX: -0.397850 m, approachRate: -0.789419 m/s, posRepo size: 4 2025-10-24T20:21:08.207Z,1761337268.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-24T20:21:08.218Z,1761337268.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.642475 m, nav range: 10.688553 m, bearing: 1.767344 deg, approach rate: 0.000000 m/s, LOS rate: -0.391203 deg/s, cmd heading: 20.304856 deg, new cmd heading: 19.872183 deg. 2025-10-24T20:21:08.219Z,1761337268.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346835 target range: 10.642475 and range: 10.70 m. 2025-10-24T20:21:08.258Z,1761337268.258 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.151737 2025-10-24T20:21:08.509Z,1761337268.509 [DAT](INFO): DAT read: Rx Time:20:21:07.5125 2025-10-24T20:21:08.510Z,1761337268.510 [DAT](INFO): Rx dataTimestamp_ set to:1761337268.509583 2025-10-24T20:21:08.511Z,1761337268.511 [DAT](INFO): DAT read: Bearing 339.5, 1.9 (Local) 2025-10-24T20:21:08.511Z,1761337268.511 [DAT](INFO): Local bearing/azimuth received: Bearing 339.5, 1.9 (Local) 2025-10-24T20:21:08.514Z,1761337268.514 [DAT](INFO): DAT read: Range 10 to 50 : 10.5 m (trip time 7.0 ms) speed 0.6 2025-10-24T20:21:08.523Z,1761337268.523 [DAT](INFO): DAT read: 20:21:07.5125 LVL= 30288, 32753, 15842, 32755, AGC= 55, IDX= 510,-0.29, 2.518, 1.367,-2.991, 2.650, PHS=-0.044,-1.236, 0.639, RAW= 171.1, 7.8, CAL= 170.5, -1.9, ROT= 339.5, 1.9 2025-10-24T20:21:08.530Z,1761337268.530 [DAT](INFO): got valid direction response: 20:21:07.5125 LVL= 30288, 32753, 15842, 32755, AGC= 55, IDX= 510,-0.29, 2.518, 1.367,-2.991, 2.650, PHS=-0.044,-1.236, 0.639, RAW= 171.1, 7.8, CAL= 170.5, -1.9, ROT= 339.5, 1.9 2025-10-24T20:21:08.531Z,1761337268.531 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-24T20:21:08.548Z,1761337268.548 [DAT](INFO): direction in FSK: [0.936157,-0.350015,-0.033155] 2025-10-24T20:21:08.548Z,1761337268.548 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:08.566Z,1761337268.566 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.446014 2025-10-24T20:21:08.702Z,1761337268.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503961 s, deltaX: -0.200000 m, approachRate: -0.396856 m/s, rangeRepo size: 4 2025-10-24T20:21:08.703Z,1761337268.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.443545 m, bearing: 1.120447 deg, lat: 36.779655 deg, lon: -121.859524 deg, deltaT: 0.503961 s, deltaX: -0.198930 m, approachRate: -0.394733 m/s, posRepo size: 4 2025-10-24T20:21:08.711Z,1761337268.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-24T20:21:08.745Z,1761337268.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.443545 m, nav range: 10.414390 m, bearing: 1.227067 deg, approach rate: 0.000000 m/s, LOS rate: -0.391203 deg/s, cmd heading: 19.872183 deg, new cmd heading: 19.282113 deg. 2025-10-24T20:21:08.746Z,1761337268.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.336536 target range: 10.443545 and range: 10.50 m. 2025-10-24T20:21:08.761Z,1761337268.761 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.655319 2025-10-24T20:21:08.986Z,1761337268.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928175,-0.370016,0.039743],[0.371527,0.915192,-0.156177],[0.021415,0.159725,0.986929]] 2025-10-24T20:21:09.014Z,1761337269.014 [DAT](INFO): DAT read: Rx Time:20:21:08.0123 2025-10-24T20:21:09.015Z,1761337269.015 [DAT](INFO): Rx dataTimestamp_ set to:1761337269.014344 2025-10-24T20:21:09.016Z,1761337269.016 [DAT](INFO): DAT read: Bearing 337.8, 2.4 (Local) 2025-10-24T20:21:09.016Z,1761337269.016 [DAT](INFO): Local bearing/azimuth received: Bearing 337.8, 2.4 (Local) 2025-10-24T20:21:09.018Z,1761337269.018 [DAT](INFO): DAT read: Range 10 to 50 : 10.1 m (trip time 6.7 ms) speed 0.5 2025-10-24T20:21:09.023Z,1761337269.023 [DAT](INFO): DAT read: 20:21:08.0123 LVL= 29280, 32753, 17042, 32755, AGC= 55, IDX= 507,-0.23, 1.657, 0.541, 2.485, 1.802, PHS=-0.057,-1.214, 0.680, RAW= 172.7, 7.2, CAL= 172.2, -2.4, ROT= 337.8, 2.4 2025-10-24T20:21:09.025Z,1761337269.025 [DAT](INFO): got valid direction response: 20:21:08.0123 LVL= 29280, 32753, 17042, 32755, AGC= 55, IDX= 507,-0.23, 1.657, 0.541, 2.485, 1.802, PHS=-0.057,-1.214, 0.680, RAW= 172.7, 7.2, CAL= 172.2, -2.4, ROT= 337.8, 2.4 2025-10-24T20:21:09.025Z,1761337269.025 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-24T20:21:09.026Z,1761337269.026 [DAT](INFO): direction in FSK: [0.925058,-0.377510,-0.041876] 2025-10-24T20:21:09.026Z,1761337269.026 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:09.034Z,1761337269.034 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.928501 2025-10-24T20:21:09.100Z,1761337269.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504761 s, deltaX: -0.400000 m, approachRate: -0.792453 m/s, rangeRepo size: 4 2025-10-24T20:21:09.102Z,1761337269.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.045696 m, bearing: 0.271969 deg, lat: 36.779655 deg, lon: -121.859524 deg, deltaT: 0.504761 s, deltaX: -0.397849 m, approachRate: -0.788193 m/s, posRepo size: 4 2025-10-24T20:21:09.103Z,1761337269.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.05 m. 2025-10-24T20:21:09.114Z,1761337269.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.045696 m, nav range: 10.202662 m, bearing: 0.915123 deg, approach rate: 0.000000 m/s, LOS rate: -0.391203 deg/s, cmd heading: 19.282112 deg, new cmd heading: 18.819253 deg. 2025-10-24T20:21:09.115Z,1761337269.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328458 target range: 10.045696 and range: 10.10 m. 2025-10-24T20:21:09.265Z,1761337269.265 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.159496 2025-10-24T20:21:09.355Z,1761337269.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926351,-0.374668,0.038707],[0.376079,0.914304,-0.150379],[0.020952,0.153860,0.987870]] 2025-10-24T20:21:09.410Z,1761337269.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:09.479Z,1761337269.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.05 m. 2025-10-24T20:21:09.490Z,1761337269.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.045696 m, nav range: 10.035803 m, bearing: 0.742174 deg, approach rate: -0.434720 m/s, LOS rate: -0.458078 deg/s, cmd heading: 18.819253 deg, new cmd heading: 18.291795 deg. 2025-10-24T20:21:09.491Z,1761337269.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319252 target range: 10.045696 and range: 10.10 m. 2025-10-24T20:21:09.518Z,1761337269.518 [DAT](INFO): DAT read: Rx Time:20:21:08.5122 2025-10-24T20:21:09.518Z,1761337269.518 [DAT](INFO): Rx dataTimestamp_ set to:1761337269.517737 2025-10-24T20:21:09.519Z,1761337269.519 [DAT](INFO): DAT read: Bearing 336.3, 2.3 (Local) 2025-10-24T20:21:09.520Z,1761337269.520 [DAT](INFO): Local bearing/azimuth received: Bearing 336.3, 2.3 (Local) 2025-10-24T20:21:09.522Z,1761337269.522 [DAT](INFO): DAT read: Range 10 to 50 : 9.9 m (trip time 6.6 ms) speed 0.5 2025-10-24T20:21:09.527Z,1761337269.527 [DAT](INFO): DAT read: 20:21:08.5122 LVL= 32752, 32753, 17298, 32755, AGC= 53, IDX= 506,-0.11, 2.795, 1.740,-2.631, 2.968, PHS=-0.085,-1.181, 0.682, RAW= 174.2, 7.3, CAL= 173.7, -2.3, ROT= 336.3, 2.3 2025-10-24T20:21:09.528Z,1761337269.528 [DAT](INFO): got valid direction response: 20:21:08.5122 LVL= 32752, 32753, 17298, 32755, AGC= 53, IDX= 506,-0.11, 2.795, 1.740,-2.631, 2.968, PHS=-0.085,-1.181, 0.682, RAW= 174.2, 7.3, CAL= 173.7, -2.3, ROT= 336.3, 2.3 2025-10-24T20:21:09.528Z,1761337269.528 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-24T20:21:09.529Z,1761337269.529 [DAT](INFO): direction in FSK: [0.914925,-0.401624,-0.040132] 2025-10-24T20:21:09.529Z,1761337269.529 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:09.534Z,1761337269.534 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.428619 2025-10-24T20:21:09.769Z,1761337269.769 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.663197 2025-10-24T20:21:09.774Z,1761337269.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924950,-0.378287,0.036976],[0.379539,0.913998,-0.143380],[0.020443,0.146653,0.988977]] 2025-10-24T20:21:09.971Z,1761337269.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503393 s, deltaX: -0.200001 m, approachRate: -0.397305 m/s, rangeRepo size: 4 2025-10-24T20:21:09.978Z,1761337269.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.846772 m, bearing: 359.190692 deg, lat: 36.779655 deg, lon: -121.859524 deg, deltaT: 0.503393 s, deltaX: -0.198924 m, approachRate: -0.395167 m/s, posRepo size: 4 2025-10-24T20:21:09.978Z,1761337269.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-24T20:21:09.979Z,1761337269.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-24T20:21:09.979Z,1761337269.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-24T20:21:09.986Z,1761337269.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 9.769456 m, bearing: 0.247836 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 18.291795 deg, new cmd heading: 17.616288 deg. 2025-10-24T20:21:09.987Z,1761337269.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307462 target range: 9.846772 and range: 9.90 m. 2025-10-24T20:21:10.022Z,1761337270.022 [DAT](INFO): DAT read: Rx Time:20:21:09.0119 2025-10-24T20:21:10.022Z,1761337270.022 [DAT](INFO): Rx dataTimestamp_ set to:1761337270.021691 2025-10-24T20:21:10.023Z,1761337270.023 [DAT](INFO): DAT read: Bearing 334.7, 2.3 (Local) 2025-10-24T20:21:10.024Z,1761337270.024 [DAT](INFO): Local bearing/azimuth received: Bearing 334.7, 2.3 (Local) 2025-10-24T20:21:10.026Z,1761337270.026 [DAT](INFO): DAT read: Range 10 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-24T20:21:10.032Z,1761337270.032 [DAT](INFO): DAT read: 20:21:09.0119 LVL= 31776, 32753, 19442, 32755, AGC= 52, IDX= 503,-0.01, 2.153, 1.134, 3.059, 2.353, PHS=-0.112,-1.172, 0.703, RAW= 175.7, 7.2, CAL= 175.3, -2.3, ROT= 334.7, 2.3 2025-10-24T20:21:10.034Z,1761337270.034 [DAT](INFO): got valid direction response: 20:21:09.0119 LVL= 31776, 32753, 19442, 32755, AGC= 52, IDX= 503,-0.01, 2.153, 1.134, 3.059, 2.353, PHS=-0.112,-1.172, 0.703, RAW= 175.7, 7.2, CAL= 175.3, -2.3, ROT= 334.7, 2.3 2025-10-24T20:21:10.034Z,1761337270.034 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-24T20:21:10.038Z,1761337270.039 [DAT](INFO): direction in FSK: [0.903354,-0.427013,-0.040132] 2025-10-24T20:21:10.039Z,1761337270.039 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:10.046Z,1761337270.046 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.939934 2025-10-24T20:21:10.166Z,1761337270.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923966,-0.380843,0.035297],[0.381985,0.914178,-0.135523],[0.019346,0.138701,0.990145]] 2025-10-24T20:21:10.241Z,1761337270.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503954 s, deltaX: -0.400000 m, approachRate: -0.793722 m/s, rangeRepo size: 4 2025-10-24T20:21:10.243Z,1761337270.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.448923 m, bearing: 357.707985 deg, lat: 36.779655 deg, lon: -121.859525 deg, deltaT: 0.503954 s, deltaX: -0.397849 m, approachRate: -0.789455 m/s, posRepo size: 4 2025-10-24T20:21:10.252Z,1761337270.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.85 m. 2025-10-24T20:21:10.255Z,1761337270.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 9.598652 m, bearing: 0.030090 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 17.616287 deg, new cmd heading: 17.245526 deg. 2025-10-24T20:21:10.260Z,1761337270.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.300991 target range: 9.846772 and range: 9.50 m. 2025-10-24T20:21:10.273Z,1761337270.273 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.167309 2025-10-24T20:21:10.525Z,1761337270.525 [DAT](INFO): DAT read: Rx Time:20:21:09.5118 2025-10-24T20:21:10.526Z,1761337270.526 [DAT](INFO): Rx dataTimestamp_ set to:1761337270.525644 2025-10-24T20:21:10.527Z,1761337270.527 [DAT](INFO): DAT read: Bearing 337.2, 2.0 (Local) 2025-10-24T20:21:10.531Z,1761337270.531 [DAT](INFO): Local bearing/azimuth received: Bearing 337.2, 2.0 (Local) 2025-10-24T20:21:10.533Z,1761337270.533 [DAT](INFO): DAT read: Range 10 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 2025-10-24T20:21:10.538Z,1761337270.538 [DAT](INFO): DAT read: 20:21:09.5118 LVL= 32384, 32753, 15794, 32755, AGC= 52, IDX= 502, 0.14,-2.593, 2.581,-1.740,-2.424, PHS=-0.080,-1.231, 0.681, RAW= 173.3, 7.6, CAL= 172.8, -2.0, ROT= 337.2, 2.0 2025-10-24T20:21:10.539Z,1761337270.539 [DAT](INFO): got valid direction response: 20:21:09.5118 LVL= 32384, 32753, 15794, 32755, AGC= 52, IDX= 502, 0.14,-2.593, 2.581,-1.740,-2.424, PHS=-0.080,-1.231, 0.681, RAW= 173.3, 7.6, CAL= 172.8, -2.0, ROT= 337.2, 2.0 2025-10-24T20:21:10.539Z,1761337270.539 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-24T20:21:10.541Z,1761337270.541 [DAT](INFO): direction in FSK: [0.921302,-0.387279,-0.034899] 2025-10-24T20:21:10.541Z,1761337270.541 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:10.549Z,1761337270.549 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.442921 2025-10-24T20:21:10.685Z,1761337270.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503953 s, deltaX: -0.200000 m, approachRate: -0.396862 m/s, rangeRepo size: 4 2025-10-24T20:21:10.687Z,1761337270.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.250003 m, bearing: 0.149984 deg, lat: 36.779654 deg, lon: -121.859525 deg, deltaT: 1.007907 s, deltaX: -0.596769 m, approachRate: -0.592088 m/s, posRepo size: 4 2025-10-24T20:21:10.692Z,1761337270.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 9.85 m. 2025-10-24T20:21:10.695Z,1761337270.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 9.382778 m, bearing: 359.743274 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 17.245526 deg, new cmd heading: 16.635474 deg. 2025-10-24T20:21:10.695Z,1761337270.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290344 target range: 9.846772 and range: 9.30 m. 2025-10-24T20:21:10.778Z,1761337270.778 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.671844 2025-10-24T20:21:11.009Z,1761337271.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923350,-0.382659,0.031559],[0.383595,0.915780,-0.119171],[0.016701,0.122142,0.992372]] 2025-10-24T20:21:11.030Z,1761337271.030 [DAT](INFO): DAT read: Rx Time:20:21:10.0115 2025-10-24T20:21:11.030Z,1761337271.030 [DAT](INFO): Rx dataTimestamp_ set to:1761337271.029696 2025-10-24T20:21:11.032Z,1761337271.032 [DAT](INFO): DAT read: Bearing 335.9, 1.9 (Local) 2025-10-24T20:21:11.032Z,1761337271.032 [DAT](INFO): Local bearing/azimuth received: Bearing 335.9, 1.9 (Local) 2025-10-24T20:21:11.034Z,1761337271.034 [DAT](INFO): DAT read: Range 10 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-24T20:21:11.039Z,1761337271.039 [DAT](INFO): DAT read: 20:21:10.0115 LVL= 32752, 32753, 17906, 32755, AGC= 51, IDX= 499, 0.30, 2.995, 1.923,-2.398,-3.092, PHS=-0.109,-1.221, 0.691, RAW= 174.6, 7.7, CAL= 174.1, -1.9, ROT= 335.9, 1.9 2025-10-24T20:21:11.041Z,1761337271.041 [DAT](INFO): got valid direction response: 20:21:10.0115 LVL= 32752, 32753, 17906, 32755, AGC= 51, IDX= 499, 0.30, 2.995, 1.923,-2.398,-3.092, PHS=-0.109,-1.221, 0.691, RAW= 174.6, 7.7, CAL= 174.1, -1.9, ROT= 335.9, 1.9 2025-10-24T20:21:11.041Z,1761337271.041 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-24T20:21:11.042Z,1761337271.042 [DAT](INFO): direction in FSK: [0.912332,-0.408106,-0.033155] 2025-10-24T20:21:11.042Z,1761337271.042 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:11.050Z,1761337271.050 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.944347 2025-10-24T20:21:11.148Z,1761337271.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504052 s, deltaX: -0.400001 m, approachRate: -0.793570 m/s, rangeRepo size: 4 2025-10-24T20:21:11.150Z,1761337271.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.852153 m, bearing: 358.861830 deg, lat: 36.779654 deg, lon: -121.859525 deg, deltaT: 1.511959 s, deltaX: -0.994619 m, approachRate: -0.657835 m/s, posRepo size: 4 2025-10-24T20:21:11.151Z,1761337271.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.85 m. 2025-10-24T20:21:11.158Z,1761337271.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 9.131566 m, bearing: 359.367303 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 16.635474 deg, new cmd heading: 16.010352 deg. 2025-10-24T20:21:11.159Z,1761337271.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279433 target range: 9.846772 and range: 8.90 m. 2025-10-24T20:21:11.282Z,1761337271.282 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.176163 2025-10-24T20:21:11.391Z,1761337271.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923737,-0.381874,0.029699],[0.382724,0.917149,-0.111176],[0.015217,0.114065,0.993357]] 2025-10-24T20:21:11.477Z,1761337271.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:11.479Z,1761337271.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:11.486Z,1761337271.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 8.946757 m, bearing: 359.078634 deg, approach rate: -0.544407 m/s, LOS rate: -0.867917 deg/s, cmd heading: 16.010353 deg, new cmd heading: 15.126532 deg. 2025-10-24T20:21:11.487Z,1761337271.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264008 target range: 9.846772 and range: 8.90 m. 2025-10-24T20:21:11.534Z,1761337271.534 [DAT](INFO): DAT read: Rx Time:20:21:10.5114 2025-10-24T20:21:11.535Z,1761337271.535 [DAT](INFO): Rx dataTimestamp_ set to:1761337271.534651 2025-10-24T20:21:11.541Z,1761337271.541 [DAT](INFO): DAT read: Bearing 333.7, 1.8 (Local) 2025-10-24T20:21:11.541Z,1761337271.541 [DAT](INFO): Local bearing/azimuth received: Bearing 333.7, 1.8 (Local) 2025-10-24T20:21:11.545Z,1761337271.545 [DAT](INFO): DAT read: Range 10 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 2025-10-24T20:21:11.553Z,1761337271.553 [DAT](INFO): DAT read: 20:21:10.5114 LVL= 32752, 32753, 18594, 32755, AGC= 50, IDX= 498,-0.34, 0.525,-0.467, 1.466, 0.762, PHS=-0.149,-1.182, 0.701, RAW= 176.8, 7.8, CAL= 176.3, -1.8, ROT= 333.7, 1.8 2025-10-24T20:21:11.555Z,1761337271.555 [DAT](INFO): got valid direction response: 20:21:10.5114 LVL= 32752, 32753, 18594, 32755, AGC= 50, IDX= 498,-0.34, 0.525,-0.467, 1.466, 0.762, PHS=-0.149,-1.182, 0.701, RAW= 176.8, 7.8, CAL= 176.3, -1.8, ROT= 333.7, 1.8 2025-10-24T20:21:11.555Z,1761337271.555 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-24T20:21:11.557Z,1761337271.557 [DAT](INFO): direction in FSK: [0.896044,-0.442852,-0.031411] 2025-10-24T20:21:11.557Z,1761337271.557 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:11.570Z,1761337271.570 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.464725 2025-10-24T20:21:11.588Z,1761337271.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:21:11.785Z,1761337271.785 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.679195 2025-10-24T20:21:11.994Z,1761337271.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.504955 s, deltaX: -0.200000 m, approachRate: -0.396075 m/s, rangeRepo size: 4 2025-10-24T20:21:12.004Z,1761337272.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.653221 m, bearing: 356.567635 deg, lat: 36.779654 deg, lon: -121.859526 deg, deltaT: 2.016914 s, deltaX: -1.193551 m, approachRate: -0.591771 m/s, posRepo size: 4 2025-10-24T20:21:12.005Z,1761337272.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.85 m. 2025-10-24T20:21:12.016Z,1761337272.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 8.727025 m, bearing: 358.668831 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 15.126533 deg, new cmd heading: 14.419293 deg. 2025-10-24T20:21:12.017Z,1761337272.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.251664 target range: 9.846772 and range: 8.70 m. 2025-10-24T20:21:12.037Z,1761337272.037 [DAT](INFO): DAT read: Rx Time:20:21:11.0112 2025-10-24T20:21:12.038Z,1761337272.038 [DAT](INFO): Rx dataTimestamp_ set to:1761337272.037611 2025-10-24T20:21:12.039Z,1761337272.039 [DAT](INFO): DAT read: Bearing 334.5, 1.9 (Local) 2025-10-24T20:21:12.039Z,1761337272.039 [DAT](INFO): Local bearing/azimuth received: Bearing 334.5, 1.9 (Local) 2025-10-24T20:21:12.042Z,1761337272.042 [DAT](INFO): DAT read: Range 10 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-24T20:21:12.051Z,1761337272.051 [DAT](INFO): DAT read: 20:21:11.0112 LVL= 32752, 32753, 15906, 32755, AGC= 50, IDX= 495,-0.04,-1.275,-2.308,-0.344,-1.055, PHS=-0.132,-1.206, 0.708, RAW= 176.0, 7.6, CAL= 175.5, -1.9, ROT= 334.5, 1.9 2025-10-24T20:21:12.066Z,1761337272.066 [DAT](INFO): got valid direction response: 20:21:11.0112 LVL= 32752, 32753, 15906, 32755, AGC= 50, IDX= 495,-0.04,-1.275,-2.308,-0.344,-1.055, PHS=-0.132,-1.206, 0.708, RAW= 176.0, 7.6, CAL= 175.5, -1.9, ROT= 334.5, 1.9 2025-10-24T20:21:12.066Z,1761337272.066 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-24T20:21:12.067Z,1761337272.067 [DAT](INFO): direction in FSK: [0.902089,-0.430275,-0.033155] 2025-10-24T20:21:12.067Z,1761337272.067 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:12.084Z,1761337272.084 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.973824 2025-10-24T20:21:12.289Z,1761337272.289 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.183201 2025-10-24T20:21:12.316Z,1761337272.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925607,-0.377565,0.026385],[0.378300,0.920718,-0.095743],[0.011856,0.098602,0.995056]] 2025-10-24T20:21:12.370Z,1761337272.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.502960 s, deltaX: -0.300000 m, approachRate: -0.596469 m/s, rangeRepo size: 4 2025-10-24T20:21:12.377Z,1761337272.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.354834 m, bearing: 357.028684 deg, lat: 36.779654 deg, lon: -121.859526 deg, deltaT: 2.519874 s, deltaX: -1.491939 m, approachRate: -0.592069 m/s, posRepo size: 4 2025-10-24T20:21:12.378Z,1761337272.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.85 m. 2025-10-24T20:21:12.385Z,1761337272.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 8.505837 m, bearing: 358.243222 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 14.419293 deg, new cmd heading: 13.902542 deg. 2025-10-24T20:21:12.386Z,1761337272.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242645 target range: 9.846772 and range: 8.40 m. 2025-10-24T20:21:12.542Z,1761337272.542 [DAT](INFO): DAT read: Rx Time:20:21:11.5111 2025-10-24T20:21:12.543Z,1761337272.543 [DAT](INFO): Rx dataTimestamp_ set to:1761337272.542820 2025-10-24T20:21:12.545Z,1761337272.545 [DAT](INFO): DAT read: Bearing 336.9, 2.0 (Local) 2025-10-24T20:21:12.545Z,1761337272.545 [DAT](INFO): Local bearing/azimuth received: Bearing 336.9, 2.0 (Local) 2025-10-24T20:21:12.554Z,1761337272.554 [DAT](INFO): DAT read: Range 10 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4 2025-10-24T20:21:12.571Z,1761337272.571 [DAT](INFO): DAT read: 20:21:11.5111 LVL= 28336, 31457, 13746, 32755, AGC= 51, IDX= 510, 0.24, 1.252, 0.127, 2.133, 1.431, PHS=-0.091,-1.257, 0.699, RAW= 173.7, 7.7, CAL= 173.1, -2.0, ROT= 336.9, 2.0 2025-10-24T20:21:12.588Z,1761337272.588 [DAT](INFO): got valid direction response: 20:21:11.5111 LVL= 28336, 31457, 13746, 32755, AGC= 51, IDX= 510, 0.24, 1.252, 0.127, 2.133, 1.431, PHS=-0.091,-1.257, 0.699, RAW= 173.7, 7.7, CAL= 173.1, -2.0, ROT= 336.9, 2.0 2025-10-24T20:21:12.588Z,1761337272.588 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-24T20:21:12.589Z,1761337272.589 [DAT](INFO): direction in FSK: [0.919261,-0.392098,-0.034899] 2025-10-24T20:21:12.589Z,1761337272.589 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:12.592Z,1761337272.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:21:12.606Z,1761337272.606 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.499855 2025-10-24T20:21:12.793Z,1761337272.793 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.687119 2025-10-24T20:21:12.861Z,1761337272.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.505209 s, deltaX: -0.099999 m, approachRate: -0.197937 m/s, rangeRepo size: 4 2025-10-24T20:21:12.863Z,1761337272.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.255379 m, bearing: 359.430811 deg, lat: 36.779654 deg, lon: -121.859525 deg, deltaT: 3.025083 s, deltaX: -1.591393 m, approachRate: -0.526066 m/s, posRepo size: 4 2025-10-24T20:21:12.889Z,1761337272.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.26 m. 9.85 m. 2025-10-24T20:21:12.905Z,1761337272.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 8.270008 m, bearing: 357.718578 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 13.902542 deg, new cmd heading: 13.227487 deg. 2025-10-24T20:21:12.914Z,1761337272.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230863 target range: 9.846772 and range: 8.30 m. 2025-10-24T20:21:13.047Z,1761337273.047 [DAT](INFO): DAT read: Rx Time:20:21:12.0109 2025-10-24T20:21:13.048Z,1761337273.048 [DAT](INFO): Rx dataTimestamp_ set to:1761337273.046883 2025-10-24T20:21:13.049Z,1761337273.049 [DAT](INFO): DAT read: Bearing 334.9, 2.0 (Local) 2025-10-24T20:21:13.050Z,1761337273.050 [DAT](INFO): Local bearing/azimuth received: Bearing 334.9, 2.0 (Local) 2025-10-24T20:21:13.052Z,1761337273.052 [DAT](INFO): DAT read: Range 10 to 50 : 8.0 m (trip time 5.3 ms) speed 0.4 2025-10-24T20:21:13.057Z,1761337273.057 [DAT](INFO): DAT read: 20:21:12.0109 LVL= 32304, 32753, 15010, 32755, AGC= 51, IDX= 508,-0.28,-2.267, 2.963,-1.338,-2.052, PHS=-0.127,-1.221, 0.712, RAW= 175.6, 7.6, CAL= 175.1, -2.0, ROT= 334.9, 2.0 2025-10-24T20:21:13.058Z,1761337273.058 [DAT](INFO): got valid direction response: 20:21:12.0109 LVL= 32304, 32753, 15010, 32755, AGC= 51, IDX= 508,-0.28,-2.267, 2.963,-1.338,-2.052, PHS=-0.127,-1.221, 0.712, RAW= 175.6, 7.6, CAL= 175.1, -2.0, ROT= 334.9, 2.0 2025-10-24T20:21:13.058Z,1761337273.058 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-24T20:21:13.059Z,1761337273.059 [DAT](INFO): direction in FSK: [0.905017,-0.423941,-0.034899] 2025-10-24T20:21:13.060Z,1761337273.060 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:13.065Z,1761337273.065 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.957947 2025-10-24T20:21:13.227Z,1761337273.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928834,-0.369704,0.024216],[0.370403,0.925150,-0.083054],[0.008302,0.086113,0.996251]] 2025-10-24T20:21:13.297Z,1761337273.297 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.191261 2025-10-24T20:21:13.331Z,1761337273.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504063 s, deltaX: -0.300000 m, approachRate: -0.595164 m/s, rangeRepo size: 4 2025-10-24T20:21:13.337Z,1761337273.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.956992 m, bearing: 356.893065 deg, lat: 36.779654 deg, lon: -121.859525 deg, deltaT: 3.529146 s, deltaX: -1.889781 m, approachRate: -0.535478 m/s, posRepo size: 4 2025-10-24T20:21:13.338Z,1761337273.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.96 m. 9.85 m. 2025-10-24T20:21:13.355Z,1761337273.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 8.032249 m, bearing: 357.173799 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 13.227487 deg, new cmd heading: 12.582315 deg. 2025-10-24T20:21:13.362Z,1761337273.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.219603 target range: 9.846772 and range: 8.00 m. 2025-10-24T20:21:13.550Z,1761337273.550 [DAT](INFO): DAT read: Rx Time:20:21:12.5108 2025-10-24T20:21:13.551Z,1761337273.551 [DAT](INFO): Rx dataTimestamp_ set to:1761337273.550238 2025-10-24T20:21:13.552Z,1761337273.552 [DAT](INFO): DAT read: Bearing 335.8, 2.0 (Local) 2025-10-24T20:21:13.552Z,1761337273.552 [DAT](INFO): Local bearing/azimuth received: Bearing 335.8, 2.0 (Local) 2025-10-24T20:21:13.554Z,1761337273.554 [DAT](INFO): DAT read: Range 10 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4 2025-10-24T20:21:13.559Z,1761337273.559 [DAT](INFO): DAT read: 20:21:12.5108 LVL= 30064, 32753, 14930, 32755, AGC= 51, IDX= 507, 0.06, 0.390,-0.719, 1.316, 0.592, PHS=-0.114,-1.264, 0.721, RAW= 174.8, 7.7, CAL= 174.2, -2.0, ROT= 335.8, 2.0 2025-10-24T20:21:13.560Z,1761337273.560 [DAT](INFO): got valid direction response: 20:21:12.5108 LVL= 30064, 32753, 14930, 32755, AGC= 51, IDX= 507, 0.06, 0.390,-0.719, 1.316, 0.592, PHS=-0.114,-1.264, 0.721, RAW= 174.8, 7.7, CAL= 174.2, -2.0, ROT= 335.8, 2.0 2025-10-24T20:21:13.561Z,1761337273.561 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-24T20:21:13.562Z,1761337273.562 [DAT](INFO): direction in FSK: [0.911564,-0.409673,-0.034899] 2025-10-24T20:21:13.562Z,1761337273.562 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:13.568Z,1761337273.568 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.461815 2025-10-24T20:21:13.624Z,1761337273.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930959,-0.364354,0.023703],[0.365067,0.927710,-0.077980],[0.006423,0.081249,0.996673]] 2025-10-24T20:21:13.759Z,1761337273.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503355 s, deltaX: -0.200000 m, approachRate: -0.397334 m/s, rangeRepo size: 4 2025-10-24T20:21:13.766Z,1761337273.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.758068 m, bearing: 357.441439 deg, lat: 36.779655 deg, lon: -121.859525 deg, deltaT: 4.032501 s, deltaX: -2.088704 m, approachRate: -0.517967 m/s, posRepo size: 4 2025-10-24T20:21:13.767Z,1761337273.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.85 m. 2025-10-24T20:21:13.777Z,1761337273.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 7.841849 m, bearing: 356.721581 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 12.582315 deg, new cmd heading: 11.994275 deg. 2025-10-24T20:21:13.778Z,1761337273.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.209340 target range: 9.846772 and range: 7.80 m. 2025-10-24T20:21:13.801Z,1761337273.801 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.695518 2025-10-24T20:21:14.054Z,1761337274.054 [DAT](INFO): DAT read: Rx Time:20:21:13.0105 2025-10-24T20:21:14.054Z,1761337274.054 [DAT](INFO): Rx dataTimestamp_ set to:1761337274.053926 2025-10-24T20:21:14.055Z,1761337274.055 [DAT](INFO): DAT read: Bearing 335.2, 2.0 (Local) 2025-10-24T20:21:14.056Z,1761337274.056 [DAT](INFO): Local bearing/azimuth received: Bearing 335.2, 2.0 (Local) 2025-10-24T20:21:14.058Z,1761337274.058 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-24T20:21:14.063Z,1761337274.063 [DAT](INFO): DAT read: 20:21:13.0105 LVL= 32464, 32753, 16498, 32755, AGC= 51, IDX= 504, 0.42,-0.453,-1.548, 0.492,-0.240, PHS=-0.124,-1.261, 0.730, RAW= 175.3, 7.6, CAL= 174.8, -2.0, ROT= 335.2, 2.0 2025-10-24T20:21:14.065Z,1761337274.065 [DAT](INFO): got valid direction response: 20:21:13.0105 LVL= 32464, 32753, 16498, 32755, AGC= 51, IDX= 504, 0.42,-0.453,-1.548, 0.492,-0.240, PHS=-0.124,-1.261, 0.730, RAW= 175.3, 7.6, CAL= 174.8, -2.0, ROT= 335.2, 2.0 2025-10-24T20:21:14.066Z,1761337274.066 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-24T20:21:14.067Z,1761337274.067 [DAT](INFO): direction in FSK: [0.907225,-0.419197,-0.034899] 2025-10-24T20:21:14.067Z,1761337274.067 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:14.071Z,1761337274.071 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.965076 2025-10-24T20:21:14.105Z,1761337274.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935799,-0.351786,0.022943],[0.352526,0.933371,-0.067413],[0.002301,0.071173,0.997461]] 2025-10-24T20:21:14.201Z,1761337274.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503688 s, deltaX: -0.400000 m, approachRate: -0.794143 m/s, rangeRepo size: 4 2025-10-24T20:21:14.203Z,1761337274.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.360219 m, bearing: 356.030346 deg, lat: 36.779655 deg, lon: -121.859524 deg, deltaT: 4.536189 s, deltaX: -2.486554 m, approachRate: -0.548159 m/s, posRepo size: 4 2025-10-24T20:21:14.208Z,1761337274.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.85 m. 2025-10-24T20:21:14.211Z,1761337274.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 7.583894 m, bearing: 356.100659 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 11.994276 deg, new cmd heading: 11.386348 deg. 2025-10-24T20:21:14.216Z,1761337274.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.198729 target range: 9.846772 and range: 7.40 m. 2025-10-24T20:21:14.306Z,1761337274.306 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.200230 2025-10-24T20:21:14.545Z,1761337274.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938623,-0.344163,0.023209],[0.344945,0.936476,-0.063446],[0.000102,0.067558,0.997715]] 2025-10-24T20:21:14.557Z,1761337274.557 [DAT](INFO): DAT read: Rx Time:20:21:13.5105 2025-10-24T20:21:14.558Z,1761337274.558 [DAT](INFO): Rx dataTimestamp_ set to:1761337274.557527 2025-10-24T20:21:14.559Z,1761337274.559 [DAT](INFO): DAT read: Bearing 334.5, 1.7 (Local) 2025-10-24T20:21:14.559Z,1761337274.559 [DAT](INFO): Local bearing/azimuth received: Bearing 334.5, 1.7 (Local) 2025-10-24T20:21:14.562Z,1761337274.562 [DAT](INFO): DAT read: Range 10 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4 2025-10-24T20:21:14.568Z,1761337274.568 [DAT](INFO): DAT read: 20:21:13.5105 LVL= 32720, 32753, 16946, 32755, AGC= 52, IDX= 504,-0.11,-0.853,-1.920, 0.107,-0.620, PHS=-0.145,-1.252, 0.725, RAW= 176.0, 7.9, CAL= 175.5, -1.7, ROT= 334.5, 1.7 2025-10-24T20:21:14.569Z,1761337274.569 [DAT](INFO): got valid direction response: 20:21:13.5105 LVL= 32720, 32753, 16946, 32755, AGC= 52, IDX= 504,-0.11,-0.853,-1.920, 0.107,-0.620, PHS=-0.145,-1.252, 0.725, RAW= 176.0, 7.9, CAL= 175.5, -1.7, ROT= 334.5, 1.7 2025-10-24T20:21:14.570Z,1761337274.570 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-24T20:21:14.571Z,1761337274.571 [DAT](INFO): direction in FSK: [0.902188,-0.430322,-0.029666] 2025-10-24T20:21:14.571Z,1761337274.571 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:14.575Z,1761337274.575 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.468819 2025-10-24T20:21:14.618Z,1761337274.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503601 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:14.624Z,1761337274.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.360232 m, bearing: 354.833336 deg, lat: 36.779655 deg, lon: -121.859524 deg, deltaT: 5.039790 s, deltaX: -2.486540 m, approachRate: -0.493382 m/s, posRepo size: 4 2025-10-24T20:21:14.627Z,1761337274.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.85 m. 2025-10-24T20:21:14.634Z,1761337274.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 7.377135 m, bearing: 355.584572 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 11.386348 deg, new cmd heading: 10.814094 deg. 2025-10-24T20:21:14.635Z,1761337274.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.188742 target range: 9.846772 and range: 7.40 m. 2025-10-24T20:21:14.810Z,1761337274.810 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.703770 2025-10-24T20:21:14.969Z,1761337274.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941855,-0.335202,0.023432],[0.336015,0.939928,-0.060240],[-0.001831,0.064611,0.997909]] 2025-10-24T20:21:15.061Z,1761337275.061 [DAT](INFO): DAT read: Rx Time:20:21:14.0102 2025-10-24T20:21:15.062Z,1761337275.062 [DAT](INFO): Rx dataTimestamp_ set to:1761337275.061647 2025-10-24T20:21:15.064Z,1761337275.064 [DAT](INFO): DAT read: Bearing 335.2, 1.8 (Local) 2025-10-24T20:21:15.065Z,1761337275.065 [DAT](INFO): Local bearing/azimuth received: Bearing 335.2, 1.8 (Local) 2025-10-24T20:21:15.067Z,1761337275.067 [DAT](INFO): DAT read: Range 10 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4 2025-10-24T20:21:15.075Z,1761337275.075 [DAT](INFO): DAT read: 20:21:14.0102 LVL= 31600, 32753, 17634, 32755, AGC= 51, IDX= 501, 0.21,-0.143,-1.247, 0.811, 0.079, PHS=-0.134,-1.279, 0.728, RAW= 175.3, 7.9, CAL= 174.8, -1.8, ROT= 335.2, 1.8 2025-10-24T20:21:15.082Z,1761337275.082 [DAT](INFO): got valid direction response: 20:21:14.0102 LVL= 31600, 32753, 17634, 32755, AGC= 51, IDX= 501, 0.21,-0.143,-1.247, 0.811, 0.079, PHS=-0.134,-1.279, 0.728, RAW= 175.3, 7.9, CAL= 174.8, -1.8, ROT= 335.2, 1.8 2025-10-24T20:21:15.083Z,1761337275.083 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-24T20:21:15.087Z,1761337275.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:15.093Z,1761337275.093 [DAT](INFO): direction in FSK: [0.907330,-0.419245,-0.031411] 2025-10-24T20:21:15.093Z,1761337275.093 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:15.106Z,1761337275.106 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.000748 2025-10-24T20:21:15.107Z,1761337275.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504120 s, deltaX: -0.500000 m, approachRate: -0.991827 m/s, rangeRepo size: 4 2025-10-24T20:21:15.112Z,1761337275.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:15.120Z,1761337275.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 7.147627 m, bearing: 354.983611 deg, approach rate: -0.476866 m/s, LOS rate: -1.288730 deg/s, cmd heading: 10.814094 deg, new cmd heading: 8.954008 deg. 2025-10-24T20:21:15.121Z,1761337275.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156277 target range: 9.846772 and range: 6.90 m. 2025-10-24T20:21:15.313Z,1761337275.313 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.207306 2025-10-24T20:21:15.465Z,1761337275.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944896,-0.326477,0.024167],[0.327345,0.943167,-0.057280],[-0.004093,0.062034,0.998066]] 2025-10-24T20:21:15.503Z,1761337275.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:15.506Z,1761337275.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 6.928555 m, bearing: 354.389481 deg, approach rate: -0.541226 m/s, LOS rate: -1.514209 deg/s, cmd heading: 8.954008 deg, new cmd heading: 7.115925 deg. 2025-10-24T20:21:15.507Z,1761337275.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124196 target range: 9.846772 and range: 6.90 m. 2025-10-24T20:21:15.567Z,1761337275.567 [DAT](INFO): DAT read: Rx Time:20:21:14.5101 2025-10-24T20:21:15.567Z,1761337275.567 [DAT](INFO): Rx dataTimestamp_ set to:1761337275.566797 2025-10-24T20:21:15.570Z,1761337275.570 [DAT](INFO): DAT read: Bearing 334.7, 1.8 (Local) 2025-10-24T20:21:15.570Z,1761337275.570 [DAT](INFO): Local bearing/azimuth received: Bearing 334.7, 1.8 (Local) 2025-10-24T20:21:15.573Z,1761337275.573 [DAT](INFO): DAT read: Range 10 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 2025-10-24T20:21:15.581Z,1761337275.581 [DAT](INFO): DAT read: 20:21:14.5101 LVL= 27040, 32753, 18658, 32755, AGC= 51, IDX= 500,-0.30,-2.023,-3.103,-1.063,-1.794, PHS=-0.141,-1.261, 0.729, RAW= 175.8, 7.8, CAL= 175.3, -1.8, ROT= 334.7, 1.8 2025-10-24T20:21:15.582Z,1761337275.582 [DAT](INFO): got valid direction response: 20:21:14.5101 LVL= 27040, 32753, 18658, 32755, AGC= 51, IDX= 500,-0.30,-2.023,-3.103,-1.063,-1.794, PHS=-0.141,-1.261, 0.729, RAW= 175.8, 7.8, CAL= 175.3, -1.8, ROT= 334.7, 1.8 2025-10-24T20:21:15.582Z,1761337275.582 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-24T20:21:15.583Z,1761337275.583 [DAT](INFO): direction in FSK: [0.903636,-0.427147,-0.031411] 2025-10-24T20:21:15.583Z,1761337275.583 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:15.587Z,1761337275.587 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.481777 2025-10-24T20:21:15.792Z,1761337275.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947847,-0.317773,0.024639],[0.318671,0.946295,-0.054547],[-0.005982,0.059554,0.998207]] 2025-10-24T20:21:15.817Z,1761337275.817 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.711300 2025-10-24T20:21:15.912Z,1761337275.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.505150 s, deltaX: -0.100000 m, approachRate: -0.197961 m/s, rangeRepo size: 4 2025-10-24T20:21:15.930Z,1761337275.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.763461 m, bearing: 353.410608 deg, lat: 36.779655 deg, lon: -121.859524 deg, deltaT: 6.049060 s, deltaX: -3.083312 m, approachRate: -0.509717 m/s, posRepo size: 4 2025-10-24T20:21:15.939Z,1761337275.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.85 m. 2025-10-24T20:21:15.955Z,1761337275.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 6.745719 m, bearing: 353.837142 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 7.115925 deg, new cmd heading: 6.572126 deg. 2025-10-24T20:21:15.960Z,1761337275.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114705 target range: 9.846772 and range: 6.80 m. 2025-10-24T20:21:16.070Z,1761337276.070 [DAT](INFO): DAT read: Rx Time:20:21:15.0098 2025-10-24T20:21:16.070Z,1761337276.070 [DAT](INFO): Rx dataTimestamp_ set to:1761337276.069971 2025-10-24T20:21:16.072Z,1761337276.072 [DAT](INFO): DAT read: Bearing 335.6, 1.3 (Local) 2025-10-24T20:21:16.072Z,1761337276.072 [DAT](INFO): Local bearing/azimuth received: Bearing 335.6, 1.3 (Local) 2025-10-24T20:21:16.074Z,1761337276.074 [DAT](INFO): DAT read: Range 10 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 2025-10-24T20:21:16.079Z,1761337276.079 [DAT](INFO): DAT read: 20:21:15.0098 LVL= 28720, 32753, 16594, 32755, AGC= 50, IDX= 497, 0.02,-1.509,-2.621,-0.564,-1.277, PHS=-0.144,-1.297, 0.710, RAW= 175.1, 8.4, CAL= 174.4, -1.3, ROT= 335.6, 1.3 2025-10-24T20:21:16.081Z,1761337276.081 [DAT](INFO): got valid direction response: 20:21:15.0098 LVL= 28720, 32753, 16594, 32755, AGC= 50, IDX= 497, 0.02,-1.509,-2.621,-0.564,-1.277, PHS=-0.144,-1.297, 0.710, RAW= 175.1, 8.4, CAL= 174.4, -1.3, ROT= 335.6, 1.3 2025-10-24T20:21:16.082Z,1761337276.082 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-24T20:21:16.083Z,1761337276.083 [DAT](INFO): direction in FSK: [0.910449,-0.412998,-0.022687] 2025-10-24T20:21:16.083Z,1761337276.083 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:16.087Z,1761337276.087 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.981205 2025-10-24T20:21:16.261Z,1761337276.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951090,-0.307935,0.024581],[0.308812,0.949806,-0.050036],[-0.007940,0.055180,0.998445]] 2025-10-24T20:21:16.321Z,1761337276.321 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.215252 2025-10-24T20:21:16.322Z,1761337276.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503174 s, deltaX: -0.500000 m, approachRate: -0.993692 m/s, rangeRepo size: 4 2025-10-24T20:21:16.331Z,1761337276.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.266148 m, bearing: 353.677322 deg, lat: 36.779655 deg, lon: -121.859524 deg, deltaT: 6.552234 s, deltaX: -3.580625 m, approachRate: -0.546474 m/s, posRepo size: 4 2025-10-24T20:21:16.337Z,1761337276.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.27 m. 9.85 m. 2025-10-24T20:21:16.341Z,1761337276.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 6.536853 m, bearing: 353.187736 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 6.572126 deg, new cmd heading: 5.999124 deg. 2025-10-24T20:21:16.342Z,1761337276.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104704 target range: 9.846772 and range: 6.30 m. 2025-10-24T20:21:16.573Z,1761337276.573 [DAT](INFO): DAT read: Rx Time:20:21:15.5097 2025-10-24T20:21:16.573Z,1761337276.573 [DAT](INFO): Rx dataTimestamp_ set to:1761337276.573142 2025-10-24T20:21:16.575Z,1761337276.575 [DAT](INFO): DAT read: Range 10 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4 2025-10-24T20:21:16.575Z,1761337276.575 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-24T20:21:16.576Z,1761337276.576 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.470566 2025-10-24T20:21:16.670Z,1761337276.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503171 s, deltaX: -0.100000 m, approachRate: -0.198740 m/s, rangeRepo size: 4 2025-10-24T20:21:16.671Z,1761337276.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:16.674Z,1761337276.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 6.348504 m, bearing: 352.562938 deg, approach rate: -0.532284 m/s, LOS rate: -1.818059 deg/s, cmd heading: 5.999123 deg, new cmd heading: 4.069887 deg. 2025-10-24T20:21:16.675Z,1761337276.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071033 target range: 9.846772 and range: 6.20 m. 2025-10-24T20:21:16.826Z,1761337276.826 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.719826 2025-10-24T20:21:17.032Z,1761337277.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957247,-0.288112,0.025892],[0.289044,0.956213,-0.045933],[-0.011525,0.051453,0.998609]] 2025-10-24T20:21:17.078Z,1761337277.078 [DAT](INFO): DAT read: Rx Time:20:21:16.0095 2025-10-24T20:21:17.078Z,1761337277.078 [DAT](INFO): Rx dataTimestamp_ set to:1761337277.077705 2025-10-24T20:21:17.079Z,1761337277.079 [DAT](INFO): DAT read: Bearing 338.0, 0.3 (Local) 2025-10-24T20:21:17.080Z,1761337277.080 [DAT](INFO): Local bearing/azimuth received: Bearing 338.0, 0.3 (Local) 2025-10-24T20:21:17.082Z,1761337277.082 [DAT](INFO): DAT read: Range 10 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 2025-10-24T20:21:17.087Z,1761337277.087 [DAT](INFO): DAT read: 20:21:16.0095 LVL= 24864, 28785, 17186, 32163, AGC= 49, IDX= 510,-0.27,-1.832,-2.958,-0.982,-1.607, PHS=-0.138,-1.304, 0.621, RAW= 173.0, 9.8, CAL= 172.0, -0.3, ROT= 338.0, 0.3 2025-10-24T20:21:17.089Z,1761337277.089 [DAT](INFO): got valid direction response: 20:21:16.0095 LVL= 24864, 28785, 17186, 32163, AGC= 49, IDX= 510,-0.27,-1.832,-2.958,-0.982,-1.607, PHS=-0.138,-1.304, 0.621, RAW= 173.0, 9.8, CAL= 172.0, -0.3, ROT= 338.0, 0.3 2025-10-24T20:21:17.089Z,1761337277.089 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-24T20:21:17.090Z,1761337277.090 [DAT](INFO): direction in FSK: [0.927171,-0.374601,-0.005236] 2025-10-24T20:21:17.090Z,1761337277.090 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:17.099Z,1761337277.099 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.993042 2025-10-24T20:21:17.103Z,1761337277.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504563 s, deltaX: -0.200000 m, approachRate: -0.396382 m/s, rangeRepo size: 4 2025-10-24T20:21:17.129Z,1761337277.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.967754 m, bearing: 354.835172 deg, lat: 36.779655 deg, lon: -121.859524 deg, deltaT: 7.559968 s, deltaX: -3.879018 m, approachRate: -0.513100 m/s, posRepo size: 4 2025-10-24T20:21:17.130Z,1761337277.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.97 m. 9.85 m. 2025-10-24T20:21:17.138Z,1761337277.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 6.146729 m, bearing: 351.956861 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 4.069887 deg, new cmd heading: 3.475623 deg. 2025-10-24T20:21:17.138Z,1761337277.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.060661 target range: 9.846772 and range: 6.00 m. 2025-10-24T20:21:17.331Z,1761337277.331 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.224735 2025-10-24T20:21:17.523Z,1761337277.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:17.530Z,1761337277.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:17.537Z,1761337277.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 5.932077 m, bearing: 351.264225 deg, approach rate: -0.502505 m/s, LOS rate: -1.680107 deg/s, cmd heading: 3.475623 deg, new cmd heading: 1.323592 deg. 2025-10-24T20:21:17.538Z,1761337277.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023101 target range: 9.846772 and range: 6.00 m. 2025-10-24T20:21:17.582Z,1761337277.582 [DAT](INFO): DAT read: Rx Time:20:21:16.5094 2025-10-24T20:21:17.583Z,1761337277.583 [DAT](INFO): Rx dataTimestamp_ set to:1761337277.582338 2025-10-24T20:21:17.584Z,1761337277.584 [DAT](INFO): DAT read: Bearing 340.1, -2.5 (Local) 2025-10-24T20:21:17.585Z,1761337277.585 [DAT](INFO): Local bearing/azimuth received: Bearing 340.1, -2.5 (Local) 2025-10-24T20:21:17.587Z,1761337277.587 [DAT](INFO): DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-24T20:21:17.591Z,1761337277.591 [DAT](INFO): DAT read: 20:21:16.5094 LVL= 21152, 28977, 15922, 29059, AGC= 50, IDX= 509,-0.03, 0.304,-0.856, 1.067, 0.536, PHS=-0.144,-1.344, 0.528, RAW= 170.7, 11.7, CAL= 169.9, 2.5, ROT= 340.1, -2.5 2025-10-24T20:21:17.593Z,1761337277.593 [DAT](INFO): got valid direction response: 20:21:16.5094 LVL= 21152, 28977, 15922, 29059, AGC= 50, IDX= 509,-0.03, 0.304,-0.856, 1.067, 0.536, PHS=-0.144,-1.344, 0.528, RAW= 170.7, 11.7, CAL= 169.9, 2.5, ROT= 340.1, -2.5 2025-10-24T20:21:17.609Z,1761337277.609 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-24T20:21:17.610Z,1761337277.610 [DAT](INFO): direction in FSK: [0.939393,-0.340055,0.043619] 2025-10-24T20:21:17.610Z,1761337277.610 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:17.615Z,1761337277.615 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.509510 2025-10-24T20:21:17.833Z,1761337277.833 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.727245 2025-10-24T20:21:17.986Z,1761337277.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504633 s, deltaX: -0.100000 m, approachRate: -0.198164 m/s, rangeRepo size: 4 2025-10-24T20:21:17.988Z,1761337277.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.868294 m, bearing: 356.809848 deg, lat: 36.779655 deg, lon: -121.859523 deg, deltaT: 8.064601 s, deltaX: -3.978478 m, approachRate: -0.493326 m/s, posRepo size: 4 2025-10-24T20:21:17.989Z,1761337277.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.85 m. 2025-10-24T20:21:17.992Z,1761337277.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 5.704492 m, bearing: 350.480605 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 1.323592 deg, new cmd heading: 0.696627 deg. 2025-10-24T20:21:17.993Z,1761337277.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012158 target range: 9.846772 and range: 5.90 m. 2025-10-24T20:21:18.087Z,1761337278.087 [DAT](INFO): DAT read: Rx Time:20:21:17.0091 2025-10-24T20:21:18.087Z,1761337278.087 [DAT](INFO): Rx dataTimestamp_ set to:1761337278.087162 2025-10-24T20:21:18.090Z,1761337278.090 [DAT](INFO): DAT read: Bearing 342.5, -5.5 (Local) 2025-10-24T20:21:18.090Z,1761337278.090 [DAT](INFO): Local bearing/azimuth received: Bearing 342.5, -5.5 (Local) 2025-10-24T20:21:18.093Z,1761337278.093 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-24T20:21:18.098Z,1761337278.098 [DAT](INFO): DAT read: 20:21:17.0091 LVL= 20720, 28321, 14594, 28627, AGC= 49, IDX= 506, 0.19, 0.908,-0.276, 1.563, 1.134, PHS=-0.138,-1.363, 0.426, RAW= 168.0, 13.5, CAL= 167.5, 5.5, ROT= 342.5, -5.5 2025-10-24T20:21:18.099Z,1761337278.099 [DAT](INFO): got valid direction response: 20:21:17.0091 LVL= 20720, 28321, 14594, 28627, AGC= 49, IDX= 506, 0.19, 0.908,-0.276, 1.563, 1.134, PHS=-0.138,-1.363, 0.426, RAW= 168.0, 13.5, CAL= 167.5, 5.5, ROT= 342.5, -5.5 2025-10-24T20:21:18.099Z,1761337278.099 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-24T20:21:18.101Z,1761337278.101 [DAT](INFO): direction in FSK: [0.949326,-0.299321,0.095846] 2025-10-24T20:21:18.101Z,1761337278.101 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:18.105Z,1761337278.105 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.998920 2025-10-24T20:21:18.251Z,1761337278.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967229,-0.252291,0.028573],[0.253286,0.966592,-0.039320],[-0.017698,0.045268,0.998818]] 2025-10-24T20:21:18.302Z,1761337278.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504824 s, deltaX: -0.500000 m, approachRate: -0.990444 m/s, rangeRepo size: 4 2025-10-24T20:21:18.308Z,1761337278.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.370981 m, bearing: 356.976135 deg, lat: 36.779654 deg, lon: -121.859521 deg, deltaT: 8.569425 s, deltaX: -4.475791 m, approachRate: -0.522298 m/s, posRepo size: 4 2025-10-24T20:21:18.309Z,1761337278.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.85 m. 2025-10-24T20:21:18.316Z,1761337278.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 5.551231 m, bearing: 349.980578 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 0.696627 deg, new cmd heading: 0.262240 deg. 2025-10-24T20:21:18.318Z,1761337278.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004577 target range: 9.846772 and range: 5.40 m. 2025-10-24T20:21:18.337Z,1761337278.337 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.231503 2025-10-24T20:21:18.590Z,1761337278.590 [DAT](INFO): DAT read: Rx Time:20:21:17.5094 2025-10-24T20:21:18.590Z,1761337278.590 [DAT](INFO): Rx dataTimestamp_ set to:1761337278.589765 2025-10-24T20:21:18.591Z,1761337278.591 [DAT](INFO): DAT read: Bearing 345.4, -6.6 (Local) 2025-10-24T20:21:18.592Z,1761337278.592 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, -6.6 (Local) 2025-10-24T20:21:18.594Z,1761337278.594 [DAT](INFO): DAT read: Range 10 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4 2025-10-24T20:21:18.599Z,1761337278.599 [DAT](INFO): DAT read: 20:21:17.5094 LVL= 20656, 29345, 13554, 27043, AGC= 49, IDX= 506,-0.35, 0.484,-0.699, 1.014, 0.669, PHS=-0.097,-1.321, 0.342, RAW= 164.7, 14.3, CAL= 164.6, 6.6, ROT= 345.4, -6.6 2025-10-24T20:21:18.600Z,1761337278.600 [DAT](INFO): got valid direction response: 20:21:17.5094 LVL= 20656, 29345, 13554, 27043, AGC= 49, IDX= 506,-0.35, 0.484,-0.699, 1.014, 0.669, PHS=-0.097,-1.321, 0.342, RAW= 164.7, 14.3, CAL= 164.6, 6.6, ROT= 345.4, -6.6 2025-10-24T20:21:18.601Z,1761337278.601 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-24T20:21:18.602Z,1761337278.602 [DAT](INFO): direction in FSK: [0.961296,-0.250399,0.114937] 2025-10-24T20:21:18.602Z,1761337278.602 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:18.606Z,1761337278.606 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.500137 2025-10-24T20:21:18.710Z,1761337278.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.502603 s, deltaX: 0.500000 m, approachRate: 0.994821 m/s, rangeRepo size: 4 2025-10-24T20:21:18.770Z,1761337278.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.868303 m, bearing: 359.823443 deg, lat: 36.779654 deg, lon: -121.859517 deg, deltaT: 9.072028 s, deltaX: -3.978469 m, approachRate: -0.438542 m/s, posRepo size: 4 2025-10-24T20:21:18.786Z,1761337278.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.90 m. 2025-10-24T20:21:18.797Z,1761337278.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.85 m. 2025-10-24T20:21:18.805Z,1761337278.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 5.344316 m, bearing: 349.257485 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 0.262240 deg, new cmd heading: 359.702398 deg. 2025-10-24T20:21:18.806Z,1761337278.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277991 target range: 9.846772 and range: 5.90 m. 2025-10-24T20:21:18.841Z,1761337278.841 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.735081 2025-10-24T20:21:19.094Z,1761337279.094 [DAT](INFO): DAT read: Rx Time:20:21:18.0091 2025-10-24T20:21:19.094Z,1761337279.094 [DAT](INFO): Rx dataTimestamp_ set to:1761337279.093718 2025-10-24T20:21:19.095Z,1761337279.095 [DAT](INFO): DAT read: Bearing 354.1, -11.6 (Local) 2025-10-24T20:21:19.096Z,1761337279.096 [DAT](INFO): Local bearing/azimuth received: Bearing 354.1, -11.6 (Local) 2025-10-24T20:21:19.099Z,1761337279.099 [DAT](INFO): DAT read: Range 10 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-24T20:21:19.103Z,1761337279.103 [DAT](INFO): DAT read: 20:21:18.0091 LVL= 25776, 32753, 12578, 32755, AGC= 48, IDX= 503,-0.00,-0.163,-1.424, 0.055,-0.054, PHS=-0.021,-1.323, 0.106, RAW= 154.6, 17.7, CAL= 155.9, 11.6, ROT= 354.1, -11.6 2025-10-24T20:21:19.105Z,1761337279.105 [DAT](INFO): got valid direction response: 20:21:18.0091 LVL= 25776, 32753, 12578, 32755, AGC= 48, IDX= 503,-0.00,-0.163,-1.424, 0.055,-0.054, PHS=-0.021,-1.323, 0.106, RAW= 154.6, 17.7, CAL= 155.9, 11.6, ROT= 354.1, -11.6 2025-10-24T20:21:19.105Z,1761337279.105 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-24T20:21:19.106Z,1761337279.106 [DAT](INFO): direction in FSK: [0.974386,-0.100693,0.201078] 2025-10-24T20:21:19.106Z,1761337279.106 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:19.110Z,1761337279.110 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.003929 2025-10-24T20:21:19.127Z,1761337279.127 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412224171,35.0, +11.6, .5, 0 2025-10-24T20:21:19.190Z,1761337279.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503953 s, deltaX: -0.500000 m, approachRate: -0.992156 m/s, rangeRepo size: 4 2025-10-24T20:21:19.202Z,1761337279.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.370990 m, bearing: 8.272909 deg, lat: 36.779657 deg, lon: -121.859517 deg, deltaT: 9.575981 s, deltaX: -4.475782 m, approachRate: -0.467397 m/s, posRepo size: 4 2025-10-24T20:21:19.203Z,1761337279.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.40 m. 2025-10-24T20:21:19.213Z,1761337279.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.85 m. 2025-10-24T20:21:19.221Z,1761337279.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 5.119074 m, bearing: 348.399879 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 359.702405 deg, new cmd heading: 359.041913 deg. 2025-10-24T20:21:19.222Z,1761337279.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266464 target range: 9.846772 and range: 5.40 m. 2025-10-24T20:21:19.345Z,1761337279.345 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.239235 2025-10-24T20:21:19.479Z,1761337279.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976683,-0.212208,0.032532],[0.213338,0.976300,-0.036417],[-0.024033,0.042508,0.998807]] 2025-10-24T20:21:19.526Z,1761337279.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:19.533Z,1761337279.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:19.535Z,1761337279.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 4.937169 m, bearing: 347.743716 deg, approach rate: -0.530486 m/s, LOS rate: -1.984012 deg/s, cmd heading: 359.041926 deg, new cmd heading: 357.001817 deg. 2025-10-24T20:21:19.544Z,1761337279.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.230857 target range: 9.846772 and range: 5.40 m. 2025-10-24T20:21:19.599Z,1761337279.599 [DAT](INFO): DAT read: Rx Time:20:21:18.5090 2025-10-24T20:21:19.600Z,1761337279.600 [DAT](INFO): Rx dataTimestamp_ set to:1761337279.599643 2025-10-24T20:21:19.603Z,1761337279.603 [DAT](INFO): DAT read: Bearing 10.3, -18.3 (Local) 2025-10-24T20:21:19.603Z,1761337279.603 [DAT](INFO): Local bearing/azimuth received: Bearing 10.3, -18.3 (Local) 2025-10-24T20:21:19.608Z,1761337279.608 [DAT](INFO): DAT read: Range 10 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4 2025-10-24T20:21:19.629Z,1761337279.629 [DAT](INFO): DAT read: 20:21:18.5090 LVL= 21600, 32753, 9458, 30051, AGC= 47, IDX= 502, 0.41, 0.958,-0.401, 0.722, 0.976, PHS= 0.070,-1.329,-0.257, RAW= 137.1, 22.9, CAL= 139.7, 18.3, ROT= 10.3, -18.3 2025-10-24T20:21:19.630Z,1761337279.630 [DAT](INFO): got valid direction response: 20:21:18.5090 LVL= 21600, 32753, 9458, 30051, AGC= 47, IDX= 502, 0.41, 0.958,-0.401, 0.722, 0.976, PHS= 0.070,-1.329,-0.257, RAW= 137.1, 22.9, CAL= 139.7, 18.3, ROT= 10.3, -18.3 2025-10-24T20:21:19.631Z,1761337279.631 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-24T20:21:19.636Z,1761337279.636 [DAT](INFO): direction in FSK: [0.934126,0.169759,0.313992] 2025-10-24T20:21:19.637Z,1761337279.637 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:19.646Z,1761337279.646 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.539963 2025-10-24T20:21:19.849Z,1761337279.849 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.743305 2025-10-24T20:21:19.930Z,1761337279.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979663,-0.197762,0.033917],[0.198944,0.979352,-0.035939],[-0.026109,0.041956,0.998778]] 2025-10-24T20:21:20.067Z,1761337280.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.505925 s, deltaX: -0.100000 m, approachRate: -0.197658 m/s, rangeRepo size: 4 2025-10-24T20:21:20.078Z,1761337280.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.271534 m, bearing: 20.906041 deg, lat: 36.779657 deg, lon: -121.859513 deg, deltaT: 10.081906 s, deltaX: -4.575238 m, approachRate: -0.453807 m/s, posRepo size: 4 2025-10-24T20:21:20.079Z,1761337280.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.27 m. 9.85 m. 2025-10-24T20:21:20.085Z,1761337280.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 4.679202 m, bearing: 346.906603 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 357.001830 deg, new cmd heading: 356.268505 deg. 2025-10-24T20:21:20.086Z,1761337280.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218059 target range: 9.846772 and range: 5.30 m. 2025-10-24T20:21:20.102Z,1761337280.102 [DAT](INFO): DAT read: Rx Time:20:21:19.0088 2025-10-24T20:21:20.102Z,1761337280.102 [DAT](INFO): Rx dataTimestamp_ set to:1761337280.101964 2025-10-24T20:21:20.104Z,1761337280.104 [DAT](INFO): DAT read: Bearing 65.8, -39.7 (Local) 2025-10-24T20:21:20.105Z,1761337280.105 [DAT](INFO): Local bearing/azimuth received: Bearing 65.8, -39.7 (Local) 2025-10-24T20:21:20.107Z,1761337280.107 [DAT](INFO): DAT read: Range 10 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 2025-10-24T20:21:20.112Z,1761337280.112 [DAT](INFO): DAT read: 20:21:19.0088 LVL= 23984, 32753, 10514, 32163, AGC= 47, IDX= 500, 0.05,-2.850, 2.000, 1.895,-2.914, PHS= 0.152,-1.322,-1.477, RAW= 85.1, 31.0, CAL= 84.2, 39.7, ROT= 65.8, -39.7 2025-10-24T20:21:20.113Z,1761337280.113 [DAT](INFO): got valid direction response: 20:21:19.0088 LVL= 23984, 32753, 10514, 32163, AGC= 47, IDX= 500, 0.05,-2.850, 2.000, 1.895,-2.914, PHS= 0.152,-1.322,-1.477, RAW= 85.1, 31.0, CAL= 84.2, 39.7, ROT= 65.8, -39.7 2025-10-24T20:21:20.114Z,1761337280.114 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-24T20:21:20.115Z,1761337280.115 [DAT](INFO): direction in FSK: [0.315395,0.701785,0.638768] 2025-10-24T20:21:20.115Z,1761337280.115 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:20.119Z,1761337280.119 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.013027 2025-10-24T20:21:20.354Z,1761337280.354 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.248199 2025-10-24T20:21:20.411Z,1761337280.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984849,-0.169213,0.037944],[0.170727,0.984464,-0.041013],[-0.030415,0.046869,0.998438]] 2025-10-24T20:21:20.486Z,1761337280.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.502321 s, deltaX: -0.300000 m, approachRate: -0.597228 m/s, rangeRepo size: 4 2025-10-24T20:21:20.493Z,1761337280.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.973152 m, bearing: 73.261011 deg, lat: 36.779657 deg, lon: -121.859504 deg, deltaT: 10.584227 s, deltaX: -4.873621 m, approachRate: -0.460461 m/s, posRepo size: 4 2025-10-24T20:21:20.493Z,1761337280.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.00 m. 2025-10-24T20:21:20.494Z,1761337280.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.85 m. 2025-10-24T20:21:20.501Z,1761337280.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 4.467117 m, bearing: 346.226573 deg, approach rate: 0.000000 m/s, LOS rate: -0.458078 deg/s, cmd heading: 356.268514 deg, new cmd heading: 355.691999 deg. 2025-10-24T20:21:20.502Z,1761337280.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207996 target range: 9.846772 and range: 5.00 m. 2025-10-24T20:21:20.606Z,1761337280.606 [DAT](INFO): DAT read: Rx Time:20:21:19.5086 2025-10-24T20:21:20.606Z,1761337280.606 [DAT](INFO): Rx dataTimestamp_ set to:1761337280.605888 2025-10-24T20:21:20.608Z,1761337280.608 [DAT](INFO): DAT read: Range 10 to 50 : 4.7 m (trip time 3.1 ms) speed 0.4 2025-10-24T20:21:20.609Z,1761337280.609 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-24T20:21:20.610Z,1761337280.610 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:21:20.610Z,1761337280.610 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:21:20.611Z,1761337280.611 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:21:20.849Z,1761337280.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987180,-0.154671,0.039410],[0.156343,0.986739,-0.043620],[-0.032140,0.049222,0.998271]] 2025-10-24T20:21:20.857Z,1761337280.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:21:20.987Z,1761337280.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.503924 s, deltaX: -0.300000 m, approachRate: -0.595328 m/s, rangeRepo size: 4 2025-10-24T20:21:20.996Z,1761337280.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.70 m. 2025-10-24T20:21:20.998Z,1761337280.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:21.013Z,1761337281.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 4.206195 m, bearing: 345.388760 deg, approach rate: -0.520772 m/s, LOS rate: -1.775847 deg/s, cmd heading: 355.691991 deg, new cmd heading: 353.024661 deg. 2025-10-24T20:21:21.014Z,1761337281.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161443 target range: 9.846772 and range: 4.70 m. 2025-10-24T20:21:21.109Z,1761337281.109 [DAT](INFO): DAT read: Rx Time:20:21:20.0084 2025-10-24T20:21:21.110Z,1761337281.110 [DAT](INFO): Rx dataTimestamp_ set to:1761337281.109430 2025-10-24T20:21:21.111Z,1761337281.111 [DAT](INFO): DAT read: Range 10 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-24T20:21:21.112Z,1761337281.112 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:21:21.112Z,1761337281.112 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:21:21.113Z,1761337281.113 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-24T20:21:21.325Z,1761337281.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989358,-0.139616,0.040967],[0.141450,0.988880,-0.045912],[-0.034101,0.051218,0.998105]] 2025-10-24T20:21:21.361Z,1761337281.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:21:21.365Z,1761337281.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503542 s, deltaX: -0.300000 m, approachRate: -0.595779 m/s, rangeRepo size: 4 2025-10-24T20:21:21.373Z,1761337281.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:21.383Z,1761337281.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 4.013365 m, bearing: 344.741234 deg, approach rate: -0.517409 m/s, LOS rate: -1.820908 deg/s, cmd heading: 353.024666 deg, new cmd heading: 350.989652 deg. 2025-10-24T20:21:21.389Z,1761337281.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.125925 target range: 9.846772 and range: 4.40 m. 2025-10-24T20:21:21.613Z,1761337281.613 [DAT](INFO): DAT read: user:338> 2025-10-24T20:21:21.614Z,1761337281.614 [DAT](INFO): DAT read: 120 2025-10-24T20:21:21.614Z,1761337281.614 [DAT](INFO): unknown deviceResponse_: 120 2025-10-24T20:21:21.615Z,1761337281.615 [DAT](INFO): DAT read: Ok 2025-10-24T20:21:21.615Z,1761337281.615 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-24T20:21:21.615Z,1761337281.615 [DAT](INFO): DAT read: user:339> 2025-10-24T20:21:21.616Z,1761337281.616 [DAT](INFO): DAT read: Tx time:20:21:20.9538 2025-10-24T20:21:21.616Z,1761337281.616 [DAT](INFO): Ping request sent. 2025-10-24T20:21:21.617Z,1761337281.617 [DAT](INFO): transmitted an acoustic signal 2025-10-24T20:21:21.617Z,1761337281.617 [DAT](INFO): publishing transmit ping time 2025-10-24T20:21:21.617Z,1761337281.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-24T20:21:21.703Z,1761337281.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991262,-0.125126,0.041750],[0.127002,0.990845,-0.045796],[-0.035637,0.050698,0.998078]] 2025-10-24T20:21:21.754Z,1761337281.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:21.757Z,1761337281.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:21.772Z,1761337281.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 3.808501 m, bearing: 344.027003 deg, approach rate: -0.515468 m/s, LOS rate: -1.893735 deg/s, cmd heading: 350.989652 deg, new cmd heading: 348.732927 deg. 2025-10-24T20:21:21.775Z,1761337281.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.086538 target range: 9.846772 and range: 4.40 m. 2025-10-24T20:21:21.866Z,1761337281.866 [DAT](INFO): DAT read: TxSync time:20:21:20.9530 2025-10-24T20:21:21.868Z,1761337281.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251038 2025-10-24T20:21:22.114Z,1761337282.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993064,-0.109589,0.042592],[0.111512,0.992709,-0.045754],[-0.037267,0.050186,0.998044]] 2025-10-24T20:21:22.117Z,1761337282.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500286 2025-10-24T20:21:22.170Z,1761337282.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:22.172Z,1761337282.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 3.601236 m, bearing: 343.291552 deg, approach rate: -0.502664 m/s, LOS rate: -1.886233 deg/s, cmd heading: 348.732930 deg, new cmd heading: 346.400944 deg. 2025-10-24T20:21:22.173Z,1761337282.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045837 target range: 9.846772 and range: 4.40 m. 2025-10-24T20:21:22.372Z,1761337282.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755597 2025-10-24T20:21:22.524Z,1761337282.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994555,-0.095489,0.041737],[0.096968,0.994673,-0.034977],[-0.038175,0.038834,0.998516]] 2025-10-24T20:21:22.543Z,1761337282.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:22.546Z,1761337282.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 3.412291 m, bearing: 342.591393 deg, approach rate: -0.505723 m/s, LOS rate: -1.977740 deg/s, cmd heading: 346.400939 deg, new cmd heading: 344.185316 deg. 2025-10-24T20:21:22.547Z,1761337282.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007167 target range: 9.846772 and range: 4.40 m. 2025-10-24T20:21:22.622Z,1761337282.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004920 2025-10-24T20:21:22.874Z,1761337282.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257199 2025-10-24T20:21:22.924Z,1761337282.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995502,-0.084438,0.042961],[0.086081,0.995565,-0.037950],[-0.039566,0.041478,0.998356]] 2025-10-24T20:21:23.002Z,1761337283.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:23.009Z,1761337283.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 3.192959 m, bearing: 341.808354 deg, approach rate: -0.477739 m/s, LOS rate: -1.822680 deg/s, cmd heading: 344.185308 deg, new cmd heading: 341.676508 deg. 2025-10-24T20:21:23.010Z,1761337283.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963380 target range: 9.846772 and range: 4.40 m. 2025-10-24T20:21:23.125Z,1761337283.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508267 2025-10-24T20:21:23.323Z,1761337283.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996454,-0.071135,0.044936],[0.073008,0.996468,-0.041502],[-0.041825,0.044635,0.998127]] 2025-10-24T20:21:23.351Z,1761337283.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:23.354Z,1761337283.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 3.010907 m, bearing: 341.116905 deg, approach rate: -0.522165 m/s, LOS rate: -2.103088 deg/s, cmd heading: 341.676498 deg, new cmd heading: 339.477859 deg. 2025-10-24T20:21:23.354Z,1761337283.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925006 target range: 9.846772 and range: 4.40 m. 2025-10-24T20:21:23.394Z,1761337283.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.777357 2025-10-24T20:21:23.645Z,1761337283.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.028210 2025-10-24T20:21:23.757Z,1761337283.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997239,-0.057727,0.046709],[0.059790,0.997239,-0.044030],[-0.044038,0.046701,0.997938]] 2025-10-24T20:21:23.787Z,1761337283.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:23.789Z,1761337283.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m. 2025-10-24T20:21:23.793Z,1761337283.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.846772 m, nav range: 2.791727 m, bearing: 340.224083 deg, approach rate: -0.499661 m/s, LOS rate: -2.195062 deg/s, cmd heading: 339.477860 deg, new cmd heading: 336.591665 deg. 2025-10-24T20:21:23.793Z,1761337283.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874633 target range: 9.846772 and range: 4.40 m. 2025-10-24T20:21:23.899Z,1761337283.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282230 2025-10-24T20:21:24.135Z,1761337284.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997897,-0.043080,0.048426],[0.045350,0.997875,-0.046789],[-0.046307,0.048887,0.997730]] 2025-10-24T20:21:24.150Z,1761337284.150 [DAT](INFO): DAT read: Rx Time:20:21:23.0867 2025-10-24T20:21:24.150Z,1761337284.150 [DAT](INFO): Rx dataTimestamp_ set to:1761337284.150104 2025-10-24T20:21:24.152Z,1761337284.152 [DAT](INFO): DAT read: Bearing 183.3, -33.7 (Local) 2025-10-24T20:21:24.152Z,1761337284.152 [DAT](INFO): Local bearing/azimuth received: Bearing 183.3, -33.7 (Local) 2025-10-24T20:21:24.154Z,1761337284.154 [DAT](INFO): DAT read: Range 10 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 2025-10-24T20:21:24.159Z,1761337284.159 [DAT](INFO): DAT read: 20:21:23.0867 LVL= 16160, 19617, 10450, 17139, AGC= 40, IDX= 500,-0.48,-1.034, 0.438,-0.772, 0.386, PHS=-1.332, 0.099,-1.161, RAW= 323.7, 32.0, CAL= 326.7, 33.7, ROT= 183.3, -33.7 2025-10-24T20:21:24.161Z,1761337284.161 [DAT](INFO): got valid direction response: 20:21:23.0867 LVL= 16160, 19617, 10450, 17139, AGC= 40, IDX= 500,-0.48,-1.034, 0.438,-0.772, 0.386, PHS=-1.332, 0.099,-1.161, RAW= 323.7, 32.0, CAL= 326.7, 33.7, ROT= 183.3, -33.7 2025-10-24T20:21:24.161Z,1761337284.161 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-24T20:21:24.162Z,1761337284.162 [DAT](INFO): direction in FSK: [-0.830575,-0.047891,0.554844] 2025-10-24T20:21:24.162Z,1761337284.162 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:24.186Z,1761337284.186 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.551123 2025-10-24T20:21:24.294Z,1761337284.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 3.040674 s, deltaX: -1.500000 m, approachRate: -0.493312 m/s, rangeRepo size: 4 2025-10-24T20:21:24.300Z,1761337284.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.884423 m, bearing: 187.929575 deg, lat: 36.779657 deg, lon: -121.859504 deg, deltaT: 14.632367 s, deltaX: -6.962349 m, approachRate: -0.475818 m/s, posRepo size: 4 2025-10-24T20:21:24.301Z,1761337284.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-24T20:21:24.301Z,1761337284.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-24T20:21:24.401Z,1761337284.401 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.784925 2025-10-24T20:21:24.582Z,1761337284.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998376,-0.027409,0.049931],[0.029983,0.998220,-0.051557],[-0.048429,0.052970,0.997421]] 2025-10-24T20:21:24.654Z,1761337284.654 [DAT](INFO): DAT read: Rx Time:20:21:23.5865 2025-10-24T20:21:24.655Z,1761337284.655 [DAT](INFO): Rx dataTimestamp_ set to:1761337284.654837 2025-10-24T20:21:24.657Z,1761337284.657 [DAT](INFO): DAT read: Bearing 174.5, -36.0 (Local) 2025-10-24T20:21:24.658Z,1761337284.658 [DAT](INFO): Local bearing/azimuth received: Bearing 174.5, -36.0 (Local) 2025-10-24T20:21:24.660Z,1761337284.660 [DAT](INFO): DAT read: Range 10 to 50 : 2.6 m (trip time 1.7 ms) speed 0.3 2025-10-24T20:21:24.666Z,1761337284.666 [DAT](INFO): DAT read: 20:21:23.5865 LVL= 15984, 20977, 10578, 18867, AGC= 43, IDX= 497,-0.08, 2.002,-2.787, 1.929,-2.747, PHS=-1.447, 0.007,-1.611, RAW= 335.3, 35.0, CAL= 335.5, 36.0, ROT= 174.5, -36.0 2025-10-24T20:21:24.667Z,1761337284.667 [DAT](INFO): got valid direction response: 20:21:23.5865 LVL= 15984, 20977, 10578, 18867, AGC= 43, IDX= 497,-0.08, 2.002,-2.787, 1.929,-2.747, PHS=-1.447, 0.007,-1.611, RAW= 335.3, 35.0, CAL= 335.5, 36.0, ROT= 174.5, -36.0 2025-10-24T20:21:24.667Z,1761337284.667 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-24T20:21:24.674Z,1761337284.674 [DAT](INFO): direction in FSK: [-0.805292,0.077541,0.587785] 2025-10-24T20:21:24.674Z,1761337284.674 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:24.690Z,1761337284.690 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.073285 2025-10-24T20:21:24.905Z,1761337284.905 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.288295 2025-10-24T20:21:25.071Z,1761337285.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504733 s, deltaX: -0.300000 m, approachRate: -0.594374 m/s, rangeRepo size: 4 2025-10-24T20:21:25.079Z,1761337285.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.586035 m, bearing: 178.307413 deg, lat: 36.779626 deg, lon: -121.859504 deg, deltaT: 0.504733 s, deltaX: -0.298389 m, approachRate: -0.591181 m/s, posRepo size: 4 2025-10-24T20:21:25.158Z,1761337285.158 [DAT](INFO): DAT read: Rx Time:20:21:24.0863 2025-10-24T20:21:25.158Z,1761337285.158 [DAT](INFO): Rx dataTimestamp_ set to:1761337285.157916 2025-10-24T20:21:25.159Z,1761337285.159 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.3 2025-10-24T20:21:25.160Z,1761337285.160 [DAT](ERROR): #Rx 3: Read range message, but no direction. 2025-10-24T20:21:25.161Z,1761337285.161 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.544446 2025-10-24T20:21:25.409Z,1761337285.409 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.792172 2025-10-24T20:21:25.422Z,1761337285.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503079 s, deltaX: -0.300000 m, approachRate: -0.596328 m/s, rangeRepo size: 4 2025-10-24T20:21:25.662Z,1761337285.662 [DAT](INFO): DAT read: Rx Time:20:21:24.5863 2025-10-24T20:21:25.662Z,1761337285.662 [DAT](INFO): Rx dataTimestamp_ set to:1761337285.662149 2025-10-24T20:21:25.665Z,1761337285.665 [DAT](INFO): DAT read: Bearing 163.9, -26.7 (Local) 2025-10-24T20:21:25.665Z,1761337285.665 [DAT](INFO): Local bearing/azimuth received: Bearing 163.9, -26.7 (Local) 2025-10-24T20:21:25.668Z,1761337285.668 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.3 2025-10-24T20:21:25.673Z,1761337285.673 [DAT](INFO): DAT read: 20:21:24.5863 LVL= 25776, 21537, 19394, 23715, AGC= 49, IDX= 511, 0.09,-2.479,-1.024,-2.965,-1.428, PHS=-0.963, 0.451,-1.539, RAW= 346.3, 22.2, CAL= 346.1, 26.7, ROT= 163.9, -26.7 2025-10-24T20:21:25.674Z,1761337285.674 [DAT](INFO): got valid direction response: 20:21:24.5863 LVL= 25776, 21537, 19394, 23715, AGC= 49, IDX= 511, 0.09,-2.479,-1.024,-2.965,-1.428, PHS=-0.963, 0.451,-1.539, RAW= 346.3, 22.2, CAL= 346.1, 26.7, ROT= 163.9, -26.7 2025-10-24T20:21:25.674Z,1761337285.674 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-24T20:21:25.675Z,1761337285.675 [DAT](INFO): direction in FSK: [-0.858333,0.247745,0.449319] 2025-10-24T20:21:25.675Z,1761337285.675 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:25.679Z,1761337285.679 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.062361 2025-10-24T20:21:25.787Z,1761337285.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998364,0.022170,0.052711],[-0.019247,0.998283,-0.055318],[-0.053847,0.054213,0.997077]] 2025-10-24T20:21:25.917Z,1761337285.917 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.298785 2025-10-24T20:21:26.036Z,1761337286.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:26.038Z,1761337286.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.287644 m, bearing: 163.895728 deg, lat: 36.779624 deg, lon: -121.859510 deg, deltaT: 1.007312 s, deltaX: -0.298391 m, approachRate: -0.296225 m/s, posRepo size: 4 2025-10-24T20:21:26.166Z,1761337286.166 [DAT](INFO): DAT read: Rx Time:20:21:25.0861 2025-10-24T20:21:26.167Z,1761337286.167 [DAT](INFO): Rx dataTimestamp_ set to:1761337286.166526 2025-10-24T20:21:26.168Z,1761337286.168 [DAT](INFO): DAT read: Bearing 332.3, -56.4 (Local) 2025-10-24T20:21:26.169Z,1761337286.169 [DAT](INFO): Local bearing/azimuth received: Bearing 332.3, -56.4 (Local) 2025-10-24T20:21:26.171Z,1761337286.171 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 2025-10-24T20:21:26.176Z,1761337286.176 [DAT](INFO): DAT read: 20:21:25.0861 LVL= 23648, 29569, 19042, 27315, AGC= 52, IDX= 510, 0.08, 0.642,-0.166, 1.346, 2.131, PHS=-1.401,-2.250,-0.788, RAW= 174.7, 51.0, CAL= 177.7, 56.4, ROT= 332.3, -56.4 2025-10-24T20:21:26.177Z,1761337286.177 [DAT](INFO): got valid direction response: 20:21:25.0861 LVL= 23648, 29569, 19042, 27315, AGC= 52, IDX= 510, 0.08, 0.642,-0.166, 1.346, 2.131, PHS=-1.401,-2.250,-0.788, RAW= 174.7, 51.0, CAL= 177.7, 56.4, ROT= 332.3, -56.4 2025-10-24T20:21:26.177Z,1761337286.177 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-24T20:21:26.178Z,1761337286.178 [DAT](INFO): direction in FSK: [0.489969,-0.257240,0.832921] 2025-10-24T20:21:26.178Z,1761337286.178 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:26.190Z,1761337286.190 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.573626 2025-10-24T20:21:26.318Z,1761337286.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997025,0.055786,0.053189],[-0.052304,0.996530,-0.064745],[-0.056616,0.061770,0.996483]] 2025-10-24T20:21:26.417Z,1761337286.417 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.800267 2025-10-24T20:21:26.436Z,1761337286.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504377 s, deltaX: -0.300000 m, approachRate: -0.594793 m/s, rangeRepo size: 4 2025-10-24T20:21:26.438Z,1761337286.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.989256 m, bearing: 327.061642 deg, lat: 36.779624 deg, lon: -121.859514 deg, deltaT: 0.504377 s, deltaX: -0.298388 m, approachRate: -0.591598 m/s, posRepo size: 4 2025-10-24T20:21:26.671Z,1761337286.671 [DAT](INFO): DAT read: Rx Time:20:21:25.5862 2025-10-24T20:21:26.671Z,1761337286.671 [DAT](INFO): Rx dataTimestamp_ set to:1761337286.670900 2025-10-24T20:21:26.672Z,1761337286.672 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.1 2025-10-24T20:21:26.673Z,1761337286.673 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2025-10-24T20:21:26.674Z,1761337286.674 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.057426 2025-10-24T20:21:26.741Z,1761337286.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995945,0.072648,0.053065],[-0.068767,0.995058,-0.071625],[-0.058006,0.067686,0.996019]] 2025-10-24T20:21:26.771Z,1761337286.771 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:26.778Z,1761337286.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.504374 s, deltaX: 0.100000 m, approachRate: 0.198265 m/s, rangeRepo size: 4 2025-10-24T20:21:26.921Z,1761337286.921 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.304542 2025-10-24T20:21:27.117Z,1761337287.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994974,0.083864,0.054720],[-0.080688,0.995057,-0.057889],[-0.059305,0.053182,0.996822]] 2025-10-24T20:21:27.173Z,1761337287.173 [DAT](INFO): DAT read: Rx Time:20:21:26.0864 2025-10-24T20:21:27.173Z,1761337287.173 [DAT](INFO): Rx dataTimestamp_ set to:1761337287.173018 2025-10-24T20:21:27.174Z,1761337287.174 [DAT](INFO): DAT read: Range 10 to 50 : 2.4 m (trip time 1.6 ms) speed 0.0 2025-10-24T20:21:27.175Z,1761337287.175 [DAT](ERROR): #Rx 7: Read range message, but no direction. 2025-10-24T20:21:27.176Z,1761337287.176 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.559555 2025-10-24T20:21:27.425Z,1761337287.425 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.808459 2025-10-24T20:21:27.523Z,1761337287.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995842,0.066112,0.062667],[-0.066109,0.997810,-0.002126],[-0.062671,-0.002026,0.998032]] 2025-10-24T20:21:27.556Z,1761337287.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.502118 s, deltaX: 0.300000 m, approachRate: 0.597470 m/s, rangeRepo size: 4 2025-10-24T20:21:27.557Z,1761337287.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.40 m. 2025-10-24T20:21:27.683Z,1761337287.683 [DAT](INFO): DAT read: Rx Time:20:21:26.5862 2025-10-24T20:21:27.684Z,1761337287.684 [DAT](INFO): Rx dataTimestamp_ set to:1761337287.683748 2025-10-24T20:21:27.685Z,1761337287.685 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:27.686Z,1761337287.686 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2025-10-24T20:21:27.687Z,1761337287.687 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.070146 2025-10-24T20:21:27.940Z,1761337287.940 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.323464 2025-10-24T20:21:27.979Z,1761337287.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997421,0.023250,0.067897],[-0.024358,0.999583,0.015538],[-0.067507,-0.017152,0.997571]] 2025-10-24T20:21:28.045Z,1761337288.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.510730 s, deltaX: -0.300000 m, approachRate: -0.587395 m/s, rangeRepo size: 4 2025-10-24T20:21:28.045Z,1761337288.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m. 2025-10-24T20:21:28.189Z,1761337288.189 [DAT](INFO): DAT read: Rx Time:20:21:27.0862 2025-10-24T20:21:28.189Z,1761337288.189 [DAT](INFO): Rx dataTimestamp_ set to:1761337288.189151 2025-10-24T20:21:28.191Z,1761337288.191 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:28.191Z,1761337288.191 [DAT](ERROR): #Rx 9: Read range message, but no direction. 2025-10-24T20:21:28.192Z,1761337288.192 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.575643 2025-10-24T20:21:28.358Z,1761337288.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997034,-0.029703,0.071002],[0.030930,0.999390,-0.016238],[-0.070476,0.018386,0.997344]] 2025-10-24T20:21:28.399Z,1761337288.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.505403 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:28.405Z,1761337288.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m. 2025-10-24T20:21:28.444Z,1761337288.444 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.824372 2025-10-24T20:21:28.693Z,1761337288.693 [DAT](INFO): DAT read: Rx Time:20:21:27.5863 2025-10-24T20:21:28.693Z,1761337288.693 [DAT](INFO): Rx dataTimestamp_ set to:1761337288.693072 2025-10-24T20:21:28.695Z,1761337288.695 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed -0.1 2025-10-24T20:21:28.695Z,1761337288.695 [DAT](ERROR): #Rx 10: Read range message, but no direction. 2025-10-24T20:21:28.696Z,1761337288.696 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.079607 2025-10-24T20:21:28.768Z,1761337288.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993293,-0.085351,0.078007],[0.090011,0.994232,-0.058315],[-0.072579,0.064945,0.995246]] 2025-10-24T20:21:28.785Z,1761337288.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:28.787Z,1761337288.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503921 s, deltaX: 0.200000 m, approachRate: 0.396888 m/s, rangeRepo size: 4 2025-10-24T20:21:28.948Z,1761337288.948 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.330358 2025-10-24T20:21:29.166Z,1761337289.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986507,-0.133121,0.095304],[0.143132,0.983870,-0.107304],[-0.079482,0.119497,0.989648]] 2025-10-24T20:21:29.198Z,1761337289.198 [DAT](INFO): DAT read: Rx Time:20:21:28.0862 2025-10-24T20:21:29.198Z,1761337289.198 [DAT](INFO): Rx dataTimestamp_ set to:1761337289.198153 2025-10-24T20:21:29.200Z,1761337289.200 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:29.200Z,1761337289.200 [DAT](ERROR): #Rx 11: Read range message, but no direction. 2025-10-24T20:21:29.201Z,1761337289.201 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.584676 2025-10-24T20:21:29.231Z,1761337289.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.505081 s, deltaX: -0.200000 m, approachRate: -0.395976 m/s, rangeRepo size: 4 2025-10-24T20:21:29.240Z,1761337289.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m. 2025-10-24T20:21:29.449Z,1761337289.449 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.832165 2025-10-24T20:21:29.569Z,1761337289.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978232,-0.170335,0.118523],[0.189092,0.966953,-0.171017],[-0.085476,0.189706,0.978113]] 2025-10-24T20:21:29.602Z,1761337289.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m. 2025-10-24T20:21:29.602Z,1761337289.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.10 m. 2025-10-24T20:21:29.602Z,1761337289.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present. 2025-10-24T20:21:29.701Z,1761337289.701 [DAT](INFO): DAT read: Rx Time:20:21:28.5863 2025-10-24T20:21:29.702Z,1761337289.702 [DAT](INFO): Rx dataTimestamp_ set to:1761337289.701609 2025-10-24T20:21:29.703Z,1761337289.703 [DAT](INFO): DAT read: Bearing 219.3, -34.7 (Local) 2025-10-24T20:21:29.703Z,1761337289.703 [DAT](INFO): Local bearing/azimuth received: Bearing 219.3, -34.7 (Local) 2025-10-24T20:21:29.706Z,1761337289.706 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 2025-10-24T20:21:29.710Z,1761337289.710 [DAT](INFO): DAT read: 20:21:28.5863 LVL= 16112, 30273, 17346, 25171, AGC= 43, IDX= 510,-0.16,-1.277, 0.715, 0.414, 0.997, PHS=-2.186,-0.234,-0.586, RAW= 279.7, 30.5, CAL= 290.7, 34.7, ROT= 219.3, -34.7 2025-10-24T20:21:29.711Z,1761337289.711 [DAT](INFO): got valid direction response: 20:21:28.5863 LVL= 16112, 30273, 17346, 25171, AGC= 43, IDX= 510,-0.16,-1.277, 0.715, 0.414, 0.997, PHS=-2.186,-0.234,-0.586, RAW= 279.7, 30.5, CAL= 290.7, 34.7, ROT= 219.3, -34.7 2025-10-24T20:21:29.712Z,1761337289.712 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-24T20:21:29.713Z,1761337289.713 [DAT](INFO): direction in FSK: [-0.636208,-0.520730,0.569280] 2025-10-24T20:21:29.713Z,1761337289.713 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:29.724Z,1761337289.724 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.107416 2025-10-24T20:21:29.955Z,1761337289.955 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.338046 2025-10-24T20:21:30.046Z,1761337290.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970965,-0.196308,0.136710],[0.222218,0.951758,-0.211604],[-0.088575,0.235839,0.967747]] 2025-10-24T20:21:30.099Z,1761337290.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503456 s, deltaX: 0.200000 m, approachRate: 0.397254 m/s, rangeRepo size: 4 2025-10-24T20:21:30.101Z,1761337290.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.287653 m, bearing: 239.978797 deg, lat: 36.779624 deg, lon: -121.859518 deg, deltaT: 3.535083 s, deltaX: 0.298397 m, approachRate: 0.084410 m/s, posRepo size: 4 2025-10-24T20:21:30.140Z,1761337290.140 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T20:21:30.212Z,1761337290.212 [DAT](INFO): DAT read: Rx Time:20:21:29.0860 2025-10-24T20:21:30.212Z,1761337290.212 [DAT](INFO): Rx dataTimestamp_ set to:1761337290.212187 2025-10-24T20:21:30.215Z,1761337290.215 [DAT](INFO): DAT read: Bearing 167.4, -83.4 (Local) 2025-10-24T20:21:30.215Z,1761337290.215 [DAT](INFO): Local bearing/azimuth received: Bearing 167.4, -83.4 (Local) 2025-10-24T20:21:30.218Z,1761337290.218 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:21:30.229Z,1761337290.229 [DAT](INFO): DAT read: 20:21:29.0860 LVL= 12944, 25009, 19298, 26291, AGC= 41, IDX= 508, 0.09,-2.639,-2.457,-2.591,-1.166, PHS=-1.385,-1.244,-1.428, RAW= 342.9, 83.4, CAL= 342.6, 83.4, ROT= 167.4, -83.4 2025-10-24T20:21:30.237Z,1761337290.237 [DAT](INFO): got valid direction response: 20:21:29.0860 LVL= 12944, 25009, 19298, 26291, AGC= 41, IDX= 508, 0.09,-2.639,-2.457,-2.591,-1.166, PHS=-1.385,-1.244,-1.428, RAW= 342.9, 83.4, CAL= 342.6, 83.4, ROT= 167.4, -83.4 2025-10-24T20:21:30.237Z,1761337290.237 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-24T20:21:30.238Z,1761337290.238 [DAT](INFO): direction in FSK: [-0.112169,0.025073,0.993373] 2025-10-24T20:21:30.239Z,1761337290.239 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:30.248Z,1761337290.248 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.626855 2025-10-24T20:21:30.376Z,1761337290.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963508,-0.229036,0.138546],[0.253705,0.946421,-0.199805],[-0.085360,0.227663,0.969991]] 2025-10-24T20:21:30.438Z,1761337290.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.510578 s, deltaX: -0.500000 m, approachRate: -0.979282 m/s, rangeRepo size: 4 2025-10-24T20:21:30.445Z,1761337290.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.790337 m, bearing: 276.682781 deg, lat: 36.779647 deg, lon: -121.859524 deg, deltaT: 0.510578 s, deltaX: -0.497316 m, approachRate: -0.974025 m/s, posRepo size: 4 2025-10-24T20:21:30.465Z,1761337290.465 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.848280 2025-10-24T20:21:30.718Z,1761337290.718 [DAT](INFO): DAT read: Rx Time:20:21:29.5862 2025-10-24T20:21:30.718Z,1761337290.718 [DAT](INFO): Rx dataTimestamp_ set to:1761337290.717706 2025-10-24T20:21:30.719Z,1761337290.719 [DAT](INFO): DAT read: Bearing 210.0, -76.4 (Local) 2025-10-24T20:21:30.720Z,1761337290.720 [DAT](INFO): Local bearing/azimuth received: Bearing 210.0, -76.4 (Local) 2025-10-24T20:21:30.722Z,1761337290.722 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:30.727Z,1761337290.727 [DAT](INFO): DAT read: 20:21:29.5862 LVL= 12064, 27009, 21362, 27459, AGC= 40, IDX= 509, 0.12,-0.744,-0.275,-0.418, 0.970, PHS=-1.626,-1.198,-1.391, RAW= 296.8, 76.0, CAL= 300.0, 76.4, ROT= 210.0, -76.4 2025-10-24T20:21:30.729Z,1761337290.729 [DAT](INFO): got valid direction response: 20:21:29.5862 LVL= 12064, 27009, 21362, 27459, AGC= 40, IDX= 509, 0.12,-0.744,-0.275,-0.418, 0.970, PHS=-1.626,-1.198,-1.391, RAW= 296.8, 76.0, CAL= 300.0, 76.4, ROT= 210.0, -76.4 2025-10-24T20:21:30.729Z,1761337290.729 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-24T20:21:30.730Z,1761337290.730 [DAT](INFO): direction in FSK: [-0.203639,-0.117571,0.971961] 2025-10-24T20:21:30.731Z,1761337290.731 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:30.735Z,1761337290.735 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.118142 2025-10-24T20:21:30.985Z,1761337290.985 [DAT](INFO): DAT read: Rx Time:20:21:30.0860 2025-10-24T20:21:30.987Z,1761337290.987 [DAT](INFO): Rx dataTimestamp_ set to:1761337290.986064 2025-10-24T20:21:30.991Z,1761337290.991 [DAT](INFO): DAT read: Bearing 218.0, -58.7 (Local) 2025-10-24T20:21:30.993Z,1761337290.993 [DAT](INFO): Local bearing/azimuth received: Bearing 218.0, -58.7 (Local) 2025-10-24T20:21:31.001Z,1761337291.001 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:21:31.003Z,1761337291.003 [DAT](ERROR): #Rx 15: Read range message, but no direction. 2025-10-24T20:21:31.007Z,1761337291.007 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.389879 2025-10-24T20:21:31.033Z,1761337291.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.773877 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:31.035Z,1761337291.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.088730 m, bearing: 264.463469 deg, lat: 36.779653 deg, lon: -121.859524 deg, deltaT: 0.505519 s, deltaX: 0.298393 m, approachRate: 0.590271 m/s, posRepo size: 4 2025-10-24T20:21:31.247Z,1761337291.247 [DAT](INFO): DAT read: 20:21:30.0860 LVL= 14192, 28961, 19890, 26179, AGC= 42, IDX= 508, 0.45,-0.208, 0.808, 0.615, 1.721, PHS=-1.840,-0.866,-1.109, RAW= 283.8, 56.9, CAL= 292.0, 58.7, ROT= 218.0, -58.7 2025-10-24T20:21:31.249Z,1761337291.249 [DAT](INFO): got valid direction response: 20:21:30.0860 LVL= 14192, 28961, 19890, 26179, AGC= 42, IDX= 508, 0.45,-0.208, 0.808, 0.615, 1.721, PHS=-1.840,-0.866,-1.109, RAW= 283.8, 56.9, CAL= 292.0, 58.7, ROT= 218.0, -58.7 2025-10-24T20:21:31.250Z,1761337291.250 [DAT](INFO): #Rx 16: Read direction message, but no range. 2025-10-24T20:21:31.251Z,1761337291.251 [DAT](INFO): direction in FSK: [-0.409387,-0.319848,0.854459] 2025-10-24T20:21:31.262Z,1761337291.262 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.645348 2025-10-24T20:21:31.487Z,1761337291.487 [DAT](INFO): DAT read: Rx Time:20:21:30.5856 2025-10-24T20:21:31.487Z,1761337291.487 [DAT](INFO): Rx dataTimestamp_ set to:1761337291.486864 2025-10-24T20:21:31.488Z,1761337291.488 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-24T20:21:31.489Z,1761337291.489 [DAT](ERROR): #Rx 17: Read range message, but no direction. 2025-10-24T20:21:31.490Z,1761337291.490 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.873373 2025-10-24T20:21:31.691Z,1761337291.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918628,-0.387975,0.074817],[0.392453,0.917890,-0.058811],[-0.045856,0.083387,0.995462]] 2025-10-24T20:21:31.708Z,1761337291.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:31.711Z,1761337291.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.500800 s, deltaX: -0.600000 m, approachRate: -1.198083 m/s, rangeRepo size: 4 2025-10-24T20:21:31.737Z,1761337291.737 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.120308 2025-10-24T20:21:32.016Z,1761337292.016 [DAT](INFO): DAT read: Rx Time:20:21:31.0860 2025-10-24T20:21:32.018Z,1761337292.018 [DAT](INFO): Rx dataTimestamp_ set to:1761337292.017101 2025-10-24T20:21:32.022Z,1761337292.022 [DAT](INFO): DAT read: Bearing 73.7, -24.2 (Local) 2025-10-24T20:21:32.023Z,1761337292.023 [DAT](INFO): Local bearing/azimuth received: Bearing 73.7, -24.2 (Local) 2025-10-24T20:21:32.030Z,1761337292.030 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:21:32.053Z,1761337292.053 [DAT](INFO): DAT read: 20:21:31.0860 LVL= 15392, 22305, 13282, 17139, AGC= 46, IDX= 502, 0.15,-1.443, 3.142, 2.541,-2.145, PHS= 0.791,-0.949,-1.600, RAW= 74.7, 16.2, CAL= 76.3, 24.2, ROT= 73.7, -24.2 2025-10-24T20:21:32.054Z,1761337292.054 [DAT](INFO): got valid direction response: 20:21:31.0860 LVL= 15392, 22305, 13282, 17139, AGC= 46, IDX= 502, 0.15,-1.443, 3.142, 2.541,-2.145, PHS= 0.791,-0.949,-1.600, RAW= 74.7, 16.2, CAL= 76.3, 24.2, ROT= 73.7, -24.2 2025-10-24T20:21:32.055Z,1761337292.055 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-24T20:21:32.061Z,1761337292.061 [DAT](INFO): direction in FSK: [0.256002,0.875458,0.409923] 2025-10-24T20:21:32.061Z,1761337292.061 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:32.092Z,1761337292.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889405,-0.454748,0.046514],[0.455828,0.889933,-0.015478],[-0.034355,0.034968,0.998798]] 2025-10-24T20:21:32.098Z,1761337292.098 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.481377 2025-10-24T20:21:32.206Z,1761337292.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.530237 s, deltaX: 0.600000 m, approachRate: 1.131569 m/s, rangeRepo size: 4 2025-10-24T20:21:32.207Z,1761337292.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.790341 m, bearing: 99.657478 deg, lat: 36.779654 deg, lon: -121.859528 deg, deltaT: 1.299395 s, deltaX: -0.298389 m, approachRate: -0.229637 m/s, posRepo size: 4 2025-10-24T20:21:32.266Z,1761337292.266 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.649246 2025-10-24T20:21:32.495Z,1761337292.495 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:21:32.522Z,1761337292.522 [DAT](INFO): DAT read: Rx Time:20:21:31.5861 2025-10-24T20:21:32.524Z,1761337292.524 [DAT](INFO): Rx dataTimestamp_ set to:1761337292.522571 2025-10-24T20:21:32.529Z,1761337292.529 [DAT](INFO): DAT read: Bearing 71.6, -22.4 (Local) 2025-10-24T20:21:32.530Z,1761337292.530 [DAT](INFO): Local bearing/azimuth received: Bearing 71.6, -22.4 (Local) 2025-10-24T20:21:32.535Z,1761337292.535 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:32.553Z,1761337292.553 [DAT](INFO): DAT read: 20:21:31.5861 LVL= 15440, 29841, 18226, 20323, AGC= 44, IDX= 503, 0.07, 0.513,-1.250,-1.810,-0.274, PHS= 0.875,-0.929,-1.539, RAW= 75.9, 14.5, CAL= 78.4, 22.4, ROT= 71.6, -22.4 2025-10-24T20:21:32.555Z,1761337292.555 [DAT](INFO): got valid direction response: 20:21:31.5861 LVL= 15440, 29841, 18226, 20323, AGC= 44, IDX= 503, 0.07, 0.513,-1.250,-1.810,-0.274, PHS= 0.875,-0.929,-1.539, RAW= 75.9, 14.5, CAL= 78.4, 22.4, ROT= 71.6, -22.4 2025-10-24T20:21:32.564Z,1761337292.564 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-24T20:21:32.567Z,1761337292.567 [DAT](INFO): direction in FSK: [0.291832,0.877280,0.381070] 2025-10-24T20:21:32.567Z,1761337292.567 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:32.570Z,1761337292.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855410,-0.516148,0.043176],[0.517301,0.855538,-0.021311],[-0.025939,0.040565,0.998840]] 2025-10-24T20:21:32.587Z,1761337292.587 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.970515 2025-10-24T20:21:32.660Z,1761337292.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.505470 s, deltaX: 0.200000 m, approachRate: 0.395671 m/s, rangeRepo size: 4 2025-10-24T20:21:32.669Z,1761337292.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.989272 m, bearing: 101.804798 deg, lat: 36.779654 deg, lon: -121.859524 deg, deltaT: 0.505470 s, deltaX: 0.198931 m, approachRate: 0.393557 m/s, posRepo size: 4 2025-10-24T20:21:32.769Z,1761337292.769 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.152624 2025-10-24T20:21:32.907Z,1761337292.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818915,-0.568323,0.079917],[0.573639,0.814863,-0.083285],[-0.017789,0.114047,0.993316]] 2025-10-24T20:21:33.021Z,1761337293.021 [DAT](INFO): DAT read: Rx Time:20:21:32.0855 2025-10-24T20:21:33.022Z,1761337293.022 [DAT](INFO): Rx dataTimestamp_ set to:1761337293.021260 2025-10-24T20:21:33.023Z,1761337293.023 [DAT](INFO): DAT read: Range 10 to 50 : 1.1 m (trip time 0.7 ms) speed 0.0 2025-10-24T20:21:33.023Z,1761337293.023 [DAT](ERROR): #Rx 20: Read range message, but no direction. 2025-10-24T20:21:33.024Z,1761337293.024 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.407787 2025-10-24T20:21:33.273Z,1761337293.273 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.656138 2025-10-24T20:21:33.370Z,1761337293.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.100000 m, deltaT: 0.498689 s, deltaX: -0.900000 m, approachRate: -1.804732 m/s, rangeRepo size: 4 2025-10-24T20:21:33.530Z,1761337293.530 [DAT](INFO): DAT read: Rx Time:20:21:32.5856 2025-10-24T20:21:33.531Z,1761337293.531 [DAT](INFO): Rx dataTimestamp_ set to:1761337293.530407 2025-10-24T20:21:33.532Z,1761337293.532 [DAT](INFO): DAT read: Bearing 82.1, -72.7 (Local) 2025-10-24T20:21:33.533Z,1761337293.533 [DAT](INFO): Local bearing/azimuth received: Bearing 82.1, -72.7 (Local) 2025-10-24T20:21:33.535Z,1761337293.535 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-24T20:21:33.539Z,1761337293.539 [DAT](INFO): DAT read: 20:21:32.5856 LVL= 23024, 26945, 26610, 32755, AGC= 49, IDX= 508, 0.24,-3.012, 2.892, 2.698,-1.790, PHS=-1.134,-1.554,-1.797, RAW= 68.7, 69.9, CAL= 67.9, 72.7, ROT= 82.1, -72.7 2025-10-24T20:21:33.541Z,1761337293.541 [DAT](INFO): got valid direction response: 20:21:32.5856 LVL= 23024, 26945, 26610, 32755, AGC= 49, IDX= 508, 0.24,-3.012, 2.892, 2.698,-1.790, PHS=-1.134,-1.554,-1.797, RAW= 68.7, 69.9, CAL= 67.9, 72.7, ROT= 82.1, -72.7 2025-10-24T20:21:33.541Z,1761337293.541 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-24T20:21:33.542Z,1761337293.542 [DAT](INFO): direction in FSK: [0.040873,0.294553,0.954761] 2025-10-24T20:21:33.542Z,1761337293.542 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:33.546Z,1761337293.546 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.929265 2025-10-24T20:21:33.707Z,1761337293.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747129,-0.649067,0.143217],[0.664664,0.731043,-0.154266],[-0.004569,0.210448,0.977594]] 2025-10-24T20:21:33.778Z,1761337293.778 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.161120 2025-10-24T20:21:33.795Z,1761337293.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.509147 s, deltaX: 0.100000 m, approachRate: 0.196407 m/s, rangeRepo size: 4 2025-10-24T20:21:33.806Z,1761337293.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.193565 m, bearing: 104.096508 deg, lat: 36.779654 deg, lon: -121.859516 deg, deltaT: 1.007836 s, deltaX: -0.795708 m, approachRate: -0.789521 m/s, posRepo size: 4 2025-10-24T20:21:34.037Z,1761337294.037 [DAT](INFO): DAT read: Rx Time:20:21:33.0856 2025-10-24T20:21:34.038Z,1761337294.038 [DAT](INFO): Rx dataTimestamp_ set to:1761337294.037607 2025-10-24T20:21:34.040Z,1761337294.040 [DAT](INFO): DAT read: Bearing 133.0, -73.4 (Local) 2025-10-24T20:21:34.040Z,1761337294.040 [DAT](INFO): Local bearing/azimuth received: Bearing 133.0, -73.4 (Local) 2025-10-24T20:21:34.042Z,1761337294.042 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-24T20:21:34.048Z,1761337294.048 [DAT](INFO): DAT read: 20:21:33.0856 LVL= 32752, 28097, 26402, 32755, AGC= 50, IDX= 507, 0.33, 0.889, 1.034, 0.565, 2.235, PHS=-1.258,-1.153,-1.672, RAW= 19.1, 71.8, CAL= 17.0, 73.4, ROT= 133.0, -73.4 2025-10-24T20:21:34.049Z,1761337294.049 [DAT](INFO): got valid direction response: 20:21:33.0856 LVL= 32752, 28097, 26402, 32755, AGC= 50, IDX= 507, 0.33, 0.889, 1.034, 0.565, 2.235, PHS=-1.258,-1.153,-1.672, RAW= 19.1, 71.8, CAL= 17.0, 73.4, ROT= 133.0, -73.4 2025-10-24T20:21:34.050Z,1761337294.050 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-24T20:21:34.051Z,1761337294.051 [DAT](INFO): direction in FSK: [-0.194839,0.208939,0.958323] 2025-10-24T20:21:34.051Z,1761337294.051 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:34.072Z,1761337294.072 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.455100 2025-10-24T20:21:34.179Z,1761337294.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683519,-0.716277,0.140530],[0.729887,0.668532,-0.142586],[0.008183,0.200031,0.979755]] 2025-10-24T20:21:34.272Z,1761337294.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.507200 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:34.274Z,1761337294.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.193565 m, bearing: 223.207827 deg, lat: 36.779654 deg, lon: -121.859516 deg, deltaT: 0.507200 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T20:21:34.285Z,1761337294.285 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.668355 2025-10-24T20:21:34.533Z,1761337294.533 [WetLabsUBAT](ERROR): Failed to parse incomplete device message. 2025-10-24T20:21:34.538Z,1761337294.538 [DAT](INFO): DAT read: Rx Time:20:21:33.5857 2025-10-24T20:21:34.538Z,1761337294.538 [DAT](INFO): Rx dataTimestamp_ set to:1761337294.537700 2025-10-24T20:21:34.539Z,1761337294.539 [DAT](INFO): DAT read: Bearing 162.4, -60.5 (Local) 2025-10-24T20:21:34.540Z,1761337294.540 [DAT](INFO): Local bearing/azimuth received: Bearing 162.4, -60.5 (Local) 2025-10-24T20:21:34.542Z,1761337294.542 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2025-10-24T20:21:34.555Z,1761337294.555 [DAT](INFO): DAT read: 20:21:33.5857 LVL= 32752, 28961, 23762, 32755, AGC= 49, IDX= 508, 0.38, 2.061, 2.648, 1.857,-2.843, PHS=-1.290,-0.744,-1.585, RAW= 350.2, 60.0, CAL= 347.6, 60.5, ROT= 162.4, -60.5 2025-10-24T20:21:34.556Z,1761337294.556 [DAT](INFO): got valid direction response: 20:21:33.5857 LVL= 32752, 28961, 23762, 32755, AGC= 49, IDX= 508, 0.38, 2.061, 2.648, 1.857,-2.843, PHS=-1.290,-0.744,-1.585, RAW= 350.2, 60.0, CAL= 347.6, 60.5, ROT= 162.4, -60.5 2025-10-24T20:21:34.557Z,1761337294.557 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-24T20:21:34.558Z,1761337294.558 [DAT](INFO): direction in FSK: [-0.469374,0.148894,0.870356] 2025-10-24T20:21:34.558Z,1761337294.558 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:34.570Z,1761337294.570 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.952912 2025-10-24T20:21:34.621Z,1761337294.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654703,-0.743693,0.135221],[0.755749,0.640616,-0.135845],[0.014402,0.191131,0.981459]] 2025-10-24T20:21:34.685Z,1761337294.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.500093 s, deltaX: 0.200000 m, approachRate: 0.399925 m/s, rangeRepo size: 4 2025-10-24T20:21:34.687Z,1761337294.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.392492 m, bearing: 231.499830 deg, lat: 36.779653 deg, lon: -121.859516 deg, deltaT: 0.500093 s, deltaX: 0.198928 m, approachRate: 0.397781 m/s, posRepo size: 4 2025-10-24T20:21:34.789Z,1761337294.789 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.172276 2025-10-24T20:21:35.039Z,1761337295.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627339,-0.767716,0.130605],[0.778503,0.614071,-0.129809],[0.019456,0.183110,0.982900]] 2025-10-24T20:21:35.041Z,1761337295.041 [DAT](INFO): DAT read: Rx Time:20:21:34.0857 2025-10-24T20:21:35.042Z,1761337295.042 [DAT](INFO): Rx dataTimestamp_ set to:1761337295.041673 2025-10-24T20:21:35.043Z,1761337295.043 [DAT](INFO): DAT read: Bearing 176.6, -49.3 (Local) 2025-10-24T20:21:35.044Z,1761337295.044 [DAT](INFO): Local bearing/azimuth received: Bearing 176.6, -49.3 (Local) 2025-10-24T20:21:35.046Z,1761337295.046 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2025-10-24T20:21:35.051Z,1761337295.051 [DAT](INFO): DAT read: 20:21:34.0857 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 507, 0.23,-2.738,-1.630,-2.717,-1.094, PHS=-1.556,-0.489,-1.626, RAW= 333.1, 49.6, CAL= 333.4, 49.3, ROT= 176.6, -49.3 2025-10-24T20:21:35.053Z,1761337295.053 [DAT](INFO): got valid direction response: 20:21:34.0857 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 507, 0.23,-2.738,-1.630,-2.717,-1.094, PHS=-1.556,-0.489,-1.626, RAW= 333.1, 49.6, CAL= 333.4, 49.3, ROT= 176.6, -49.3 2025-10-24T20:21:35.053Z,1761337295.053 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-24T20:21:35.054Z,1761337295.054 [DAT](INFO): direction in FSK: [-0.650951,0.038674,0.758134] 2025-10-24T20:21:35.055Z,1761337295.055 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:35.058Z,1761337295.058 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.441849 2025-10-24T20:21:35.187Z,1761337295.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:35.193Z,1761337295.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.392492 m, bearing: 239.752892 deg, lat: 36.779652 deg, lon: -121.859518 deg, deltaT: 0.503973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-24T20:21:35.294Z,1761337295.294 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.677186 2025-10-24T20:21:35.400Z,1761337295.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603582,-0.786776,0.129122],[0.796980,0.590776,-0.125727],[0.022637,0.178794,0.983626]] 2025-10-24T20:21:35.419Z,1761337295.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:35.545Z,1761337295.545 [DAT](INFO): DAT read: Rx Time:20:21:34.5857 2025-10-24T20:21:35.546Z,1761337295.546 [DAT](INFO): Rx dataTimestamp_ set to:1761337295.545647 2025-10-24T20:21:35.547Z,1761337295.547 [DAT](INFO): DAT read: Bearing 180.3, -41.5 (Local) 2025-10-24T20:21:35.548Z,1761337295.548 [DAT](INFO): Local bearing/azimuth received: Bearing 180.3, -41.5 (Local) 2025-10-24T20:21:35.550Z,1761337295.550 [DAT](INFO): DAT read: Range 10 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2025-10-24T20:21:35.562Z,1761337295.562 [DAT](INFO): DAT read: 20:21:34.5857 LVL= 21488, 25185, 20594, 32627, AGC= 47, IDX= 507,-0.06,-0.117, 1.500, 0.023, 1.832, PHS=-1.861,-0.285,-1.812, RAW= 328.4, 42.0, CAL= 329.7, 41.5, ROT= 180.3, -41.5 2025-10-24T20:21:35.563Z,1761337295.563 [DAT](INFO): got valid direction response: 20:21:34.5857 LVL= 21488, 25185, 20594, 32627, AGC= 47, IDX= 507,-0.06,-0.117, 1.500, 0.023, 1.832, PHS=-1.861,-0.285,-1.812, RAW= 328.4, 42.0, CAL= 329.7, 41.5, ROT= 180.3, -41.5 2025-10-24T20:21:35.570Z,1761337295.570 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-24T20:21:35.571Z,1761337295.571 [DAT](INFO): direction in FSK: [-0.748945,-0.003922,0.662620] 2025-10-24T20:21:35.571Z,1761337295.571 [DAT](INFO): publishing direction and range info 2025-10-24T20:21:35.579Z,1761337295.579 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.962066 2025-10-24T20:21:35.788Z,1761337295.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584470,-0.801050,0.129277],[0.811025,0.571786,-0.123691],[0.025164,0.177141,0.983864]] 2025-10-24T20:21:35.797Z,1761337295.797 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.180426 2025-10-24T20:21:35.848Z,1761337295.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.400000 m, deltaT: 0.503974 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:35.850Z,1761337295.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.392490 m, bearing: 243.228167 deg, lat: 36.779650 deg, lon: -121.859522 deg, deltaT: 0.503974 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 2025-10-24T20:21:36.053Z,1761337296.053 [DAT](INFO): DAT read: Rx Time:20:21:35.0856 2025-10-24T20:21:36.055Z,1761337296.055 [DAT](INFO): Rx dataTimestamp_ set to:1761337296.054036 2025-10-24T20:21:36.068Z,1761337296.068 [DAT](INFO): DAT read: Range 10 to 50 : 1.2 m (trip time 0.8 ms) speed 0.0 2025-10-24T20:21:36.069Z,1761337296.069 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-24T20:21:36.070Z,1761337296.070 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.453175 2025-10-24T20:21:36.191Z,1761337296.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572310,-0.810187,0.126725],[0.819607,0.560132,-0.120400],[0.026563,0.172771,0.984604]] 2025-10-24T20:21:36.239Z,1761337296.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.200000 m, deltaT: 0.508389 s, deltaX: -0.200000 m, approachRate: -0.393399 m/s, rangeRepo size: 4 2025-10-24T20:21:36.301Z,1761337296.301 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.684491 2025-10-24T20:21:36.553Z,1761337296.553 [DAT](INFO): DAT read: Rx Time:20:21:35.5862 2025-10-24T20:21:36.554Z,1761337296.554 [DAT](INFO): Rx dataTimestamp_ set to:1761337296.553461 2025-10-24T20:21:36.555Z,1761337296.555 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:36.556Z,1761337296.556 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-24T20:21:36.557Z,1761337296.557 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.939953 2025-10-24T20:21:36.595Z,1761337296.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567164,-0.814390,0.122855],[0.823119,0.555365,-0.118510],[0.028284,0.168339,0.985323]] 2025-10-24T20:21:36.651Z,1761337296.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.499425 s, deltaX: 0.900000 m, approachRate: 1.802072 m/s, rangeRepo size: 4 2025-10-24T20:21:36.805Z,1761337296.805 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.188304 2025-10-24T20:21:37.029Z,1761337297.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569078,-0.814611,0.112071],[0.821738,0.558426,-0.113611],[0.029965,0.156747,0.987184]] 2025-10-24T20:21:37.061Z,1761337297.061 [DAT](INFO): DAT read: Rx Time:20:21:36.0861 2025-10-24T20:21:37.062Z,1761337297.062 [DAT](INFO): Rx dataTimestamp_ set to:1761337297.061323 2025-10-24T20:21:37.067Z,1761337297.067 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:37.070Z,1761337297.070 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-24T20:21:37.071Z,1761337297.071 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.453939 2025-10-24T20:21:37.101Z,1761337297.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507862 s, deltaX: -0.100000 m, approachRate: -0.196904 m/s, rangeRepo size: 4 2025-10-24T20:21:37.314Z,1761337297.314 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.696055 2025-10-24T20:21:37.406Z,1761337297.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575791,-0.811591,0.098919],[0.817007,0.566557,-0.107292],[0.031034,0.142595,0.989295]] 2025-10-24T20:21:37.456Z,1761337297.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:37.562Z,1761337297.562 [DAT](INFO): DAT read: Rx Time:20:21:36.5862 2025-10-24T20:21:37.563Z,1761337297.563 [DAT](INFO): Rx dataTimestamp_ set to:1761337297.562248 2025-10-24T20:21:37.565Z,1761337297.565 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:37.566Z,1761337297.566 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-24T20:21:37.567Z,1761337297.567 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.950352 2025-10-24T20:21:37.809Z,1761337297.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585326,-0.805547,0.092126],[0.810231,0.576876,-0.103634],[0.030337,0.135303,0.990340]] 2025-10-24T20:21:37.813Z,1761337297.813 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.196274 2025-10-24T20:21:37.832Z,1761337297.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.500925 s, deltaX: 0.100000 m, approachRate: 0.199630 m/s, rangeRepo size: 4 2025-10-24T20:21:38.070Z,1761337298.070 [DAT](INFO): DAT read: Rx Time:20:21:37.0861 2025-10-24T20:21:38.071Z,1761337298.071 [DAT](INFO): Rx dataTimestamp_ set to:1761337298.070095 2025-10-24T20:21:38.096Z,1761337298.096 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:38.101Z,1761337298.101 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-24T20:21:38.103Z,1761337298.103 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.486753 2025-10-24T20:21:38.217Z,1761337298.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597057,-0.798297,0.079023],[0.801705,0.590334,-0.093671],[0.028128,0.119280,0.992462]] 2025-10-24T20:21:38.317Z,1761337298.317 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.700403 2025-10-24T20:21:38.348Z,1761337298.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507847 s, deltaX: -0.100000 m, approachRate: -0.196910 m/s, rangeRepo size: 4 2025-10-24T20:21:38.569Z,1761337298.569 [DAT](INFO): DAT read: Rx Time:20:21:37.5862 2025-10-24T20:21:38.569Z,1761337298.569 [DAT](INFO): Rx dataTimestamp_ set to:1761337298.569172 2025-10-24T20:21:38.571Z,1761337298.571 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:38.571Z,1761337298.571 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-24T20:21:38.572Z,1761337298.572 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.955688 2025-10-24T20:21:38.631Z,1761337298.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608663,-0.790528,0.067786],[0.793025,0.603403,-0.083762],[0.025313,0.104739,0.994178]] 2025-10-24T20:21:38.693Z,1761337298.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.499077 s, deltaX: 0.100000 m, approachRate: 0.200370 m/s, rangeRepo size: 4 2025-10-24T20:21:38.821Z,1761337298.821 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.204712 2025-10-24T20:21:39.023Z,1761337299.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623107,-0.780242,0.054404],[0.781839,0.619446,-0.070806],[0.021546,0.086655,0.996005]] 2025-10-24T20:21:39.076Z,1761337299.076 [DAT](INFO): DAT read: Rx Time:20:21:38.0861 2025-10-24T20:21:39.078Z,1761337299.078 [DAT](INFO): Rx dataTimestamp_ set to:1761337299.076766 2025-10-24T20:21:39.082Z,1761337299.082 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:39.096Z,1761337299.096 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-24T20:21:39.099Z,1761337299.099 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.482550 2025-10-24T20:21:39.117Z,1761337299.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.507594 s, deltaX: -0.100000 m, approachRate: -0.197008 m/s, rangeRepo size: 4 2025-10-24T20:21:39.325Z,1761337299.325 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.708134 2025-10-24T20:21:39.424Z,1761337299.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639593,-0.767776,0.037968],[0.768499,0.637467,-0.055182],[0.018164,0.064472,0.997754]] 2025-10-24T20:21:39.477Z,1761337299.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:39.577Z,1761337299.577 [DAT](INFO): DAT read: Rx Time:20:21:38.5861 2025-10-24T20:21:39.577Z,1761337299.577 [DAT](INFO): Rx dataTimestamp_ set to:1761337299.577098 2025-10-24T20:21:39.579Z,1761337299.579 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:39.579Z,1761337299.579 [DAT](ERROR): #Rx 33: Read range message, but no direction. 2025-10-24T20:21:39.581Z,1761337299.581 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.964304 2025-10-24T20:21:39.829Z,1761337299.829 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.212196 2025-10-24T20:21:39.830Z,1761337299.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658989,-0.751776,0.023815],[0.752008,0.657910,-0.040464],[0.014751,0.044574,0.998897]] 2025-10-24T20:21:39.873Z,1761337299.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.500332 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:40.087Z,1761337300.087 [DAT](INFO): DAT read: Rx Time:20:21:39.0860 2025-10-24T20:21:40.089Z,1761337300.089 [DAT](INFO): Rx dataTimestamp_ set to:1761337300.087786 2025-10-24T20:21:40.102Z,1761337300.102 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:21:40.104Z,1761337300.104 [DAT](ERROR): #Rx 34: Read range message, but no direction. 2025-10-24T20:21:40.107Z,1761337300.107 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.489893 2025-10-24T20:21:40.231Z,1761337300.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678152,-0.734542,0.023630],[0.734859,0.677320,-0.034935],[0.009656,0.041055,0.999110]] 2025-10-24T20:21:40.282Z,1761337300.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.510688 s, deltaX: -0.200000 m, approachRate: -0.391629 m/s, rangeRepo size: 4 2025-10-24T20:21:40.334Z,1761337300.334 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.717436 2025-10-24T20:21:40.585Z,1761337300.585 [DAT](INFO): DAT read: Rx Time:20:21:39.5861 2025-10-24T20:21:40.586Z,1761337300.586 [DAT](INFO): Rx dataTimestamp_ set to:1761337300.585255 2025-10-24T20:21:40.587Z,1761337300.587 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:40.587Z,1761337300.587 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-24T20:21:40.588Z,1761337300.588 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.971775 2025-10-24T20:21:40.634Z,1761337300.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695967,-0.718053,-0.005444],[0.718010,0.695986,-0.008106],[0.009609,0.001733,0.999952]] 2025-10-24T20:21:40.674Z,1761337300.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.497469 s, deltaX: 0.200000 m, approachRate: 0.402035 m/s, rangeRepo size: 4 2025-10-24T20:21:40.837Z,1761337300.837 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.220196 2025-10-24T20:21:41.050Z,1761337301.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713377,-0.700665,-0.012735],[0.700734,0.713422,0.001368],[0.008128,-0.009900,0.999918]] 2025-10-24T20:21:41.093Z,1761337301.093 [DAT](INFO): DAT read: Rx Time:20:21:40.0861 2025-10-24T20:21:41.095Z,1761337301.095 [DAT](INFO): Rx dataTimestamp_ set to:1761337301.093712 2025-10-24T20:21:41.099Z,1761337301.099 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:41.112Z,1761337301.112 [DAT](ERROR): #Rx 36: Read range message, but no direction. 2025-10-24T20:21:41.115Z,1761337301.115 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.498222 2025-10-24T20:21:41.139Z,1761337301.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.508457 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-24T20:21:41.341Z,1761337301.341 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.724239 2025-10-24T20:21:41.443Z,1761337301.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727259,-0.686249,-0.012559],[0.686328,0.727286,0.003092],[0.007012,-0.010868,0.999916]] 2025-10-24T20:21:41.522Z,1761337301.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:41.533Z,1761337301.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.00 m. Lat: 36.779650 Lon: -121.859522 Cable present. 2025-10-24T20:21:41.533Z,1761337301.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-10-24T20:21:41.533Z,1761337301.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-24T20:21:41.533Z,1761337301.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2025-10-24T20:21:41.594Z,1761337301.594 [DAT](INFO): DAT read: Rx Time:20:21:40.5862 2025-10-24T20:21:41.594Z,1761337301.594 [DAT](INFO): Rx dataTimestamp_ set to:1761337301.594114 2025-10-24T20:21:41.596Z,1761337301.596 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:41.597Z,1761337301.597 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-24T20:21:41.598Z,1761337301.598 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.981504 2025-10-24T20:21:41.845Z,1761337301.845 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.228176 2025-10-24T20:21:41.849Z,1761337301.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738854,-0.673722,-0.013918],[0.673821,0.738886,0.003703],[0.007789,-0.012115,0.999896]] 2025-10-24T20:21:41.897Z,1761337301.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete. 2025-10-24T20:21:41.897Z,1761337301.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2025-10-24T20:21:41.897Z,1761337301.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1 2025-10-24T20:21:42.100Z,1761337302.100 [DAT](INFO): DAT read: Rx Time:20:21:41.0862 2025-10-24T20:21:42.102Z,1761337302.102 [DAT](INFO): Rx dataTimestamp_ set to:1761337302.101014 2025-10-24T20:21:42.105Z,1761337302.105 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:42.113Z,1761337302.113 [DAT](ERROR): #Rx 38: Read range message, but no direction. 2025-10-24T20:21:42.116Z,1761337302.116 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.498840 2025-10-24T20:21:42.253Z,1761337302.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747815,-0.663684,-0.017231],[0.663836,0.747862,0.004791],[0.009707,-0.015021,0.999840]] 2025-10-24T20:21:42.321Z,1761337302.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-24T20:21:42.323Z,1761337302.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-24T20:21:42.349Z,1761337302.349 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.732674 2025-10-24T20:21:42.601Z,1761337302.601 [DAT](INFO): DAT read: Rx Time:20:21:41.5863 2025-10-24T20:21:42.602Z,1761337302.602 [DAT](INFO): Rx dataTimestamp_ set to:1761337302.601399 2025-10-24T20:21:42.603Z,1761337302.603 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 2025-10-24T20:21:42.604Z,1761337302.604 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-24T20:21:42.605Z,1761337302.605 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.987915 2025-10-24T20:21:42.658Z,1761337302.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755694,-0.654563,-0.021758],[0.654794,0.755789,0.005188],[0.013049,-0.018168,0.999750]] 2025-10-24T20:21:42.694Z,1761337302.694 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-10-24T20:21:42.694Z,1761337302.694 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-24T20:21:42.694Z,1761337302.694 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-24T20:21:42.694Z,1761337302.694 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-24T20:21:42.694Z,1761337302.694 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2025-10-24T20:21:42.694Z,1761337302.694 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-24T20:21:42.695Z,1761337302.695 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings. 2025-10-24T20:21:42.695Z,1761337302.695 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2025-10-24T20:21:42.695Z,1761337302.695 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1 2025-10-24T20:21:42.700Z,1761337302.700 [lineCaptureHoming:LineCapture:HomingSequence] Stopped 2025-10-24T20:21:42.700Z,1761337302.700 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-24T20:21:42.701Z,1761337302.701 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped 2025-10-24T20:21:42.701Z,1761337302.701 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-24T20:21:42.701Z,1761337302.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-24T20:21:42.701Z,1761337302.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-24T20:21:42.701Z,1761337302.701 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1 2025-10-24T20:21:42.701Z,1761337302.701 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component. 2025-10-24T20:21:42.712Z,1761337302.712 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:21:42.853Z,1761337302.853 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.236263 2025-10-24T20:21:43.064Z,1761337303.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763272,-0.645539,-0.026377],[0.645880,0.763412,0.006435],[0.015982,-0.021948,0.999631]] 2025-10-24T20:21:43.086Z,1761337303.086 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped 2025-10-24T20:21:43.086Z,1761337303.086 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1 2025-10-24T20:21:43.108Z,1761337303.108 [DAT](INFO): DAT read: Rx Time:20:21:42.0862 2025-10-24T20:21:43.110Z,1761337303.110 [DAT](INFO): Rx dataTimestamp_ set to:1761337303.108848 2025-10-24T20:21:43.115Z,1761337303.115 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:43.117Z,1761337303.117 [DAT](ERROR): #Rx 40: Read range message, but no direction. 2025-10-24T20:21:43.120Z,1761337303.120 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.502970 2025-10-24T20:21:43.357Z,1761337303.357 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.740137 2025-10-24T20:21:43.468Z,1761337303.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769318,-0.638342,-0.025874],[0.638635,0.769498,0.004274],[0.017182,-0.019813,0.999656]] 2025-10-24T20:21:43.540Z,1761337303.540 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2025-10-24T20:21:43.540Z,1761337303.540 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-24T20:21:43.540Z,1761337303.540 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped 2025-10-24T20:21:43.541Z,1761337303.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:43.609Z,1761337303.609 [DAT](INFO): DAT read: Rx Time:20:21:42.5862 2025-10-24T20:21:43.610Z,1761337303.610 [DAT](INFO): Rx dataTimestamp_ set to:1761337303.609226 2025-10-24T20:21:43.611Z,1761337303.611 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:43.611Z,1761337303.611 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-24T20:21:43.612Z,1761337303.612 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.995768 2025-10-24T20:21:43.716Z,1761337303.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:21:43.861Z,1761337303.861 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.244093 2025-10-24T20:21:43.872Z,1761337303.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.774775,-0.631443,-0.031674],[0.631952,0.774958,0.008791],[0.018995,-0.026827,0.999460]] 2025-10-24T20:21:44.113Z,1761337304.113 [DAT](INFO): DAT read: Rx Time:20:21:43.0861 2025-10-24T20:21:44.114Z,1761337304.114 [DAT](INFO): Rx dataTimestamp_ set to:1761337304.113306 2025-10-24T20:21:44.115Z,1761337304.115 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:44.116Z,1761337304.116 [DAT](ERROR): #Rx 42: Read range message, but no direction. 2025-10-24T20:21:44.117Z,1761337304.117 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.500120 2025-10-24T20:21:44.271Z,1761337304.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778077,-0.627322,-0.032598],[0.627881,0.778243,0.010130],[0.019014,-0.028350,0.999417]] 2025-10-24T20:21:44.365Z,1761337304.365 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.748363 2025-10-24T20:21:44.617Z,1761337304.617 [DAT](INFO): DAT read: Rx Time:20:21:43.5862 2025-10-24T20:21:44.618Z,1761337304.618 [DAT](INFO): Rx dataTimestamp_ set to:1761337304.617599 2025-10-24T20:21:44.619Z,1761337304.619 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:44.620Z,1761337304.620 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-24T20:21:44.621Z,1761337304.621 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.004150 2025-10-24T20:21:44.697Z,1761337304.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778737,-0.626504,-0.032579],[0.627097,0.778849,0.012004],[0.017853,-0.029778,0.999397]] 2025-10-24T20:21:44.870Z,1761337304.870 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.253826 2025-10-24T20:21:45.078Z,1761337305.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775801,-0.630213,-0.031056],[0.630783,0.775844,0.013361],[0.015674,-0.029955,0.999428]] 2025-10-24T20:21:45.125Z,1761337305.125 [DAT](INFO): DAT read: Rx Time:20:21:44.0861 2025-10-24T20:21:45.127Z,1761337305.127 [DAT](INFO): Rx dataTimestamp_ set to:1761337305.125724 2025-10-24T20:21:45.132Z,1761337305.132 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:45.135Z,1761337305.135 [DAT](ERROR): #Rx 44: Read range message, but no direction. 2025-10-24T20:21:45.150Z,1761337305.150 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.532974 2025-10-24T20:21:45.373Z,1761337305.373 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.756189 2025-10-24T20:21:45.493Z,1761337305.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770820,-0.636341,-0.030107],[0.636928,0.770745,0.016594],[0.012646,-0.031967,0.999409]] 2025-10-24T20:21:45.554Z,1761337305.554 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:45.625Z,1761337305.625 [DAT](INFO): DAT read: Rx Time:20:21:44.5862 2025-10-24T20:21:45.626Z,1761337305.626 [DAT](INFO): Rx dataTimestamp_ set to:1761337305.625501 2025-10-24T20:21:45.627Z,1761337305.627 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:45.628Z,1761337305.628 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-24T20:21:45.629Z,1761337305.629 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.012270 2025-10-24T20:21:45.878Z,1761337305.878 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.261341 2025-10-24T20:21:45.905Z,1761337305.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762618,-0.646263,-0.027514],[0.646793,0.762421,0.019299],[0.008505,-0.032514,0.999435]] 2025-10-24T20:21:46.129Z,1761337306.129 [DAT](INFO): DAT read: Rx Time:20:21:45.0861 2025-10-24T20:21:46.129Z,1761337306.129 [DAT](INFO): Rx dataTimestamp_ set to:1761337306.129085 2025-10-24T20:21:46.133Z,1761337306.133 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:46.136Z,1761337306.136 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-24T20:21:46.137Z,1761337306.137 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.520159 2025-10-24T20:21:46.291Z,1761337306.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752397,-0.658298,-0.023278],[0.658701,0.752101,0.021398],[0.003421,-0.031433,0.999500]] 2025-10-24T20:21:46.341Z,1761337306.341 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting. 2025-10-24T20:21:46.341Z,1761337306.341 [lineCaptureHoming:LineCapture:L.Wait] Stopped 2025-10-24T20:21:46.341Z,1761337306.341 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component. 2025-10-24T20:21:46.341Z,1761337306.341 [lineCaptureHoming:LineCapture:M] Running Loop=1 2025-10-24T20:21:46.382Z,1761337306.382 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.765739 2025-10-24T20:21:46.633Z,1761337306.633 [DAT](INFO): DAT read: Rx Time:20:21:45.5862 2025-10-24T20:21:46.634Z,1761337306.634 [DAT](INFO): Rx dataTimestamp_ set to:1761337306.633252 2025-10-24T20:21:46.635Z,1761337306.635 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:46.635Z,1761337306.635 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-24T20:21:46.636Z,1761337306.636 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.019777 2025-10-24T20:21:46.727Z,1761337306.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737875,-0.674641,-0.020006],[0.674936,0.737488,0.023946],[-0.001401,-0.031172,0.999513]] 2025-10-24T20:21:46.745Z,1761337306.745 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 2025-10-24T20:21:46.745Z,1761337306.745 [lineCaptureHoming:LineCapture:M] Stopped 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture] Stopped 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-24T20:21:46.747Z,1761337306.747 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-24T20:21:46.748Z,1761337306.747 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:G] Stopped 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:H] Stopped 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:HoldMass] Stopped 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize. 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-24T20:21:46.748Z,1761337306.748 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-24T20:21:46.749Z,1761337306.749 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-24T20:21:46.885Z,1761337306.885 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.268475 2025-10-24T20:21:47.099Z,1761337307.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721626,-0.692069,-0.017219],[0.692262,0.721184,0.025838],[-0.005464,-0.030565,0.999518]] 2025-10-24T20:21:47.122Z,1761337307.122 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B 2025-10-24T20:21:47.122Z,1761337307.122 [lineCaptureHoming:Lap:B] Stopped 2025-10-24T20:21:47.122Z,1761337307.122 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B 2025-10-24T20:21:47.123Z,1761337307.123 [lineCaptureHoming:Lap:C] Running Loop=1 2025-10-24T20:21:47.137Z,1761337307.137 [DAT](INFO): DAT read: Rx Time:20:21:46.0861 2025-10-24T20:21:47.138Z,1761337307.138 [DAT](INFO): Rx dataTimestamp_ set to:1761337307.137400 2025-10-24T20:21:47.139Z,1761337307.139 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:47.140Z,1761337307.140 [DAT](ERROR): #Rx 48: Read range message, but no direction. 2025-10-24T20:21:47.141Z,1761337307.141 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.524046 2025-10-24T20:21:47.389Z,1761337307.389 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.772194 2025-10-24T20:21:47.505Z,1761337307.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702815,-0.711230,-0.014231],[0.711323,0.702390,0.025815],[-0.008365,-0.028267,0.999565]] 2025-10-24T20:21:47.547Z,1761337307.547 [lineCaptureHoming:Lap:C] Stopped 2025-10-24T20:21:47.547Z,1761337307.547 [lineCaptureHoming:Lap:D] Running Loop=1 2025-10-24T20:21:47.641Z,1761337307.641 [DAT](INFO): DAT read: Rx Time:20:21:46.5861 2025-10-24T20:21:47.641Z,1761337307.641 [DAT](INFO): Rx dataTimestamp_ set to:1761337307.641124 2025-10-24T20:21:47.643Z,1761337307.643 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:47.643Z,1761337307.643 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-24T20:21:47.644Z,1761337307.644 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.027651 2025-10-24T20:21:47.893Z,1761337307.893 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.276623 2025-10-24T20:21:47.915Z,1761337307.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683468,-0.729882,-0.012021],[0.729915,0.683094,0.024633],[-0.009768,-0.025611,0.999624]] 2025-10-24T20:21:47.943Z,1761337307.943 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 2025-10-24T20:21:47.943Z,1761337307.943 [lineCaptureHoming:Lap:D] Stopped 2025-10-24T20:21:47.943Z,1761337307.943 [lineCaptureHoming:Lap:E] Running Loop=1 2025-10-24T20:21:47.943Z,1761337307.943 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E 2025-10-24T20:21:47.944Z,1761337307.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:21:48.145Z,1761337308.145 [DAT](INFO): DAT read: Rx Time:20:21:47.0861 2025-10-24T20:21:48.145Z,1761337308.145 [DAT](INFO): Rx dataTimestamp_ set to:1761337308.145182 2025-10-24T20:21:48.147Z,1761337308.147 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:48.148Z,1761337308.148 [DAT](ERROR): #Rx 50: Read range message, but no direction. 2025-10-24T20:21:48.149Z,1761337308.149 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.532263 2025-10-24T20:21:48.311Z,1761337308.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662274,-0.749188,-0.010541],[0.749204,0.661983,0.021724],[-0.009297,-0.022285,0.999708]] 2025-10-24T20:21:48.369Z,1761337308.369 [lineCaptureHoming:restartDHCP] Running Loop=1 2025-10-24T20:21:48.369Z,1761337308.369 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP 2025-10-24T20:21:48.369Z,1761337308.369 [lineCaptureHoming:restartDHCP:A] Running Loop=1 2025-10-24T20:21:48.369Z,1761337308.369 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP... 2025-10-24T20:21:48.369Z,1761337308.369 [lineCaptureHoming:restartDHCP:A] Stopped 2025-10-24T20:21:48.369Z,1761337308.369 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1 2025-10-24T20:21:48.397Z,1761337308.397 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.780859 2025-10-24T20:21:48.649Z,1761337308.649 [DAT](INFO): DAT read: Rx Time:20:21:47.5862 2025-10-24T20:21:48.650Z,1761337308.650 [DAT](INFO): Rx dataTimestamp_ set to:1761337308.649497 2025-10-24T20:21:48.651Z,1761337308.651 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:48.652Z,1761337308.652 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-24T20:21:48.653Z,1761337308.653 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.036043 2025-10-24T20:21:48.717Z,1761337308.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641279,-0.767237,-0.010404],[0.767272,0.641061,0.018278],[-0.007354,-0.019704,0.999779]] 2025-10-24T20:21:48.739Z,1761337308.739 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-24T20:21:48.739Z,1761337308.739 [lineCaptureHoming:restartDHCP:B.Execute] Stopped 2025-10-24T20:21:48.739Z,1761337308.739 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP 2025-10-24T20:21:48.739Z,1761337308.739 [lineCaptureHoming:restartDHCP] Stopped 2025-10-24T20:21:48.739Z,1761337308.739 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP 2025-10-24T20:21:48.820Z,1761337308.820 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-24T20:21:48.904Z,1761337308.904 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.286724 2025-10-24T20:21:49.120Z,1761337309.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619014,-0.785326,-0.009245],[0.785367,0.618892,0.013111],[-0.004575,-0.015377,0.999871]] 2025-10-24T20:21:49.149Z,1761337309.149 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E 2025-10-24T20:21:49.149Z,1761337309.149 [lineCaptureHoming:Lap:E] Stopped 2025-10-24T20:21:49.150Z,1761337309.150 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E 2025-10-24T20:21:49.151Z,1761337309.151 [lineCaptureHoming:Lap:Docked] Running Loop=1 2025-10-24T20:21:49.155Z,1761337309.155 [DAT](INFO): DAT read: Rx Time:20:21:48.0861 2025-10-24T20:21:49.156Z,1761337309.156 [DAT](INFO): Rx dataTimestamp_ set to:1761337309.155657 2025-10-24T20:21:49.157Z,1761337309.157 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:49.158Z,1761337309.158 [DAT](ERROR): #Rx 52: Read range message, but no direction. 2025-10-24T20:21:49.159Z,1761337309.159 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.542288 2025-10-24T20:21:49.151Z,1761337309.151 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked 2025-10-24T20:21:49.182Z,1761337309.182 [lineCaptureHoming:Lap:Docked:A] Running Loop=1 2025-10-24T20:21:49.405Z,1761337309.405 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.788149 2025-10-24T20:21:49.523Z,1761337309.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598014,-0.801438,-0.008734],[0.801484,0.597959,0.008236],[-0.001378,-0.011926,0.999928]] 2025-10-24T20:21:49.574Z,1761337309.574 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 15.000000 min 2025-10-24T20:21:49.574Z,1761337309.574 [lineCaptureHoming:Lap:Docked:A] Stopped 2025-10-24T20:21:49.575Z,1761337309.575 [lineCaptureHoming:Lap:Docked:C] Running Loop=1 2025-10-24T20:21:49.657Z,1761337309.657 [DAT](INFO): DAT read: Rx Time:20:21:48.5862 2025-10-24T20:21:49.658Z,1761337309.658 [DAT](INFO): Rx dataTimestamp_ set to:1761337309.657378 2025-10-24T20:21:49.659Z,1761337309.659 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:49.659Z,1761337309.659 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-24T20:21:49.660Z,1761337309.660 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.043894 2025-10-24T20:21:49.910Z,1761337309.910 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.293175 2025-10-24T20:21:49.927Z,1761337309.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577573,-0.816306,-0.007339],[0.816337,0.577569,0.002894],[0.001877,-0.007662,0.999969]] 2025-10-24T20:21:49.988Z,1761337309.988 [lineCaptureHoming:Lap:Docked:C] Stopped 2025-10-24T20:21:49.988Z,1761337309.988 [lineCaptureHoming:Lap:Docked:D] Running Loop=1 2025-10-24T20:21:50.161Z,1761337310.161 [DAT](INFO): DAT read: Rx Time:20:21:49.0861 2025-10-24T20:21:50.161Z,1761337310.161 [DAT](INFO): Rx dataTimestamp_ set to:1761337310.161101 2025-10-24T20:21:50.163Z,1761337310.163 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:50.164Z,1761337310.164 [DAT](ERROR): #Rx 54: Read range message, but no direction. 2025-10-24T20:21:50.165Z,1761337310.165 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.548292 2025-10-24T20:21:50.339Z,1761337310.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559586,-0.828753,-0.005679],[0.828761,0.559601,-0.001492],[0.004415,-0.003871,0.999983]] 2025-10-24T20:21:50.377Z,1761337310.377 [lineCaptureHoming:Lap:Docked:D] Stopped 2025-10-24T20:21:50.377Z,1761337310.377 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1 2025-10-24T20:21:50.377Z,1761337310.377 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize. 2025-10-24T20:21:50.378Z,1761337310.378 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): DHCP script made executable: /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-24T20:21:50.378Z,1761337310.378 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2025-10-24T20:21:50.413Z,1761337310.413 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.796329 2025-10-24T20:21:50.665Z,1761337310.665 [DAT](INFO): DAT read: Rx Time:20:21:49.5862 2025-10-24T20:21:50.666Z,1761337310.666 [DAT](INFO): Rx dataTimestamp_ set to:1761337310.665247 2025-10-24T20:21:50.667Z,1761337310.667 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:50.667Z,1761337310.667 [DAT](ERROR): #Rx 55: Read range message, but no direction. 2025-10-24T20:21:50.668Z,1761337310.668 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.051817 2025-10-24T20:21:50.746Z,1761337310.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531216,-0.847236,-0.000744],[0.847202,0.531202,-0.008594],[0.007676,0.003935,0.999963]] 2025-10-24T20:21:50.775Z,1761337310.775 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Found local IP address 10.89.10.2 for eth0 2025-10-24T20:21:50.775Z,1761337310.775 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No IP address on dock subnet, restarting DHCP 2025-10-24T20:21:50.810Z,1761337310.810 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-24T20:21:50.918Z,1761337310.918 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.301233 2025-10-24T20:21:51.144Z,1761337311.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522201,-0.852822,0.000934],[0.852776,0.522162,-0.010918],[0.008823,0.006498,0.999940]] 2025-10-24T20:21:51.170Z,1761337311.170 [DAT](INFO): DAT read: Rx Time:20:21:50.0861 2025-10-24T20:21:51.171Z,1761337311.171 [DAT](INFO): Rx dataTimestamp_ set to:1761337311.170639 2025-10-24T20:21:51.173Z,1761337311.173 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:51.174Z,1761337311.174 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-24T20:21:51.176Z,1761337311.176 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.559332 2025-10-24T20:21:51.389Z,1761337311.389 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-10-24UTC202151_sh 2025-10-24T20:21:51.421Z,1761337311.421 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.804333 2025-10-24T20:21:51.421Z,1761337311.421 [DAT](INFO): Requesting device enable set for address 50. 2025-10-24T20:21:51.545Z,1761337311.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516304,-0.856401,0.002500],[0.856346,0.516232,-0.013287],[0.010088,0.009001,0.999909]] 2025-10-24T20:21:51.673Z,1761337311.673 [DAT](INFO): DAT read: Rx Time:20:21:50.5861 2025-10-24T20:21:51.674Z,1761337311.674 [DAT](INFO): Rx dataTimestamp_ set to:1761337311.673313 2025-10-24T20:21:51.675Z,1761337311.675 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:51.675Z,1761337311.675 [DAT](ERROR): #Rx 57: Read range message, but no direction. 2025-10-24T20:21:51.676Z,1761337311.676 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.059841 2025-10-24T20:21:51.677Z,1761337311.677 [DAT](INFO): Requesting device enable set for address 50. 2025-10-24T20:21:51.736Z,1761337311.736 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-24T20:21:51.736Z,1761337311.736 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-24T20:21:51.926Z,1761337311.926 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.309372 2025-10-24T20:21:51.926Z,1761337311.926 [DAT](INFO): Requesting device enable set for address 50. 2025-10-24T20:21:51.951Z,1761337311.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513628,-0.858006,0.003441],[0.857930,0.513518,-0.015959],[0.011926,0.011149,0.999867]] 2025-10-24T20:21:52.177Z,1761337312.177 [DAT](INFO): DAT read: Rx Time:20:21:51.0860 2025-10-24T20:21:52.177Z,1761337312.177 [DAT](INFO): Rx dataTimestamp_ set to:1761337312.177117 2025-10-24T20:21:52.179Z,1761337312.179 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:21:52.179Z,1761337312.179 [DAT](ERROR): #Rx 58: Read range message, but no direction. 2025-10-24T20:21:52.182Z,1761337312.182 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.564730 2025-10-24T20:21:52.354Z,1761337312.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513535,-0.858059,0.004144],[0.857953,0.513380,-0.018896],[0.014086,0.013259,0.999813]] 2025-10-24T20:21:52.429Z,1761337312.429 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.812304 2025-10-24T20:21:52.682Z,1761337312.682 [DAT](INFO): DAT read: Rx Time:20:21:51.5861 2025-10-24T20:21:52.682Z,1761337312.682 [DAT](INFO): Rx dataTimestamp_ set to:1761337312.682137 2025-10-24T20:21:52.684Z,1761337312.684 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:52.684Z,1761337312.684 [DAT](ERROR): #Rx 59: Read range message, but no direction. 2025-10-24T20:21:52.685Z,1761337312.685 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.068731 2025-10-24T20:21:52.758Z,1761337312.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516221,-0.856444,0.004319],[0.856295,0.516020,-0.021967],[0.016585,0.015038,0.999749]] 2025-10-24T20:21:52.934Z,1761337312.934 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.316866 2025-10-24T20:21:53.186Z,1761337313.186 [DAT](INFO): DAT read: Rx Time:20:21:52.0861 2025-10-24T20:21:53.186Z,1761337313.186 [DAT](INFO): Rx dataTimestamp_ set to:1761337313.186097 2025-10-24T20:21:53.188Z,1761337313.188 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:53.189Z,1761337313.189 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-24T20:21:53.190Z,1761337313.190 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.573895 2025-10-24T20:21:53.233Z,1761337313.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522505,-0.852628,0.003738],[0.852424,0.522272,-0.024605],[0.019027,0.016042,0.999690]] 2025-10-24T20:21:53.438Z,1761337313.438 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.821114 2025-10-24T20:21:53.627Z,1761337313.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531340,-0.847154,0.002884],[0.846884,0.531078,-0.027261],[0.021562,0.016928,0.999624]] 2025-10-24T20:21:53.689Z,1761337313.689 [DAT](INFO): DAT read: Rx Time:20:21:52.5862 2025-10-24T20:21:53.689Z,1761337313.689 [DAT](INFO): Rx dataTimestamp_ set to:1761337313.689007 2025-10-24T20:21:53.690Z,1761337313.690 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:53.691Z,1761337313.691 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-10-24T20:21:53.692Z,1761337313.692 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.075638 2025-10-24T20:21:53.941Z,1761337313.941 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.324162 2025-10-24T20:21:54.037Z,1761337314.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544269,-0.838910,0.000487],[0.838562,0.544026,-0.029135],[0.024177,0.016265,0.999575]] 2025-10-24T20:21:54.193Z,1761337314.193 [DAT](INFO): DAT read: Rx Time:20:21:53.0861 2025-10-24T20:21:54.193Z,1761337314.193 [DAT](INFO): Rx dataTimestamp_ set to:1761337314.193174 2025-10-24T20:21:54.195Z,1761337314.195 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:54.195Z,1761337314.195 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-24T20:21:54.196Z,1761337314.196 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.579674 2025-10-24T20:21:54.445Z,1761337314.445 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.828274 2025-10-24T20:21:54.698Z,1761337314.698 [DAT](INFO): DAT read: Rx Time:20:21:53.5862 2025-10-24T20:21:54.698Z,1761337314.698 [DAT](INFO): Rx dataTimestamp_ set to:1761337314.698088 2025-10-24T20:21:54.700Z,1761337314.700 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:54.700Z,1761337314.700 [DAT](ERROR): #Rx 63: Read range message, but no direction. 2025-10-24T20:21:54.701Z,1761337314.701 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.084591 2025-10-24T20:21:54.842Z,1761337314.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579800,-0.814745,-0.004699],[0.814308,0.579661,-0.029908],[0.027091,0.013514,0.999542]] 2025-10-24T20:21:54.949Z,1761337314.949 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.332298 2025-10-24T20:21:55.201Z,1761337315.201 [DAT](INFO): DAT read: Rx Time:20:21:54.0862 2025-10-24T20:21:55.201Z,1761337315.201 [DAT](INFO): Rx dataTimestamp_ set to:1761337315.201171 2025-10-24T20:21:55.203Z,1761337315.203 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:55.203Z,1761337315.203 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-24T20:21:55.205Z,1761337315.205 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.588280 2025-10-24T20:21:55.353Z,1761337315.353 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T20:21:55.453Z,1761337315.453 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.836208 2025-10-24T20:21:55.652Z,1761337315.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624106,-0.781277,-0.009839],[0.780854,0.624113,-0.027386],[0.027537,0.009409,0.999577]] 2025-10-24T20:21:55.705Z,1761337315.705 [DAT](INFO): DAT read: Rx Time:20:21:54.5862 2025-10-24T20:21:55.706Z,1761337315.706 [DAT](INFO): Rx dataTimestamp_ set to:1761337315.705292 2025-10-24T20:21:55.707Z,1761337315.707 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:55.707Z,1761337315.707 [DAT](ERROR): #Rx 65: Read range message, but no direction. 2025-10-24T20:21:55.708Z,1761337315.708 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.091846 2025-10-24T20:21:55.957Z,1761337315.957 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.340359 2025-10-24T20:21:56.060Z,1761337316.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648238,-0.761338,-0.012320],[0.760968,0.648321,-0.024654],[0.026758,0.006606,0.999620]] 2025-10-24T20:21:56.209Z,1761337316.209 [DAT](INFO): DAT read: Rx Time:20:21:55.0861 2025-10-24T20:21:56.209Z,1761337316.209 [DAT](INFO): Rx dataTimestamp_ set to:1761337316.209163 2025-10-24T20:21:56.211Z,1761337316.211 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:56.211Z,1761337316.211 [DAT](ERROR): #Rx 66: Read range message, but no direction. 2025-10-24T20:21:56.212Z,1761337316.212 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.595707 2025-10-24T20:21:56.455Z,1761337316.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671959,-0.740455,-0.014080],[0.740153,0.672094,-0.021509],[0.025390,0.004032,0.999669]] 2025-10-24T20:21:56.461Z,1761337316.461 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.844212 2025-10-24T20:21:56.714Z,1761337316.714 [DAT](INFO): DAT read: Rx Time:20:21:55.5862 2025-10-24T20:21:56.714Z,1761337316.714 [DAT](INFO): Rx dataTimestamp_ set to:1761337316.713965 2025-10-24T20:21:56.715Z,1761337316.715 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:56.716Z,1761337316.716 [DAT](ERROR): #Rx 67: Read range message, but no direction. 2025-10-24T20:21:56.717Z,1761337316.717 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.100483 2025-10-24T20:21:56.859Z,1761337316.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695524,-0.718321,-0.016171],[0.718112,0.695712,-0.017294],[0.023673,0.000416,0.999720]] 2025-10-24T20:21:56.973Z,1761337316.973 [DAT](INFO): DAT read: Rx Time:20:21:56.0861 2025-10-24T20:21:56.974Z,1761337316.974 [DAT](INFO): Rx dataTimestamp_ set to:1761337316.973650 2025-10-24T20:21:56.978Z,1761337316.978 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.361614 2025-10-24T20:21:57.218Z,1761337317.218 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:57.218Z,1761337317.218 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-10-24T20:21:57.219Z,1761337317.219 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.602524 2025-10-24T20:21:57.279Z,1761337317.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717507,-0.696315,-0.018128],[0.696222,0.717725,-0.012064],[0.021411,-0.003965,0.999763]] 2025-10-24T20:21:57.473Z,1761337317.473 [DAT](INFO): DAT read: Rx Time:20:21:56.5862 2025-10-24T20:21:57.476Z,1761337317.476 [DAT](INFO): Rx dataTimestamp_ set to:1761337317.474490 2025-10-24T20:21:57.478Z,1761337317.478 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.861279 2025-10-24T20:21:57.674Z,1761337317.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737699,-0.674849,-0.019473],[0.674866,0.737910,-0.006630],[0.018844,-0.008251,0.999788]] 2025-10-24T20:21:57.721Z,1761337317.721 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:57.722Z,1761337317.722 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-24T20:21:57.723Z,1761337317.723 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.106441 2025-10-24T20:21:57.978Z,1761337317.978 [DAT](INFO): DAT read: Rx Time:20:21:57.0861 2025-10-24T20:21:57.979Z,1761337317.979 [DAT](INFO): Rx dataTimestamp_ set to:1761337317.978475 2025-10-24T20:21:57.980Z,1761337317.980 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:57.981Z,1761337317.981 [DAT](ERROR): #Rx 70: Read range message, but no direction. 2025-10-24T20:21:57.983Z,1761337317.983 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.366447 2025-10-24T20:21:58.071Z,1761337318.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755932,-0.654311,-0.021071],[0.654444,0.756110,-0.000748],[0.016422,-0.013224,0.999778]] 2025-10-24T20:21:58.225Z,1761337318.225 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.608170 2025-10-24T20:21:58.479Z,1761337318.479 [DAT](INFO): DAT read: Rx Time:20:21:57.5862 2025-10-24T20:21:58.479Z,1761337318.479 [DAT](INFO): Rx dataTimestamp_ set to:1761337318.478958 2025-10-24T20:21:58.481Z,1761337318.481 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:21:58.482Z,1761337318.482 [DAT](ERROR): #Rx 71: Read range message, but no direction. 2025-10-24T20:21:58.483Z,1761337318.483 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.866081 2025-10-24T20:21:58.494Z,1761337318.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770962,-0.636503,-0.021963],[0.636736,0.771064,0.005220],[0.013612,-0.018009,0.999745]] 2025-10-24T20:21:58.729Z,1761337318.729 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.112217 2025-10-24T20:21:58.890Z,1761337318.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783653,-0.620790,-0.022540],[0.621111,0.783636,0.011651],[0.010430,-0.023130,0.999678]] 2025-10-24T20:21:58.985Z,1761337318.985 [DAT](INFO): DAT read: Rx Time:20:21:58.0861 2025-10-24T20:21:58.986Z,1761337318.986 [DAT](INFO): Rx dataTimestamp_ set to:1761337318.985263 2025-10-24T20:21:58.990Z,1761337318.990 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:58.991Z,1761337318.991 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-24T20:21:58.993Z,1761337318.993 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.376198 2025-10-24T20:21:59.233Z,1761337319.233 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.616531 2025-10-24T20:21:59.283Z,1761337319.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792605,-0.609332,-0.022178],[0.609693,0.792455,0.017002],[0.007215,-0.026997,0.999609]] 2025-10-24T20:21:59.486Z,1761337319.486 [DAT](INFO): DAT read: Rx Time:20:21:58.5861 2025-10-24T20:21:59.486Z,1761337319.486 [DAT](INFO): Rx dataTimestamp_ set to:1761337319.486133 2025-10-24T20:21:59.488Z,1761337319.488 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:59.489Z,1761337319.489 [DAT](ERROR): #Rx 73: Read range message, but no direction. 2025-10-24T20:21:59.490Z,1761337319.490 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.873154 2025-10-24T20:21:59.688Z,1761337319.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798400,-0.601743,-0.021523],[0.602116,0.798100,0.022207],[0.003815,-0.030689,0.999522]] 2025-10-24T20:21:59.737Z,1761337319.737 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.120193 2025-10-24T20:21:59.989Z,1761337319.989 [DAT](INFO): DAT read: Rx Time:20:21:59.0861 2025-10-24T20:21:59.990Z,1761337319.990 [DAT](INFO): Rx dataTimestamp_ set to:1761337319.989468 2025-10-24T20:21:59.991Z,1761337319.991 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:21:59.992Z,1761337319.992 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-10-24T20:21:59.993Z,1761337319.993 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.376251 2025-10-24T20:22:00.241Z,1761337320.241 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.624329 2025-10-24T20:22:00.493Z,1761337320.493 [DAT](INFO): DAT read: Rx Time:20:21:59.5862 2025-10-24T20:22:00.494Z,1761337320.494 [DAT](INFO): Rx dataTimestamp_ set to:1761337320.493227 2025-10-24T20:22:00.495Z,1761337320.495 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:00.495Z,1761337320.495 [DAT](ERROR): #Rx 75: Read range message, but no direction. 2025-10-24T20:22:00.497Z,1761337320.497 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.880161 2025-10-24T20:22:00.518Z,1761337320.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798963,-0.601072,-0.019268],[0.601375,0.798403,0.030022],[-0.002661,-0.035574,0.999364]] 2025-10-24T20:22:00.745Z,1761337320.745 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.128441 2025-10-24T20:22:00.905Z,1761337320.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793397,-0.608450,-0.017607],[0.608680,0.792766,0.032104],[-0.005575,-0.036188,0.999329]] 2025-10-24T20:22:01.009Z,1761337321.009 [DAT](INFO): DAT read: Rx Time:20:22:00.0861 2025-10-24T20:22:01.010Z,1761337321.010 [DAT](INFO): Rx dataTimestamp_ set to:1761337321.009356 2025-10-24T20:22:01.011Z,1761337321.011 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:01.012Z,1761337321.012 [DAT](ERROR): #Rx 76: Read range message, but no direction. 2025-10-24T20:22:01.013Z,1761337321.013 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.395935 2025-10-24T20:22:01.261Z,1761337321.261 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.644176 2025-10-24T20:22:01.319Z,1761337321.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785069,-0.619195,-0.016246],[0.619353,0.784378,0.033951],[-0.008279,-0.036716,0.999291]] 2025-10-24T20:22:01.514Z,1761337321.514 [DAT](INFO): DAT read: Rx Time:20:22:00.5862 2025-10-24T20:22:01.514Z,1761337321.514 [DAT](INFO): Rx dataTimestamp_ set to:1761337321.514143 2025-10-24T20:22:01.516Z,1761337321.516 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:01.516Z,1761337321.516 [DAT](ERROR): #Rx 77: Read range message, but no direction. 2025-10-24T20:22:01.517Z,1761337321.517 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.900700 2025-10-24T20:22:01.765Z,1761337321.765 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.148445 2025-10-24T20:22:02.017Z,1761337322.017 [DAT](INFO): DAT read: Rx Time:20:22:01.0862 2025-10-24T20:22:02.018Z,1761337322.018 [DAT](INFO): Rx dataTimestamp_ set to:1761337322.017394 2025-10-24T20:22:02.019Z,1761337322.019 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:02.019Z,1761337322.019 [DAT](ERROR): #Rx 78: Read range message, but no direction. 2025-10-24T20:22:02.020Z,1761337322.020 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.403896 2025-10-24T20:22:02.114Z,1761337322.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758781,-0.651215,-0.013098],[0.651236,0.758127,0.033692],[-0.012011,-0.034095,0.999346]] 2025-10-24T20:22:02.269Z,1761337322.269 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.652153 2025-10-24T20:22:02.517Z,1761337322.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741910,-0.670398,-0.011634],[0.670376,0.741329,0.032059],[-0.012868,-0.031583,0.999418]] 2025-10-24T20:22:02.521Z,1761337322.521 [DAT](INFO): DAT read: Rx Time:20:22:01.5863 2025-10-24T20:22:02.521Z,1761337322.521 [DAT](INFO): Rx dataTimestamp_ set to:1761337322.521162 2025-10-24T20:22:02.523Z,1761337322.523 [DAT](INFO): DAT read: Range 10 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 2025-10-24T20:22:02.523Z,1761337322.523 [DAT](ERROR): #Rx 79: Read range message, but no direction. 2025-10-24T20:22:02.524Z,1761337322.524 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.907711 2025-10-24T20:22:02.773Z,1761337322.773 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.156219 2025-10-24T20:22:03.027Z,1761337323.027 [DAT](INFO): DAT read: Rx Time:20:22:02.0862 2025-10-24T20:22:03.028Z,1761337323.028 [DAT](INFO): Rx dataTimestamp_ set to:1761337323.027384 2025-10-24T20:22:03.030Z,1761337323.030 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:03.031Z,1761337323.031 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-24T20:22:03.033Z,1761337323.033 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.416088 2025-10-24T20:22:03.277Z,1761337323.277 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.660240 2025-10-24T20:22:03.323Z,1761337323.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702434,-0.711690,-0.009157],[0.711638,0.702039,0.026695],[-0.012570,-0.025267,0.999602]] 2025-10-24T20:22:03.529Z,1761337323.529 [DAT](INFO): DAT read: Rx Time:20:22:02.5862 2025-10-24T20:22:03.529Z,1761337323.529 [DAT](INFO): Rx dataTimestamp_ set to:1761337323.529122 2025-10-24T20:22:03.531Z,1761337323.531 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:03.532Z,1761337323.532 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-24T20:22:03.533Z,1761337323.533 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.916298 2025-10-24T20:22:03.727Z,1761337323.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681339,-0.731927,-0.007769],[0.731872,0.681039,0.023450],[-0.011872,-0.021663,0.999695]] 2025-10-24T20:22:03.783Z,1761337323.783 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.166145 2025-10-24T20:22:04.037Z,1761337324.037 [DAT](INFO): DAT read: Rx Time:20:22:03.0861 2025-10-24T20:22:04.037Z,1761337324.037 [DAT](INFO): Rx dataTimestamp_ set to:1761337324.037178 2025-10-24T20:22:04.039Z,1761337324.039 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:04.039Z,1761337324.039 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-24T20:22:04.040Z,1761337324.040 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.423695 2025-10-24T20:22:04.134Z,1761337324.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659471,-0.751706,-0.005994],[0.751655,0.659272,0.019355],[-0.010598,-0.017269,0.999795]] 2025-10-24T20:22:04.289Z,1761337324.289 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.672211 2025-10-24T20:22:04.541Z,1761337324.541 [DAT](INFO): DAT read: Rx Time:20:22:03.5862 2025-10-24T20:22:04.541Z,1761337324.541 [DAT](INFO): Rx dataTimestamp_ set to:1761337324.541170 2025-10-24T20:22:04.544Z,1761337324.544 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:04.547Z,1761337324.547 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-24T20:22:04.549Z,1761337324.549 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.932831 2025-10-24T20:22:04.793Z,1761337324.793 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.176228 2025-10-24T20:22:04.946Z,1761337324.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600502,-0.799623,-0.000641],[0.799606,0.600483,0.007044],[-0.005247,-0.004743,0.999975]] 2025-10-24T20:22:05.045Z,1761337325.045 [DAT](INFO): DAT read: Rx Time:20:22:04.0861 2025-10-24T20:22:05.045Z,1761337325.045 [DAT](INFO): Rx dataTimestamp_ set to:1761337325.045130 2025-10-24T20:22:05.047Z,1761337325.047 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:05.047Z,1761337325.047 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-24T20:22:05.048Z,1761337325.048 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.431648 2025-10-24T20:22:05.298Z,1761337325.298 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.681171 2025-10-24T20:22:05.349Z,1761337325.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585353,-0.810778,0.001157],[0.810772,0.585354,0.003219],[-0.003288,-0.000946,0.999994]] 2025-10-24T20:22:05.549Z,1761337325.549 [DAT](INFO): DAT read: Rx Time:20:22:04.5862 2025-10-24T20:22:05.550Z,1761337325.550 [DAT](INFO): Rx dataTimestamp_ set to:1761337325.549430 2025-10-24T20:22:05.551Z,1761337325.551 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:05.552Z,1761337325.552 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-24T20:22:05.553Z,1761337325.553 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.935944 2025-10-24T20:22:05.750Z,1761337325.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574122,-0.818767,0.002003],[0.818769,0.574123,-0.000036],[-0.001120,0.001661,0.999998]] 2025-10-24T20:22:05.801Z,1761337325.801 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.184116 2025-10-24T20:22:06.057Z,1761337326.057 [DAT](INFO): DAT read: Rx Time:20:22:05.0861 2025-10-24T20:22:06.057Z,1761337326.057 [DAT](INFO): Rx dataTimestamp_ set to:1761337326.056869 2025-10-24T20:22:06.058Z,1761337326.058 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:06.059Z,1761337326.059 [DAT](ERROR): #Rx 86: Read range message, but no direction. 2025-10-24T20:22:06.060Z,1761337326.060 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.443447 2025-10-24T20:22:06.159Z,1761337326.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565810,-0.824532,0.002540],[0.824535,0.565802,-0.003204],[0.001205,0.003907,0.999992]] 2025-10-24T20:22:06.305Z,1761337326.305 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.688248 2025-10-24T20:22:06.557Z,1761337326.557 [DAT](INFO): DAT read: Rx Time:20:22:05.5862 2025-10-24T20:22:06.557Z,1761337326.557 [DAT](INFO): Rx dataTimestamp_ set to:1761337326.557058 2025-10-24T20:22:06.559Z,1761337326.559 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:06.559Z,1761337326.559 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-24T20:22:06.560Z,1761337326.560 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.943588 2025-10-24T20:22:06.562Z,1761337326.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560586,-0.828092,0.002814],[0.828088,0.560561,-0.006425],[0.003743,0.005932,0.999975]] 2025-10-24T20:22:06.809Z,1761337326.809 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.192463 2025-10-24T20:22:06.982Z,1761337326.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558830,-0.829279,0.002375],[0.829258,0.558789,-0.009305],[0.006389,0.007169,0.999954]] 2025-10-24T20:22:07.062Z,1761337327.062 [DAT](INFO): DAT read: Rx Time:20:22:06.0861 2025-10-24T20:22:07.063Z,1761337327.063 [DAT](INFO): Rx dataTimestamp_ set to:1761337327.062015 2025-10-24T20:22:07.064Z,1761337327.064 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:07.065Z,1761337327.065 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-24T20:22:07.066Z,1761337327.066 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.449471 2025-10-24T20:22:07.313Z,1761337327.313 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.696217 2025-10-24T20:22:07.371Z,1761337327.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559171,-0.829051,0.001499],[0.829000,0.559114,-0.012269],[0.009333,0.008103,0.999924]] 2025-10-24T20:22:07.565Z,1761337327.565 [DAT](INFO): DAT read: Rx Time:20:22:06.5861 2025-10-24T20:22:07.566Z,1761337327.566 [DAT](INFO): Rx dataTimestamp_ set to:1761337327.565407 2025-10-24T20:22:07.567Z,1761337327.567 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:07.568Z,1761337327.568 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-24T20:22:07.568Z,1761337327.568 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.951912 2025-10-24T20:22:07.817Z,1761337327.817 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.200367 2025-10-24T20:22:08.071Z,1761337328.071 [DAT](INFO): DAT read: Rx Time:20:22:07.0860 2025-10-24T20:22:08.072Z,1761337328.072 [DAT](INFO): Rx dataTimestamp_ set to:1761337328.071095 2025-10-24T20:22:08.074Z,1761337328.074 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:22:08.075Z,1761337328.075 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-24T20:22:08.077Z,1761337328.077 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.460407 2025-10-24T20:22:08.170Z,1761337328.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566706,-0.823920,-0.000380],[0.823779,0.566618,-0.018206],[0.015216,0.010005,0.999834]] 2025-10-24T20:22:08.321Z,1761337328.321 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.704220 2025-10-24T20:22:08.573Z,1761337328.573 [DAT](INFO): DAT read: Rx Time:20:22:07.5861 2025-10-24T20:22:08.574Z,1761337328.574 [DAT](INFO): Rx dataTimestamp_ set to:1761337328.573273 2025-10-24T20:22:08.575Z,1761337328.575 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:08.575Z,1761337328.575 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-24T20:22:08.576Z,1761337328.576 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.959785 2025-10-24T20:22:08.825Z,1761337328.825 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.208157 2025-10-24T20:22:08.993Z,1761337328.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582386,-0.812907,-0.003060],[0.812682,0.582307,-0.021594],[0.019336,0.010090,0.999762]] 2025-10-24T20:22:09.082Z,1761337329.082 [DAT](INFO): DAT read: Rx Time:20:22:08.0861 2025-10-24T20:22:09.082Z,1761337329.082 [DAT](INFO): Rx dataTimestamp_ set to:1761337329.081855 2025-10-24T20:22:09.083Z,1761337329.083 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:09.088Z,1761337329.088 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-24T20:22:09.089Z,1761337329.089 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.472557 2025-10-24T20:22:09.329Z,1761337329.329 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.712238 2025-10-24T20:22:09.383Z,1761337329.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592874,-0.805285,-0.004223],[0.805039,0.592809,-0.022139],[0.020332,0.009725,0.999746]] 2025-10-24T20:22:09.581Z,1761337329.581 [DAT](INFO): DAT read: Rx Time:20:22:08.5862 2025-10-24T20:22:09.582Z,1761337329.582 [DAT](INFO): Rx dataTimestamp_ set to:1761337329.581551 2025-10-24T20:22:09.583Z,1761337329.583 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:09.584Z,1761337329.584 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-24T20:22:09.585Z,1761337329.585 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.968060 2025-10-24T20:22:09.787Z,1761337329.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605416,-0.795890,-0.005471],[0.795651,0.605380,-0.021316],[0.020277,0.008552,0.999758]] 2025-10-24T20:22:09.833Z,1761337329.833 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.216305 2025-10-24T20:22:10.085Z,1761337330.085 [DAT](INFO): DAT read: Rx Time:20:22:09.0861 2025-10-24T20:22:10.086Z,1761337330.086 [DAT](INFO): Rx dataTimestamp_ set to:1761337330.085245 2025-10-24T20:22:10.087Z,1761337330.087 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:10.087Z,1761337330.087 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-24T20:22:10.088Z,1761337330.088 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.471760 2025-10-24T20:22:10.195Z,1761337330.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619080,-0.785299,-0.006661],[0.785080,0.619076,-0.019873],[0.019730,0.007074,0.999780]] 2025-10-24T20:22:10.338Z,1761337330.338 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.720596 2025-10-24T20:22:10.589Z,1761337330.589 [DAT](INFO): DAT read: Rx Time:20:22:09.5861 2025-10-24T20:22:10.589Z,1761337330.589 [DAT](INFO): Rx dataTimestamp_ set to:1761337330.589145 2025-10-24T20:22:10.591Z,1761337330.591 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:10.591Z,1761337330.591 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-24T20:22:10.592Z,1761337330.592 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.975697 2025-10-24T20:22:10.602Z,1761337330.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634338,-0.773018,-0.007668],[0.772832,0.634361,-0.017775],[0.018605,0.005350,0.999813]] 2025-10-24T20:22:10.841Z,1761337330.841 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.224220 2025-10-24T20:22:10.000Z,1761337331.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649776,-0.760078,-0.008470],[0.759929,0.649822,-0.015512],[0.017295,0.003643,0.999844]] 2025-10-24T20:22:11.094Z,1761337331.094 [DAT](INFO): DAT read: Rx Time:20:22:10.0860 2025-10-24T20:22:11.094Z,1761337331.094 [DAT](INFO): Rx dataTimestamp_ set to:1761337331.093955 2025-10-24T20:22:11.096Z,1761337331.096 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:22:11.097Z,1761337331.097 [DAT](ERROR): #Rx 96: Read range message, but no direction. 2025-10-24T20:22:11.098Z,1761337331.098 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.481869 2025-10-24T20:22:11.345Z,1761337331.345 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.728367 2025-10-24T20:22:11.408Z,1761337331.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665899,-0.745979,-0.009711],[0.745869,0.665969,-0.012874],[0.016071,0.001330,0.999870]] 2025-10-24T20:22:11.598Z,1761337331.598 [DAT](INFO): DAT read: Rx Time:20:22:10.5862 2025-10-24T20:22:11.599Z,1761337331.599 [DAT](INFO): Rx dataTimestamp_ set to:1761337331.598366 2025-10-24T20:22:11.600Z,1761337331.600 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:11.601Z,1761337331.601 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-24T20:22:11.602Z,1761337331.602 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.984936 2025-10-24T20:22:11.811Z,1761337331.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681611,-0.731637,-0.010668],[0.731569,0.681694,-0.010039],[0.014617,-0.000962,0.999893]] 2025-10-24T20:22:11.849Z,1761337331.849 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.232323 2025-10-24T20:22:12.101Z,1761337332.101 [DAT](INFO): DAT read: Rx Time:20:22:11.0861 2025-10-24T20:22:12.102Z,1761337332.102 [DAT](INFO): Rx dataTimestamp_ set to:1761337332.101230 2025-10-24T20:22:12.103Z,1761337332.103 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:12.103Z,1761337332.103 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-24T20:22:12.104Z,1761337332.104 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.487770 2025-10-24T20:22:12.223Z,1761337332.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697263,-0.716716,-0.011955],[0.716693,0.697355,-0.006856],[0.013250,-0.003788,0.999905]] 2025-10-24T20:22:12.353Z,1761337332.353 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.736355 2025-10-24T20:22:12.609Z,1761337332.609 [DAT](INFO): DAT read: Rx Time:20:22:11.5862 2025-10-24T20:22:12.609Z,1761337332.609 [DAT](INFO): Rx dataTimestamp_ set to:1761337332.609052 2025-10-24T20:22:12.611Z,1761337332.611 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:12.611Z,1761337332.611 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-24T20:22:12.612Z,1761337332.612 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.995594 2025-10-24T20:22:12.647Z,1761337332.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712593,-0.701446,-0.013562],[0.701477,0.712685,-0.003112],[0.011848,-0.007296,0.999903]] 2025-10-24T20:22:12.857Z,1761337332.857 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.240208 2025-10-24T20:22:13.032Z,1761337333.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726529,-0.686971,-0.015036],[0.687058,0.726602,0.000868],[0.010329,-0.010961,0.999887]] 2025-10-24T20:22:13.110Z,1761337333.110 [DAT](INFO): DAT read: Rx Time:20:22:12.0861 2025-10-24T20:22:13.111Z,1761337333.111 [DAT](INFO): Rx dataTimestamp_ set to:1761337333.110146 2025-10-24T20:22:13.113Z,1761337333.113 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:13.114Z,1761337333.114 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-24T20:22:13.115Z,1761337333.115 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.498798 2025-10-24T20:22:13.361Z,1761337333.361 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.744183 2025-10-24T20:22:13.435Z,1761337333.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739419,-0.673040,-0.016608],[0.673187,0.739455,0.005098],[0.008850,-0.014949,0.999849]] 2025-10-24T20:22:13.614Z,1761337333.614 [DAT](INFO): DAT read: Rx Time:20:22:12.5862 2025-10-24T20:22:13.614Z,1761337333.614 [DAT](INFO): Rx dataTimestamp_ set to:1761337333.613781 2025-10-24T20:22:13.615Z,1761337333.615 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:13.616Z,1761337333.616 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-24T20:22:13.617Z,1761337333.617 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.000305 2025-10-24T20:22:13.836Z,1761337333.836 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-24T20:22:13.840Z,1761337333.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750283,-0.660877,-0.017823],[0.661079,0.750256,0.009514],[0.007084,-0.018921,0.999796]] 2025-10-24T20:22:13.865Z,1761337333.865 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.248554 2025-10-24T20:22:14.117Z,1761337334.117 [DAT](INFO): DAT read: Rx Time:20:22:13.0861 2025-10-24T20:22:14.117Z,1761337334.117 [DAT](INFO): Rx dataTimestamp_ set to:1761337334.117012 2025-10-24T20:22:14.118Z,1761337334.118 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:14.119Z,1761337334.119 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-24T20:22:14.120Z,1761337334.120 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.503517 2025-10-24T20:22:14.253Z,1761337334.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758960,-0.650871,-0.018645],[0.651118,0.758847,0.013985],[0.005047,-0.022754,0.999728]] 2025-10-24T20:22:14.369Z,1761337334.369 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.752266 2025-10-24T20:22:14.624Z,1761337334.624 [DAT](INFO): DAT read: Rx Time:20:22:13.5861 2025-10-24T20:22:14.626Z,1761337334.626 [DAT](INFO): Rx dataTimestamp_ set to:1761337334.625146 2025-10-24T20:22:14.631Z,1761337334.631 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:14.639Z,1761337334.639 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-24T20:22:14.640Z,1761337334.640 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.023842 2025-10-24T20:22:14.656Z,1761337334.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765078,-0.643654,-0.019083],[0.643932,0.764857,0.018586],[0.002632,-0.026508,0.999645]] 2025-10-24T20:22:14.841Z,1761337334.841 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-24T20:22:14.873Z,1761337334.873 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.256844 2025-10-24T20:22:15.051Z,1761337335.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768376,-0.639715,-0.019050],[0.639999,0.768031,0.023026],[-0.000099,-0.029884,0.999553]] 2025-10-24T20:22:15.126Z,1761337335.126 [DAT](INFO): DAT read: Rx Time:20:22:14.0860 2025-10-24T20:22:15.127Z,1761337335.127 [DAT](INFO): Rx dataTimestamp_ set to:1761337335.126445 2025-10-24T20:22:15.129Z,1761337335.129 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:22:15.130Z,1761337335.130 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-24T20:22:15.131Z,1761337335.131 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.514484 2025-10-24T20:22:15.377Z,1761337335.377 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.760269 2025-10-24T20:22:15.457Z,1761337335.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768369,-0.639743,-0.018365],[0.639997,0.767886,0.027456],[-0.003462,-0.032850,0.999454]] 2025-10-24T20:22:15.633Z,1761337335.633 [DAT](INFO): DAT read: Rx Time:20:22:14.5861 2025-10-24T20:22:15.635Z,1761337335.635 [DAT](INFO): Rx dataTimestamp_ set to:1761337335.633865 2025-10-24T20:22:15.639Z,1761337335.639 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:15.639Z,1761337335.639 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-24T20:22:15.640Z,1761337335.640 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.023651 2025-10-24T20:22:15.861Z,1761337335.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764862,-0.643966,-0.017142],[0.644155,0.764252,0.031350],[-0.007088,-0.035021,0.999361]] 2025-10-24T20:22:15.882Z,1761337335.882 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.265549 2025-10-24T20:22:16.133Z,1761337336.133 [DAT](INFO): DAT read: Rx Time:20:22:15.0861 2025-10-24T20:22:16.134Z,1761337336.134 [DAT](INFO): Rx dataTimestamp_ set to:1761337336.133252 2025-10-24T20:22:16.135Z,1761337336.135 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:16.135Z,1761337336.135 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-24T20:22:16.136Z,1761337336.136 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.519814 2025-10-24T20:22:16.262Z,1761337336.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757739,-0.652379,-0.015289],[0.652463,0.757022,0.034778],[-0.011115,-0.036328,0.999278]] 2025-10-24T20:22:16.389Z,1761337336.389 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.771969 2025-10-24T20:22:16.640Z,1761337336.640 [DAT](INFO): DAT read: Rx Time:20:22:15.5862 2025-10-24T20:22:16.642Z,1761337336.642 [DAT](INFO): Rx dataTimestamp_ set to:1761337336.640622 2025-10-24T20:22:16.646Z,1761337336.646 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:16.649Z,1761337336.649 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-24T20:22:16.668Z,1761337336.668 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.034718 2025-10-24T20:22:16.712Z,1761337336.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.747311,-0.664350,-0.012866],[0.664305,0.746542,0.037060],[-0.015016,-0.036243,0.999230]] 2025-10-24T20:22:16.890Z,1761337336.890 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.273216 2025-10-24T20:22:17.071Z,1761337337.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733792,-0.679286,-0.010956],[0.679133,0.733005,0.038500],[-0.018122,-0.035692,0.999199]] 2025-10-24T20:22:17.141Z,1761337337.141 [DAT](INFO): DAT read: Rx Time:20:22:16.0861 2025-10-24T20:22:17.142Z,1761337337.142 [DAT](INFO): Rx dataTimestamp_ set to:1761337337.141592 2025-10-24T20:22:17.144Z,1761337337.144 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:17.145Z,1761337337.145 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-24T20:22:17.146Z,1761337337.146 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.529552 2025-10-24T20:22:17.396Z,1761337337.396 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.779282 2025-10-24T20:22:17.487Z,1761337337.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717415,-0.696589,-0.008873],[0.696346,0.716674,0.038494],[-0.020456,-0.033795,0.999219]] 2025-10-24T20:22:17.649Z,1761337337.649 [DAT](INFO): DAT read: Rx Time:20:22:16.5862 2025-10-24T20:22:17.650Z,1761337337.650 [DAT](INFO): Rx dataTimestamp_ set to:1761337337.649366 2025-10-24T20:22:17.659Z,1761337337.659 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:17.676Z,1761337337.676 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-24T20:22:17.677Z,1761337337.677 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.060463 2025-10-24T20:22:17.889Z,1761337337.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698610,-0.715471,-0.006682],[0.715171,0.697972,0.036945],[-0.021769,-0.030589,0.999295]] 2025-10-24T20:22:17.898Z,1761337337.898 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.281193 2025-10-24T20:22:18.149Z,1761337338.149 [DAT](INFO): DAT read: Rx Time:20:22:17.0861 2025-10-24T20:22:18.150Z,1761337338.150 [DAT](INFO): Rx dataTimestamp_ set to:1761337338.149668 2025-10-24T20:22:18.151Z,1761337338.151 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:18.152Z,1761337338.152 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-24T20:22:18.153Z,1761337338.153 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.536167 2025-10-24T20:22:18.402Z,1761337338.402 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.784939 2025-10-24T20:22:18.656Z,1761337338.656 [DAT](INFO): DAT read: Rx Time:20:22:17.5861 2025-10-24T20:22:18.658Z,1761337338.658 [DAT](INFO): Rx dataTimestamp_ set to:1761337338.656921 2025-10-24T20:22:18.662Z,1761337338.662 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:18.669Z,1761337338.669 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-24T20:22:18.682Z,1761337338.682 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.054924 2025-10-24T20:22:18.745Z,1761337338.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656437,-0.754371,-0.003965],[0.754101,0.656041,0.030681],[-0.020544,-0.023130,0.999521]] 2025-10-24T20:22:18.905Z,1761337338.905 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.288288 2025-10-24T20:22:19.093Z,1761337339.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634567,-0.772862,-0.002939],[0.772651,0.634294,0.026107],[-0.018313,-0.018838,0.999655]] 2025-10-24T20:22:19.158Z,1761337339.158 [DAT](INFO): DAT read: Rx Time:20:22:18.0860 2025-10-24T20:22:19.159Z,1761337339.159 [DAT](INFO): Rx dataTimestamp_ set to:1761337339.158227 2025-10-24T20:22:19.160Z,1761337339.160 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:22:19.161Z,1761337339.161 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-24T20:22:19.164Z,1761337339.164 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.547867 2025-10-24T20:22:19.409Z,1761337339.409 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.792210 2025-10-24T20:22:19.495Z,1761337339.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612916,-0.790146,-0.001667],[0.789995,0.612755,0.020978],[-0.015554,-0.014175,0.999779]] 2025-10-24T20:22:19.665Z,1761337339.665 [DAT](INFO): DAT read: Rx Time:20:22:18.5861 2025-10-24T20:22:19.666Z,1761337339.666 [DAT](INFO): Rx dataTimestamp_ set to:1761337339.665378 2025-10-24T20:22:19.673Z,1761337339.673 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:19.675Z,1761337339.675 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-24T20:22:19.678Z,1761337339.678 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.061291 2025-10-24T20:22:19.908Z,1761337339.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593278,-0.804998,-0.000166],[0.804901,0.593203,0.015645],[-0.012496,-0.009416,0.999878]] 2025-10-24T20:22:19.914Z,1761337339.914 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.296680 2025-10-24T20:22:20.165Z,1761337340.165 [DAT](INFO): DAT read: Rx Time:20:22:19.0860 2025-10-24T20:22:20.165Z,1761337340.165 [DAT](INFO): Rx dataTimestamp_ set to:1761337340.165079 2025-10-24T20:22:20.167Z,1761337340.167 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:22:20.167Z,1761337340.167 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-24T20:22:20.168Z,1761337340.168 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.551605 2025-10-24T20:22:20.303Z,1761337340.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575401,-0.817869,0.001850],[0.817817,0.575387,0.010285],[-0.009476,-0.004405,0.999945]] 2025-10-24T20:22:20.417Z,1761337340.417 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.800533 2025-10-24T20:22:20.672Z,1761337340.672 [DAT](INFO): DAT read: Rx Time:20:22:19.5861 2025-10-24T20:22:20.674Z,1761337340.674 [DAT](INFO): Rx dataTimestamp_ set to:1761337340.672881 2025-10-24T20:22:20.687Z,1761337340.687 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:20.698Z,1761337340.698 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-24T20:22:20.702Z,1761337340.702 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.084885 2025-10-24T20:22:20.769Z,1761337340.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547985,-0.836467,0.005949],[0.836481,0.547995,0.000201],[-0.003428,0.004866,0.999982]] 2025-10-24T20:22:20.921Z,1761337340.921 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.304863 2025-10-24T20:22:21.174Z,1761337341.174 [DAT](INFO): DAT read: Rx Time:20:22:20.0860 2025-10-24T20:22:21.174Z,1761337341.174 [DAT](INFO): Rx dataTimestamp_ set to:1761337341.173708 2025-10-24T20:22:21.176Z,1761337341.176 [DAT](INFO): DAT read: Range 10 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-24T20:22:21.177Z,1761337341.177 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-24T20:22:21.178Z,1761337341.178 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.561546 2025-10-24T20:22:21.427Z,1761337341.427 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.809669 2025-10-24T20:22:21.518Z,1761337341.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538991,-0.842279,0.007463],[0.842312,0.538973,-0.004420],[-0.000299,0.008669,0.999962]] 2025-10-24T20:22:21.680Z,1761337341.680 [DAT](INFO): DAT read: Rx Time:20:22:20.5862 2025-10-24T20:22:21.682Z,1761337341.682 [DAT](INFO): Rx dataTimestamp_ set to:1761337341.681354 2025-10-24T20:22:21.686Z,1761337341.686 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:21.689Z,1761337341.689 [DAT](ERROR): #Rx 117: Read range message, but no direction. 2025-10-24T20:22:21.703Z,1761337341.703 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.074745 2025-10-24T20:22:21.929Z,1761337341.929 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.312134 2025-10-24T20:22:21.931Z,1761337341.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532437,-0.846424,0.008771],[0.846450,0.532324,-0.012408],[0.005833,0.014031,0.999885]] 2025-10-24T20:22:22.183Z,1761337342.183 [DAT](INFO): DAT read: Rx Time:20:22:21.0862 2025-10-24T20:22:22.183Z,1761337342.183 [DAT](INFO): Rx dataTimestamp_ set to:1761337342.183175 2025-10-24T20:22:22.185Z,1761337342.185 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:22.185Z,1761337342.185 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-24T20:22:22.186Z,1761337342.186 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.569695 2025-10-24T20:22:22.326Z,1761337342.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534238,-0.845290,0.008625],[0.845287,0.534073,-0.016001],[0.008919,0.015839,0.999835]] 2025-10-24T20:22:22.433Z,1761337342.433 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.816071 2025-10-24T20:22:22.685Z,1761337342.685 [DAT](INFO): DAT read: Rx Time:20:22:21.5862 2025-10-24T20:22:22.685Z,1761337342.685 [DAT](INFO): Rx dataTimestamp_ set to:1761337342.685180 2025-10-24T20:22:22.687Z,1761337342.687 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:22.687Z,1761337342.687 [DAT](ERROR): #Rx 119: Read range message, but no direction. 2025-10-24T20:22:22.690Z,1761337342.690 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.072784 2025-10-24T20:22:22.793Z,1761337342.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539637,-0.841861,0.007797],[0.841817,0.539434,-0.018847],[0.011661,0.016735,0.999792]] 2025-10-24T20:22:22.942Z,1761337342.942 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.325092 2025-10-24T20:22:23.138Z,1761337343.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547517,-0.836764,0.007165],[0.836679,0.547278,-0.021321],[0.013919,0.017668,0.999747]] 2025-10-24T20:22:23.193Z,1761337343.193 [DAT](INFO): DAT read: Rx Time:20:22:22.0861 2025-10-24T20:22:23.194Z,1761337343.194 [DAT](INFO): Rx dataTimestamp_ set to:1761337343.193669 2025-10-24T20:22:23.196Z,1761337343.196 [DAT](INFO): DAT read: Range 10 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-24T20:22:23.197Z,1761337343.197 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-24T20:22:23.198Z,1761337343.198 [DAT](INFO): ****** received valid address query ****** 2025-10-24T20:22:23.199Z,1761337343.199 [DAT](INFO): ****** received valid ping request ****** 2025-10-24T20:22:23.199Z,1761337343.199 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:22:23.445Z,1761337343.445 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:23.536Z,1761337343.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559211,-0.829005,0.005849],[0.828883,0.558970,-0.022460],[0.015350,0.017408,0.999731]] 2025-10-24T20:22:23.701Z,1761337343.701 [DAT](INFO): DAT read: Rx Time:20:22:22.5862 2025-10-24T20:22:23.702Z,1761337343.702 [DAT](INFO): Rx dataTimestamp_ set to:1761337343.701212 2025-10-24T20:22:23.706Z,1761337343.706 [DAT](INFO): DAT read: Range 10 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-24T20:22:23.709Z,1761337343.709 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-24T20:22:23.711Z,1761337343.711 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:23.714Z,1761337343.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-24T20:22:23.941Z,1761337343.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573750,-0.819021,0.004091],[0.818869,0.573530,-0.022719],[0.016261,0.016385,0.999734]] 2025-10-24T20:22:23.949Z,1761337343.949 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:24.201Z,1761337344.201 [DAT](INFO): DAT read: user:340> 2025-10-24T20:22:24.202Z,1761337344.202 [DAT](INFO): DAT read: Command 'r50' not found 2025-10-24T20:22:24.202Z,1761337344.202 [DAT](INFO): unknown deviceResponse_: Command 'r50' not found 2025-10-24T20:22:24.202Z,1761337344.202 [DAT](INFO): DAT read: Error 2025-10-24T20:22:24.203Z,1761337344.203 [DAT](INFO): unknown deviceResponse_: Error 2025-10-24T20:22:24.203Z,1761337344.203 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:24.346Z,1761337344.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592000,-0.805936,0.001698],[0.805775,0.591837,-0.021346],[0.016199,0.014005,0.999771]] 2025-10-24T20:22:24.454Z,1761337344.454 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:24.706Z,1761337344.706 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:24.798Z,1761337344.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612122,-0.790763,-0.000418],[0.790614,0.612017,-0.019085],[0.015347,0.011352,0.999818]] 2025-10-24T20:22:24.957Z,1761337344.957 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:25.151Z,1761337345.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633545,-0.773702,-0.002564],[0.773577,0.633497,-0.016139],[0.014111,0.008241,0.999866]] 2025-10-24T20:22:25.209Z,1761337345.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:25.461Z,1761337345.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:25.557Z,1761337345.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656120,-0.754643,-0.004619],[0.754560,0.656121,-0.011965],[0.012060,0.004365,0.999918]] 2025-10-24T20:22:25.713Z,1761337345.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:25.959Z,1761337345.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678188,-0.734860,-0.006520],[0.734824,0.678219,-0.007261],[0.009758,0.000133,0.999952]] 2025-10-24T20:22:25.965Z,1761337345.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:26.216Z,1761337346.216 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:26.365Z,1761337346.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699146,-0.714932,-0.008196],[0.714942,0.699180,-0.002143],[0.007262,-0.004361,0.999964]] 2025-10-24T20:22:26.469Z,1761337346.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:26.721Z,1761337346.721 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:26.822Z,1761337346.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718825,-0.695117,-0.010153],[0.695176,0.718828,0.003999],[0.004519,-0.009932,0.999940]] 2025-10-24T20:22:26.974Z,1761337346.974 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:27.175Z,1761337347.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735614,-0.677296,-0.011893],[0.677398,0.735548,0.010091],[0.001913,-0.015479,0.999878]] 2025-10-24T20:22:27.225Z,1761337347.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:27.477Z,1761337347.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:27.729Z,1761337347.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:27.981Z,1761337347.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:27.983Z,1761337347.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.760939,-0.648645,-0.015202],[0.648812,0.760581,0.023674],[-0.003793,-0.027877,0.999604]] 2025-10-24T20:22:28.233Z,1761337348.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:28.394Z,1761337348.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.768329,-0.639847,-0.016344],[0.640021,0.767771,0.030015],[-0.006656,-0.033522,0.999416]] 2025-10-24T20:22:28.486Z,1761337348.486 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:28.737Z,1761337348.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:28.866Z,1761337348.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771242,-0.636315,-0.017005],[0.636473,0.770491,0.035297],[-0.009358,-0.038045,0.999232]] 2025-10-24T20:22:28.888Z,1761337348.888 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412235176,35.0, +11.6, 0.0, 0 2025-10-24T20:22:28.989Z,1761337348.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:29.243Z,1761337349.243 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:29.494Z,1761337349.494 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:29.602Z,1761337349.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.764499,-0.644380,-0.017767],[0.644481,0.763457,0.042163],[-0.013605,-0.043684,0.998953]] 2025-10-24T20:22:29.745Z,1761337349.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:29.997Z,1761337349.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:30.249Z,1761337350.249 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:30.502Z,1761337350.502 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:30.753Z,1761337350.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:30.815Z,1761337350.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722441,-0.691175,-0.018855],[0.691292,0.721479,0.039778],[-0.013890,-0.041771,0.999031]] 2025-10-24T20:22:31.011Z,1761337351.011 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:31.212Z,1761337351.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701161,-0.712725,-0.019908],[0.712901,0.700314,0.036505],[-0.012076,-0.039788,0.999135]] 2025-10-24T20:22:31.265Z,1761337351.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:31.517Z,1761337351.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:31.614Z,1761337351.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677260,-0.735442,-0.021102],[0.735678,0.676534,0.032854],[-0.009886,-0.037775,0.999237]] 2025-10-24T20:22:31.769Z,1761337351.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:32.021Z,1761337352.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:32.021Z,1761337352.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650921,-0.758838,-0.021611],[0.759108,0.650341,0.028481],[-0.007558,-0.034944,0.999361]] 2025-10-24T20:22:32.272Z,1761337352.272 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:32.436Z,1761337352.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621635,-0.783037,-0.020576],[0.783287,0.621215,0.023542],[-0.005652,-0.030751,0.999511]] 2025-10-24T20:22:32.525Z,1761337352.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:32.777Z,1761337352.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:32.838Z,1761337352.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591103,-0.806377,-0.018790],[0.806587,0.590824,0.018581],[-0.003882,-0.026138,0.999651]] 2025-10-24T20:22:33.029Z,1761337353.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:33.233Z,1761337353.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559846,-0.828439,-0.016122],[0.828593,0.559685,0.013613],[-0.002255,-0.020980,0.999777]] 2025-10-24T20:22:33.282Z,1761337353.282 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:33.533Z,1761337353.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:33.639Z,1761337353.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529944,-0.847928,-0.013312],[0.848032,0.529866,0.009134],[-0.000691,-0.016129,0.999870]] 2025-10-24T20:22:33.784Z,1761337353.784 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:34.037Z,1761337354.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:34.049Z,1761337354.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500881,-0.865451,-0.010654],[0.865516,0.500859,0.004808],[0.001175,-0.011630,0.999932]] 2025-10-24T20:22:34.289Z,1761337354.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:34.443Z,1761337354.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473515,-0.880751,-0.007884],[0.880779,0.473528,0.000182],[0.003573,-0.007030,0.999969]] 2025-10-24T20:22:34.547Z,1761337354.547 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:34.793Z,1761337354.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:34.847Z,1761337354.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448483,-0.893775,-0.005458],[0.893765,0.448508,-0.004888],[0.006817,-0.002686,0.999973]] 2025-10-24T20:22:35.045Z,1761337355.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:35.251Z,1761337355.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425799,-0.904813,-0.002886],[0.904754,0.425805,-0.010492],[0.010722,0.001856,0.999941]] 2025-10-24T20:22:35.297Z,1761337355.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:35.549Z,1761337355.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:35.654Z,1761337355.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.406747,-0.913540,-0.000834],[0.913418,0.406708,-0.015986],[0.014943,0.005741,0.999872]] 2025-10-24T20:22:35.801Z,1761337355.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:36.053Z,1761337356.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:36.063Z,1761337356.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390936,-0.920417,0.001445],[0.920216,0.390817,-0.021555],[0.019275,0.009757,0.999767]] 2025-10-24T20:22:36.305Z,1761337356.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:36.467Z,1761337356.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378619,-0.925545,0.003772],[0.925251,0.378389,-0.027067],[0.023625,0.013738,0.999626]] 2025-10-24T20:22:36.557Z,1761337356.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:36.809Z,1761337356.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:36.869Z,1761337356.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370972,-0.928627,0.005727],[0.928251,0.370628,-0.031400],[0.027036,0.016964,0.999490]] 2025-10-24T20:22:37.062Z,1761337357.062 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:37.313Z,1761337357.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:37.565Z,1761337357.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:37.675Z,1761337357.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370237,-0.928890,0.009318],[0.928430,0.369685,-0.036767],[0.030708,0.022264,0.999280]] 2025-10-24T20:22:37.817Z,1761337357.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:38.069Z,1761337358.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:38.081Z,1761337358.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378571,-0.925506,0.011122],[0.925085,0.377954,-0.036998],[0.030038,0.024295,0.999253]] 2025-10-24T20:22:38.321Z,1761337358.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:38.483Z,1761337358.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392371,-0.919721,0.012571],[0.919383,0.391739,-0.035706],[0.027915,0.025568,0.999283]] 2025-10-24T20:22:38.573Z,1761337358.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:38.825Z,1761337358.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:38.901Z,1761337358.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438251,-0.898733,0.014664],[0.898634,0.437727,-0.029188],[0.019813,0.025969,0.999466]] 2025-10-24T20:22:39.084Z,1761337359.084 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:39.298Z,1761337359.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468883,-0.883150,0.013995],[0.883127,0.468477,-0.024836],[0.015377,0.024005,0.999594]] 2025-10-24T20:22:39.345Z,1761337359.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:39.598Z,1761337359.598 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:39.849Z,1761337359.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:40.101Z,1761337360.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:40.105Z,1761337360.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542276,-0.840153,0.008897],[0.840167,0.542130,-0.014624],[0.007463,0.015405,0.999853]] 2025-10-24T20:22:40.353Z,1761337360.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:40.503Z,1761337360.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581538,-0.813502,0.005240],[0.813504,0.581476,-0.009874],[0.004985,0.010005,0.999938]] 2025-10-24T20:22:40.605Z,1761337360.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:40.861Z,1761337360.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:40.914Z,1761337360.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620593,-0.784133,0.000368],[0.784124,0.620584,-0.005095],[0.003767,0.003450,0.999987]] 2025-10-24T20:22:41.109Z,1761337361.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:41.311Z,1761337361.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657227,-0.753680,-0.004458],[0.753685,0.657236,-0.000705],[0.003462,-0.002897,0.999990]] 2025-10-24T20:22:41.361Z,1761337361.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:41.612Z,1761337361.612 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:41.722Z,1761337361.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691284,-0.722521,-0.009455],[0.722574,0.691281,0.004124],[0.003557,-0.009682,0.999947]] 2025-10-24T20:22:41.865Z,1761337361.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:42.118Z,1761337362.118 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:42.369Z,1761337362.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:42.524Z,1761337362.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746102,-0.665520,-0.020370],[0.665820,0.745922,0.016833],[0.003992,-0.026122,0.999651]] 2025-10-24T20:22:42.621Z,1761337362.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:42.873Z,1761337362.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:42.928Z,1761337362.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.765018,-0.643553,-0.024203],[0.644002,0.764636,0.024341],[0.002842,-0.034208,0.999411]] 2025-10-24T20:22:43.125Z,1761337363.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:43.332Z,1761337363.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777788,-0.627966,-0.026530],[0.628526,0.777097,0.032784],[0.000029,-0.042174,0.999110]] 2025-10-24T20:22:43.377Z,1761337363.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:43.628Z,1761337363.628 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:43.743Z,1761337363.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784559,-0.619455,-0.027239],[0.620037,0.783462,0.041730],[-0.004509,-0.049629,0.998757]] 2025-10-24T20:22:43.881Z,1761337363.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:44.133Z,1761337364.133 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:44.384Z,1761337364.384 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:44.543Z,1761337364.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777446,-0.628509,-0.023540],[0.628726,0.775626,0.055750],[-0.016781,-0.058143,0.998167]] 2025-10-24T20:22:44.638Z,1761337364.638 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:44.889Z,1761337364.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:44.947Z,1761337364.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.762921,-0.646182,-0.019990],[0.646076,0.760958,0.059407],[-0.023176,-0.058238,0.998034]] 2025-10-24T20:22:45.144Z,1761337365.144 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:45.353Z,1761337365.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741833,-0.670412,-0.015230],[0.669955,0.739962,0.060132],[-0.029044,-0.054811,0.998074]] 2025-10-24T20:22:45.393Z,1761337365.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:45.645Z,1761337365.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:45.754Z,1761337365.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.716557,-0.697439,-0.011117],[0.696725,0.714877,0.059372],[-0.033461,-0.050289,0.998174]] 2025-10-24T20:22:45.898Z,1761337365.898 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:46.148Z,1761337366.148 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:46.162Z,1761337366.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686870,-0.726748,-0.006921],[0.725888,0.685524,0.056067],[-0.036002,-0.043534,0.998403]] 2025-10-24T20:22:46.402Z,1761337366.402 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:46.565Z,1761337366.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654218,-0.756290,-0.004962],[0.755439,0.653140,0.052158],[-0.036206,-0.037871,0.998627]] 2025-10-24T20:22:46.652Z,1761337366.652 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:46.909Z,1761337366.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:46.973Z,1761337366.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620709,-0.784034,-0.003347],[0.783278,0.619910,0.046768],[-0.034593,-0.031651,0.998900]] 2025-10-24T20:22:47.157Z,1761337367.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:47.372Z,1761337367.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586450,-0.809983,-0.002007],[0.809373,0.585908,0.040342],[-0.031500,-0.025283,0.999184]] 2025-10-24T20:22:47.409Z,1761337367.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:47.661Z,1761337367.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:47.774Z,1761337367.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553127,-0.833097,-0.000444],[0.832658,0.552819,0.032746],[-0.027036,-0.018482,0.999464]] 2025-10-24T20:22:47.914Z,1761337367.914 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:48.165Z,1761337368.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:48.182Z,1761337368.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522252,-0.852790,0.001157],[0.852513,0.522116,0.024843],[-0.021790,-0.011988,0.999691]] 2025-10-24T20:22:48.417Z,1761337368.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:48.585Z,1761337368.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494731,-0.869043,0.002303],[0.868900,0.494694,0.017021],[-0.015931,-0.006420,0.999852]] 2025-10-24T20:22:48.671Z,1761337368.671 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:48.921Z,1761337368.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:48.988Z,1761337368.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471215,-0.882009,0.004129],[0.881963,0.471233,0.008969],[-0.009857,-0.000585,0.999951]] 2025-10-24T20:22:49.173Z,1761337369.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:49.392Z,1761337369.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451191,-0.892406,0.006136],[0.892420,0.451205,0.001001],[-0.003662,0.005024,0.999981]] 2025-10-24T20:22:49.425Z,1761337369.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:49.676Z,1761337369.676 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:49.817Z,1761337369.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435103,-0.900352,0.007124],[0.900376,0.435062,-0.006629],[0.002870,0.009298,0.999953]] 2025-10-24T20:22:49.929Z,1761337369.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:50.181Z,1761337370.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:50.201Z,1761337370.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422348,-0.906394,0.008555],[0.906390,0.422216,-0.013786],[0.008883,0.013576,0.999868]] 2025-10-24T20:22:50.433Z,1761337370.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:50.603Z,1761337370.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413295,-0.910543,0.009955],[0.910489,0.413052,-0.019939],[0.014044,0.017304,0.999752]] 2025-10-24T20:22:50.685Z,1761337370.685 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:50.939Z,1761337370.939 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:51.007Z,1761337371.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408796,-0.912554,0.011471],[0.912449,0.408437,-0.024833],[0.017976,0.020619,0.999626]] 2025-10-24T20:22:51.025Z,1761337371.025 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging. 2025-10-24T20:22:51.191Z,1761337371.191 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:51.414Z,1761337371.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409205,-0.912355,0.012594],[0.912203,0.408743,-0.028558],[0.020908,0.023175,0.999513]] 2025-10-24T20:22:51.445Z,1761337371.445 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:51.697Z,1761337371.697 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:51.829Z,1761337371.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415251,-0.909608,0.013394],[0.909430,0.414716,-0.030768],[0.022432,0.024958,0.999437]] 2025-10-24T20:22:51.949Z,1761337371.949 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:52.201Z,1761337372.201 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:52.228Z,1761337372.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427790,-0.903785,0.012966],[0.903590,0.427247,-0.031389],[0.022830,0.025144,0.999423]] 2025-10-24T20:22:52.453Z,1761337372.453 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:52.631Z,1761337372.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445171,-0.895370,0.011612],[0.895163,0.444667,-0.030891],[0.022495,0.024146,0.999455]] 2025-10-24T20:22:52.705Z,1761337372.705 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:52.959Z,1761337372.959 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:53.036Z,1761337373.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466796,-0.884317,0.009224],[0.884101,0.466377,-0.029270],[0.021582,0.021818,0.999529]] 2025-10-24T20:22:53.209Z,1761337373.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:53.443Z,1761337373.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491487,-0.870862,0.006240],[0.870651,0.491177,-0.026677],[0.020167,0.018544,0.999625]] 2025-10-24T20:22:53.461Z,1761337373.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:53.713Z,1761337373.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:53.847Z,1761337373.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517849,-0.855466,0.003150],[0.855272,0.517645,-0.023536],[0.018503,0.014882,0.999718]] 2025-10-24T20:22:53.965Z,1761337373.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:54.217Z,1761337374.217 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:54.252Z,1761337374.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545945,-0.837821,-0.000057],[0.837662,0.545843,-0.019417],[0.016299,0.010553,0.999811]] 2025-10-24T20:22:54.469Z,1761337374.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:54.654Z,1761337374.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574066,-0.818803,-0.003110],[0.818698,0.574046,-0.014324],[0.013514,0.005676,0.999893]] 2025-10-24T20:22:54.721Z,1761337374.721 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:54.973Z,1761337374.973 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:55.227Z,1761337375.227 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:55.473Z,1761337375.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654102,-0.756299,-0.012749],[0.756399,0.654078,0.006556],[0.003381,-0.013932,0.999897]] 2025-10-24T20:22:55.477Z,1761337375.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:55.728Z,1761337375.728 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:55.883Z,1761337375.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675443,-0.737266,-0.014650],[0.737411,0.675285,0.014650],[-0.000908,-0.020698,0.999785]] 2025-10-24T20:22:55.981Z,1761337375.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:56.235Z,1761337376.235 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:56.315Z,1761337376.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692179,-0.721562,-0.015402],[0.721705,0.691841,0.022318],[-0.005448,-0.026564,0.999632]] 2025-10-24T20:22:56.485Z,1761337376.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:56.712Z,1761337376.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704364,-0.709675,-0.015262],[0.709765,0.703819,0.029523],[-0.010210,-0.031627,0.999448]] 2025-10-24T20:22:56.737Z,1761337376.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:56.989Z,1761337376.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:57.115Z,1761337377.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711702,-0.702327,-0.014733],[0.702329,0.710952,0.035786],[-0.014659,-0.035816,0.999251]] 2025-10-24T20:22:57.242Z,1761337377.242 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:57.493Z,1761337377.493 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:57.521Z,1761337377.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714934,-0.699045,-0.014337],[0.698941,0.713978,0.041439],[-0.018731,-0.039646,0.999038]] 2025-10-24T20:22:57.745Z,1761337377.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:57.931Z,1761337377.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713308,-0.700717,-0.013708],[0.700506,0.712208,0.045296],[-0.021977,-0.041912,0.998880]] 2025-10-24T20:22:57.997Z,1761337377.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:58.251Z,1761337378.251 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:58.331Z,1761337378.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.708195,-0.705891,-0.013345],[0.705600,0.707000,0.047734],[-0.024260,-0.043221,0.998771]] 2025-10-24T20:22:58.501Z,1761337378.501 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:58.732Z,1761337378.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698085,-0.715900,-0.012864],[0.715574,0.696911,0.047642],[-0.025142,-0.042463,0.998782]] 2025-10-24T20:22:58.757Z,1761337378.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:59.009Z,1761337379.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:59.135Z,1761337379.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684961,-0.728466,-0.012875],[0.728157,0.683856,0.046139],[-0.024806,-0.040978,0.998852]] 2025-10-24T20:22:59.280Z,1761337379.280 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:59.513Z,1761337379.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:59.539Z,1761337379.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667838,-0.744186,-0.013402],[0.743960,0.666870,0.042512],[-0.022699,-0.038362,0.999006]] 2025-10-24T20:22:59.765Z,1761337379.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:22:59.959Z,1761337379.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648325,-0.761233,-0.014105],[0.761109,0.647517,0.037882],[-0.019703,-0.035295,0.999183]] 2025-10-24T20:23:00.018Z,1761337380.018 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:00.270Z,1761337380.270 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:00.352Z,1761337380.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626296,-0.779441,-0.014960],[0.779424,0.625663,0.032312],[-0.015826,-0.031897,0.999366]] 2025-10-24T20:23:00.520Z,1761337380.520 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:00.751Z,1761337380.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.602162,-0.798227,-0.015310],[0.798292,0.601715,0.025860],[-0.011430,-0.027794,0.999548]] 2025-10-24T20:23:00.773Z,1761337380.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:01.025Z,1761337381.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:01.279Z,1761337381.279 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:01.529Z,1761337381.529 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:01.562Z,1761337381.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551831,-0.833858,-0.012790],[0.833947,0.551688,0.013145],[-0.003905,-0.017920,0.999832]] 2025-10-24T20:23:01.782Z,1761337381.782 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:01.964Z,1761337381.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527664,-0.849388,-0.010505],[0.849452,0.527605,0.008048],[-0.001294,-0.013170,0.999912]] 2025-10-24T20:23:02.034Z,1761337382.034 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:02.287Z,1761337382.287 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:02.367Z,1761337382.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504988,-0.863090,-0.007949],[0.863126,0.504974,0.003871],[0.000673,-0.008816,0.999961]] 2025-10-24T20:23:02.553Z,1761337382.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:02.771Z,1761337382.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484699,-0.874665,-0.005217],[0.874678,0.484703,0.000419],[0.002162,-0.004766,0.999986]] 2025-10-24T20:23:02.809Z,1761337382.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:03.061Z,1761337383.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:03.186Z,1761337383.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467333,-0.884075,-0.003273],[0.884075,0.467341,-0.002012],[0.003308,-0.001953,0.999993]] 2025-10-24T20:23:03.316Z,1761337383.316 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:03.564Z,1761337383.564 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:03.817Z,1761337383.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:04.070Z,1761337384.070 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:04.322Z,1761337384.322 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:04.388Z,1761337384.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429289,-0.903167,0.000049],[0.903126,0.429268,-0.009637],[0.008683,0.004182,0.999954]] 2025-10-24T20:23:04.573Z,1761337384.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:04.793Z,1761337384.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421491,-0.906832,0.000783],[0.906766,0.421450,-0.012493],[0.010998,0.005976,0.999922]] 2025-10-24T20:23:04.825Z,1761337384.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:05.077Z,1761337385.077 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:05.209Z,1761337385.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417672,-0.908597,0.000608],[0.908508,0.417621,-0.014362],[0.012795,0.006551,0.999897]] 2025-10-24T20:23:05.332Z,1761337385.332 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:05.582Z,1761337385.582 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:05.635Z,1761337385.635 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 81.98, 79.94, 80.62, :WI,-32768,-32768,-32768,-32768,V 2025-10-24T20:23:05.833Z,1761337385.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:06.003Z,1761337386.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416140,-0.909300,0.000863],[0.909192,0.416076,-0.015836],[0.014041,0.007374,0.999874]] 2025-10-24T20:23:06.086Z,1761337386.086 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:06.339Z,1761337386.339 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:06.409Z,1761337386.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419128,-0.907926,0.001437],[0.907824,0.419056,-0.015715],[0.013666,0.007891,0.999875]] 2025-10-24T20:23:06.589Z,1761337386.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:06.817Z,1761337386.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425730,-0.904850,0.001284],[0.904759,0.425666,-0.014782],[0.012829,0.007455,0.999890]] 2025-10-24T20:23:06.841Z,1761337386.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:07.092Z,1761337387.092 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:07.215Z,1761337387.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434398,-0.900720,0.001478],[0.900649,0.434342,-0.013338],[0.011372,0.007125,0.999910]] 2025-10-24T20:23:07.301Z,1761337387.301 [DockingStepper](INFO): Changing to mode: 4 2025-10-24T20:23:07.345Z,1761337387.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:07.597Z,1761337387.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:07.850Z,1761337387.850 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:08.025Z,1761337388.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458706,-0.888587,0.001030],[0.888559,0.458682,-0.008560],[0.007134,0.004842,0.999963]] 2025-10-24T20:23:08.101Z,1761337388.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:08.355Z,1761337388.355 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:08.434Z,1761337388.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473014,-0.880982,0.011309],[0.881050,0.472929,-0.009443],[0.002971,0.014431,0.999891]] 2025-10-24T20:23:08.605Z,1761337388.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:08.857Z,1761337388.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:08.858Z,1761337388.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485423,-0.873235,0.042726],[0.874268,0.485086,-0.018635],[-0.004453,0.046400,0.998913]] 2025-10-24T20:23:09.109Z,1761337389.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:09.239Z,1761337389.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498707,-0.864901,0.056901],[0.866705,0.498404,-0.020401],[-0.010715,0.059490,0.998171]] 2025-10-24T20:23:09.363Z,1761337389.363 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:09.613Z,1761337389.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:09.642Z,1761337389.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513723,-0.855102,0.069923],[0.857783,0.513549,-0.021821],[-0.017250,0.071189,0.997314]] 2025-10-24T20:23:09.865Z,1761337389.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:10.045Z,1761337390.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528592,-0.845935,0.070607],[0.848574,0.528790,-0.017381],[-0.022633,0.069103,0.997353]] 2025-10-24T20:23:10.117Z,1761337390.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:10.369Z,1761337390.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:10.466Z,1761337390.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549492,-0.831211,0.084540],[0.834963,0.549944,-0.019946],[-0.029913,0.081548,0.996220]] 2025-10-24T20:23:10.622Z,1761337390.622 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:10.851Z,1761337390.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569905,-0.815912,0.097443],[0.820814,0.570803,-0.021153],[-0.038362,0.092038,0.995016]] 2025-10-24T20:23:10.873Z,1761337390.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:11.125Z,1761337391.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:11.265Z,1761337391.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.605582,-0.790744,0.089407],[0.794268,0.607531,-0.006639],[-0.049068,0.075033,0.995973]] 2025-10-24T20:23:11.378Z,1761337391.378 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:11.628Z,1761337391.628 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:11.668Z,1761337391.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621044,-0.779457,0.082165],[0.781959,0.623324,0.002717],[-0.053333,0.062562,0.996615]] 2025-10-24T20:23:11.881Z,1761337391.881 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:12.064Z,1761337392.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634202,-0.768481,0.084996],[0.770926,0.636896,0.006108],[-0.058827,0.061652,0.996363]] 2025-10-24T20:23:12.133Z,1761337392.133 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:12.385Z,1761337392.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:12.485Z,1761337392.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644551,-0.759754,0.085604],[0.761909,0.647594,0.010785],[-0.063630,0.058271,0.996271]] 2025-10-24T20:23:12.637Z,1761337392.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:12.882Z,1761337392.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651833,-0.754176,0.079579],[0.755517,0.654884,0.017926],[-0.065634,0.048439,0.996667]] 2025-10-24T20:23:12.889Z,1761337392.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:13.141Z,1761337393.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:13.280Z,1761337393.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656837,-0.750295,0.074989],[0.751071,0.659819,0.023039],[-0.066765,0.041190,0.996918]] 2025-10-24T20:23:13.394Z,1761337393.394 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:13.645Z,1761337393.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:13.679Z,1761337393.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659274,-0.747928,0.077214],[0.748850,0.662370,0.022117],[-0.067687,0.043241,0.996769]] 2025-10-24T20:23:13.901Z,1761337393.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:14.084Z,1761337394.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658764,-0.748407,0.076923],[0.749356,0.661816,0.021578],[-0.067058,0.043428,0.996804]] 2025-10-24T20:23:14.153Z,1761337394.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:14.405Z,1761337394.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:14.514Z,1761337394.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655496,-0.751492,0.074730],[0.752440,0.658347,0.020357],[-0.064497,0.042886,0.996996]] 2025-10-24T20:23:14.657Z,1761337394.657 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:14.905Z,1761337394.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650585,-0.755986,0.072281],[0.756942,0.653210,0.018851],[-0.061466,0.042448,0.997206]] 2025-10-24T20:23:14.909Z,1761337394.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:15.161Z,1761337395.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:15.294Z,1761337395.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642735,-0.762516,0.073902],[0.763860,0.645229,0.014047],[-0.058395,0.047422,0.997167]] 2025-10-24T20:23:15.414Z,1761337395.414 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:15.665Z,1761337395.665 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:15.699Z,1761337395.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632665,-0.770501,0.077867],[0.772410,0.635070,0.008303],[-0.055848,0.054892,0.996929]] 2025-10-24T20:23:15.917Z,1761337395.917 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:16.105Z,1761337396.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620267,-0.780368,0.079346],[0.782622,0.622483,0.004171],[-0.052646,0.059510,0.996838]] 2025-10-24T20:23:16.169Z,1761337396.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:16.421Z,1761337396.421 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:16.541Z,1761337396.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606723,-0.790891,0.079872],[0.793352,0.608762,0.001496],[-0.049806,0.062459,0.996804]] 2025-10-24T20:23:16.673Z,1761337396.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:16.917Z,1761337396.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591268,-0.802105,0.083845],[0.805067,0.593177,-0.002618],[-0.047635,0.069049,0.996475]] 2025-10-24T20:23:16.925Z,1761337396.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:17.177Z,1761337397.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:17.316Z,1761337397.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575238,-0.813119,0.089101],[0.816686,0.577045,-0.006541],[-0.046097,0.076530,0.996001]] 2025-10-24T20:23:17.429Z,1761337397.429 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:17.681Z,1761337397.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:17.723Z,1761337397.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558573,-0.824378,0.091638],[0.828263,0.560276,-0.008366],[-0.044446,0.080573,0.995757]] 2025-10-24T20:23:17.933Z,1761337397.933 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:18.125Z,1761337398.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542059,-0.835189,0.092900],[0.839244,0.543679,-0.009097],[-0.042910,0.082897,0.995634]] 2025-10-24T20:23:18.185Z,1761337398.185 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:18.436Z,1761337398.436 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:18.569Z,1761337398.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526216,-0.844999,0.095255],[0.849310,0.527805,-0.009723],[-0.042060,0.086017,0.995405]] 2025-10-24T20:23:18.689Z,1761337398.689 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:18.933Z,1761337398.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511255,-0.853908,0.097265],[0.858414,0.512870,-0.009507],[-0.041766,0.088354,0.995213]] 2025-10-24T20:23:18.941Z,1761337398.941 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:19.193Z,1761337399.193 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:19.341Z,1761337399.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497394,-0.862125,0.096639],[0.866533,0.499058,-0.007844],[-0.041466,0.087642,0.995289]] 2025-10-24T20:23:19.445Z,1761337399.445 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:19.697Z,1761337399.697 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:19.743Z,1761337399.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485862,-0.868874,0.094851],[0.873031,0.487639,-0.005022],[-0.041889,0.085248,0.995479]] 2025-10-24T20:23:19.949Z,1761337399.949 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:20.144Z,1761337400.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475796,-0.874581,0.093412],[0.878505,0.477730,-0.001878],[-0.042984,0.082956,0.995626]] 2025-10-24T20:23:20.201Z,1761337400.201 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:20.453Z,1761337400.453 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:20.587Z,1761337400.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467850,-0.879026,0.091813],[0.882686,0.469960,0.001557],[-0.044517,0.080314,0.995775]] 2025-10-24T20:23:20.705Z,1761337400.705 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:20.953Z,1761337400.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462400,-0.882127,0.089658],[0.885454,0.464695,0.005419],[-0.046444,0.076882,0.995958]] 2025-10-24T20:23:20.957Z,1761337400.957 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:21.209Z,1761337401.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:21.373Z,1761337401.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458433,-0.884330,0.088312],[0.887401,0.460912,0.008877],[-0.048554,0.074299,0.996053]] 2025-10-24T20:23:21.462Z,1761337401.462 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:21.713Z,1761337401.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:21.760Z,1761337401.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456960,-0.885110,0.088136],[0.888040,0.459621,0.011525],[-0.050710,0.073002,0.996042]] 2025-10-24T20:23:21.965Z,1761337401.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:22.164Z,1761337402.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457503,-0.884906,0.087362],[0.887660,0.460293,0.013832],[-0.052452,0.071219,0.996081]] 2025-10-24T20:23:22.217Z,1761337402.217 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:22.469Z,1761337402.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:22.592Z,1761337402.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460449,-0.883483,0.086281],[0.886095,0.463265,0.014895],[-0.053131,0.069595,0.996159]] 2025-10-24T20:23:22.723Z,1761337402.723 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:22.973Z,1761337402.973 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:22.994Z,1761337402.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465764,-0.880702,0.086187],[0.883286,0.468596,0.014975],[-0.053575,0.069153,0.996166]] 2025-10-24T20:23:23.225Z,1761337403.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:23.374Z,1761337403.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473043,-0.876783,0.086498],[0.879456,0.475795,0.013277],[-0.052796,0.069790,0.996164]] 2025-10-24T20:23:23.478Z,1761337403.478 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:23.729Z,1761337403.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:23.779Z,1761337403.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482914,-0.871406,0.086285],[0.874166,0.485508,0.010752],[-0.051261,0.070236,0.996212]] 2025-10-24T20:23:23.981Z,1761337403.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:24.185Z,1761337404.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494646,-0.864860,0.085692],[0.867720,0.497001,0.007262],[-0.048869,0.070765,0.996295]] 2025-10-24T20:23:24.233Z,1761337404.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:24.485Z,1761337404.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:24.611Z,1761337404.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509309,-0.856383,0.084926],[0.859350,0.511378,0.003078],[-0.046065,0.071413,0.996383]] 2025-10-24T20:23:24.738Z,1761337404.738 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:24.989Z,1761337404.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:24.998Z,1761337404.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.524547,-0.847169,0.084589],[0.850299,0.526296,-0.001893],[-0.042915,0.072919,0.996414]] 2025-10-24T20:23:25.240Z,1761337405.240 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:25.394Z,1761337405.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540733,-0.836836,0.085517],[0.840247,0.542150,-0.007698],[-0.039921,0.076018,0.996307]] 2025-10-24T20:23:25.493Z,1761337405.493 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:25.745Z,1761337405.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:25.997Z,1761337405.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:26.203Z,1761337406.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573408,-0.814629,0.087080],[0.818557,0.574097,-0.019423],[-0.034170,0.082417,0.996012]] 2025-10-24T20:23:26.252Z,1761337406.252 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:26.502Z,1761337406.502 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:26.611Z,1761337406.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589899,-0.802530,0.089241],[0.806861,0.590154,-0.026337],[-0.031530,0.087541,0.995662]] 2025-10-24T20:23:26.753Z,1761337406.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:27.006Z,1761337407.006 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:27.257Z,1761337407.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:27.419Z,1761337407.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618609,-0.780190,0.092881],[0.785286,0.617780,-0.040909],[-0.025464,0.098245,0.994836]] 2025-10-24T20:23:27.509Z,1761337407.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:27.760Z,1761337407.760 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:28.013Z,1761337408.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:28.228Z,1761337408.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640775,-0.762692,0.087800],[0.767506,0.639139,-0.049351],[-0.018476,0.099010,0.994915]] 2025-10-24T20:23:28.265Z,1761337408.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:28.517Z,1761337408.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:28.639Z,1761337408.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653568,-0.752442,0.081730],[0.756750,0.651548,-0.053052],[-0.013333,0.096522,0.995242]] 2025-10-24T20:23:28.769Z,1761337408.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:29.020Z,1761337409.020 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:29.041Z,1761337409.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656293,-0.750294,0.079611],[0.754405,0.654268,-0.052973],[-0.012341,0.094825,0.995417]] 2025-10-24T20:23:29.274Z,1761337409.274 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:29.436Z,1761337409.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656941,-0.749783,0.079086],[0.753843,0.654935,-0.052737],[-0.012254,0.094264,0.995472]] 2025-10-24T20:23:29.525Z,1761337409.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:29.777Z,1761337409.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:30.031Z,1761337410.031 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:30.281Z,1761337410.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:30.537Z,1761337410.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:30.652Z,1761337410.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645778,-0.758864,0.084241],[0.763271,0.644471,-0.045548],[-0.019727,0.093712,0.995404]] 2025-10-24T20:23:30.789Z,1761337410.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:31.041Z,1761337411.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:31.054Z,1761337411.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637679,-0.765390,0.086854],[0.769930,0.636811,-0.040979],[-0.023945,0.093003,0.995378]] 2025-10-24T20:23:31.293Z,1761337411.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:31.455Z,1761337411.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628126,-0.773080,0.088345],[0.777579,0.627836,-0.034525],[-0.028775,0.090381,0.995491]] 2025-10-24T20:23:31.546Z,1761337411.546 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:31.797Z,1761337411.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:32.048Z,1761337412.048 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:32.266Z,1761337412.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604419,-0.791700,0.088816],[0.795721,0.605369,-0.018888],[-0.038813,0.082089,0.995869]] 2025-10-24T20:23:32.301Z,1761337412.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:32.554Z,1761337412.554 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:32.806Z,1761337412.806 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:33.057Z,1761337413.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:33.077Z,1761337413.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578929,-0.810690,0.087307],[0.813919,0.580973,-0.002436],[-0.048749,0.072471,0.996178]] 2025-10-24T20:23:33.309Z,1761337413.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:33.476Z,1761337413.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566171,-0.819720,0.086655],[0.822586,0.568623,0.004479],[-0.052946,0.068745,0.996228]] 2025-10-24T20:23:33.561Z,1761337413.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:33.813Z,1761337413.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:33.901Z,1761337413.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555213,-0.827505,0.083514],[0.829796,0.557941,0.011801],[-0.056361,0.062748,0.996437]] 2025-10-24T20:23:34.065Z,1761337414.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:34.283Z,1761337414.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544941,-0.834714,0.079329],[0.836425,0.547781,0.018128],[-0.058587,0.056474,0.996684]] 2025-10-24T20:23:34.317Z,1761337414.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:34.569Z,1761337414.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:34.686Z,1761337414.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536207,-0.840580,0.076854],[0.841937,0.539113,0.022316],[-0.060192,0.052741,0.996792]] 2025-10-24T20:23:34.821Z,1761337414.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:35.072Z,1761337415.072 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:35.098Z,1761337415.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529156,-0.844972,0.077568],[0.846315,0.532161,0.023568],[-0.061193,0.053176,0.996708]] 2025-10-24T20:23:35.325Z,1761337415.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:35.497Z,1761337415.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523747,-0.848188,0.079162],[0.849669,0.526812,0.023051],[-0.061255,0.055189,0.996595]] 2025-10-24T20:23:35.577Z,1761337415.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:35.831Z,1761337415.831 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:35.904Z,1761337415.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520172,-0.850446,0.078500],[0.851970,0.523130,0.021956],[-0.059738,0.055459,0.996672]] 2025-10-24T20:23:36.081Z,1761337416.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:36.303Z,1761337416.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517914,-0.851905,0.077615],[0.853543,0.520666,0.019279],[-0.056835,0.056263,0.996797]] 2025-10-24T20:23:36.337Z,1761337416.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:36.591Z,1761337416.591 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:36.710Z,1761337416.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518433,-0.851530,0.078254],[0.853435,0.520981,0.015115],[-0.053639,0.058949,0.996819]] 2025-10-24T20:23:36.841Z,1761337416.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:37.093Z,1761337417.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:37.117Z,1761337417.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519368,-0.850884,0.079076],[0.853113,0.521636,0.009767],[-0.049559,0.062388,0.996821]] 2025-10-24T20:23:37.345Z,1761337417.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:37.526Z,1761337417.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522650,-0.848855,0.079253],[0.851350,0.524581,0.004232],[-0.045167,0.065260,0.996846]] 2025-10-24T20:23:37.597Z,1761337417.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:37.851Z,1761337417.851 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:37.919Z,1761337417.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526898,-0.845953,0.082104],[0.848951,0.528462,-0.003132],[-0.040739,0.071353,0.996619]] 2025-10-24T20:23:38.100Z,1761337418.100 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:38.325Z,1761337418.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532518,-0.841934,0.087018],[0.845617,0.533668,-0.011413],[-0.036829,0.079661,0.996141]] 2025-10-24T20:23:38.353Z,1761337418.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:38.605Z,1761337418.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:38.732Z,1761337418.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539450,-0.837378,0.088270],[0.841367,0.540183,-0.017431],[-0.033086,0.083671,0.995944]] 2025-10-24T20:23:38.859Z,1761337418.859 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:39.109Z,1761337419.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:39.131Z,1761337419.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548296,-0.831786,0.086622],[0.835780,0.548614,-0.022227],[-0.029034,0.084584,0.995993]] 2025-10-24T20:23:39.361Z,1761337419.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:39.535Z,1761337419.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558900,-0.824628,0.087285],[0.828837,0.558791,-0.027981],[-0.025700,0.087984,0.995790]] 2025-10-24T20:23:39.613Z,1761337419.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:39.868Z,1761337419.868 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:39.941Z,1761337419.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570145,-0.816584,0.090136],[0.821217,0.569573,-0.034486],[-0.023178,0.093683,0.995332]] 2025-10-24T20:23:40.117Z,1761337420.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:40.343Z,1761337420.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583162,-0.807279,0.090681],[0.812091,0.582176,-0.039730],[-0.020719,0.096810,0.995087]] 2025-10-24T20:23:40.369Z,1761337420.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:40.621Z,1761337420.621 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:40.750Z,1761337420.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596771,-0.797393,0.089600],[0.802202,0.595436,-0.043913],[-0.018335,0.098083,0.995009]] 2025-10-24T20:23:40.879Z,1761337420.879 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:41.125Z,1761337421.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:41.376Z,1761337421.376 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:41.558Z,1761337421.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623828,-0.776200,0.091386],[0.781445,0.621472,-0.055821],[-0.013465,0.106236,0.994250]] 2025-10-24T20:23:41.630Z,1761337421.630 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:41.883Z,1761337421.883 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:41.959Z,1761337421.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635721,-0.766315,0.092842],[0.771844,0.632722,-0.062609],[-0.010765,0.111462,0.993710]] 2025-10-24T20:23:42.133Z,1761337422.133 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:42.364Z,1761337422.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647913,-0.756281,0.090817],[0.761677,0.644441,-0.067411],[-0.007545,0.112850,0.993583]] 2025-10-24T20:23:42.385Z,1761337422.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:42.636Z,1761337422.636 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:42.770Z,1761337422.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662342,-0.744310,0.085477],[0.749197,0.658446,-0.071790],[-0.002848,0.111588,0.993750]] 2025-10-24T20:23:42.891Z,1761337422.891 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:43.141Z,1761337423.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:43.181Z,1761337423.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678257,-0.730825,0.076565],[0.734819,0.674158,-0.074511],[0.002838,0.106799,0.994277]] 2025-10-24T20:23:43.393Z,1761337423.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:43.576Z,1761337423.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692107,-0.718919,0.064365],[0.721736,0.688151,-0.074468],[0.009244,0.097995,0.995144]] 2025-10-24T20:23:43.645Z,1761337423.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:43.899Z,1761337423.899 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:43.979Z,1761337423.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704638,-0.707826,0.049669],[0.709393,0.701192,-0.071351],[0.015677,0.085512,0.996214]] 2025-10-24T20:23:44.149Z,1761337424.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:44.385Z,1761337424.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714289,-0.698966,0.035174],[0.699483,0.711383,-0.068250],[0.022682,0.073354,0.997048]] 2025-10-24T20:23:44.401Z,1761337424.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:44.653Z,1761337424.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:44.786Z,1761337424.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721703,-0.691895,0.020633],[0.691574,0.719458,-0.064075],[0.029489,0.060512,0.997732]] 2025-10-24T20:23:44.919Z,1761337424.919 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:45.169Z,1761337425.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:45.191Z,1761337425.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725844,-0.687824,0.006926],[0.686900,0.724265,-0.060071],[0.036302,0.048360,0.998170]] 2025-10-24T20:23:45.421Z,1761337425.421 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:45.602Z,1761337425.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725505,-0.688171,-0.007985],[0.686608,0.724553,-0.059938],[0.047033,0.038003,0.998170]] 2025-10-24T20:23:45.673Z,1761337425.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:45.927Z,1761337425.927 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:46.006Z,1761337426.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.720166,-0.693704,-0.011680],[0.691945,0.719367,-0.061019],[0.050731,0.035862,0.998068]] 2025-10-24T20:23:46.177Z,1761337426.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:46.407Z,1761337426.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712388,-0.701645,-0.014050],[0.699776,0.711719,-0.061396],[0.053078,0.033906,0.998015]] 2025-10-24T20:23:46.429Z,1761337426.429 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:46.680Z,1761337426.680 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:46.813Z,1761337426.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701667,-0.712387,-0.013019],[0.710459,0.700919,-0.062932],[0.053957,0.034908,0.997933]] 2025-10-24T20:23:46.935Z,1761337426.935 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:47.185Z,1761337427.185 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:47.437Z,1761337427.437 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:47.621Z,1761337427.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672806,-0.739806,-0.004385],[0.738041,0.671588,-0.065306],[0.051259,0.040702,0.997856]] 2025-10-24T20:23:47.689Z,1761337427.689 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:47.941Z,1761337427.941 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:48.032Z,1761337428.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655575,-0.755116,0.004538],[0.753616,0.653869,-0.067213],[0.047786,0.047483,0.997728]] 2025-10-24T20:23:48.070Z,1761337428.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:23:48.193Z,1761337428.193 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:48.448Z,1761337428.448 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:48.449Z,1761337428.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636172,-0.771378,0.016158],[0.770333,0.633857,-0.069374],[0.043272,0.056581,0.997460]] 2025-10-24T20:23:48.704Z,1761337428.704 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:48.838Z,1761337428.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616469,-0.786804,0.030080],[0.786483,0.613496,-0.071182],[0.037552,0.067539,0.997010]] 2025-10-24T20:23:48.956Z,1761337428.956 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:49.205Z,1761337429.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:49.240Z,1761337429.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595585,-0.801979,0.045918],[0.802675,0.591913,-0.073156],[0.031490,0.080428,0.996263]] 2025-10-24T20:23:49.457Z,1761337429.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:49.642Z,1761337429.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574528,-0.816616,0.055281],[0.818074,0.570788,-0.070392],[0.025929,0.085666,0.995986]] 2025-10-24T20:23:49.709Z,1761337429.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:49.965Z,1761337429.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:50.058Z,1761337430.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553456,-0.830124,0.067684],[0.832634,0.549494,-0.069114],[0.020181,0.094608,0.995310]] 2025-10-24T20:23:50.213Z,1761337430.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:50.449Z,1761337430.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533929,-0.841690,0.080482],[0.845416,0.529875,-0.067112],[0.013842,0.103873,0.994494]] 2025-10-24T20:23:50.465Z,1761337430.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:50.717Z,1761337430.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:50.858Z,1761337430.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515299,-0.851835,0.094041],[0.856978,0.511206,-0.065250],[0.007508,0.114214,0.993428]] 2025-10-24T20:23:50.971Z,1761337430.971 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:51.221Z,1761337431.221 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:51.259Z,1761337431.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498364,-0.860663,0.104365],[0.866967,0.494552,-0.061541],[0.001352,0.121151,0.992633]] 2025-10-24T20:23:51.473Z,1761337431.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:51.659Z,1761337431.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483777,-0.868192,0.110461],[0.875178,0.480610,-0.055486],[-0.004916,0.123516,0.992330]] 2025-10-24T20:23:51.725Z,1761337431.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:51.978Z,1761337431.978 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:52.088Z,1761337432.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470888,-0.875015,0.112314],[0.882124,0.468611,-0.047546],[-0.011028,0.121464,0.992535]] 2025-10-24T20:23:52.229Z,1761337432.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:52.469Z,1761337432.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465702,-0.877931,0.111170],[0.884776,0.464354,-0.039324],[-0.017098,0.116674,0.993023]] 2025-10-24T20:23:52.481Z,1761337432.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:52.733Z,1761337432.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:52.886Z,1761337432.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466791,-0.877876,0.106958],[0.884085,0.466274,-0.031339],[-0.022360,0.109189,0.993769]] 2025-10-24T20:23:52.985Z,1761337432.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:53.237Z,1761337433.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:53.275Z,1761337433.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470612,-0.876603,0.100457],[0.881925,0.470823,-0.023095],[-0.027052,0.099464,0.994673]] 2025-10-24T20:23:53.489Z,1761337433.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:53.679Z,1761337433.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476088,-0.874019,0.097117],[0.878822,0.476862,-0.016581],[-0.031820,0.093243,0.995135]] 2025-10-24T20:23:53.741Z,1761337433.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:53.993Z,1761337433.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:54.115Z,1761337434.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484178,-0.869580,0.096970],[0.874213,0.485388,-0.012283],[-0.036387,0.090719,0.995211]] 2025-10-24T20:23:54.245Z,1761337434.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:54.487Z,1761337434.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494126,-0.863981,0.096832],[0.868478,0.495637,-0.009473],[-0.039809,0.088778,0.995256]] 2025-10-24T20:23:54.497Z,1761337434.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:54.748Z,1761337434.748 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:54.897Z,1761337434.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.506896,-0.856799,0.094612],[0.861004,0.508541,-0.007624],[-0.041582,0.085326,0.995485]] 2025-10-24T20:23:55.002Z,1761337435.002 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:55.253Z,1761337435.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:55.505Z,1761337435.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:55.700Z,1761337435.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537648,-0.837937,0.093787],[0.842160,0.539114,-0.011102],[-0.041259,0.084953,0.995530]] 2025-10-24T20:23:55.757Z,1761337435.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:56.009Z,1761337436.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:56.146Z,1761337436.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554579,-0.826920,0.092976],[0.831220,0.555730,-0.015408],[-0.038928,0.085829,0.995549]] 2025-10-24T20:23:56.261Z,1761337436.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:56.507Z,1761337436.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571318,-0.815527,0.092259],[0.819953,0.572047,-0.020961],[-0.035682,0.087623,0.995514]] 2025-10-24T20:23:56.513Z,1761337436.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:56.765Z,1761337436.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:57.024Z,1761337437.024 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:57.273Z,1761337437.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:57.322Z,1761337437.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603982,-0.791473,0.093684],[0.796539,0.603438,-0.037253],[-0.027048,0.097123,0.994905]] 2025-10-24T20:23:57.525Z,1761337437.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:57.719Z,1761337437.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618726,-0.779897,0.094546],[0.785319,0.617263,-0.047542],[-0.021282,0.103664,0.994385]] 2025-10-24T20:23:57.777Z,1761337437.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:58.029Z,1761337438.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:58.178Z,1761337438.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632214,-0.769476,0.090626],[0.774650,0.630015,-0.054761],[-0.014959,0.104824,0.994378]] 2025-10-24T20:23:58.281Z,1761337438.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:58.528Z,1761337438.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643650,-0.760727,0.083723],[0.765279,0.640894,-0.060028],[-0.007992,0.102708,0.994679]] 2025-10-24T20:23:58.533Z,1761337438.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:58.785Z,1761337438.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:58.937Z,1761337438.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653318,-0.753408,0.074516],[0.757083,0.650269,-0.063044],[-0.000958,0.097602,0.995225]] 2025-10-24T20:23:59.037Z,1761337439.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:59.289Z,1761337439.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:59.341Z,1761337439.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660385,-0.748219,0.063720],[0.750902,0.657278,-0.064284],[0.006217,0.090299,0.995895]] 2025-10-24T20:23:59.543Z,1761337439.543 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:23:59.797Z,1761337439.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:00.049Z,1761337440.049 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:00.301Z,1761337440.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:00.553Z,1761337440.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:00.805Z,1761337440.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:00.964Z,1761337440.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665974,-0.745104,0.036039],[0.745549,0.663186,-0.065883],[0.025189,0.070745,0.997176]] 2025-10-24T20:24:01.057Z,1761337441.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:01.309Z,1761337441.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:01.368Z,1761337441.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661972,-0.748692,0.035419],[0.749046,0.659111,-0.067103],[0.026894,0.070950,0.997117]] 2025-10-24T20:24:01.561Z,1761337441.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:01.771Z,1761337441.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656258,-0.753686,0.035813],[0.754040,0.653366,-0.067345],[0.027358,0.071200,0.997087]] 2025-10-24T20:24:01.813Z,1761337441.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:02.066Z,1761337442.066 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:02.329Z,1761337442.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:02.581Z,1761337442.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:02.587Z,1761337442.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631429,-0.773980,0.047461],[0.775107,0.628204,-0.067591],[0.022499,0.079466,0.996584]] 2025-10-24T20:24:02.833Z,1761337442.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:02.984Z,1761337442.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622415,-0.780909,0.052728],[0.782437,0.619100,-0.067134],[0.019782,0.083041,0.996350]] 2025-10-24T20:24:03.086Z,1761337443.086 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:03.337Z,1761337443.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:03.387Z,1761337443.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612085,-0.788637,0.058334],[0.790610,0.608695,-0.066528],[0.016959,0.086841,0.996078]] 2025-10-24T20:24:03.589Z,1761337443.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:03.792Z,1761337443.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600893,-0.796734,0.064357],[0.799206,0.597439,-0.065848],[0.014014,0.091002,0.995752]] 2025-10-24T20:24:03.841Z,1761337443.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:04.093Z,1761337444.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:04.226Z,1761337444.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589596,-0.804605,0.070621],[0.807624,0.586098,-0.065062],[0.010959,0.095396,0.995379]] 2025-10-24T20:24:04.345Z,1761337444.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:04.597Z,1761337444.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:04.601Z,1761337444.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578912,-0.811807,0.076354],[0.815351,0.575428,-0.063915],[0.007950,0.099256,0.995030]] 2025-10-24T20:24:04.849Z,1761337444.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:05.003Z,1761337445.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568511,-0.818492,0.082862],[0.822661,0.565008,-0.063206],[0.004916,0.104101,0.994555]] 2025-10-24T20:24:05.102Z,1761337445.102 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:05.353Z,1761337445.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:05.418Z,1761337445.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559120,-0.824319,0.088781],[0.829085,0.555671,-0.062039],[0.001807,0.108294,0.994117]] 2025-10-24T20:24:05.605Z,1761337445.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:05.857Z,1761337445.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:06.108Z,1761337446.108 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:06.221Z,1761337446.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543329,-0.833706,0.098625],[0.839510,0.540110,-0.059189],[-0.003922,0.114956,0.993363]] 2025-10-24T20:24:06.361Z,1761337446.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:06.613Z,1761337446.613 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:06.621Z,1761337446.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537267,-0.837249,0.101772],[0.843385,0.534297,-0.056825],[-0.006799,0.116363,0.993183]] 2025-10-24T20:24:06.865Z,1761337446.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:07.025Z,1761337447.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531173,-0.840865,0.103934],[0.847213,0.528470,-0.054308],[-0.009260,0.116901,0.993100]] 2025-10-24T20:24:07.117Z,1761337447.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:07.369Z,1761337447.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:07.427Z,1761337447.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.526712,-0.843570,0.104709],[0.849959,0.524385,-0.050887],[-0.011981,0.115801,0.993200]] 2025-10-24T20:24:07.620Z,1761337447.620 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:07.831Z,1761337447.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522873,-0.845946,0.104786],[0.852287,0.520926,-0.047358],[-0.014524,0.114069,0.993367]] 2025-10-24T20:24:07.873Z,1761337447.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:08.125Z,1761337448.125 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:08.242Z,1761337448.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529231,-0.842301,0.102194],[0.848309,0.527677,-0.043928],[-0.016925,0.109940,0.993794]] 2025-10-24T20:24:08.377Z,1761337448.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:08.629Z,1761337448.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:08.645Z,1761337448.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535829,-0.838551,0.098585],[0.844110,0.534673,-0.040043],[-0.019132,0.104673,0.994323]] 2025-10-24T20:24:08.884Z,1761337448.884 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:09.043Z,1761337449.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542822,-0.834451,0.095058],[0.839571,0.542060,-0.035925],[-0.021549,0.099309,0.994823]] 2025-10-24T20:24:09.137Z,1761337449.137 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:09.389Z,1761337449.389 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:09.641Z,1761337449.641 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:09.897Z,1761337449.898 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:10.148Z,1761337450.148 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:10.259Z,1761337450.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560639,-0.823868,0.083221],[0.827584,0.560888,-0.022576],[-0.028078,0.081529,0.996275]] 2025-10-24T20:24:10.401Z,1761337450.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:10.653Z,1761337450.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:10.661Z,1761337450.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564592,-0.821413,0.080724],[0.824822,0.565075,-0.018932],[-0.030064,0.077272,0.996557]] 2025-10-24T20:24:10.905Z,1761337450.905 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:11.064Z,1761337451.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568138,-0.819173,0.078575],[0.822316,0.568815,-0.015664],[-0.031863,0.073513,0.996785]] 2025-10-24T20:24:11.157Z,1761337451.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:11.409Z,1761337451.409 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:11.469Z,1761337451.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570475,-0.817628,0.077738],[0.820635,0.571295,-0.013443],[-0.033420,0.071464,0.996883]] 2025-10-24T20:24:11.661Z,1761337451.661 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:11.885Z,1761337451.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572597,-0.816185,0.077302],[0.819105,0.573522,-0.011861],[-0.034653,0.070110,0.996937]] 2025-10-24T20:24:11.914Z,1761337451.914 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:12.164Z,1761337452.164 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:12.278Z,1761337452.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573381,-0.815676,0.076857],[0.818559,0.574302,-0.011747],[-0.034558,0.069648,0.996973]] 2025-10-24T20:24:12.418Z,1761337452.418 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:12.670Z,1761337452.670 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:12.685Z,1761337452.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574796,-0.814712,0.076511],[0.817566,0.575717,-0.011636],[-0.034569,0.069241,0.997001]] 2025-10-24T20:24:12.920Z,1761337452.920 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:13.086Z,1761337453.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575246,-0.814239,0.078152],[0.817279,0.576079,-0.013694],[-0.033872,0.071749,0.996847]] 2025-10-24T20:24:13.173Z,1761337453.173 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:13.425Z,1761337453.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:13.487Z,1761337453.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576222,-0.813420,0.079474],[0.816634,0.576933,-0.016029],[-0.032813,0.074137,0.996708]] 2025-10-24T20:24:13.677Z,1761337453.677 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:13.911Z,1761337453.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576394,-0.813074,0.081735],[0.816583,0.576887,-0.019843],[-0.031018,0.078180,0.996457]] 2025-10-24T20:24:13.930Z,1761337453.930 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:14.181Z,1761337454.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:14.435Z,1761337454.435 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:14.684Z,1761337454.684 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:14.937Z,1761337454.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:15.104Z,1761337455.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577816,-0.810877,0.092772],[0.815843,0.577048,-0.037644],[-0.023009,0.097438,0.994976]] 2025-10-24T20:24:15.189Z,1761337455.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:15.441Z,1761337455.441 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:15.515Z,1761337455.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578765,-0.809685,0.097167],[0.815271,0.577273,-0.045700],[-0.019090,0.105667,0.994218]] 2025-10-24T20:24:15.693Z,1761337455.693 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:15.917Z,1761337455.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578965,-0.809429,0.098100],[0.815229,0.576762,-0.052411],[-0.014158,0.110318,0.993796]] 2025-10-24T20:24:15.953Z,1761337455.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:16.204Z,1761337456.204 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:16.317Z,1761337456.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580031,-0.808969,0.095570],[0.814547,0.577259,-0.057320],[-0.008798,0.111094,0.993771]] 2025-10-24T20:24:16.457Z,1761337456.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:16.709Z,1761337456.709 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:16.961Z,1761337456.961 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:17.124Z,1761337457.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581722,-0.809332,0.081124],[0.813377,0.578308,-0.063070],[0.004130,0.102674,0.994707]] 2025-10-24T20:24:17.214Z,1761337457.214 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:17.465Z,1761337457.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:17.527Z,1761337457.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582425,-0.809645,0.072496],[0.812812,0.578857,-0.065279],[0.010887,0.096946,0.995230]] 2025-10-24T20:24:17.717Z,1761337457.717 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:17.935Z,1761337457.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583245,-0.809768,0.064030],[0.812112,0.579619,-0.067204],[0.017306,0.091196,0.995682]] 2025-10-24T20:24:17.969Z,1761337457.969 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:18.220Z,1761337458.220 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:18.341Z,1761337458.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584382,-0.809539,0.056075],[0.811149,0.580781,-0.068774],[0.023108,0.085676,0.996055]] 2025-10-24T20:24:18.473Z,1761337458.473 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:18.725Z,1761337458.725 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:18.747Z,1761337458.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584819,-0.809632,0.049833],[0.810663,0.581196,-0.070967],[0.028494,0.081900,0.996233]] 2025-10-24T20:24:18.976Z,1761337458.976 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:19.151Z,1761337459.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584772,-0.810166,0.040897],[0.810387,0.581190,-0.074108],[0.036271,0.076478,0.996411]] 2025-10-24T20:24:19.230Z,1761337459.230 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:19.481Z,1761337459.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:19.552Z,1761337459.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584827,-0.810205,0.039308],[0.810258,0.581211,-0.075330],[0.038186,0.075905,0.996384]] 2025-10-24T20:24:19.732Z,1761337459.732 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:19.952Z,1761337459.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583821,-0.810898,0.039981],[0.810935,0.580052,-0.076970],[0.039223,0.077359,0.996231]] 2025-10-24T20:24:19.997Z,1761337459.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:20.237Z,1761337460.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:20.365Z,1761337460.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583723,-0.810978,0.039774],[0.810988,0.579943,-0.077227],[0.039562,0.077336,0.996220]] 2025-10-24T20:24:20.491Z,1761337460.491 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:20.741Z,1761337460.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:20.759Z,1761337460.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583223,-0.811342,0.039679],[0.811339,0.579439,-0.077331],[0.039750,0.077294,0.996216]] 2025-10-24T20:24:20.993Z,1761337460.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:21.164Z,1761337461.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582749,-0.811665,0.040041],[0.811687,0.578947,-0.077360],[0.039609,0.077582,0.996199]] 2025-10-24T20:24:21.245Z,1761337461.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:21.499Z,1761337461.499 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:21.569Z,1761337461.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582011,-0.812055,0.042789],[0.812292,0.578110,-0.077269],[0.038010,0.079728,0.996092]] 2025-10-24T20:24:21.749Z,1761337461.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:21.974Z,1761337461.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581005,-0.812622,0.045597],[0.813092,0.577021,-0.076996],[0.036258,0.081809,0.995988]] 2025-10-24T20:24:22.001Z,1761337462.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:22.253Z,1761337462.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:22.423Z,1761337462.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580203,-0.813035,0.048350],[0.813760,0.576194,-0.076126],[0.034034,0.083514,0.995925]] 2025-10-24T20:24:22.507Z,1761337462.507 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:22.757Z,1761337462.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:22.779Z,1761337462.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579638,-0.813218,0.051924],[0.814267,0.575571,-0.075416],[0.031444,0.085994,0.995799]] 2025-10-24T20:24:23.009Z,1761337463.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:23.186Z,1761337463.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579522,-0.813018,0.056183],[0.814464,0.575395,-0.074627],[0.028345,0.089007,0.995628]] 2025-10-24T20:24:23.261Z,1761337463.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:23.516Z,1761337463.516 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:23.765Z,1761337463.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:24.017Z,1761337464.017 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:24.268Z,1761337464.268 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:24.395Z,1761337464.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578980,-0.812279,0.070610],[0.815154,0.574814,-0.071504],[0.017494,0.098957,0.994938]] 2025-10-24T20:24:24.523Z,1761337464.523 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:24.773Z,1761337464.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:24.803Z,1761337464.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579898,-0.811142,0.075935],[0.814584,0.575805,-0.070010],[0.013064,0.102455,0.994652]] 2025-10-24T20:24:25.025Z,1761337465.025 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:25.207Z,1761337465.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579985,-0.810523,0.081673],[0.814579,0.575941,-0.068944],[0.008841,0.106515,0.994272]] 2025-10-24T20:24:25.278Z,1761337465.278 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:25.531Z,1761337465.531 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:25.608Z,1761337465.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580724,-0.809537,0.086078],[0.814088,0.576869,-0.066962],[0.004552,0.108962,0.994036]] 2025-10-24T20:24:25.781Z,1761337465.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:26.011Z,1761337466.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581049,-0.808962,0.089234],[0.813868,0.577478,-0.064324],[0.000505,0.110000,0.993931]] 2025-10-24T20:24:26.033Z,1761337466.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:26.285Z,1761337466.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:26.417Z,1761337466.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581875,-0.808097,0.091659],[0.813271,0.578637,-0.061396],[-0.003423,0.110269,0.993896]] 2025-10-24T20:24:26.539Z,1761337466.539 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:26.789Z,1761337466.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:26.823Z,1761337466.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582317,-0.807610,0.093127],[0.812933,0.579431,-0.058306],[-0.006872,0.109659,0.993946]] 2025-10-24T20:24:27.041Z,1761337467.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:27.223Z,1761337467.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582997,-0.807004,0.094126],[0.812412,0.580461,-0.055243],[-0.010055,0.108676,0.994026]] 2025-10-24T20:24:27.293Z,1761337467.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:27.548Z,1761337467.548 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:27.627Z,1761337467.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583368,-0.806757,0.093938],[0.812110,0.581180,-0.052029],[-0.012620,0.106640,0.994218]] 2025-10-24T20:24:27.797Z,1761337467.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:28.048Z,1761337468.048 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:28.301Z,1761337468.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:28.437Z,1761337468.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583118,-0.807057,0.092908],[0.812216,0.581520,-0.046263],[-0.016691,0.102438,0.994599]] 2025-10-24T20:24:28.557Z,1761337468.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:28.804Z,1761337468.804 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:28.843Z,1761337468.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581907,-0.807924,0.092970],[0.813049,0.580518,-0.044155],[-0.018297,0.101283,0.994689]] 2025-10-24T20:24:29.057Z,1761337469.057 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:29.245Z,1761337469.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581012,-0.808650,0.092253],[0.813657,0.579838,-0.041825],[-0.019670,0.099363,0.994857]] 2025-10-24T20:24:29.311Z,1761337469.311 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:29.563Z,1761337469.563 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:29.649Z,1761337469.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579330,-0.809934,0.091563],[0.814826,0.578351,-0.039616],[-0.020869,0.097558,0.995011]] 2025-10-24T20:24:29.814Z,1761337469.814 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:30.051Z,1761337470.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578015,-0.810997,0.090458],[0.815727,0.577242,-0.037155],[-0.022084,0.095265,0.995207]] 2025-10-24T20:24:30.065Z,1761337470.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:30.317Z,1761337470.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:30.459Z,1761337470.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575885,-0.812627,0.089410],[0.817203,0.575299,-0.034801],[-0.023157,0.093107,0.995387]] 2025-10-24T20:24:30.570Z,1761337470.570 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:30.821Z,1761337470.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:31.073Z,1761337471.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:31.278Z,1761337471.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573304,-0.814819,0.085978],[0.818929,0.573184,-0.028552],[-0.026017,0.086779,0.995888]] 2025-10-24T20:24:31.325Z,1761337471.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:31.577Z,1761337471.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:31.673Z,1761337471.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572678,-0.815453,0.084122],[0.819312,0.572799,-0.025088],[-0.027727,0.083290,0.996140]] 2025-10-24T20:24:31.829Z,1761337471.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:32.072Z,1761337472.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572233,-0.815981,0.082004],[0.819549,0.572625,-0.020987],[-0.029833,0.079216,0.996411]] 2025-10-24T20:24:32.081Z,1761337472.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:32.333Z,1761337472.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:32.477Z,1761337472.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572670,-0.815884,0.079893],[0.819158,0.573322,-0.016801],[-0.032096,0.075066,0.996662]] 2025-10-24T20:24:32.585Z,1761337472.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:32.837Z,1761337472.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:32.887Z,1761337472.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574205,-0.814934,0.078562],[0.817968,0.575126,-0.012615],[-0.034903,0.071505,0.996829]] 2025-10-24T20:24:33.089Z,1761337473.089 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:33.288Z,1761337473.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576138,-0.813724,0.076931],[0.816478,0.577320,-0.008121],[-0.037806,0.067491,0.997003]] 2025-10-24T20:24:33.342Z,1761337473.342 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:33.595Z,1761337473.595 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:33.704Z,1761337473.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579813,-0.811326,0.074607],[0.813738,0.581221,-0.003434],[-0.040577,0.062702,0.997207]] 2025-10-24T20:24:33.846Z,1761337473.846 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:34.097Z,1761337474.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:34.349Z,1761337474.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:34.496Z,1761337474.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589202,-0.804508,0.074884],[0.806736,0.590911,0.000829],[-0.044917,0.059923,0.997192]] 2025-10-24T20:24:34.602Z,1761337474.602 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:34.853Z,1761337474.853 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:34.904Z,1761337474.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594453,-0.800672,0.074499],[0.802855,0.596173,0.001065],[-0.045268,0.059179,0.997221]] 2025-10-24T20:24:35.105Z,1761337475.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:35.357Z,1761337475.357 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:35.608Z,1761337475.608 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:35.861Z,1761337475.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:36.116Z,1761337476.116 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:36.364Z,1761337476.364 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:36.521Z,1761337476.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619553,-0.780483,0.083671],[0.784426,0.619520,-0.029507],[-0.028806,0.083915,0.996056]] 2025-10-24T20:24:36.618Z,1761337476.618 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:36.869Z,1761337476.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:36.934Z,1761337476.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621002,-0.779045,0.086290],[0.783516,0.620007,-0.041157],[-0.021437,0.093169,0.995420]] 2025-10-24T20:24:37.124Z,1761337477.124 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:37.323Z,1761337477.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619981,-0.780259,0.082588],[0.784522,0.618103,-0.049742],[-0.012237,0.095631,0.995342]] 2025-10-24T20:24:37.364Z,1761337477.364 [DockingStepper](INFO): Changing to mode: 1 2025-10-24T20:24:37.377Z,1761337477.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:37.629Z,1761337477.629 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:37.753Z,1761337477.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616810,-0.784172,0.067976],[0.787112,0.614591,-0.052278],[-0.000782,0.085751,0.996316]] 2025-10-24T20:24:37.882Z,1761337477.882 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:38.131Z,1761337478.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610827,-0.790916,0.036637],[0.791664,0.609359,-0.044152],[0.012595,0.055974,0.998353]] 2025-10-24T20:24:38.133Z,1761337478.133 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:38.385Z,1761337478.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:38.537Z,1761337478.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603643,-0.797254,-0.001166],[0.796837,0.603374,-0.031459],[0.025784,0.018061,0.999504]] 2025-10-24T20:24:38.637Z,1761337478.637 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:38.890Z,1761337478.890 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:38.939Z,1761337478.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592770,-0.804720,-0.032397],[0.804519,0.593514,-0.022144],[0.037048,-0.012937,0.999230]] 2025-10-24T20:24:39.141Z,1761337479.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:39.343Z,1761337479.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581352,-0.811905,-0.053296],[0.812448,0.582807,-0.016239],[0.044246,-0.033859,0.998447]] 2025-10-24T20:24:39.393Z,1761337479.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:39.645Z,1761337479.645 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:39.785Z,1761337479.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564877,-0.823901,-0.045836],[0.823927,0.566205,-0.023562],[0.045365,-0.024456,0.998671]] 2025-10-24T20:24:39.897Z,1761337479.897 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:40.149Z,1761337480.149 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:40.154Z,1761337480.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545940,-0.836989,-0.037404],[0.836770,0.546948,-0.025757],[0.042017,-0.017237,0.998968]] 2025-10-24T20:24:40.401Z,1761337480.401 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:40.556Z,1761337480.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525748,-0.849908,-0.035285],[0.849890,0.526574,-0.020173],[0.035726,-0.019383,0.999174]] 2025-10-24T20:24:40.653Z,1761337480.653 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:40.904Z,1761337480.904 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:40.959Z,1761337480.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503078,-0.863909,-0.023954],[0.863849,0.503491,-0.016165],[0.026026,-0.012561,0.999582]] 2025-10-24T20:24:41.157Z,1761337481.157 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:41.374Z,1761337481.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479243,-0.877437,-0.020761],[0.877531,0.479466,-0.007258],[0.016322,-0.014740,0.999758]] 2025-10-24T20:24:41.410Z,1761337481.410 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:41.660Z,1761337481.660 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:41.801Z,1761337481.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457698,-0.888999,-0.013927],[0.889085,0.457742,-0.000000],[0.006375,-0.012382,0.999903]] 2025-10-24T20:24:41.914Z,1761337481.914 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:42.165Z,1761337482.165 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:42.173Z,1761337482.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440511,-0.897717,-0.007331],[0.897744,0.440473,0.006316],[-0.002441,-0.009364,0.999953]] 2025-10-24T20:24:42.417Z,1761337482.417 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:42.579Z,1761337482.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427499,-0.904013,-0.002332],[0.903975,0.427454,0.010631],[-0.008614,-0.006653,0.999941]] 2025-10-24T20:24:42.669Z,1761337482.669 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:42.921Z,1761337482.921 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:43.172Z,1761337483.172 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:43.385Z,1761337483.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408276,-0.912845,0.005000],[0.912771,0.408306,0.011604],[-0.012634,-0.000173,0.999920]] 2025-10-24T20:24:43.425Z,1761337483.425 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:43.678Z,1761337483.678 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:43.831Z,1761337483.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403318,-0.915035,0.006703],[0.915001,0.403365,0.008387],[-0.010378,0.002750,0.999942]] 2025-10-24T20:24:43.929Z,1761337483.929 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:44.181Z,1761337484.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:44.302Z,1761337484.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401547,-0.915809,0.007368],[0.915819,0.401578,0.003245],[-0.005930,0.005445,0.999968]] 2025-10-24T20:24:44.433Z,1761337484.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:44.687Z,1761337484.687 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:44.705Z,1761337484.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403949,-0.914758,0.006566],[0.914782,0.403937,-0.003106],[0.000189,0.007261,0.999974]] 2025-10-24T20:24:44.941Z,1761337484.941 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:45.196Z,1761337485.196 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:45.444Z,1761337485.444 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:45.511Z,1761337485.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419467,-0.907764,0.003322],[0.907677,0.419368,-0.015920],[0.013058,0.009693,0.999868]] 2025-10-24T20:24:45.698Z,1761337485.698 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:45.915Z,1761337485.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434718,-0.900566,0.000419],[0.900383,0.434621,-0.020360],[0.018153,0.009229,0.999793]] 2025-10-24T20:24:45.950Z,1761337485.950 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:46.200Z,1761337486.200 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:46.320Z,1761337486.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450065,-0.892993,-0.002036],[0.892727,0.449985,-0.023475],[0.021879,0.008747,0.999722]] 2025-10-24T20:24:46.453Z,1761337486.453 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:46.705Z,1761337486.705 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:46.729Z,1761337486.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464654,-0.885480,-0.004783],[0.885167,0.464623,-0.024583],[0.023990,0.007189,0.999686]] 2025-10-24T20:24:46.957Z,1761337486.957 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:47.131Z,1761337487.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481361,-0.876489,-0.007662],[0.876182,0.481399,-0.023641],[0.024410,0.004666,0.999691]] 2025-10-24T20:24:47.209Z,1761337487.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:47.461Z,1761337487.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:47.532Z,1761337487.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.500061,-0.865924,-0.010725],[0.865679,0.500175,-0.020632],[0.023230,0.001033,0.999730]] 2025-10-24T20:24:47.713Z,1761337487.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:47.935Z,1761337487.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519019,-0.854657,-0.013460],[0.854512,0.519184,-0.016024],[0.020683,-0.003185,0.999781]] 2025-10-24T20:24:47.965Z,1761337487.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:48.217Z,1761337488.217 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:48.468Z,1761337488.468 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:48.721Z,1761337488.721 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:48.749Z,1761337488.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555535,-0.831281,-0.018785],[0.831398,0.555671,-0.002541],[0.012550,-0.014206,0.999820]] 2025-10-24T20:24:48.976Z,1761337488.976 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:49.153Z,1761337489.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583054,-0.812102,-0.023190],[0.812428,0.582911,0.013231],[0.002773,-0.026555,0.999644]] 2025-10-24T20:24:49.229Z,1761337489.229 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:49.481Z,1761337489.481 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:49.555Z,1761337489.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591326,-0.806055,-0.024685],[0.806430,0.590973,0.020543],[-0.001971,-0.032054,0.999484]] 2025-10-24T20:24:49.733Z,1761337489.733 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:49.971Z,1761337489.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595557,-0.802897,-0.025856],[0.803290,0.594987,0.026765],[-0.006105,-0.036710,0.999307]] 2025-10-24T20:24:49.985Z,1761337489.985 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:50.237Z,1761337490.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:50.360Z,1761337490.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594974,-0.803310,-0.026447],[0.803687,0.594210,0.031664],[-0.009721,-0.040094,0.999149]] 2025-10-24T20:24:50.489Z,1761337490.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:50.741Z,1761337490.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:50.764Z,1761337490.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590622,-0.806502,-0.026830],[0.806854,0.589717,0.034950],[-0.012365,-0.042290,0.999029]] 2025-10-24T20:24:50.993Z,1761337490.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:51.170Z,1761337491.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581645,-0.813009,-0.026569],[0.813320,0.580679,0.036357],[-0.014130,-0.042756,0.998986]] 2025-10-24T20:24:51.245Z,1761337491.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:51.497Z,1761337491.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:51.590Z,1761337491.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569139,-0.821848,-0.025438],[0.822097,0.568187,0.036338],[-0.015411,-0.041594,0.999016]] 2025-10-24T20:24:51.749Z,1761337491.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:51.982Z,1761337491.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552349,-0.833274,-0.023769],[0.833461,0.551481,0.034789],[-0.015881,-0.039026,0.999112]] 2025-10-24T20:24:52.001Z,1761337492.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:52.253Z,1761337492.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:52.383Z,1761337492.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533721,-0.845355,-0.022747],[0.845515,0.532937,0.032898],[-0.015687,-0.036791,0.999200]] 2025-10-24T20:24:52.505Z,1761337492.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:52.757Z,1761337492.757 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:53.009Z,1761337493.009 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:53.188Z,1761337493.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490179,-0.871429,-0.018356],[0.871514,0.489679,0.026028],[-0.013693,-0.028756,0.999493]] 2025-10-24T20:24:53.261Z,1761337493.261 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:53.513Z,1761337493.513 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:53.592Z,1761337493.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467628,-0.883790,-0.015451],[0.883845,0.467279,0.021645],[-0.011910,-0.023778,0.999646]] 2025-10-24T20:24:53.764Z,1761337493.764 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:53.995Z,1761337493.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446561,-0.894667,-0.012445],[0.894700,0.446339,0.017150],[-0.009789,-0.018793,0.999775]] 2025-10-24T20:24:54.015Z,1761337494.015 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,25102412261689,35.0, +11.6, 0.0,14 2025-10-24T20:24:54.018Z,1761337494.018 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:54.270Z,1761337494.270 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:54.405Z,1761337494.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426439,-0.904472,-0.008949],[0.904489,0.426328,0.012005],[-0.007043,-0.013213,0.999888]] 2025-10-24T20:24:54.521Z,1761337494.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:54.773Z,1761337494.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:54.804Z,1761337494.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.410108,-0.912017,-0.006054],[0.912028,0.410067,0.007035],[-0.003934,-0.008406,0.999957]] 2025-10-24T20:24:55.026Z,1761337495.026 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:55.207Z,1761337495.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396426,-0.918060,-0.003620],[0.918067,0.396422,0.001634],[-0.000065,-0.003971,0.999992]] 2025-10-24T20:24:55.277Z,1761337495.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:55.530Z,1761337495.530 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:55.614Z,1761337495.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386691,-0.922208,-0.001633],[0.922200,0.386695,-0.003706],[0.004049,-0.000073,0.999992]] 2025-10-24T20:24:55.781Z,1761337495.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:56.025Z,1761337496.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380260,-0.924879,-0.000301],[0.924841,0.380248,-0.008948],[0.008390,0.003124,0.999960]] 2025-10-24T20:24:56.032Z,1761337496.032 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:56.285Z,1761337496.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:56.420Z,1761337496.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377113,-0.926167,0.000762],[0.926083,0.377067,-0.013841],[0.012532,0.005926,0.999904]] 2025-10-24T20:24:56.537Z,1761337496.537 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:56.789Z,1761337496.789 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:56.825Z,1761337496.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377671,-0.925939,0.001165],[0.925795,0.377589,-0.018179],[0.016393,0.007945,0.999834]] 2025-10-24T20:24:57.041Z,1761337497.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:57.235Z,1761337497.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381087,-0.924535,0.002649],[0.924343,0.380946,-0.021707],[0.019060,0.010721,0.999761]] 2025-10-24T20:24:57.293Z,1761337497.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:57.544Z,1761337497.544 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:57.631Z,1761337497.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388968,-0.921247,0.002872],[0.921010,0.388793,-0.024099],[0.021084,0.012019,0.999705]] 2025-10-24T20:24:57.797Z,1761337497.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:58.047Z,1761337498.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.400143,-0.916448,0.003076],[0.916180,0.399939,-0.025734],[0.022354,0.013115,0.999664]] 2025-10-24T20:24:58.050Z,1761337498.050 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:58.301Z,1761337498.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:58.441Z,1761337498.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415904,-0.909405,0.002615],[0.909128,0.415702,-0.026052],[0.022604,0.013212,0.999657]] 2025-10-24T20:24:58.553Z,1761337498.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:58.805Z,1761337498.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:59.058Z,1761337499.058 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:59.309Z,1761337499.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:59.561Z,1761337499.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:24:59.652Z,1761337499.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482359,-0.875970,-0.002537],[0.875761,0.482304,-0.020645],[0.019308,0.007736,0.999784]] 2025-10-24T20:24:59.813Z,1761337499.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:00.067Z,1761337500.067 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:00.077Z,1761337500.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508492,-0.861053,-0.004977],[0.860891,0.508496,-0.017254],[0.017387,0.004489,0.999839]] 2025-10-24T20:25:00.317Z,1761337500.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:00.568Z,1761337500.568 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:00.825Z,1761337500.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:00.864Z,1761337500.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561523,-0.827391,-0.010783],[0.827342,0.561615,-0.009630],[0.014024,-0.003514,0.999895]] 2025-10-24T20:25:01.075Z,1761337501.075 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:01.267Z,1761337501.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586730,-0.809661,-0.014017],[0.809683,0.586842,-0.005535],[0.012708,-0.008101,0.999886]] 2025-10-24T20:25:01.325Z,1761337501.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:01.577Z,1761337501.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:01.673Z,1761337501.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610196,-0.792050,-0.017829],[0.792166,0.610305,-0.000840],[0.011546,-0.013611,0.999841]] 2025-10-24T20:25:01.829Z,1761337501.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:02.084Z,1761337502.084 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:02.107Z,1761337502.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630858,-0.775598,-0.021569],[0.775831,0.630925,0.004405],[0.010192,-0.019513,0.999758]] 2025-10-24T20:25:02.333Z,1761337502.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:02.490Z,1761337502.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648266,-0.761003,-0.025010],[0.761371,0.648229,0.010686],[0.008080,-0.025969,0.999630]] 2025-10-24T20:25:02.585Z,1761337502.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:02.838Z,1761337502.838 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:02.896Z,1761337502.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660683,-0.750179,-0.027006],[0.750649,0.660476,0.017257],[0.004891,-0.031674,0.999486]] 2025-10-24T20:25:03.092Z,1761337503.092 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:03.288Z,1761337503.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668616,-0.743055,-0.028679],[0.743608,0.668147,0.025052],[0.000547,-0.038076,0.999275]] 2025-10-24T20:25:03.341Z,1761337503.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:03.593Z,1761337503.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:03.692Z,1761337503.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671651,-0.740319,-0.028497],[0.740851,0.670878,0.032617],[-0.005030,-0.043019,0.999062]] 2025-10-24T20:25:03.845Z,1761337503.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:04.099Z,1761337504.099 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:04.143Z,1761337504.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669124,-0.742639,-0.027581],[0.743067,0.668029,0.039871],[-0.011184,-0.047173,0.998824]] 2025-10-24T20:25:04.348Z,1761337504.348 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:04.501Z,1761337504.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661367,-0.749619,-0.025803],[0.749863,0.660004,0.045830],[-0.017325,-0.049659,0.998616]] 2025-10-24T20:25:04.605Z,1761337504.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:04.857Z,1761337504.857 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:04.907Z,1761337504.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648120,-0.761175,-0.023503],[0.761194,0.646591,0.050046],[-0.022897,-0.050327,0.998470]] 2025-10-24T20:25:05.111Z,1761337505.111 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:05.309Z,1761337505.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631338,-0.775200,-0.021856],[0.775037,0.629722,0.052602],[-0.027014,-0.050149,0.998376]] 2025-10-24T20:25:05.361Z,1761337505.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:05.614Z,1761337505.614 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:05.715Z,1761337505.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.610782,-0.791570,-0.019027],[0.791247,0.609284,0.051966],[-0.029542,-0.046795,0.998468]] 2025-10-24T20:25:05.865Z,1761337505.865 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:06.119Z,1761337506.119 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:06.164Z,1761337506.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.560791,-0.827800,-0.016157],[0.827444,0.559649,0.046151],[-0.029162,-0.039250,0.998804]] 2025-10-24T20:25:06.369Z,1761337506.369 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:06.525Z,1761337506.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532515,-0.846292,-0.014756],[0.845984,0.531600,0.041385],[-0.027179,-0.034521,0.999034]] 2025-10-24T20:25:06.620Z,1761337506.620 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:06.873Z,1761337506.873 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:06.925Z,1761337506.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503180,-0.864083,-0.013042],[0.863851,0.502512,0.035259],[-0.023913,-0.029008,0.999293]] 2025-10-24T20:25:07.128Z,1761337507.128 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:07.328Z,1761337507.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473355,-0.880804,-0.010942],[0.880648,0.472918,0.028418],[-0.019856,-0.023088,0.999536]] 2025-10-24T20:25:07.377Z,1761337507.377 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:07.630Z,1761337507.630 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:07.732Z,1761337507.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444868,-0.895555,-0.008541],[0.895463,0.444617,0.021512],[-0.015468,-0.017218,0.999732]] 2025-10-24T20:25:07.882Z,1761337507.882 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:08.135Z,1761337508.135 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:08.189Z,1761337508.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418617,-0.908146,-0.005590],[0.908094,0.418501,0.014927],[-0.011216,-0.011325,0.999873]] 2025-10-24T20:25:08.385Z,1761337508.385 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:08.542Z,1761337508.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395180,-0.918601,-0.001998],[0.918578,0.395152,0.008317],[-0.006850,-0.005122,0.999963]] 2025-10-24T20:25:08.639Z,1761337508.639 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:08.893Z,1761337508.893 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:09.145Z,1761337509.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:09.347Z,1761337509.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359451,-0.933159,0.002894],[0.933162,0.359442,-0.003258],[0.002000,0.003872,0.999990]] 2025-10-24T20:25:09.397Z,1761337509.397 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:09.649Z,1761337509.649 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:09.753Z,1761337509.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347398,-0.937705,0.005025],[0.937695,0.347346,-0.008888],[0.006589,0.007799,0.999948]] 2025-10-24T20:25:09.901Z,1761337509.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:10.155Z,1761337510.155 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:10.217Z,1761337510.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339484,-0.940593,0.005879],[0.940546,0.339380,-0.013910],[0.011088,0.010252,0.999886]] 2025-10-24T20:25:10.405Z,1761337510.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:10.563Z,1761337510.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334880,-0.942236,0.006872],[0.942139,0.334711,-0.018518],[0.015148,0.012676,0.999805]] 2025-10-24T20:25:10.657Z,1761337510.657 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:10.909Z,1761337510.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:10.964Z,1761337510.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.334422,-0.942385,0.008487],[0.942244,0.334169,-0.022534],[0.018399,0.015533,0.999710]] 2025-10-24T20:25:11.163Z,1761337511.163 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:11.413Z,1761337511.413 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:11.665Z,1761337511.665 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:11.917Z,1761337511.917 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:12.168Z,1761337512.168 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:12.219Z,1761337512.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359774,-0.933000,0.008603],[0.932761,0.359427,-0.027717],[0.022768,0.017997,0.999579]] 2025-10-24T20:25:12.421Z,1761337512.421 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:12.582Z,1761337512.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.377171,-0.926108,0.008139],[0.925884,0.376842,-0.027009],[0.021946,0.017723,0.999602]] 2025-10-24T20:25:12.673Z,1761337512.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:12.925Z,1761337512.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:13.002Z,1761337513.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399125,-0.916870,0.006892],[0.916676,0.398854,-0.024915],[0.020095,0.016262,0.999666]] 2025-10-24T20:25:13.177Z,1761337513.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:13.430Z,1761337513.430 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:13.681Z,1761337513.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:13.791Z,1761337513.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451735,-0.892143,0.004082],[0.892049,0.451608,-0.017309],[0.013599,0.011461,0.999842]] 2025-10-24T20:25:13.936Z,1761337513.936 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:14.185Z,1761337514.185 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:14.213Z,1761337514.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481192,-0.876613,0.001865],[0.876562,0.481139,-0.012034],[0.009652,0.007425,0.999926]] 2025-10-24T20:25:14.437Z,1761337514.437 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:14.599Z,1761337514.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510273,-0.860012,-0.001119],[0.859993,0.510270,-0.006144],[0.005855,0.002173,0.999980]] 2025-10-24T20:25:14.689Z,1761337514.689 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:14.941Z,1761337514.941 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:15.003Z,1761337515.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538837,-0.842401,-0.003861],[0.842407,0.538841,-0.000129],[0.002190,-0.003183,0.999993]] 2025-10-24T20:25:15.194Z,1761337515.194 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:15.416Z,1761337515.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.566088,-0.824313,-0.007234],[0.824344,0.566054,0.006290],[-0.001090,-0.009524,0.999954]] 2025-10-24T20:25:15.445Z,1761337515.445 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:15.697Z,1761337515.697 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:15.811Z,1761337515.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.590824,-0.806736,-0.010191],[0.806790,0.590707,0.012417],[-0.003998,-0.015558,0.999871]] 2025-10-24T20:25:15.949Z,1761337515.949 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:16.201Z,1761337516.201 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:16.217Z,1761337516.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.612550,-0.790327,-0.012902],[0.790404,0.612308,0.018463],[-0.006692,-0.021507,0.999746]] 2025-10-24T20:25:16.453Z,1761337516.453 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:16.622Z,1761337516.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630509,-0.776042,-0.014743],[0.776126,0.630123,0.023954],[-0.009300,-0.026546,0.999604]] 2025-10-24T20:25:16.705Z,1761337516.705 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:16.957Z,1761337516.957 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:17.023Z,1761337517.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644872,-0.764113,-0.016456],[0.764199,0.644314,0.029308],[-0.011792,-0.031475,0.999435]] 2025-10-24T20:25:17.209Z,1761337517.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:17.437Z,1761337517.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654158,-0.756153,-0.017601],[0.756229,0.653439,0.033699],[-0.013980,-0.035355,0.999277]] 2025-10-24T20:25:17.461Z,1761337517.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:17.716Z,1761337517.716 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:17.834Z,1761337517.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659070,-0.751849,-0.018671],[0.751914,0.658198,0.037428],[-0.015851,-0.038707,0.999125]] 2025-10-24T20:25:17.965Z,1761337517.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:18.217Z,1761337518.217 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:18.235Z,1761337518.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658780,-0.752077,-0.019698],[0.752147,0.657804,0.039613],[-0.016835,-0.040912,0.999021]] 2025-10-24T20:25:18.469Z,1761337518.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:18.701Z,1761337518.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654243,-0.756003,-0.020626],[0.756087,0.653208,0.040641],[-0.017251,-0.042184,0.998961]] 2025-10-24T20:25:18.721Z,1761337518.721 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:18.973Z,1761337518.973 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:19.104Z,1761337519.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644627,-0.764190,-0.021701],[0.764321,0.643608,0.039770],[-0.016425,-0.042223,0.998973]] 2025-10-24T20:25:19.225Z,1761337519.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:19.477Z,1761337519.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:19.515Z,1761337519.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.631773,-0.774808,-0.023131],[0.775007,0.630794,0.038259],[-0.015053,-0.042098,0.999000]] 2025-10-24T20:25:19.730Z,1761337519.730 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:19.913Z,1761337519.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613993,-0.788944,-0.024078],[0.789205,0.613122,0.035181],[-0.012993,-0.040604,0.999091]] 2025-10-24T20:25:19.981Z,1761337519.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:20.233Z,1761337520.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:20.487Z,1761337520.487 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:20.729Z,1761337520.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546156,-0.837364,-0.023133],[0.837651,0.545683,0.023882],[-0.007375,-0.032421,0.999447]] 2025-10-24T20:25:20.737Z,1761337520.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:20.989Z,1761337520.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:21.130Z,1761337521.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518710,-0.854685,-0.021317],[0.854931,0.518366,0.019762],[-0.005840,-0.028475,0.999577]] 2025-10-24T20:25:21.241Z,1761337521.241 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:21.494Z,1761337521.494 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:21.528Z,1761337521.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489338,-0.871894,-0.018656],[0.872081,0.489102,0.015936],[-0.004770,-0.024068,0.999699]] 2025-10-24T20:25:21.745Z,1761337521.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:21.933Z,1761337521.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459986,-0.887790,-0.015553],[0.887917,0.459833,0.012498],[-0.003944,-0.019558,0.999801]] 2025-10-24T20:25:21.997Z,1761337521.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:22.249Z,1761337522.249 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:22.386Z,1761337522.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430656,-0.902436,-0.012007],[0.902511,0.430570,0.009141],[-0.003080,-0.014773,0.999886]] 2025-10-24T20:25:22.501Z,1761337522.501 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:22.752Z,1761337522.752 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:23.005Z,1761337523.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:23.160Z,1761337523.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378852,-0.925442,-0.005198],[0.925457,0.378844,0.002648],[-0.000481,-0.005814,0.999983]] 2025-10-24T20:25:23.257Z,1761337523.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:23.509Z,1761337523.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:23.556Z,1761337523.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357157,-0.934042,-0.002086],[0.934043,0.357159,-0.000932],[0.001615,-0.001616,0.999997]] 2025-10-24T20:25:23.761Z,1761337523.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:23.960Z,1761337523.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339570,-0.940581,0.000361],[0.940572,0.339565,-0.004579],[0.004184,0.001895,0.999989]] 2025-10-24T20:25:24.015Z,1761337524.015 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:24.264Z,1761337524.264 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:24.381Z,1761337524.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325119,-0.945669,0.002669],[0.945644,0.325085,-0.008766],[0.007422,0.005374,0.999958]] 2025-10-24T20:25:24.518Z,1761337524.518 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:24.759Z,1761337524.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315179,-0.949022,0.004333],[0.948970,0.315103,-0.012879],[0.010857,0.008171,0.999908]] 2025-10-24T20:25:24.769Z,1761337524.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:25.021Z,1761337525.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:25.274Z,1761337525.274 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:25.526Z,1761337525.526 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:25.777Z,1761337525.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:25.972Z,1761337525.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.308172,-0.951300,0.007597],[0.951112,0.307920,-0.023913],[0.020409,0.014595,0.999685]] 2025-10-24T20:25:26.030Z,1761337526.030 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:26.281Z,1761337526.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:26.382Z,1761337526.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314871,-0.949100,0.008040],[0.948884,0.314582,-0.025652],[0.021817,0.015706,0.999639]] 2025-10-24T20:25:26.534Z,1761337526.534 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:26.779Z,1761337526.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.325918,-0.945362,0.008266],[0.945128,0.325604,-0.026725],[0.022573,0.016522,0.999609]] 2025-10-24T20:25:26.785Z,1761337526.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:27.037Z,1761337527.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:27.183Z,1761337527.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.341718,-0.939771,0.007678],[0.939541,0.341419,-0.026379],[0.022169,0.016228,0.999623]] 2025-10-24T20:25:27.289Z,1761337527.289 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:27.541Z,1761337527.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:27.793Z,1761337527.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:27.993Z,1761337527.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386855,-0.922124,0.005505],[0.921949,0.386645,-0.022711],[0.018814,0.013861,0.999727]] 2025-10-24T20:25:28.045Z,1761337528.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:28.297Z,1761337528.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:28.398Z,1761337528.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414390,-0.910091,0.003877],[0.909952,0.414243,-0.019730],[0.016350,0.011704,0.999798]] 2025-10-24T20:25:28.550Z,1761337528.550 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:28.801Z,1761337528.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:28.807Z,1761337528.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444723,-0.895666,0.001995],[0.895564,0.444636,-0.016250],[0.013667,0.009013,0.999866]] 2025-10-24T20:25:29.053Z,1761337529.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:29.306Z,1761337529.306 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:29.557Z,1761337529.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:29.608Z,1761337529.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509453,-0.860492,-0.003252],[0.860450,0.509461,-0.008708],[0.009150,0.001638,0.999957]] 2025-10-24T20:25:29.809Z,1761337529.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:30.011Z,1761337530.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541425,-0.840725,-0.006369],[0.840715,0.541456,-0.004824],[0.007505,-0.002743,0.999968]] 2025-10-24T20:25:30.061Z,1761337530.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:30.313Z,1761337530.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:30.415Z,1761337530.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572735,-0.819681,-0.009870],[0.819715,0.572771,-0.000950],[0.006432,-0.007546,0.999951]] 2025-10-24T20:25:30.565Z,1761337530.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:30.816Z,1761337530.816 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:30.825Z,1761337530.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601494,-0.798763,-0.013523],[0.798859,0.601508,0.003403],[0.005416,-0.012850,0.999903]] 2025-10-24T20:25:31.069Z,1761337531.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:31.224Z,1761337531.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627079,-0.778769,-0.017050],[0.778945,0.627034,0.008518],[0.004058,-0.018622,0.999818]] 2025-10-24T20:25:31.321Z,1761337531.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:31.573Z,1761337531.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:31.631Z,1761337531.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648721,-0.760759,-0.020187],[0.761024,0.648559,0.014603],[0.001983,-0.024836,0.999690]] 2025-10-24T20:25:31.824Z,1761337531.824 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:32.034Z,1761337532.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665910,-0.745695,-0.022417],[0.746031,0.665553,0.021846],[-0.001371,-0.031271,0.999510]] 2025-10-24T20:25:32.093Z,1761337532.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:32.345Z,1761337532.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:32.597Z,1761337532.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:32.840Z,1761337532.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683815,-0.729301,-0.022754],[0.729549,0.682849,0.038429],[-0.012488,-0.042878,0.999002]] 2025-10-24T20:25:32.849Z,1761337532.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:33.101Z,1761337533.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:33.243Z,1761337533.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684000,-0.729163,-0.021562],[0.729216,0.682653,0.047220],[-0.019712,-0.048022,0.998652]] 2025-10-24T20:25:33.353Z,1761337533.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:33.605Z,1761337533.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:33.654Z,1761337533.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678771,-0.734106,-0.018939],[0.733857,0.677144,0.054135],[-0.026916,-0.050644,0.998354]] 2025-10-24T20:25:33.856Z,1761337533.856 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:34.051Z,1761337534.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667478,-0.744441,-0.016764],[0.743882,0.665630,0.059799],[-0.033358,-0.052385,0.998070]] 2025-10-24T20:25:34.109Z,1761337534.109 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:34.361Z,1761337534.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:34.455Z,1761337534.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652183,-0.757944,-0.013382],[0.757075,0.650332,0.062495],[-0.038665,-0.050890,0.997956]] 2025-10-24T20:25:34.619Z,1761337534.619 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:34.860Z,1761337534.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633296,-0.773839,-0.010511],[0.772742,0.631536,0.063490],[-0.042493,-0.048330,0.997927]] 2025-10-24T20:25:34.869Z,1761337534.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:34.898Z,1761337534.898 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V 2025-10-24T20:25:35.121Z,1761337535.121 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:35.263Z,1761337535.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611592,-0.791138,-0.007535],[0.789920,0.610059,0.062078],[-0.044516,-0.043919,0.998043]] 2025-10-24T20:25:35.373Z,1761337535.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:35.625Z,1761337535.625 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:35.672Z,1761337535.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585949,-0.810323,-0.006323],[0.809162,0.584652,0.058638],[-0.043819,-0.039476,0.998259]] 2025-10-24T20:25:35.877Z,1761337535.877 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:36.073Z,1761337536.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558714,-0.829343,-0.005402],[0.828324,0.557678,0.053619],[-0.041456,-0.034432,0.998547]] 2025-10-24T20:25:36.129Z,1761337536.129 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:36.381Z,1761337536.381 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:36.476Z,1761337536.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530511,-0.847662,-0.005188],[0.846869,0.529728,0.046919],[-0.037023,-0.029285,0.998885]] 2025-10-24T20:25:36.634Z,1761337536.634 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:36.885Z,1761337536.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:36.887Z,1761337536.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502900,-0.864330,-0.004997],[0.863779,0.502353,0.039068],[-0.031257,-0.023963,0.999224]] 2025-10-24T20:25:37.137Z,1761337537.137 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:37.285Z,1761337537.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.476914,-0.878941,-0.004083],[0.878599,0.476587,0.030461],[-0.024827,-0.018114,0.999528]] 2025-10-24T20:25:37.389Z,1761337537.389 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:37.641Z,1761337537.641 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:37.690Z,1761337537.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454038,-0.890978,-0.002628],[0.890790,0.453877,0.022097],[-0.018495,-0.012374,0.999752]] 2025-10-24T20:25:37.763Z,1761337537.763 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging. 2025-10-24T20:25:37.894Z,1761337537.894 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:38.102Z,1761337538.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417948,-0.908468,0.002271],[0.908442,0.417953,0.006937],[-0.007252,-0.000836,0.999973]] 2025-10-24T20:25:38.147Z,1761337538.147 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:38.397Z,1761337538.397 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:38.498Z,1761337538.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405467,-0.914098,0.004545],[0.914106,0.405475,0.000738],[-0.002517,0.003856,0.999989]] 2025-10-24T20:25:38.649Z,1761337538.649 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:38.901Z,1761337538.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:38.907Z,1761337538.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.395768,-0.918329,0.006278],[0.918349,0.395743,-0.004805],[0.001929,0.007667,0.999969]] 2025-10-24T20:25:39.153Z,1761337539.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:39.304Z,1761337539.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.389315,-0.921067,0.008307],[0.921089,0.389240,-0.009363],[0.005390,0.011297,0.999922]] 2025-10-24T20:25:39.405Z,1761337539.405 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:39.660Z,1761337539.660 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:39.716Z,1761337539.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385435,-0.922685,0.009596],[0.922700,0.385309,-0.012750],[0.008067,0.013769,0.999873]] 2025-10-24T20:25:39.909Z,1761337539.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:40.125Z,1761337540.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384568,-0.923037,0.010540],[0.923038,0.384389,-0.015692],[0.010433,0.015763,0.999821]] 2025-10-24T20:25:40.161Z,1761337540.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:40.413Z,1761337540.413 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:40.527Z,1761337540.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387853,-0.921657,0.010870],[0.921647,0.387645,-0.017276],[0.011709,0.016719,0.999792]] 2025-10-24T20:25:40.667Z,1761337540.667 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:40.917Z,1761337540.917 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:41.170Z,1761337541.170 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:41.332Z,1761337541.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408506,-0.912716,0.008519],[0.912672,0.408325,-0.017329],[0.012338,0.014854,0.999814]] 2025-10-24T20:25:41.421Z,1761337541.421 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:41.676Z,1761337541.676 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:41.742Z,1761337541.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425188,-0.905074,0.007482],[0.905033,0.425036,-0.016103],[0.011394,0.013618,0.999842]] 2025-10-24T20:25:41.927Z,1761337541.927 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:42.145Z,1761337542.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445275,-0.895372,0.006331],[0.895340,0.445159,-0.014164],[0.009864,0.011975,0.999880]] 2025-10-24T20:25:42.181Z,1761337542.181 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:42.433Z,1761337542.433 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:42.544Z,1761337542.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467610,-0.883922,0.004758],[0.883896,0.467533,-0.011833],[0.008235,0.009739,0.999919]] 2025-10-24T20:25:42.687Z,1761337542.687 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:42.937Z,1761337542.937 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:42.948Z,1761337542.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491968,-0.870608,0.002966],[0.870590,0.491927,-0.009026],[0.006399,0.007023,0.999955]] 2025-10-24T20:25:43.189Z,1761337543.189 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:43.351Z,1761337543.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516830,-0.856087,0.000960],[0.856076,0.516816,-0.005903],[0.004558,0.003873,0.999982]] 2025-10-24T20:25:43.442Z,1761337543.442 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:43.695Z,1761337543.695 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:43.754Z,1761337543.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540748,-0.841183,-0.001737],[0.841180,0.540751,-0.002267],[0.002847,-0.000235,0.999996]] 2025-10-24T20:25:43.946Z,1761337543.946 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:44.160Z,1761337544.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564259,-0.825581,-0.005298],[0.825597,0.564256,0.002316],[0.001077,-0.005681,0.999983]] 2025-10-24T20:25:44.197Z,1761337544.197 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:44.449Z,1761337544.449 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:44.584Z,1761337544.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585426,-0.810677,-0.008908],[0.810725,0.585381,0.007293],[-0.000698,-0.011492,0.999934]] 2025-10-24T20:25:44.704Z,1761337544.704 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:44.953Z,1761337544.953 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:44.973Z,1761337544.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604287,-0.796675,-0.012062],[0.796762,0.604161,0.012667],[-0.002804,-0.017266,0.999847]] 2025-10-24T20:25:45.205Z,1761337545.205 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:45.376Z,1761337545.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620016,-0.784455,-0.014494],[0.784569,0.619764,0.018533],[-0.005555,-0.022863,0.999723]] 2025-10-24T20:25:45.457Z,1761337545.457 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:45.712Z,1761337545.712 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:45.774Z,1761337545.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632076,-0.774733,-0.016387],[0.774857,0.631657,0.024610],[-0.008715,-0.028253,0.999563]] 2025-10-24T20:25:45.960Z,1761337545.960 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:46.213Z,1761337546.213 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:46.465Z,1761337546.465 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:46.590Z,1761337546.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643961,-0.764864,-0.017273],[0.764886,0.643171,0.035795],[-0.016268,-0.036263,0.999210]] 2025-10-24T20:25:46.719Z,1761337546.719 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:46.971Z,1761337546.971 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:46.988Z,1761337546.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643495,-0.765259,-0.017121],[0.765200,0.642552,0.039938],[-0.019562,-0.038801,0.999055]] 2025-10-24T20:25:47.225Z,1761337547.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:47.392Z,1761337547.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638707,-0.769283,-0.016021],[0.769127,0.637697,0.042258],[-0.022292,-0.039313,0.998978]] 2025-10-24T20:25:47.477Z,1761337547.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:47.732Z,1761337547.732 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:47.805Z,1761337547.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630330,-0.776192,-0.014489],[0.775958,0.629344,0.042607],[-0.023953,-0.038100,0.998987]] 2025-10-24T20:25:47.982Z,1761337547.982 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:48.209Z,1761337548.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619102,-0.785189,-0.013857],[0.784953,0.618190,0.041123],[-0.023723,-0.036336,0.999058]] 2025-10-24T20:25:48.230Z,1761337548.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-24T20:25:48.233Z,1761337548.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:48.485Z,1761337548.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:48.605Z,1761337548.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606942,-0.794626,-0.013834],[0.794430,0.606117,0.038766],[-0.022419,-0.034519,0.999153]] 2025-10-24T20:25:48.740Z,1761337548.740 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:48.989Z,1761337548.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:49.007Z,1761337549.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592631,-0.805353,-0.013972],[0.805228,0.591933,0.034963],[-0.019887,-0.031971,0.999291]] 2025-10-24T20:25:49.023Z,1761337549.023 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V 2025-10-24T20:25:49.240Z,1761337549.240 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:49.413Z,1761337549.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577384,-0.816352,-0.014070],[0.816300,0.576820,0.030554],[-0.016827,-0.029127,0.999434]] 2025-10-24T20:25:49.497Z,1761337549.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:49.751Z,1761337549.751 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:50.002Z,1761337550.002 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:50.239Z,1761337550.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539783,-0.841718,-0.012094],[0.841746,0.539521,0.019513],[-0.009899,-0.020713,0.999736]] 2025-10-24T20:25:50.253Z,1761337550.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:50.505Z,1761337550.505 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:50.623Z,1761337550.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519615,-0.854341,-0.010052],[0.854372,0.519466,0.014260],[-0.006961,-0.015997,0.999848]] 2025-10-24T20:25:50.760Z,1761337550.760 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:51.010Z,1761337551.010 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:51.027Z,1761337551.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.499997,-0.865995,-0.007531],[0.866015,0.499923,0.009763],[-0.004689,-0.011404,0.999924]] 2025-10-24T20:25:51.261Z,1761337551.260 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:51.514Z,1761337551.514 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:51.765Z,1761337551.765 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:51.857Z,1761337551.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465623,-0.884978,-0.003080],[0.884983,0.465615,0.002857],[-0.001094,-0.004056,0.999991]] 2025-10-24T20:25:52.018Z,1761337552.018 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:52.241Z,1761337552.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452426,-0.891801,-0.001476],[0.891802,0.452426,0.000521],[0.000203,-0.001552,0.999999]] 2025-10-24T20:25:52.269Z,1761337552.269 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:52.521Z,1761337552.521 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:52.773Z,1761337552.773 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:53.026Z,1761337553.026 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:53.052Z,1761337553.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435322,-0.900274,0.001009],[0.900272,0.435318,-0.003053],[0.002309,0.002237,0.999995]] 2025-10-24T20:25:53.277Z,1761337553.277 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:53.453Z,1761337553.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430943,-0.902377,0.002003],[0.902373,0.430931,-0.004522],[0.003217,0.003756,0.999988]] 2025-10-24T20:25:53.530Z,1761337553.530 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:53.781Z,1761337553.781 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:54.000Z,1761337554.000 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging. 2025-10-24T20:25:54.033Z,1761337554.033 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:54.285Z,1761337554.285 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:54.536Z,1761337554.536 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:54.675Z,1761337554.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442036,-0.896997,0.000257],[0.896980,0.442026,-0.006288],[0.005527,0.003011,0.999980]] 2025-10-24T20:25:54.791Z,1761337554.791 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:55.041Z,1761337555.041 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:55.081Z,1761337555.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451184,-0.892430,-0.001393],[0.892413,0.451185,-0.005511],[0.005547,0.001244,0.999984]] 2025-10-24T20:25:55.296Z,1761337555.296 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:55.473Z,1761337555.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461703,-0.887029,-0.003257],[0.887021,0.461713,-0.003901],[0.004964,-0.001088,0.999987]] 2025-10-24T20:25:55.546Z,1761337555.546 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:55.797Z,1761337555.797 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:56.050Z,1761337556.050 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:56.285Z,1761337556.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.486286,-0.873771,-0.007108],[0.873796,0.486292,0.000932],[0.002642,-0.006664,0.999974]] 2025-10-24T20:25:56.301Z,1761337556.301 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:56.553Z,1761337556.553 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:56.684Z,1761337556.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498982,-0.866562,-0.009320],[0.866611,0.498968,0.003933],[0.001242,-0.010039,0.999949]] 2025-10-24T20:25:56.805Z,1761337556.805 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:57.058Z,1761337557.058 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:57.087Z,1761337557.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.511269,-0.859336,-0.012096],[0.859421,0.511214,0.007500],[-0.000261,-0.014230,0.999899]] 2025-10-24T20:25:57.309Z,1761337557.309 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:57.491Z,1761337557.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522077,-0.852777,-0.014379],[0.852896,0.521963,0.011074],[-0.001939,-0.018045,0.999835]] 2025-10-24T20:25:57.562Z,1761337557.562 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:57.813Z,1761337557.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:57.946Z,1761337557.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531630,-0.846804,-0.017095],[0.846969,0.531429,0.015049],[-0.003659,-0.022480,0.999741]] 2025-10-24T20:25:58.066Z,1761337558.066 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:58.299Z,1761337558.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538059,-0.842690,-0.019110],[0.842888,0.537758,0.018877],[-0.005631,-0.026264,0.999639]] 2025-10-24T20:25:58.317Z,1761337558.317 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:58.569Z,1761337558.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:58.704Z,1761337558.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541821,-0.840239,-0.020727],[0.840459,0.541408,0.022509],[-0.007691,-0.029616,0.999532]] 2025-10-24T20:25:58.821Z,1761337558.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:59.073Z,1761337559.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:59.109Z,1761337559.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542171,-0.839987,-0.021722],[0.840206,0.541636,0.026156],[-0.010205,-0.032432,0.999422]] 2025-10-24T20:25:59.325Z,1761337559.325 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:59.513Z,1761337559.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539046,-0.841976,-0.022485],[0.842183,0.538397,0.029282],[-0.012549,-0.034720,0.999318]] 2025-10-24T20:25:59.577Z,1761337559.577 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:59.830Z,1761337559.830 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:25:59.961Z,1761337559.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532342,-0.846224,-0.022747],[0.846401,0.531602,0.031683],[-0.014718,-0.036120,0.999239]] 2025-10-24T20:26:00.082Z,1761337560.082 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:00.320Z,1761337560.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522103,-0.852581,-0.022666],[0.852726,0.521313,0.033021],[-0.016337,-0.036568,0.999198]] 2025-10-24T20:26:00.333Z,1761337560.333 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:00.586Z,1761337560.586 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:00.723Z,1761337560.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.508405,-0.860830,-0.022261],[0.860944,0.507612,0.033257],[-0.017329,-0.036073,0.999199]] 2025-10-24T20:26:00.837Z,1761337560.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:01.089Z,1761337561.089 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:01.136Z,1761337561.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.491507,-0.870604,-0.021690],[0.870704,0.490766,0.032000],[-0.017215,-0.034614,0.999252]] 2025-10-24T20:26:01.341Z,1761337561.341 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:01.532Z,1761337561.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472666,-0.881003,-0.020479],[0.881083,0.472013,0.029941],[-0.016712,-0.032196,0.999342]] 2025-10-24T20:26:01.593Z,1761337561.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:01.845Z,1761337561.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:01.958Z,1761337561.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451789,-0.891929,-0.018712],[0.891996,0.451267,0.026489],[-0.015182,-0.028659,0.999474]] 2025-10-24T20:26:02.097Z,1761337562.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:02.340Z,1761337562.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430367,-0.902499,-0.016713],[0.902553,0.429968,0.022921],[-0.013500,-0.024948,0.999598]] 2025-10-24T20:26:02.349Z,1761337562.349 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:02.601Z,1761337562.601 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:02.747Z,1761337562.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408554,-0.912621,-0.014380],[0.912666,0.408279,0.018691],[-0.011186,-0.020761,0.999722]] 2025-10-24T20:26:02.853Z,1761337562.853 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:03.105Z,1761337563.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:03.357Z,1761337563.357 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:03.551Z,1761337563.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367904,-0.929822,-0.008771],[0.929843,0.367817,0.010151],[-0.006213,-0.011890,0.999910]] 2025-10-24T20:26:03.609Z,1761337563.609 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:03.861Z,1761337563.861 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:04.053Z,1761337564.053 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 80.62, 79.94, 8WI,-32768,-32768,-32768,-32768,V 2025-10-24T20:26:04.115Z,1761337564.115 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:04.359Z,1761337564.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.335824,-0.941921,-0.002734],[0.941925,0.335820,0.001630],[-0.000617,-0.003123,0.999995]] 2025-10-24T20:26:04.365Z,1761337564.365 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:04.617Z,1761337564.617 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:04.766Z,1761337564.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.324465,-0.945898,-0.000163],[0.945894,0.324464,-0.002628],[0.002539,0.000699,0.999997]] 2025-10-24T20:26:04.870Z,1761337564.870 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:05.122Z,1761337565.122 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:05.171Z,1761337565.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316231,-0.948680,0.002110],[0.948664,0.316211,-0.006871],[0.005851,0.004174,0.999974]] 2025-10-24T20:26:05.373Z,1761337565.373 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:05.571Z,1761337565.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311858,-0.950120,0.003965],[0.950086,0.311802,-0.010770],[0.008997,0.007126,0.999934]] 2025-10-24T20:26:05.626Z,1761337565.626 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:05.878Z,1761337565.878 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:05.997Z,1761337565.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.311606,-0.950197,0.005319],[0.950138,0.311507,-0.014188],[0.011824,0.009475,0.999885]] 2025-10-24T20:26:06.130Z,1761337566.130 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:06.383Z,1761337566.383 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:06.387Z,1761337566.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314501,-0.949237,0.006159],[0.949149,0.314361,-0.017129],[0.014323,0.011233,0.999834]] 2025-10-24T20:26:06.638Z,1761337566.638 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:06.785Z,1761337566.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321686,-0.946824,0.006474],[0.946709,0.321515,-0.019232],[0.016128,0.012315,0.999794]] 2025-10-24T20:26:06.889Z,1761337566.889 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:07.141Z,1761337567.141 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:07.187Z,1761337567.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331884,-0.943296,0.006810],[0.943162,0.331687,-0.020720],[0.017286,0.013300,0.999762]] 2025-10-24T20:26:07.393Z,1761337567.393 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:07.591Z,1761337567.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346656,-0.937975,0.005643],[0.937823,0.346473,-0.021080],[0.017817,0.012599,0.999762]] 2025-10-24T20:26:07.658Z,1761337567.658 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:07.909Z,1761337567.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:07.995Z,1761337567.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364097,-0.931352,0.004062],[0.931189,0.363942,-0.020831],[0.017923,0.011367,0.999775]] 2025-10-24T20:26:08.163Z,1761337568.163 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:08.413Z,1761337568.413 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:08.664Z,1761337568.664 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:08.807Z,1761337568.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.408891,-0.912583,-0.000244],[0.912435,0.408829,-0.017923],[0.016457,0.007106,0.999839]] 2025-10-24T20:26:08.923Z,1761337568.923 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:09.177Z,1761337569.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:09.210Z,1761337569.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434264,-0.900781,-0.003008],[0.900654,0.434255,-0.015676],[0.015427,0.004099,0.999873]] 2025-10-24T20:26:09.429Z,1761337569.429 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:09.681Z,1761337569.681 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:09.933Z,1761337569.933 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:10.016Z,1761337570.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488124,-0.872733,-0.008495],[0.872686,0.488190,-0.009516],[0.012452,-0.002769,0.999919]] 2025-10-24T20:26:10.039Z,1761337570.039 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging. 2025-10-24T20:26:10.039Z,1761337570.039 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms, docking with charge only 2025-10-24T20:26:10.186Z,1761337570.186 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:10.437Z,1761337570.437 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:10.689Z,1761337570.689 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:10.824Z,1761337570.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538879,-0.842256,-0.014652],[0.842324,0.538965,-0.002452],[0.009962,-0.011020,0.999890]] 2025-10-24T20:26:10.942Z,1761337570.942 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:11.193Z,1761337571.193 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:11.236Z,1761337571.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561293,-0.827430,-0.017634],[0.827572,0.561358,0.001479],[0.008675,-0.015424,0.999843]] 2025-10-24T20:26:11.445Z,1761337571.445 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:11.649Z,1761337571.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596683,-0.802133,-0.023497],[0.802455,0.596627,0.010087],[0.005928,-0.024874,0.999673]] 2025-10-24T20:26:11.697Z,1761337571.697 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:11.949Z,1761337571.949 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:12.043Z,1761337572.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609198,-0.792601,-0.025713],[0.793010,0.609021,0.015137],[0.003663,-0.029612,0.999555]] 2025-10-24T20:26:12.201Z,1761337572.201 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:12.442Z,1761337572.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616794,-0.786667,-0.026819],[0.787124,0.616471,0.019992],[0.000806,-0.033440,0.999440]] 2025-10-24T20:26:12.453Z,1761337572.453 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:12.705Z,1761337572.705 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:12.843Z,1761337572.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.620588,-0.783660,-0.027366],[0.784133,0.620088,0.025046],[-0.002658,-0.037002,0.999312]] 2025-10-24T20:26:12.958Z,1761337572.958 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:13.208Z,1761337573.208 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:13.258Z,1761337573.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618924,-0.784988,-0.026956],[0.785423,0.618248,0.029686],[-0.006637,-0.039545,0.999196]] 2025-10-24T20:26:13.461Z,1761337573.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:13.651Z,1761337573.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613184,-0.789519,-0.025794],[0.789863,0.612339,0.034024],[-0.011068,-0.041237,0.999088]] 2025-10-24T20:26:13.713Z,1761337573.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:13.965Z,1761337573.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:14.055Z,1761337574.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601971,-0.798162,-0.023835],[0.798368,0.601013,0.037299],[-0.015445,-0.041482,0.999020]] 2025-10-24T20:26:14.217Z,1761337574.217 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:14.459Z,1761337574.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587222,-0.809125,-0.022083],[0.809205,0.586205,0.039393],[-0.018929,-0.041002,0.998980]] 2025-10-24T20:26:14.469Z,1761337574.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:14.721Z,1761337574.721 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:14.866Z,1761337574.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568370,-0.822514,-0.020645],[0.822499,0.567354,0.040057],[-0.021235,-0.039748,0.998984]] 2025-10-24T20:26:14.974Z,1761337574.974 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:15.225Z,1761337575.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:15.271Z,1761337575.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546711,-0.837116,-0.018545],[0.837014,0.545776,0.039199],[-0.022692,-0.036953,0.999059]] 2025-10-24T20:26:15.476Z,1761337575.476 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:15.673Z,1761337575.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521491,-0.853098,-0.016434],[0.852956,0.520699,0.036590],[-0.022658,-0.033098,0.999195]] 2025-10-24T20:26:15.729Z,1761337575.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:15.981Z,1761337575.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:16.076Z,1761337576.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.495292,-0.868599,-0.014854],[0.868459,0.494643,0.033277],[-0.021557,-0.029382,0.999336]] 2025-10-24T20:26:16.237Z,1761337576.237 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:16.484Z,1761337576.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467888,-0.883697,-0.012669],[0.883574,0.467410,0.028728],[-0.019465,-0.024635,0.999507]] 2025-10-24T20:26:16.489Z,1761337576.489 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:16.741Z,1761337576.741 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:16.892Z,1761337576.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441277,-0.897309,-0.010581],[0.897212,0.440946,0.024023],[-0.016890,-0.020094,0.999655]] 2025-10-24T20:26:16.993Z,1761337576.993 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:17.245Z,1761337577.245 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:17.291Z,1761337577.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415979,-0.909339,-0.007976],[0.909267,0.415780,0.018972],[-0.013936,-0.015144,0.999788]] 2025-10-24T20:26:17.497Z,1761337577.497 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:17.691Z,1761337577.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393458,-0.919326,-0.005466],[0.919279,0.393353,0.014130],[-0.010840,-0.010584,0.999885]] 2025-10-24T20:26:17.749Z,1761337577.749 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:18.001Z,1761337578.001 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:18.098Z,1761337578.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373547,-0.927608,-0.002388],[0.927579,0.373511,0.009272],[-0.007709,-0.005678,0.999954]] 2025-10-24T20:26:18.253Z,1761337578.253 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:18.500Z,1761337578.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357943,-0.933743,0.000355],[0.933732,0.357941,0.004836],[-0.004642,-0.001399,0.999988]] 2025-10-24T20:26:18.509Z,1761337578.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:18.761Z,1761337578.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:18.907Z,1761337578.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345488,-0.938420,0.002201],[0.938422,0.345491,0.000734],[-0.001450,0.001812,0.999997]] 2025-10-24T20:26:19.013Z,1761337579.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:19.265Z,1761337579.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:19.517Z,1761337579.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:19.713Z,1761337579.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332890,-0.942954,0.004615],[0.942951,0.332853,-0.007274],[0.005323,0.006773,0.999963]] 2025-10-24T20:26:19.769Z,1761337579.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:20.020Z,1761337580.020 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:20.116Z,1761337580.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.331212,-0.943541,0.005381],[0.943515,0.331139,-0.011226],[0.008810,0.008796,0.999923]] 2025-10-24T20:26:20.273Z,1761337580.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:20.519Z,1761337580.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.332440,-0.943106,0.005852],[0.943045,0.332325,-0.015066],[0.012264,0.010527,0.999869]] 2025-10-24T20:26:20.524Z,1761337580.524 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:20.777Z,1761337580.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:20.924Z,1761337580.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336702,-0.941596,0.005344],[0.941486,0.336559,-0.018206],[0.015344,0.011162,0.999820]] 2025-10-24T20:26:21.030Z,1761337581.030 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:21.281Z,1761337581.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:21.330Z,1761337581.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343982,-0.938963,0.004943],[0.938807,0.343815,-0.020822],[0.017851,0.011803,0.999771]] 2025-10-24T20:26:21.534Z,1761337581.534 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:21.739Z,1761337581.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354507,-0.935046,0.003724],[0.934846,0.354342,-0.022464],[0.019686,0.011445,0.999741]] 2025-10-24T20:26:21.785Z,1761337581.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:22.037Z,1761337582.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:22.137Z,1761337582.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367286,-0.930105,0.002531],[0.929880,0.367134,-0.023124],[0.020578,0.010846,0.999729]] 2025-10-24T20:26:22.292Z,1761337582.292 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:22.541Z,1761337582.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:22.546Z,1761337582.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383392,-0.923585,0.000599],[0.923352,0.383281,-0.022710],[0.020745,0.009260,0.999742]] 2025-10-24T20:26:22.793Z,1761337582.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:23.045Z,1761337583.045 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:23.298Z,1761337583.298 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:23.348Z,1761337583.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422038,-0.906576,-0.001944],[0.906395,0.421995,-0.019208],[0.018234,0.006345,0.999814]] 2025-10-24T20:26:23.549Z,1761337583.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:23.755Z,1761337583.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443502,-0.896268,-0.003044],[0.896130,0.443489,-0.016351],[0.016005,0.004524,0.999862]] 2025-10-24T20:26:23.801Z,1761337583.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:24.053Z,1761337584.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:24.155Z,1761337584.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466425,-0.884552,-0.003907],[0.884458,0.466434,-0.013166],[0.013468,0.002686,0.999906]] 2025-10-24T20:26:24.314Z,1761337584.314 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:24.561Z,1761337584.561 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:24.566Z,1761337584.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490333,-0.871521,-0.005064],[0.871467,0.490359,-0.009620],[0.010867,0.000304,0.999941]] 2025-10-24T20:26:24.813Z,1761337584.813 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:24.964Z,1761337584.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514458,-0.857495,-0.006045],[0.857475,0.514489,-0.006086],[0.008329,-0.002053,0.999963]] 2025-10-24T20:26:25.065Z,1761337585.065 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:25.319Z,1761337585.319 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:25.368Z,1761337585.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539065,-0.842225,-0.008102],[0.842241,0.539097,-0.002277],[0.006285,-0.005597,0.999965]] 2025-10-24T20:26:25.569Z,1761337585.569 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:25.821Z,1761337585.821 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:26.073Z,1761337586.073 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:26.177Z,1761337586.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585378,-0.810672,-0.011988],[0.810755,0.585365,0.004921],[0.003027,-0.012600,0.999916]] 2025-10-24T20:26:26.201Z,1761337586.201 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide check interval over, but still charging. Extending check until no longer charging. 2025-10-24T20:26:26.201Z,1761337586.201 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms, docking with charge only 2025-10-24T20:26:26.329Z,1761337586.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:26.578Z,1761337586.578 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:26.588Z,1761337586.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606316,-0.795098,-0.014166],[0.795223,0.606246,0.009271],[0.001217,-0.016886,0.999857]] 2025-10-24T20:26:26.829Z,1761337586.829 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:26.984Z,1761337586.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624277,-0.781047,-0.015626],[0.781203,0.624128,0.013653],[-0.000911,-0.020730,0.999785]] 2025-10-24T20:26:27.081Z,1761337587.081 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:27.335Z,1761337587.335 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:27.390Z,1761337587.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639599,-0.768532,-0.016470],[0.768700,0.639341,0.018544],[-0.003722,-0.024522,0.999692]] 2025-10-24T20:26:27.585Z,1761337587.585 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:27.791Z,1761337587.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650992,-0.758901,-0.016689],[0.759053,0.650608,0.023398],[-0.006899,-0.027899,0.999587]] 2025-10-24T20:26:27.837Z,1761337587.837 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:28.089Z,1761337588.089 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:28.196Z,1761337588.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658818,-0.752121,-0.016532],[0.752225,0.658274,0.028870],[-0.010831,-0.031456,0.999446]] 2025-10-24T20:26:28.343Z,1761337588.343 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:28.593Z,1761337588.593 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:28.601Z,1761337588.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662549,-0.748853,-0.015775],[0.748874,0.661860,0.033599],[-0.014720,-0.034075,0.999311]] 2025-10-24T20:26:28.845Z,1761337588.845 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:29.021Z,1761337589.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658462,-0.752497,-0.013277],[0.752300,0.657575,0.040495],[-0.021742,-0.036653,0.999092]] 2025-10-24T20:26:29.097Z,1761337589.097 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:29.352Z,1761337589.352 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:29.417Z,1761337589.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651239,-0.758780,-0.011864],[0.758485,0.650327,0.042124],[-0.024248,-0.036431,0.999042]] 2025-10-24T20:26:29.601Z,1761337589.601 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:29.810Z,1761337589.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640602,-0.767801,-0.010552],[0.767458,0.639744,0.041664],[-0.025239,-0.034788,0.999076]] 2025-10-24T20:26:29.853Z,1761337589.853 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:30.105Z,1761337590.105 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:30.216Z,1761337590.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627353,-0.778678,-0.009399],[0.778328,0.626589,0.039896],[-0.025177,-0.032344,0.999160]] 2025-10-24T20:26:30.366Z,1761337590.366 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:30.616Z,1761337590.616 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:30.627Z,1761337590.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611466,-0.791221,-0.008897],[0.790926,0.610829,0.036390],[-0.023358,-0.029288,0.999298]] 2025-10-24T20:26:30.869Z,1761337590.869 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:31.023Z,1761337591.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594302,-0.804192,-0.008958],[0.803981,0.593789,0.032073],[-0.020474,-0.026263,0.999445]] 2025-10-24T20:26:31.121Z,1761337591.121 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:31.376Z,1761337591.376 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:31.431Z,1761337591.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576016,-0.817390,-0.008850],[0.817268,0.575642,0.026627],[-0.016671,-0.022571,0.999606]] 2025-10-24T20:26:31.625Z,1761337591.625 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:31.836Z,1761337591.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556769,-0.830622,-0.008653],[0.830576,0.556524,0.020601],[-0.012296,-0.018657,0.999750]] 2025-10-24T20:26:31.878Z,1761337591.878 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:32.129Z,1761337592.129 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:32.238Z,1761337592.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538264,-0.842741,-0.007753],[0.842741,0.538134,0.014153],[-0.007756,-0.014152,0.999870]] 2025-10-24T20:26:32.384Z,1761337592.384 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:32.634Z,1761337592.634 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:32.644Z,1761337592.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.520265,-0.853983,-0.006114],[0.853997,0.520217,0.007940],[-0.003600,-0.009353,0.999950]] 2025-10-24T20:26:32.885Z,1761337592.885 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:33.054Z,1761337593.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504515,-0.863391,-0.004628],[0.863403,0.504508,0.002546],[0.000137,-0.005280,0.999986]] 2025-10-24T20:26:33.137Z,1761337593.137 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:33.391Z,1761337593.391 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:33.460Z,1761337593.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.490822,-0.871256,-0.002538],[0.871254,0.490827,-0.002132],[0.003104,-0.001164,0.999995]] 2025-10-24T20:26:33.641Z,1761337593.641 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:33.853Z,1761337593.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.479804,-0.877376,-0.000390],[0.877358,0.479797,-0.006107],[0.005545,0.002588,0.999981]] 2025-10-24T20:26:33.904Z,1761337593.904 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:34.145Z,1761337594.145 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:34.255Z,1761337594.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472403,-0.881382,0.001213],[0.881351,0.472374,-0.009121],[0.007466,0.005378,0.999958]] 2025-10-24T20:26:34.397Z,1761337594.397 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:34.649Z,1761337594.649 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:34.660Z,1761337594.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.467910,-0.883773,0.002287],[0.883728,0.467855,-0.011678],[0.009250,0.007486,0.999929]] 2025-10-24T20:26:34.901Z,1761337594.901 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:35.064Z,1761337595.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466833,-0.884342,0.002573],[0.884283,0.466764,-0.013205],[0.010476,0.008440,0.999909]] 2025-10-24T20:26:35.153Z,1761337595.153 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:35.404Z,1761337595.404 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:35.487Z,1761337595.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468472,-0.883473,0.002947],[0.883400,0.468384,-0.014830],[0.011722,0.009551,0.999886]] 2025-10-24T20:26:35.657Z,1761337595.657 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:35.875Z,1761337595.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.473821,-0.880616,0.002924],[0.880529,0.473720,-0.016056],[0.012754,0.010182,0.999867]] 2025-10-24T20:26:35.909Z,1761337595.909 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:36.161Z,1761337596.161 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:36.275Z,1761337596.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482521,-0.875882,0.002015],[0.875781,0.482428,-0.016455],[0.013441,0.009704,0.999863]] 2025-10-24T20:26:36.413Z,1761337596.413 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:36.666Z,1761337596.666 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:36.682Z,1761337596.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494503,-0.869175,0.001383],[0.869069,0.494417,-0.016459],[0.013622,0.009341,0.999864]] 2025-10-24T20:26:36.917Z,1761337596.917 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:37.083Z,1761337597.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.509762,-0.860315,0.000185],[0.860217,0.509701,-0.015208],[0.012990,0.007912,0.999884]] 2025-10-24T20:26:37.169Z,1761337597.169 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:37.423Z,1761337597.423 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:37.513Z,1761337597.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527307,-0.849674,-0.001215],[0.849593,0.527275,-0.013163],[0.011825,0.005909,0.999913]] 2025-10-24T20:26:37.673Z,1761337597.673 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:37.900Z,1761337597.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546622,-0.837374,-0.002984],[0.837319,0.546622,-0.010016],[0.010019,0.002976,0.999945]] 2025-10-24T20:26:37.925Z,1761337597.925 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:38.177Z,1761337598.177 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:38.297Z,1761337598.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567217,-0.823555,-0.004658],[0.823535,0.567236,-0.005723],[0.007356,-0.000590,0.999973]] 2025-10-24T20:26:38.430Z,1761337598.430 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:38.682Z,1761337598.682 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:38.710Z,1761337598.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587061,-0.809519,-0.006149],[0.809531,0.587077,-0.000908],[0.004345,-0.004444,0.999981]] 2025-10-24T20:26:38.933Z,1761337598.933 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:39.108Z,1761337599.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.606230,-0.795251,-0.007788],[0.795289,0.606213,0.004731],[0.000959,-0.009061,0.999958]] 2025-10-24T20:26:39.186Z,1761337599.186 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:39.437Z,1761337599.437 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:39.541Z,1761337599.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623728,-0.781586,-0.009295],[0.781636,0.623638,0.010937],[-0.002751,-0.014087,0.999897]] 2025-10-24T20:26:39.689Z,1761337599.689 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:39.912Z,1761337599.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638826,-0.769282,-0.010319],[0.769322,0.638629,0.017242],[-0.006674,-0.018953,0.999798]] 2025-10-24T20:26:39.941Z,1761337599.941 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:40.193Z,1761337600.193 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:40.315Z,1761337600.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651965,-0.758163,-0.011417],[0.758173,0.651611,0.024027],[-0.010777,-0.024321,0.999646]] 2025-10-24T20:26:40.452Z,1761337600.452 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:40.697Z,1761337600.697 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:40.734Z,1761337600.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661500,-0.749850,-0.011948],[0.749802,0.660977,0.030103],[-0.014676,-0.028872,0.999475]] 2025-10-24T20:26:40.786Z,1761337600.786 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DOCKED at depth of 65.994881 with power and without comms 2025-10-24T20:26:40.950Z,1761337600.950 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:41.135Z,1761337601.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668377,-0.743720,-0.012374],[0.743592,0.667662,0.036032],[-0.018536,-0.033285,0.999274]] 2025-10-24T20:26:41.151Z,1761337601.151 [lineCaptureHoming:Lap] Stopped 2025-10-24T20:26:41.152Z,1761337601.152 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap 2025-10-24T20:26:41.152Z,1761337601.152 [lineCaptureHoming:Lap:Docked] Stopped 2025-10-24T20:26:41.152Z,1761337601.152 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked 2025-10-24T20:26:41.152Z,1761337601.152 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped 2025-10-24T20:26:41.157Z,1761337601.157 [lineCaptureHoming](INFO): Completed lineCaptureHoming 2025-10-24T20:26:41.157Z,1761337601.157 [MissionManager](INFO): lineCaptureHoming is completed. 2025-10-24T20:26:41.157Z,1761337601.157 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming 2025-10-24T20:26:41.157Z,1761337601.157 [lineCaptureHoming] Stopped 2025-10-24T20:26:41.157Z,1761337601.157 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science] Stopped 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science:B] Stopped 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science:C] Stopped 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science:E] Stopped 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science:F] Stopped 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science:OceanCurrent] Stopped 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped 2025-10-24T20:26:41.158Z,1761337601.158 [lineCaptureHoming:StandardEnvelopes] Stopped 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:MicromodemComms] Stopped 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped 2025-10-24T20:26:41.159Z,1761337601.159 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn 2025-10-24T20:26:41.160Z,1761337601.160 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped 2025-10-24T20:26:41.160Z,1761337601.160 [lineCaptureHoming:TrackAC.] Stopped 2025-10-24T20:26:41.160Z,1761337601.160 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-24T20:26:41.200Z,1761337601.200 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:41.249Z,1761337601.249 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl 2025-10-24T20:26:41.453Z,1761337601.453 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:41.490Z,1761337601.490 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl 2025-10-24T20:26:41.490Z,1761337601.490 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl 2025-10-24T20:26:41.513Z,1761337601.513 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl 2025-10-24T20:26:41.624Z,1761337601.624 [WetLabsBB2FL](INFO): Powering down 2025-10-24T20:26:41.677Z,1761337601.677 [WetLabsUBAT](INFO): Powering down 2025-10-24T20:26:41.697Z,1761337601.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671072,-0.741293,-0.012125],[0.740986,0.670073,0.044078],[-0.024550,-0.038564,0.998955]] 2025-10-24T20:26:41.705Z,1761337601.705 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:41.957Z,1761337601.957 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:42.059Z,1761337602.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665028,-0.746715,-0.012420],[0.746374,0.663967,0.045535],[-0.025755,-0.039552,0.998886]] 2025-10-24T20:26:42.209Z,1761337602.209 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:42.461Z,1761337602.461 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:42.467Z,1761337602.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652586,-0.757614,-0.012344],[0.757256,0.651537,0.045417],[-0.026366,-0.038986,0.998892]] 2025-10-24T20:26:42.713Z,1761337602.713 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:42.870Z,1761337602.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636470,-0.771191,-0.013055],[0.770871,0.635459,0.044158],[-0.025758,-0.038168,0.998939]] 2025-10-24T20:26:42.965Z,1761337602.965 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:43.217Z,1761337603.217 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:43.271Z,1761337603.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.616505,-0.787225,-0.014054],[0.786982,0.615572,0.041591],[-0.024090,-0.036701,0.999036]] 2025-10-24T20:26:43.469Z,1761337603.469 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:43.677Z,1761337603.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.594205,-0.804168,-0.015307],[0.804017,0.593362,0.038451],[-0.021838,-0.035155,0.999143]] 2025-10-24T20:26:43.721Z,1761337603.721 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:43.973Z,1761337603.973 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:44.079Z,1761337604.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569799,-0.821631,-0.015859],[0.821554,0.569077,0.034651],[-0.019445,-0.032773,0.999274]] 2025-10-24T20:26:44.225Z,1761337604.225 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:44.477Z,1761337604.477 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:44.485Z,1761337604.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545837,-0.837746,-0.015630],[0.837715,0.545244,0.030721],[-0.017215,-0.029862,0.999406]] 2025-10-24T20:26:44.729Z,1761337604.729 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:44.887Z,1761337604.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517494,-0.855559,-0.014770],[0.855551,0.517027,0.026744],[-0.015245,-0.026477,0.999533]] 2025-10-24T20:26:44.981Z,1761337604.981 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:45.233Z,1761337605.233 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:45.292Z,1761337605.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493098,-0.869872,-0.013273],[0.869868,0.492743,0.023129],[-0.013579,-0.022950,0.999644]] 2025-10-24T20:26:45.485Z,1761337605.485 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:45.737Z,1761337605.737 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:45.989Z,1761337605.989 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:46.241Z,1761337606.241 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:46.471Z,1761337606.471 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . 2025-10-24T20:26:46.479Z,1761337606.479 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h 2025-10-24T20:26:46.492Z,1761337606.492 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:46.504Z,1761337606.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430357,-0.902638,-0.006048],[0.902591,0.430234,0.015098],[-0.011025,-0.011956,0.999868]] 2025-10-24T20:26:46.527Z,1761337606.527 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s 2025-10-24T20:26:46.548Z,1761337606.548 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s 2025-10-24T20:26:46.560Z,1761337606.560 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min 2025-10-24T20:26:46.572Z,1761337606.572 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count 2025-10-24T20:26:46.582Z,1761337606.582 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count 2025-10-24T20:26:46.630Z,1761337606.630 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 290.000000 m 2025-10-24T20:26:46.661Z,1761337606.661 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m 2025-10-24T20:26:46.668Z,1761337606.668 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km 2025-10-24T20:26:46.676Z,1761337606.676 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool 2025-10-24T20:26:46.684Z,1761337606.684 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h 2025-10-24T20:26:46.689Z,1761337606.689 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool 2025-10-24T20:26:46.693Z,1761337606.693 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h 2025-10-24T20:26:46.694Z,1761337606.694 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-10-24T20:26:46.694Z,1761337606.694 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-10-24T20:26:46.695Z,1761337606.695 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-10-24T20:26:46.745Z,1761337606.745 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:46.829Z,1761337606.829 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-10-24T20:26:46.839Z,1761337606.839 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m 2025-10-24T20:26:46.847Z,1761337606.847 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-10-24T20:26:46.859Z,1761337606.859 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m 2025-10-24T20:26:46.863Z,1761337606.863 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-10-24T20:26:46.872Z,1761337606.872 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-10-24T20:26:46.880Z,1761337606.880 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-10-24T20:26:46.907Z,1761337606.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412982,-0.910729,-0.004335],[0.910684,0.412900,0.012968],[-0.010020,-0.009304,0.999907]] 2025-10-24T20:26:46.961Z,1761337606.961 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-10-24T20:26:46.997Z,1761337606.997 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:47.022Z,1761337607.022 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-24T20:26:47.022Z,1761337607.022 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-24T20:26:47.028Z,1761337607.028 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-24T20:26:47.073Z,1761337607.073 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-24T20:26:47.082Z,1761337607.082 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2025-10-24T20:26:47.089Z,1761337607.089 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-24T20:26:47.096Z,1761337607.096 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-24T20:26:47.096Z,1761337607.096 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-24T20:26:47.097Z,1761337607.097 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-24T20:26:47.249Z,1761337607.249 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:47.311Z,1761337607.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398222,-0.917285,-0.002529],[0.917247,0.398176,0.010691],[-0.008799,-0.006577,0.999940]] 2025-10-24T20:26:47.357Z,1761337607.357 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-24T20:26:47.371Z,1761337607.371 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool 2025-10-24T20:26:47.375Z,1761337607.375 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool 2025-10-24T20:26:47.393Z,1761337607.393 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool 2025-10-24T20:26:47.398Z,1761337607.398 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool 2025-10-24T20:26:47.440Z,1761337607.440 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-24T20:26:47.464Z,1761337607.464 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-24T20:26:47.476Z,1761337607.476 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait. 2025-10-24T20:26:47.479Z,1761337607.479 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-10-24T20:26:47.479Z,1761337607.479 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-10-24T20:26:47.493Z,1761337607.493 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-10-24T20:26:47.501Z,1761337607.501 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:47.716Z,1761337607.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385828,-0.922570,-0.001486],[0.922543,0.385803,0.008454],[-0.007226,-0.004633,0.999963]] 2025-10-24T20:26:47.753Z,1761337607.753 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:48.005Z,1761337608.005 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:48.119Z,1761337608.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375947,-0.926641,-0.000484],[0.926624,0.375937,0.006280],[-0.005638,-0.002809,0.999980]] 2025-10-24T20:26:48.257Z,1761337608.257 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:48.509Z,1761337608.509 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:48.527Z,1761337608.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368582,-0.929595,0.000718],[0.929584,0.368582,0.004567],[-0.004510,-0.001016,0.999989]] 2025-10-24T20:26:48.761Z,1761337608.761 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:48.927Z,1761337608.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363562,-0.931568,0.001889],[0.931563,0.363566,0.003230],[-0.003696,0.000586,0.999993]] 2025-10-24T20:26:49.013Z,1761337609.013 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:49.265Z,1761337609.265 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:49.331Z,1761337609.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361264,-0.932460,0.002587],[0.932458,0.361270,0.002481],[-0.003248,0.001516,0.999994]] 2025-10-24T20:26:49.517Z,1761337609.517 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:49.735Z,1761337609.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361138,-0.932506,0.003303],[0.932508,0.361145,0.001832],[-0.002901,0.002418,0.999993]] 2025-10-24T20:26:49.769Z,1761337609.769 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:50.021Z,1761337610.021 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:50.141Z,1761337610.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.363801,-0.931468,0.004101],[0.931470,0.363811,0.002287],[-0.003623,0.002988,0.999989]] 2025-10-24T20:26:50.273Z,1761337610.273 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:50.525Z,1761337610.525 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:50.543Z,1761337610.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368732,-0.929526,0.004234],[0.929523,0.368747,0.003443],[-0.004761,0.002666,0.999985]] 2025-10-24T20:26:50.777Z,1761337610.777 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:51.029Z,1761337611.029 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:51.281Z,1761337611.281 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:51.352Z,1761337611.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385295,-0.922784,0.004200],[0.922761,0.385316,0.006587],[-0.007697,0.001338,0.999969]] 2025-10-24T20:26:51.533Z,1761337611.533 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:51.724Z,1761337611.724 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-10-24T20:26:51.770Z,1761337611.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.396495,-0.918029,0.003727],[0.917990,0.396513,0.008489],[-0.009271,0.000055,0.999957]] 2025-10-24T20:26:51.785Z,1761337611.785 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:51.826Z,1761337611.826 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool 2025-10-24T20:26:51.833Z,1761337611.833 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 bool 2025-10-24T20:26:51.837Z,1761337611.837 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool 2025-10-24T20:26:51.861Z,1761337611.861 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min 2025-10-24T20:26:51.872Z,1761337611.872 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool 2025-10-24T20:26:51.884Z,1761337611.884 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool 2025-10-24T20:26:51.887Z,1761337611.887 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool 2025-10-24T20:26:51.906Z,1761337611.906 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool 2025-10-24T20:26:51.928Z,1761337611.928 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count 2025-10-24T20:26:51.937Z,1761337611.937 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count 2025-10-24T20:26:51.943Z,1761337611.943 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 % 2025-10-24T20:26:51.959Z,1761337611.959 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool 2025-10-24T20:26:51.963Z,1761337611.963 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool 2025-10-24T20:26:51.979Z,1761337611.979 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool 2025-10-24T20:26:51.982Z,1761337611.982 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool 2025-10-24T20:26:51.994Z,1761337611.994 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-24T20:26:52.009Z,1761337612.009 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-24T20:26:52.013Z,1761337612.013 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-24T20:26:52.032Z,1761337612.032 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-24T20:26:52.037Z,1761337612.037 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:52.040Z,1761337612.040 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-10-24T20:26:52.043Z,1761337612.043 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-10-24T20:26:52.051Z,1761337612.051 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-24T20:26:52.065Z,1761337612.065 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-24T20:26:52.084Z,1761337612.084 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-10-24T20:26:52.089Z,1761337612.089 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool 2025-10-24T20:26:52.101Z,1761337612.101 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool 2025-10-24T20:26:52.106Z,1761337612.106 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool 2025-10-24T20:26:52.123Z,1761337612.123 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool 2025-10-24T20:26:52.140Z,1761337612.140 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool 2025-10-24T20:26:52.147Z,1761337612.147 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-10-24T20:26:52.178Z,1761337612.178 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 1 bool 2025-10-24T20:26:52.195Z,1761337612.195 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count 2025-10-24T20:26:52.214Z,1761337612.214 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count 2025-10-24T20:26:52.218Z,1761337612.218 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m 2025-10-24T20:26:52.230Z,1761337612.230 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m 2025-10-24T20:26:52.255Z,1761337612.255 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-10-24T20:26:52.263Z,1761337612.263 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan % 2025-10-24T20:26:52.293Z,1761337612.293 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:52.300Z,1761337612.300 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan % 2025-10-24T20:26:52.308Z,1761337612.308 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l 2025-10-24T20:26:52.316Z,1761337612.316 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count 2025-10-24T20:26:52.319Z,1761337612.319 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool 2025-10-24T20:26:52.331Z,1761337612.331 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l 2025-10-24T20:26:52.339Z,1761337612.339 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l 2025-10-24T20:26:52.351Z,1761337612.351 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count 2025-10-24T20:26:52.355Z,1761337612.355 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-10-24T20:26:52.359Z,1761337612.359 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-10-24T20:26:52.371Z,1761337612.371 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-10-24T20:26:52.379Z,1761337612.379 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-10-24T20:26:52.389Z,1761337612.389 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool 2025-10-24T20:26:52.393Z,1761337612.393 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l 2025-10-24T20:26:52.398Z,1761337612.398 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m 2025-10-24T20:26:52.410Z,1761337612.410 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC 2025-10-24T20:26:52.434Z,1761337612.434 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg 2025-10-24T20:26:52.439Z,1761337612.439 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg 2025-10-24T20:26:52.455Z,1761337612.455 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l 2025-10-24T20:26:52.459Z,1761337612.459 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m 2025-10-24T20:26:52.483Z,1761337612.483 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l 2025-10-24T20:26:52.491Z,1761337612.491 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m 2025-10-24T20:26:52.503Z,1761337612.503 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC 2025-10-24T20:26:52.515Z,1761337612.515 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg 2025-10-24T20:26:52.531Z,1761337612.531 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg 2025-10-24T20:26:52.541Z,1761337612.541 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:52.549Z,1761337612.549 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l 2025-10-24T20:26:52.575Z,1761337612.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423804,-0.905753,0.001441],[0.905670,0.423786,0.012921],[-0.012314,-0.004171,0.999915]] 2025-10-24T20:26:52.593Z,1761337612.593 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m 2025-10-24T20:26:52.624Z,1761337612.624 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg 2025-10-24T20:26:52.636Z,1761337612.636 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg 2025-10-24T20:26:52.645Z,1761337612.645 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3 2025-10-24T20:26:52.655Z,1761337612.655 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m 2025-10-24T20:26:52.674Z,1761337612.674 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg 2025-10-24T20:26:52.698Z,1761337612.698 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg 2025-10-24T20:26:52.749Z,1761337612.749 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb 2025-10-24T20:26:52.764Z,1761337612.764 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m 2025-10-24T20:26:52.772Z,1761337612.772 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC 2025-10-24T20:26:52.780Z,1761337612.780 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg 2025-10-24T20:26:52.788Z,1761337612.788 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg 2025-10-24T20:26:52.793Z,1761337612.793 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:52.796Z,1761337612.796 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu 2025-10-24T20:26:52.803Z,1761337612.803 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m 2025-10-24T20:26:52.807Z,1761337612.807 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC 2025-10-24T20:26:52.811Z,1761337612.811 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg 2025-10-24T20:26:52.823Z,1761337612.823 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg 2025-10-24T20:26:52.831Z,1761337612.831 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-10-24T20:26:52.839Z,1761337612.839 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-10-24T20:26:52.849Z,1761337612.849 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-10-24T20:26:52.853Z,1761337612.853 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-10-24T20:26:52.857Z,1761337612.857 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-10-24T20:26:52.869Z,1761337612.869 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-10-24T20:26:52.875Z,1761337612.875 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-10-24T20:26:52.889Z,1761337612.889 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-10-24T20:26:52.893Z,1761337612.893 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-10-24T20:26:52.917Z,1761337612.917 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-10-24T20:26:52.921Z,1761337612.921 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-10-24T20:26:52.925Z,1761337612.925 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-10-24T20:26:52.937Z,1761337612.937 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-10-24T20:26:52.941Z,1761337612.941 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-10-24T20:26:52.944Z,1761337612.944 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-10-24T20:26:52.979Z,1761337612.979 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-10-24T20:26:52.991Z,1761337612.991 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-10-24T20:26:53.034Z,1761337613.034 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-10-24T20:26:53.038Z,1761337613.038 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-10-24T20:26:53.046Z,1761337613.046 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:53.050Z,1761337613.050 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-10-24T20:26:53.058Z,1761337613.058 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-10-24T20:26:53.089Z,1761337613.089 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-10-24T20:26:53.098Z,1761337613.098 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-10-24T20:26:53.111Z,1761337613.111 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-10-24T20:26:53.127Z,1761337613.127 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-10-24T20:26:53.142Z,1761337613.142 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-10-24T20:26:53.155Z,1761337613.155 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-10-24T20:26:53.174Z,1761337613.174 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-10-24T20:26:53.179Z,1761337613.179 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-10-24T20:26:53.191Z,1761337613.191 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-10-24T20:26:53.199Z,1761337613.199 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-10-24T20:26:53.207Z,1761337613.207 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-10-24T20:26:53.215Z,1761337613.215 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-10-24T20:26:53.223Z,1761337613.223 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-24T20:26:53.231Z,1761337613.231 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-24T20:26:53.239Z,1761337613.239 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-10-24T20:26:53.252Z,1761337613.252 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-10-24T20:26:53.260Z,1761337613.260 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-10-24T20:26:53.269Z,1761337613.269 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-24T20:26:53.275Z,1761337613.275 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-24T20:26:53.290Z,1761337613.290 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l 2025-10-24T20:26:53.295Z,1761337613.295 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m 2025-10-24T20:26:53.297Z,1761337613.297 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:53.311Z,1761337613.311 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg 2025-10-24T20:26:53.323Z,1761337613.323 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg 2025-10-24T20:26:53.337Z,1761337613.337 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m 2025-10-24T20:26:53.342Z,1761337613.342 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu 2025-10-24T20:26:53.354Z,1761337613.354 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m 2025-10-24T20:26:53.358Z,1761337613.358 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg 2025-10-24T20:26:53.383Z,1761337613.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453404,-0.891304,-0.001505],[0.891186,0.453315,0.017128],[-0.014585,-0.009107,0.999852]] 2025-10-24T20:26:53.450Z,1761337613.450 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg 2025-10-24T20:26:53.462Z,1761337613.462 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m 2025-10-24T20:26:53.498Z,1761337613.498 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu 2025-10-24T20:26:53.510Z,1761337613.510 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m 2025-10-24T20:26:53.527Z,1761337613.527 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg 2025-10-24T20:26:53.549Z,1761337613.549 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:53.552Z,1761337613.552 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg 2025-10-24T20:26:53.569Z,1761337613.569 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m 2025-10-24T20:26:53.581Z,1761337613.581 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool 2025-10-24T20:26:53.601Z,1761337613.601 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l 2025-10-24T20:26:53.669Z,1761337613.669 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:53.786Z,1761337613.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.468031,-0.883706,-0.003258],[0.883574,0.467889,0.019398],[-0.015618,-0.011958,0.999807]] 2025-10-24T20:26:53.801Z,1761337613.801 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:53.804Z,1761337613.804 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-24T20:26:53.890Z,1761337613.890 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-24T20:26:53.940Z,1761337613.940 [OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-24T20:26:53.979Z,1761337613.979 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:54.039Z,1761337614.039 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:54.053Z,1761337614.053 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:54.072Z,1761337614.072 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-24T20:26:54.102Z,1761337614.102 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:54.133Z,1761337614.133 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:54.162Z,1761337614.162 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-24T20:26:54.191Z,1761337614.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481812,-0.876259,-0.005221],[0.876121,0.481607,0.021593],[-0.016407,-0.014978,0.999753]] 2025-10-24T20:26:54.245Z,1761337614.245 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:54.288Z,1761337614.288 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-24T20:26:54.305Z,1761337614.305 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:54.351Z,1761337614.351 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:54.382Z,1761337614.382 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-24T20:26:54.433Z,1761337614.433 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:54.462Z,1761337614.462 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-24T20:26:54.519Z,1761337614.519 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-24T20:26:54.548Z,1761337614.548 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-24T20:26:54.557Z,1761337614.557 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:54.595Z,1761337614.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.493665,-0.869623,-0.007144],[0.869481,0.493389,0.023871],[-0.017234,-0.017996,0.999689]] 2025-10-24T20:26:54.627Z,1761337614.627 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-10-24T20:26:54.784Z,1761337614.784 [OnDock:L.Execute](DEBUG): Construct Execute. 2025-10-24T20:26:54.787Z,1761337614.787 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute. 2025-10-24T20:26:54.793Z,1761337614.793 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait. 2025-10-24T20:26:54.795Z,1761337614.795 [OnDock:N.Docked](DEBUG): Construct. 2025-10-24T20:26:54.795Z,1761337614.795 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values. 2025-10-24T20:26:54.809Z,1761337614.809 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:54.835Z,1761337614.835 [OnDock:Detach:B.Undock](DEBUG): Construct. 2025-10-24T20:26:54.835Z,1761337614.835 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-24T20:26:54.967Z,1761337614.967 [MissionManager](DEBUG): # Copyright (c) 2024 MBARI # MBARI Proprietary Information. Confidential. All Rights Reserved # Unauthorized copying or distribution of this file via any medium is strictly # prohibited. # # WARNING - This file contains information whose export is restricted by the # Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as # amended. Violations of these export laws are subject to severe civil and/or # criminal penalties. mission { """ Wait on dock, communicating when possible """ arguments { DockedTime = 8 hour """ Time to stay on dock. Mission timeout will be five minutes longer. """ DetachedTimeout = Dock:Docked.detachTimeout """ Time duration limit for determining if the vehicle is detached from the dock. """ RangeTimeout = Dock:Docked.rangeTimeout """ Maximum allowed time without acoustic range. """ TrackingUpdatePeriod = 2 minute """ How long to wait between acoustic queries. """ NumberOfPings = 1 count """ Number of pings requested each time. """ TransponderCode = Dock:Dock.transponderCode """ Transponder Address. """ MaxDepth = BIT:CBIT.stopDepth """ Maximum depth while docked. """ MinAltitude = 5 meter """ Minimum altitude """ MinOffshore = 2 km """ Minimum offshore """ StayOnDock = false """ If true, don't detach from dock at end of mission """ IfconfigInterval = 2 hour """ How long to wait between ifconfig runs """ RunScience = false """ If true, run Science while on the dock. """ # Mission variables (do not change) MissionTimeout = DockedTime """ Mission timeout (local variable, do not change) """ } timeout duration=MissionTimeout insert Insert/StandardEnvelopes.tl assign in sequence StandardEnvelopes:MinAltitude = MinAltitude assign in sequence StandardEnvelopes:MaxDepth = MaxDepth assign in sequence StandardEnvelopes:MinOffshore = MinOffshore # End docking 5 minutes before end of mission to allow clean undock assign in sequence MissionTimeout = DockedTime + 5 minute insert Insert/BackseatDriver.tl insert Insert/PowerOnly.tl # Send data when connection exists aggregate dataRead { run while ( true ) readDatum { Universal:platform_communications } behavior Guidance:Wait { run in sequence set duration = 5 minute } } aggregate science { run in parallel break if ( not RunScience ) insert Insert/Science.tl } behavior Estimation:TrackAcousticContact { run in parallel set contactLabelSetting = TransponderCode set numberOfSamplesSetting = NumberOfPings set updatePeriodSetting = TrackingUpdatePeriod } syslog important "Restarting logs" behavior Guidance:Execute { run in sequence set command = "restart logs" } aggregate PeriodicCheck { run in parallel aggregate CheckIP { run in sequence behavior Guidance:Execute { run in sequence set command = "! ifconfig" } behavior Guidance:Wait { run in sequence set duration = IfconfigInterval } } } behavior Dock:Docked { run in sequence timeout duration=DockedTime set detachTimeout = DetachedTimeout set rangeTimeout = RangeTimeout } # Undock cleanly, instead of relying on DefaultWithUndock to come next aggregate Detach { run in sequence break if ( StayOnDock == true ) syslog important "Mission ending, breaking off. Range: " + Estimation:TrackAcousticContact.range_to_contact~meter + "." behavior Dock:Undock { run in sequence } } } 2025-10-24T20:26:54.967Z,1761337614.967 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock 2025-10-24T20:26:54.999Z,1761337614.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.503399,-0.864006,-0.009141],[0.863865,0.503040,0.026227],[-0.018062,-0.021099,0.999614]] 2025-10-24T20:26:55.061Z,1761337615.061 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:55.083Z,1761337615.083 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-24T20:26:55.083Z,1761337615.083 [DefaultWithUndock] Running Loop=1 2025-10-24T20:26:55.096Z,1761337615.096 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-24T20:26:55.096Z,1761337615.096 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-24T20:26:55.096Z,1761337615.096 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-24T20:26:55.313Z,1761337615.313 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:55.403Z,1761337615.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510669,-0.859711,-0.010726],[0.859566,0.510226,0.028568],[-0.019088,-0.023809,0.999534]] 2025-10-24T20:26:55.565Z,1761337615.565 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:55.807Z,1761337615.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.515574,-0.856761,-0.012056],[0.856607,0.515047,0.030852],[-0.020224,-0.026234,0.999451]] 2025-10-24T20:26:55.817Z,1761337615.817 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:56.069Z,1761337616.069 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:56.210Z,1761337616.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.517758,-0.855422,-0.013385],[0.855262,0.517145,0.032990],[-0.021298,-0.028528,0.999366]] 2025-10-24T20:26:56.321Z,1761337616.321 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:56.573Z,1761337616.573 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:56.615Z,1761337616.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516889,-0.855931,-0.014412],[0.855763,0.516204,0.034683],[-0.022246,-0.030260,0.999294]] 2025-10-24T20:26:56.825Z,1761337616.825 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:57.019Z,1761337617.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513131,-0.858175,-0.015239],[0.858000,0.512387,0.035998],[-0.023084,-0.031547,0.999236]] 2025-10-24T20:26:57.076Z,1761337617.076 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:57.329Z,1761337617.329 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:57.429Z,1761337617.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.497097,-0.867538,-0.016486],[0.867381,0.496317,0.036332],[-0.023337,-0.032360,0.999204]] 2025-10-24T20:26:57.581Z,1761337617.581 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:57.831Z,1761337617.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484865,-0.874429,-0.016708],[0.874289,0.484109,0.035459],[-0.022918,-0.031800,0.999231]] 2025-10-24T20:26:57.833Z,1761337617.833 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:58.085Z,1761337618.085 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:58.337Z,1761337618.337 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:58.589Z,1761337618.589 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:58.635Z,1761337618.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453425,-0.891147,-0.016207],[0.891036,0.452781,0.032302],[-0.021447,-0.029088,0.999347]] 2025-10-24T20:26:58.841Z,1761337618.841 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:59.093Z,1761337619.093 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:59.345Z,1761337619.345 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:59.442Z,1761337619.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415014,-0.909692,-0.014977],[0.909607,0.414511,0.028216],[-0.019460,-0.025333,0.999490]] 2025-10-24T20:26:59.597Z,1761337619.597 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:59.658Z,1761337619.658 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour 2025-10-24T20:26:59.659Z,1761337619.659 [CommandExec](IMPORTANT): got command run 2025-10-24T20:26:59.663Z,1761337619.663 [CommandExec](IMPORTANT): Running 2025-10-24T20:26:59.849Z,1761337619.849 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:26:59.912Z,1761337619.912 [DefaultWithUndock] Stopped 2025-10-24T20:26:59.913Z,1761337619.913 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-24T20:26:59.913Z,1761337619.913 [DefaultWithUndock:A.Wait] Stopped 2025-10-24T20:26:59.913Z,1761337619.913 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-24T20:26:59.913Z,1761337619.913 [MissionManager](IMPORTANT): Started mission OnDock 2025-10-24T20:26:59.913Z,1761337619.913 [OnDock] Running Loop=1 2025-10-24T20:26:59.913Z,1761337619.913 [OnDock](DEBUG): Aggregate::initialize OnDock 2025-10-24T20:26:59.913Z,1761337619.913 [OnDock:StandardEnvelopes] Running Loop=1 2025-10-24T20:26:59.913Z,1761337619.913 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:BackseatDriver] Running Loop=1 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver 2025-10-24T20:26:59.914Z,1761337619.914 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:PowerOnly] Running Loop=1 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:PowerOnly:A] Running Loop=1 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:PowerOnly:B] Running Loop=1 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:PowerOnly:C] Running Loop=1 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:PowerOnly:D] Running Loop=1 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:PowerOnly:E.Wait] Running Loop=1 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:dataRead] Running Loop=1 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead 2025-10-24T20:26:59.915Z,1761337619.915 [OnDock:dataRead:A] Running Loop=1 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science] Running Loop=1 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science:Science] Running Loop=1 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science:Science:A] Running Loop=1 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science:Science:B] Running Loop=1 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science:Science:C] Running Loop=1 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science:Science:D] Running Loop=1 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science:Science:E] Running Loop=1 2025-10-24T20:26:59.916Z,1761337619.916 [OnDock:science:Science:F] Running Loop=1 2025-10-24T20:26:59.917Z,1761337619.917 [OnDock:science:Science:Read_Oil] Running Loop=1 2025-10-24T20:26:59.917Z,1761337619.917 [OnDock:science:Science:PeakDetectChl] Running Loop=1 2025-10-24T20:26:59.917Z,1761337619.917 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl 2025-10-24T20:26:59.917Z,1761337619.917 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1 2025-10-24T20:26:59.917Z,1761337619.917 [OnDock:science:Science:EdgeDetectChl] Running Loop=1 2025-10-24T20:26:59.918Z,1761337619.918 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl 2025-10-24T20:26:59.918Z,1761337619.918 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1 2025-10-24T20:26:59.918Z,1761337619.918 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1 2025-10-24T20:26:59.918Z,1761337619.918 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport 2025-10-24T20:26:59.918Z,1761337619.918 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-24T20:26:59.918Z,1761337619.918 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDepthAvgProfilesChl] Running Loop=1 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChl 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Running Loop=1 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDetectNO3] Running Loop=1 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDetectOil] Running Loop=1 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1 2025-10-24T20:26:59.919Z,1761337619.919 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1 2025-10-24T20:26:59.920Z,1761337619.920 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport 2025-10-24T20:26:59.920Z,1761337619.920 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-24T20:26:59.920Z,1761337619.920 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-24T20:26:59.920Z,1761337619.920 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-24T20:26:59.921Z,1761337619.921 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-24T20:26:59.922Z,1761337619.922 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-24T20:26:59.922Z,1761337619.922 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-10-24T20:26:59.922Z,1761337619.922 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-24T20:26:59.922Z,1761337619.922 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-24T20:26:59.922Z,1761337619.922 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-24T20:26:59.922Z,1761337619.922 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-24T20:26:59.922Z,1761337619.922 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-24T20:26:59.922Z,1761337619.922 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-10-24T20:26:59.923Z,1761337619.923 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms 2025-10-24T20:26:59.924Z,1761337619.924 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-24T20:26:59.924Z,1761337619.924 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-24T20:26:59.924Z,1761337619.924 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-24T20:26:59.924Z,1761337619.924 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-24T20:26:59.924Z,1761337619.924 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-24T20:26:59.924Z,1761337619.924 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-24T20:26:59.925Z,1761337619.925 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-24T20:26:59.925Z,1761337619.925 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1 2025-10-24T20:26:59.925Z,1761337619.925 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger 2025-10-24T20:26:59.925Z,1761337619.925 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-10-24T20:26:59.925Z,1761337619.925 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:science:Science:OceanCurrent] Running Loop=1 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:J.] Running Loop=1 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:J.](INFO): Initializing TrackAcousticContact. 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:PeriodicCheck] Running Loop=1 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:PeriodicCheck:CheckIP] Running Loop=1 2025-10-24T20:26:59.926Z,1761337619.926 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP 2025-10-24T20:26:59.927Z,1761337619.927 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1 2025-10-24T20:26:59.927Z,1761337619.927 [OnDock:B] Running Loop=1 2025-10-24T20:26:59.927Z,1761337619.927 [OnDock:PeriodicCheck] Running Loop=1 2025-10-24T20:26:59.927Z,1761337619.927 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig 2025-10-24T20:26:59.928Z,1761337619.928 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped 2025-10-24T20:26:59.928Z,1761337619.928 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1 2025-10-24T20:26:59.928Z,1761337619.928 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component. 2025-10-24T20:26:59.928Z,1761337619.928 [OnDock:J.] Running Loop=1 2025-10-24T20:26:59.931Z,1761337619.931 [OnDock:science] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science:A] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science:B] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science:C] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science:D] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science:E] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science:F] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science:Read_Oil] Stopped 2025-10-24T20:26:59.932Z,1761337619.932 [OnDock:science:Science:OceanCurrent] Stopped 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:OceanCurrent:A.] Stopped 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:PeakDetectChl] Stopped 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:PeakDetectChl:A] Stopped 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:EdgeDetectChl] Stopped 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:EdgeDetectChl:A] Stopped 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:HighestChlPeakReport] Stopped 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-24T20:26:59.933Z,1761337619.933 [OnDock:science:Science:PeakDepthAvgProfilesChl] Stopped 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChl 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Stopped 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDetectNO3] Stopped 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDetectNO3:A] Stopped 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDetectOil] Stopped 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDetectOil:A] Stopped 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:HighestOilPeakReport] Stopped 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-24T20:26:59.934Z,1761337619.934 [OnDock:science:Science:PeakDetectFDOM] Stopped 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:PeakDetectFDOM:A] Stopped 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:PeakDetectSalinity] Stopped 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:PeakDetectSalinity:A] Stopped 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:HighestSaltPeakReport] Stopped 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-10-24T20:26:59.935Z,1761337619.935 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-10-24T20:26:59.936Z,1761337619.936 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:ChlThreshTrigger] Stopped 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger 2025-10-24T20:26:59.937Z,1761337619.937 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-10-24T20:26:59.938Z,1761337619.938 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-10-24T20:26:59.938Z,1761337619.938 [OnDock:dataRead] Running Loop=1 2025-10-24T20:26:59.939Z,1761337619.939 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-24T20:26:59.939Z,1761337619.939 [OnDock:PowerOnly] Running Loop=1 2025-10-24T20:26:59.939Z,1761337619.939 [OnDock:PowerOnly:D] Stopped 2025-10-24T20:26:59.939Z,1761337619.939 [OnDock:PowerOnly:C] Stopped 2025-10-24T20:26:59.939Z,1761337619.939 [OnDock:PowerOnly:B] Stopped 2025-10-24T20:26:59.939Z,1761337619.939 [OnDock:PowerOnly:A] Stopped 2025-10-24T20:26:59.939Z,1761337619.939 [OnDock:BackseatDriver] Running Loop=1 2025-10-24T20:26:59.940Z,1761337619.940 [OnDock:B] Stopped 2025-10-24T20:26:59.940Z,1761337619.940 [OnDock:C] Running Loop=1 2025-10-24T20:26:59.940Z,1761337619.940 [OnDock:StandardEnvelopes] Running Loop=1 2025-10-24T20:26:59.940Z,1761337619.940 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-24T20:26:59.941Z,1761337619.941 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-24T20:26:59.941Z,1761337619.941 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-24T20:26:59.973Z,1761337619.973 [CommandExec](IMPORTANT): got command ! ifconfig 2025-10-24T20:27:00.101Z,1761337620.101 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:00.162Z,1761337620.162 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:4B UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:1191 errors:0 dropped:0 overruns:0 frame:0 TX packets:1895 errors:0 dropped:0 overruns:0 carrier:0 collisions:29 txqueuelen:1000 RX bytes:530476 (518.0 Kb) TX bytes:227926 (222.5 Kb) Interrupt:29 lo Link encap:Local Loopback inet addr:127.0.0.1 Mask:255.0.0.0 UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1 RX packets:648 errors:0 dropped:0 overruns:0 frame:0 TX packets:648 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:52509 (51.2 Kb) TX bytes:52509 (51.2 Kb) 2025-10-24T20:27:00.353Z,1761337620.353 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:00.560Z,1761337620.560 [OnDock:C] Stopped 2025-10-24T20:27:00.560Z,1761337620.560 [OnDock:D] Running Loop=1 2025-10-24T20:27:00.605Z,1761337620.605 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:00.859Z,1761337620.859 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:00.908Z,1761337620.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350963,-0.936324,-0.011009],[0.936241,0.350675,0.021897],[-0.016642,-0.017992,0.999700]] 2025-10-24T20:27:00.952Z,1761337620.952 [OnDock:D] Stopped 2025-10-24T20:27:00.953Z,1761337620.953 [OnDock:E] Running Loop=1 2025-10-24T20:27:01.108Z,1761337621.108 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:01.311Z,1761337621.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.329868,-0.943981,-0.009345],[0.943897,0.329641,0.019884],[-0.015690,-0.015380,0.999759]] 2025-10-24T20:27:01.328Z,1761337621.328 [OnDock:E] Stopped 2025-10-24T20:27:01.328Z,1761337621.328 [OnDock:K] Running Loop=1 2025-10-24T20:27:01.361Z,1761337621.361 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:01.612Z,1761337621.612 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:01.716Z,1761337621.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310244,-0.950625,-0.007811],[0.950542,0.310069,0.018099],[-0.014783,-0.013040,0.999806]] 2025-10-24T20:27:01.733Z,1761337621.733 [OnDock:K](IMPORTANT): Restarting logs 2025-10-24T20:27:01.733Z,1761337621.733 [OnDock:K] Stopped 2025-10-24T20:27:01.733Z,1761337621.733 [OnDock:L.Execute] Running Loop=1 2025-10-24T20:27:01.866Z,1761337621.866 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:02.117Z,1761337622.117 [DAT](DEBUG): Acoustic response timeout 2025-10-24T20:27:02.171Z,1761337622.171 [OnDock:L.Execute](INFO): Executing command restart logs 2025-10-24T20:27:02.172Z,1761337622.172 [OnDock:L.Execute] Stopped 2025-10-24T20:27:02.172Z,1761337622.172 [OnDock:N.Docked] Running Loop=1 2025-10-24T20:27:02.172Z,1761337622.172 [OnDock:N.Docked](DEBUG): Initialize. 2025-10-24T20:27:02.172Z,1761337622.172 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.